CN219788345U - Railway wagon tail frame selecting and matching manipulator - Google Patents

Abstract

The utility model relates to a railway wagon tail frame matching manipulator, and relates to the technical field of railway wagon tail frame conveying. The railway wagon tail frame matching manipulator comprises a support piece, wherein a rotatable paw is arranged on the support piece, an image acquisition device positioned on the outer side of the support piece is arranged on the paw, and the image acquisition device can rotate around the support piece so as to adjust the position of the image acquisition device relative to the support piece. The tail frames of different types in a certain range of space are conveniently identified, and the tail frames to be carried are grasped and carried after being identified.

Description

Railway wagon tail frame selecting and matching manipulator

Technical Field

The utility model relates to the technical field of rail wagon tail frame conveying, in particular to a rail wagon tail frame matching manipulator.

Background

In the process of overhauling, decomposing and installing the railway wagon coupler, the sizes of parts are different because of different types of the wagon coupler, the tail frames are main parts of the coupler, and when the coupler is installed, the tail frames of different types on the storage rack are required to be selected and carried to the installation platform, and after the types are manually selected, the tail frames are lifted or transported by a forklift, so that the transportation procedure is complex, the efficiency is low, and the safety is not easy to ensure.

Disclosure of Invention

The utility model provides a railway wagon tail frame matching manipulator which is convenient for identifying tail frames of different types in a certain range of space and grabbing and carrying the tail frames to be carried after the tail frames to be carried are identified.

The utility model provides a railway wagon tail frame matching manipulator which comprises a support piece, wherein a rotatable paw is arranged on the support piece, an image acquisition device positioned on the outer side of the support piece is arranged on the paw, and the image acquisition device can rotate around the support piece so as to adjust the position of the image acquisition device relative to the support piece.

In one embodiment, the support member is provided with a rotating shaft, one end of the rotating shaft is connected with the paw, and the other end of the rotating shaft is provided with a driving component for driving the paw to rotate. Through this embodiment, make the paw can revolute the pivot rotation to adjust the horizontal rotation angle of paw, image acquisition device on the paw can follow the paw and rotate, and image acquisition device is located support piece's outside, and image acquisition device can rotate around support piece, can acquire the characteristics of the different positions of discernment tail frame, so as to discern the tail frame of different signals, improve recognition accuracy.

In one embodiment, the support member is provided with a fixing plate, the fixing plate is provided with a through hole for the rotating shaft to pass through, and a bearing is arranged between the outer wall of the rotating shaft and the inner wall of the through hole. Through this embodiment, fixed plate and bearing play the supporting role to the pivot, guarantee its stability in the rotation process.

In one embodiment, the driving assembly comprises a gear motor and a mounting seat, the gear motor is arranged on the supporting piece through the mounting seat, and an output shaft of the gear motor is connected with the rotating shaft.

In one embodiment, the axis of the shaft is collinear with the centerline of the pawl. Through this embodiment, pivot pivoted in-process, the hand claw rotates around self central line, avoids appearing rotating the back of certain angle, and the absorption position of hand claw changes, can not guarantee to adsorb the tail frame.

In one embodiment, the claws are electromagnetic chucks that are capable of attracting with the tail frame. According to the embodiment, the tail frame is conveniently and fully grabbed by the paw, and the grabbing state is relieved.

In one embodiment, a connecting plate is sleeved at one end of the rotating shaft, which is close to the paw, and the connecting plate is detachably connected with the paw. Through this embodiment, increase connecting plate and the area of being connected of paw, improve its connection stability, connect through detachable mode, be convenient for change the paw.

In one embodiment, the image acquisition device is provided with a fixing member, which is located between the connection plate and the hand claw, the fixing member being interconnected with the hand claw.

In one embodiment, the image acquisition device comprises a camera and a connecting piece, wherein the camera and the fixing piece are connected with each other through the connecting piece.

In one embodiment, the connector is a flexible hose. Through this embodiment, make the relative position and the orientation angle of camera adjustable, the user of being convenient for adjusts according to actual user demand.

The above-described features may be combined in various suitable ways or replaced by equivalent features as long as the object of the present utility model can be achieved.

Compared with the prior art, the railway wagon tail frame matching manipulator provided by the utility model has at least the following beneficial effects:

the gripper rotates with support piece to be connected, and the image acquisition device that is located the support piece outside that sets up on the gripper can follow the gripper and rotate, when the gripper does not snatch the tail frame, image acquisition device can rotate around the tail top to a plurality of characteristics that a plurality of different model frames obtained discern, compare the information in recognition feature and the database, improve recognition accuracy, guarantee that the tail frame of snatching is preset target.

Drawings

The utility model will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings.

FIG. 1 is a schematic front view of the present utility model;

FIG. 2 is a schematic view of section A-A of FIG. 1.

In the drawings, like parts are designated with like reference numerals. The figures are not to scale.

Reference numerals:

10. a support; 20. a camera; 21. a connecting piece; 30. a speed reducing motor; 31. a mounting base; 32. a rotating shaft; 40. a paw; 50. a connecting plate; 60. and a fixing plate.

Detailed Description

The utility model will be further described with reference to the accompanying drawings.

As shown in fig. 1 and 2, the utility model provides a railway wagon tail frame matching manipulator, which comprises a support member 10, wherein a rotatable claw 40 is arranged on the support member 10, an image acquisition device positioned outside the support member 10 is arranged on the claw 40, and the image acquisition device can rotate around the support member 10 so as to adjust the position of the image acquisition device relative to the support member 10.

Specifically, the support 10 can be mounted on a rectangular robot to control the support 10 to move over the tail frame to be grasped to grasp the tail frame. The image acquisition device is arranged on the paw 40, and can synchronously move along with the paw 40 to be close to the tail frame to be grabbed, so that the image information of the tail frame can be acquired in a short distance through image acquisition, and the identification characteristic image on the tail frame can be clearly identified. And the image acquisition device can rotate synchronously along with the paw 40, and the image acquisition device can do circular motion around the support piece 10, so that the situation that the distance between the paw 40 and the tail frame is too short is avoided, the coverage area of the image acquisition device is small, and an acquisition dead angle exists. The image acquisition device performs circular motion, so that sight dead angles caused by sight blocking of the support member 10 on the image acquisition device can be avoided.

Further, when the gripper 40 does not grasp the tail frame, the image acquisition device performs circular motion along with the rotation of the gripper 40, and the image acquisition device identifies a plurality of identification features on the tail frame, so that the situation that the tail frames with different models are partially identical and are characterized and misjudgment is caused is avoided. And when a plurality of recognition features of the tail frame are recognized, the gripper 40 can take a certain specific recognition feature as a reference, for example, when the gripper 40 rotates a certain angle and the reference recognition feature is located at a certain specific position in the image, the gripping position of the gripper 40 is the optimal gripping position, the relative position of the gripper 40 is kept unchanged, and then the gripper 40 grips the tail frame. Similarly, after the gripper 40 grabs the tail frame, the tail frame needs to be placed at a specific position, before the gripper 40 releases the grabbing state of the tail frame, the image acquisition device can rotate along with the gripper 40 to acquire image information of the position to be placed, and the recognition features of the position to be placed are recognized, so that the gripper 40 can rotate to a specific angle, the surrounding frame is guaranteed to be placed in a specific posture, and the placement accuracy is improved.

In one embodiment, the support 10 is provided with a rotating shaft 32, one end of the rotating shaft 32 is connected with the paw 40, and the other end is provided with a driving component for driving the paw to rotate. Through this embodiment, make the paw 40 can rotate around the pivot 32 of pivot 32 to adjust the horizontal rotation angle of paw 40, the image acquisition device on the paw 40 can follow the rotation of paw 40, and the image acquisition device is located the outside of support 10, and the image acquisition device can rotate around support 10, can acquire the characteristics of the different positions of discernment tail frame, so as to discern the tail frame of different signals, improve recognition accuracy.

Specifically, the support member 10 is a square tube, and a fixing seat is disposed on the support member 10, and the rotating shaft 32 penetrates through the fixing seat, so that the fixing seat and the rotating shaft 32 maintain relative integrity.

In one embodiment, the support 10 is provided with a fixing plate 60, the fixing plate 60 is provided with a through hole for the rotation shaft 32 to pass through, and a bearing is provided between the outer wall of the rotation shaft 32 and the inner wall of the through hole. Through this embodiment, the fixing plate 60 and the bearing play a supporting role on the rotating shaft 32, ensuring stability in the rotating process thereof.

In particular, the bearing is a conical bearing, and in particular, a limit structure may be provided on the shaft 32, which assists in enabling the bearing to rotate only about its own axis, but not to move axially relative to the support 10, as is conventional in the art and will not be described in further detail.

In one embodiment, the driving assembly includes a gear motor 30 and a mounting seat 31, the gear motor 30 is disposed on the support 10 through the mounting seat 31, and an output shaft of the gear motor 30 is connected to the rotating shaft 32.

In one embodiment, the axis of the shaft 32 is collinear with the centerline of the pawl 40. Through this embodiment, in the process of rotating the rotating shaft 32, the paw 40 rotates around its own central line, so that the adsorption position of the paw 40 is changed after a certain rotation angle is avoided, and the tail frame cannot be adsorbed.

Specifically, where the pawl 40 is an electromagnetic chuck, the axis of the electromagnetic chuck is collinear with the axis of the shaft 32.

In one embodiment, the finger 40 is an electromagnetic chuck capable of attracting with the tail frame. With this embodiment, the gripper 40 can grasp the tail frame at the end and release the grasping state.

Specifically, the electromagnetic chuck is an electric control permanent magnet chuck, the electromagnetic chuck can adsorb magnetized materials, such as iron and other objects, the tail frame is mainly made of iron, and the electromagnetic chuck can adsorb the tail frame when being electrified.

In one embodiment, a connecting plate 50 is sleeved on one end of the rotating shaft 32 near the paw 40, and the connecting plate 50 is detachably connected with the paw 40. Through this embodiment, increase the connection area of connecting plate 50 and paw 40, improve its connection stability, connect through detachable mode, be convenient for change paw 40.

Specifically, the connection plate 50 is detachably connected with the claws 40 by bolts, and a disc spring is provided between the connection plate 50 and the claws 40, improving connection stability.

In one embodiment, the image capture device is provided with a securing member positioned between the web 50 and the finger 40, the securing member interconnecting the finger 40.

In one embodiment, the image acquisition device includes a camera 20 and a connector 21, the camera 20 and the fixture being connected to each other by the connector 21.

In one embodiment, the connector 21 is a flexible hose. By the embodiment, the relative position and the orientation angle of the camera 20 are adjustable, so that the user can conveniently adjust according to the actual use requirement.

In the description of the present utility model, it should be understood that the terms "upper," "lower," "bottom," "top," "front," "rear," "inner," "outer," "left," "right," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present utility model and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present utility model.

While the utility model has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the utility model. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present utility model is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.

Claims (10)

1. The manipulator for selecting and matching the tail frame of the railway wagon is characterized by comprising a supporting piece, wherein a rotatable paw is arranged on the supporting piece, an image acquisition device positioned on the outer side of the supporting piece is arranged on the paw, and the image acquisition device can rotate around the supporting piece so as to adjust the position of the image acquisition device relative to the supporting piece.

2. The railway wagon tail frame matching manipulator according to claim 1, wherein a rotating shaft is arranged on the supporting piece, one end of the rotating shaft is connected with the paw, and the other end of the rotating shaft is provided with a driving component for driving the paw to rotate.

3. The railway wagon tail frame matching manipulator according to claim 2, wherein the support member is provided with a fixing plate, the fixing plate is provided with a through hole for the rotating shaft to pass through, and a bearing is arranged between the outer wall of the rotating shaft and the inner wall of the through hole.

4. The railway wagon tail frame matching manipulator according to claim 2, wherein the driving assembly comprises a gear motor and a mounting seat, the gear motor is arranged on the supporting piece through the mounting seat, and an output shaft of the gear motor is connected with the rotating shaft.

5. The railway wagon tail box mating manipulator of claim 2, wherein the axis of the spindle is collinear with the centerline of the gripper.

6. The railway wagon tail frame matching manipulator according to claim 1, wherein the claws are electromagnetic chucks capable of being adsorbed with the tail frame.

7. The railway wagon tail frame matching manipulator according to claim 2, wherein a connecting plate is sleeved at one end of the rotating shaft, which is close to the gripper, and the connecting plate is detachably connected with the gripper.

8. The railway wagon tail box mating manipulator of claim 7, wherein the image acquisition device is provided with a fixing member, the fixing member is located between the connecting plate and the gripper, and the fixing member is connected with the gripper.

9. The railway wagon tail box mating manipulator of claim 8, wherein the image acquisition device comprises a camera and a connector, the camera and the fixture being interconnected by the connector.

10. The railway wagon tail box mating manipulator of claim 9, wherein the connector is a flexible hose.