CN219668222U - Automatic uncoupling device for train coupler - Google Patents

Abstract

The utility model discloses an automatic uncoupling device of a train coupler, which comprises a driving seat, a mechanical arm, a camera and a controller, wherein the driving seat is arranged in the front-back direction, the mechanical arm is arranged at the driving end of the driving seat, the mechanical arm and the camera are both arranged at the driving end of the mechanical arm, the driving seat, the mechanical arm, the camera and the mechanical arm are electrically connected with the controller, the driving seat is used for driving the mechanical arm to move in the front-back direction, so that the front end of a carriage and a carriage hook deflector rod can be identified and positioned by the camera, when the front end of the carriage is identified by the camera, the driving seat drives the mechanical arm to move backwards to a working position, at the moment, the camera continues to identify and position the carriage hook deflector rod, then the mechanical arm drives the mechanical arm to clamp and drive the deflector rod to uncork the hook, then the mechanical arm releases the deflector rod, and the mechanical arm retracts, and meanwhile, the driving seat drives the mechanical arm to move forwards to reset.

Description

Automatic uncoupling device for train coupler

Technical Field

The utility model belongs to the field of train auxiliary equipment, and particularly relates to an automatic uncoupling device for a train coupler.

Background

When the coal-carrying train is used for unloading coal, each carriage needs to be driven to a turning area for unhooking, and after unhooking, the carriage after unhooking is turned over by a turning machine to pour out the coal in the carriage, at present, the unhooking of the train is mostly manually unhooked, but the working environment is bad, and the risk of safety accidents exists, and at present, an automatic unhooking device is also available, such as a automatic unhooking system for a train coupler of a train with document number of CN213138789U, a robot for a train coupler of CN211543548U and the like, but the actuating mechanism is fixed at the actuating station, so that when the carriage turns after unhooking, the carriage is easy to collide with the actuating mechanism to cause equipment damage, and in addition, because dust is raised in the turning area, the dust is easy to gather at the lens part of the imaging equipment to cause imaging effect deterioration, and even cause that the unhooking mechanism cannot operate.

Disclosure of Invention

In order to solve the technical problems, the utility model aims to provide the automatic uncoupling device for the train coupler, which has a simple structure and can identify and automatically uncoupling the train coupler.

In order to achieve the above object, the technical scheme of the present utility model is as follows: the utility model provides an automatic unhooking device of train coupler, includes drive seat, arm, manipulator, camera and controller, the drive seat sets up along the fore-and-aft direction, just the arm is installed the drive end of drive seat, manipulator and camera are all installed the drive end of arm, drive seat, arm, camera and manipulator all with the controller electricity is connected, the drive seat is used for the drive the arm is in the fore-and-aft direction is gone up.

The beneficial effects of the technical scheme are that: so can come to discern and fix a position railway carriage front end and railway carriage couple driving lever by the camera, when the camera discerns the railway carriage front end, the drive seat drive this moment the arm moves backward to the operational position, and the camera continues to discern and fix a position railway carriage couple driving lever this moment, then the arm drive manipulator presss from both sides tight and drives the driving lever with the couple unhooking, then the arm loosens the driving lever, and the arm withdraws, and drive seat drive arm moves forward simultaneously and resets.

In the technical scheme, the driving seat is an electric servo linear sliding table.

The beneficial effects of the technical scheme are that: the device has good moving stability and high control precision.

In the above technical scheme, two buffers are further mounted on the driving seat, the two buffers are respectively mounted at two ends of the moving track of the driving end of the driving seat, and the buffer ends of the two buffers face the driving end of the driving seat and are used for buffering and decelerating when the driving end of the driving seat moves to the end part of the moving track.

The beneficial effects of the technical scheme are that: through setting up the buffer, can avoid the drive end of drive seat to the base hard collision of drive seat when removing its travel path's tip, hard collision can influence its precision, and breaks down easily.

In the above technical solution, the buffer is a hydraulic buffer.

The beneficial effects of the technical scheme are that: the buffer performance is good.

In the technical scheme, the mechanical arm is a six-axis mechanical arm.

The beneficial effects of the technical scheme are that: the driving end of the device is flexible to move.

In the technical scheme, the controller is a PLC controller or a singlechip.

The beneficial effects of the technical scheme are that: the control capability is strong, and the processing speed is high.

In the technical scheme, the manipulator is an electric clamping jaw.

The beneficial effects of the technical scheme are that: the clamping effect is good.

In the technical scheme, the camera is a CCD camera.

The beneficial effects of the technical scheme are that: the sensor has high sensitivity, strong light resistance, small distortion, small volume, long service life and vibration resistance.

In the above technical scheme, the lens orientation of the camera is consistent with the clamping opening orientation of the manipulator.

The beneficial effects of the technical scheme are that: therefore, the camera acquires image data in front of the camera, and the controller controls the mechanical arm to drive the mechanical arm to move towards the visual target deflector rod.

In the above technical scheme, the clamping opening of the manipulator protrudes out of the lens end of the camera.

The beneficial effects of the technical scheme are that: therefore, the object clamping of the camera image manipulator can be avoided.

Drawings

FIG. 1 is a schematic diagram of an automatic uncoupling device for a train coupler according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of an electrical connection of an automatic uncoupling device for a train coupler according to an embodiment of the present utility model;

fig. 3 is a top view of the automatic uncoupling device of the train coupler and the carriage according to the embodiment of the utility model.

In the figure: 1 driving seat, 11 buffer, 2 arm, 3 manipulator, 4 camera, 5 controller.

Detailed Description

The principles and features of the present utility model are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the utility model and are not to be construed as limiting the scope of the utility model. The utility model is more particularly described by way of example in the following paragraphs with reference to the drawings. Advantages and features of the utility model will be more clearly described in the following description and claims. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the utility model.

As shown in fig. 1-3, this embodiment provides an automatic unhooking device for train coupler, including driving seat 1, arm 2, manipulator 3, camera 4 and controller 5, driving seat 1 sets up along the fore-and-aft direction, just arm 2 installs driving seat 1's drive end, manipulator 3 and camera 4 are all installed arm 2's drive end, driving seat 1, arm 2, camera 4 and arm 3 all with controller 5 electricity is connected, driving seat 1 is used for driving arm 2 moves in the fore-and-aft direction, can be so by the camera to discern carriage front end and carriage hook driving lever, when the carriage front end is discerned to the camera, the driving seat drives the arm backward movement to the position of working, and the camera continues to discern and fix a position the carriage hook driving lever this moment, then the arm drives the manipulator and presss from both sides tightly and drive the driving lever and unhook, then the arm releases the driving lever, and the arm withdraws from both sides, and the driving seat moves the driving arm forward and resets simultaneously and drives the driving arm forward. The controller can be arranged at the driving end of the driving seat.

In the above technical scheme, the driving seat 1 is an electric servo linear sliding table, and has good moving stability and high control precision.

In the above technical scheme, two buffers 11 are further installed on the driving seat 1, two buffers 11 are respectively installed at two ends of a movement track of the driving end of the driving seat 1, and the buffer ends of the buffers are all oriented to the driving end of the driving seat 1, and the buffers are used for buffering and decelerating when the driving end of the driving seat 1 moves to the end part of the movement track of the driving seat, and by setting the buffers, the driving end of the driving seat can be prevented from hard collision with the base of the driving seat when moving to the end part of the movement track of the driving seat, the precision can be influenced by the hard collision, and faults are easy to occur.

In the above technical solution, the buffer 11 is a hydraulic buffer, and has good buffering performance.

In the above technical scheme, the mechanical arm 2 is a six-axis mechanical arm, and the driving end of the mechanical arm moves flexibly.

In the above technical scheme, the controller 5 is a PLC controller or a single chip microcomputer, and has strong control capability and high processing speed.

In the above technical scheme, the manipulator 3 is an electric clamping jaw, and the clamping effect is good.

In the above technical solution, the camera 4 is a CCD camera, which has high sensitivity, strong light resistance, small distortion, small volume, long service life, and vibration resistance, wherein the technology of acquiring image information based on an industrial camera and identifying and positioning objects belongs to the prior art, and is not described herein.

In the above technical solution, the lens orientation of the camera 4 is consistent with the clamping opening orientation of the manipulator 3, so that the camera obtains the image data in front of the camera, and the controller controls the manipulator to drive the manipulator to move towards the visual target shift lever accordingly.

In the above technical solution, the clamping opening of the manipulator 3 protrudes out of the lens end of the camera 4, so that the object clamping by the camera image manipulator can be avoided.

The automatic uncoupling device of the train coupler in this embodiment is installed at the side of the track, the rear end of the driving seat is close to the front end of the car dumper station, when the train conveys the tail end car to the car dumper station, the moving speed is usually slow, the car is in a reversing mode (reversing speed is usually 10-30 m/min), the camera always faces the car, when the front end of the tail end car moves backwards and passes the side of the camera, the camera recognizes the front end profile of the car to generate a signal, the driving seat is controlled by the controller to drive the mechanical arm to move backwards to the tail end of the driving end (car dumper station), after the tail end car enters the car dumper station, the car carriage stops moving, the camera recognizes and positions the deflector rod of the front end hook of the tail end car again, positioning information is conveyed to the controller, the controller controls the mechanical arm to stretch out and drive the deflector rod to clamp the hook, drives the deflector rod to uncork the hook, then the mechanical arm is retracted, then the controller controls the driving seat to drive the mechanical arm to move forwards to reset (far away from the car dumper station), and the car dumper is started to process the car dumper.

The length of the driving seat is generally greater than 3m (the stroke of the driving end of the driving seat moving back and forth can be set to be 3 m), the mechanical arm can be a Kawasaki RS010N type mechanical arm, the camera can be an In-Sight8200 camera (the pixels of the camera are 130 ten thousand pixels) In a Kangnai In-Sight8000 vision system series, the mechanical arm can be an east giant DL2-A42-40-AH5 type electric clamping jaw, and the controller can be a Mitsubishi fx1N series PLC controller.

The above description is only of the preferred embodiments of the present utility model, and is not intended to limit the present utility model in any way; those skilled in the art will readily appreciate that the present utility model may be implemented as shown in the drawings and described above; however, those skilled in the art will appreciate that many modifications, adaptations, and variations of the present utility model are possible in light of the above teachings without departing from the scope of the utility model; meanwhile, any equivalent changes, modifications and evolution of the above embodiments according to the essential technology of the present utility model still fall within the scope of the present utility model.

Claims (10)

1. The utility model provides an automatic uncoupling device of train coupler, its characterized in that, including drive seat (1), arm (2), manipulator (3), camera (4) and controller (5), drive seat (1) are along fore-and-aft direction setting, just arm (2) are installed the drive end of drive seat (1), manipulator (3) and camera (4) are all installed the drive end of arm (2), drive seat (1), arm (2), camera (4) and manipulator (3) all with controller (5) electricity is connected, drive seat (1) are used for the drive arm (2) are in fore-and-aft direction upward movement.

2. The automatic uncoupling device of train coupler according to claim 1, characterized in that said driving seat (1) is an electric servo linear sliding table.

3. The automatic uncoupling device of train coupler according to claim 2, characterized in that said driving seat (1) is further provided with two buffers (11), said two buffers (11) are respectively installed at both ends of the movement track of the driving end of said driving seat (1), and the buffer ends are both directed toward the driving end of said driving seat (1), which is used for buffering and decelerating when the driving end of said driving seat (1) moves to the end of the movement track.

4. A train coupler automatic uncoupling device according to claim 3, characterized in that said buffer (11) is an oil buffer.

5. The automatic uncoupling device of train coupler according to claim 1, characterized in that said mechanical arm (2) is a six-axis mechanical arm.

6. The automatic uncoupling device of train coupler according to claim 1, characterized in that said controller (5) is a PLC controller or a single chip microcomputer.

7. The automatic uncoupling device of a train coupler as claimed in any of claims 1-6, characterized in that said manipulator (3) is an electric jaw.

8. The automatic uncoupling device of train coupler according to claim 7, characterized in that said camera (4) is a CCD camera.

9. The automatic uncoupling device of train coupler according to claim 8, characterized in that the lens orientation of said camera (4) is identical to the grip orientation of said manipulator (3).

10. The automatic uncoupling device of train coupler according to claim 9, characterized in that the grip of said manipulator (3) protrudes outside the lens end of said camera (4).