CN219821427U - Train unhooking robot trolley - Google Patents

Abstract

The utility model discloses a train unhooking robot trolley, which comprises a trolley main body frame, wherein four trolley wheels are arranged below the trolley main body frame, a trolley driving main servo motor is arranged above the trolley main body frame, a robot is arranged at the top of the trolley main body frame, a robot sliding bottom plate is arranged below the robot, a robot moving motor is arranged on the outer side of the sliding bottom plate, a robot tail end gripper is arranged at the head of the robot, and a machine vision system is arranged at the tail end of the robot. The utility model relates to the technical field of the jensen unhook of a railway carriage, which solves the separation between the railway carriage and the carriage by matching a trolley moving driving gear, a robot tail end gripper and the freight train carriage, solves the problem that a manual poking pin is separated from a jensen coupler in the past, reduces the labor intensity of personnel, integrates other equipment and realizes a full-automatic control system.

Description

Train unhooking robot trolley

Technical Field

The utility model relates to the technical field of rail wagon jensenii unhooking, in particular to a rail wagon unhooking robot trolley.

Background

The train for transporting coal needs to be unhooked to separate a carriage, when the train arrives at a destination, the carriage is unhooked, then the carriage is overturned by a field overturning frame, the (coal) in the carriage is overturned, along with the progress of the age, the technology development is more and more advanced, and the intelligent mechanical equipment is more and more advanced.

When the conventional freight train arrives at a freight destination, a section of the carriage needs to be detached and unloaded, and at this time, the jean's unhooking pin needs to be pulled out manually and then detached from the carriage. With the development of the times, the demand of goods is increased, the number of vehicles is increased, the efficiency is high,

however, the former manual unhooking mode has high manual labor intensity and cannot keep up with the efficiency.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides a train unhooking robot trolley, which solves the problems that the prior manual unhooking mode has high manual labor intensity and cannot keep up with efficiency.

In order to achieve the above purpose, the present utility model is realized by the following technical scheme: the utility model provides a train unhooking robot dolly, includes dolly main body frame, dolly main body frame's below is provided with four dolly wheels, dolly main body frame's top sets up and is equipped with dolly drive main servo motor, dolly main body frame's top is provided with the robot, robot sliding bottom plate is installed to the below of robot, robot moving motor is installed in the outside of sliding bottom plate, the head of robot is equipped with the terminal tongs of robot, the end of robot is equipped with machine vision system.

Preferably, the output ends of the robot moving motor and the trolley driving main servo motor are fixedly connected with a trolley moving driving gear, one side of the trolley moving driving gear is connected with a rack in a meshed manner, the other side of the trolley moving driving gear is connected with a ground rail rack in a meshed manner, two sides of the ground rail rack are respectively provided with a ground rail, the tops of the two ground rails are fixedly connected with the bottom of the trolley main body frame, one side of the trolley main body frame is provided with a freight train carriage, the outer side of the freight train carriage is provided with a train Zhan's hook bolt deflector rod and a Zhan's hook, and the top of the trolley main body frame is provided with a plurality of running indicator lamps.

Preferably, two linear guide rails are arranged below the robot sliding bottom plate.

Preferably, one side of the trolley main body frame is provided with a pedal which can provide an operator with up and down motion.

Preferably, an electrical control cabinet and a robot control cabinet are arranged above the trolley main body frame.

Advantageous effects

The utility model provides a train unhooking robot trolley. The beneficial effects are as follows: the train uncoupling robot trolley solves the problem that a manual shifting pin is separated from a coupler of a freight train through the cooperation among the trolley moving driving gear, the robot tail end gripper and the carriage of the freight train, reduces the labor intensity of personnel, integrates other equipment and realizes a full-automatic control system.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a side view of FIG. 1;

FIG. 4 is a schematic view of the appearance of FIG. 1;

fig. 5 is a schematic view of the robot, the trolley main body frame and the trolley wheels of fig. 3.

In the figure: 1. robot, 2, dolly body frame, 3, dolly wheels, 4, dolly mobile drive gear, 5, robot end tongs, 6, freight train carriage, 7, ground rail rack, 8, ground rail, 9, electrical control cabinet, 10, dolly drive main servo motor, 11, robot control cabinet, 12, rack, 13, linear guide, 14, robot mobile motor, 15, machine vision system, 16, robot sliding bottom plate, 17, operation indicator light, 18, train jans couple bolt driving lever, 19, jans couple.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

The former manual unhooking mode has high manual labor intensity and can not keep up with the efficiency.

In view of the above, the train uncoupling robot trolley is provided, and the separation between the train carriage and the carriage is solved through the cooperation among the trolley moving driving gear, the robot tail end gripper and the freight train carriage, so that the problem that the manual shifting pin is separated from the jams type coupler in the past is solved, the labor intensity of personnel is reduced, and the full-automatic control system is realized by integrating with other equipment.

The components in the present case are sequentially connected by a person skilled in the art, and specific connection and operation sequence should be referred to the following working principle, and the detailed connection means thereof are known in the art, and the following working principle and process are mainly described.

Embodiment one: as can be seen from fig. 1-5, a train unhooking robot trolley comprises a trolley main body frame 2, the trolley main body frame 2 is of a steel pipe welding frame structure, four trolley wheels 3 are arranged below the trolley main body frame 2, the four trolley wheels 3 are distributed below the trolley main body frame 2, a trolley driving main servo motor 10 is arranged above the trolley main body frame 2, a robot 1 is arranged at the top of the trolley main body frame 2, a robot sliding bottom plate 16 is arranged below the robot 1, a robot moving motor 14 is arranged at the outer side of the sliding bottom plate 16, the models of the trolley driving main servo motor 10 and the robot moving motor 14 are not limited, a robot tail end gripper 5 is arranged at the head of the robot 1, a robot vision system 15 is arranged at the tail end of the robot 1, the vision system 15 is composed of a vision camera, vision software and the like, and is communicated with the robot 1, so that in order to correctly find the pin pulling rod position of a train, the robot 1 is automatically adjusted, the robot tail end gripper 5 is easy to pick up a rod, an acousto-optic detector and a human operator can enter a dangerous area in the working area of the robot, and a human operator can be controlled by the robot, and a human operator can move in the working area by the working area, and the human operator can be controlled by the trolley, and the human operator can move in the working area;

in the specific implementation process, it is worth particularly pointing out that an audible and visual alarm is arranged in the operation range of the robot 1, and a laser sensor is arranged in the operation range of the robot, so that the danger is prevented from being caused in the operation region of the robot 1, and the separation between the train carriage and the carriage is solved through the cooperation among the trolley moving driving gear 4, the robot tail end gripper 5 and the freight train carriage 6, the problem that the manual poking pin is separated from the jean coupler in the past is solved, the labor intensity of personnel is reduced, and the full-automatic control system is realized by integrating other equipment;

further, the output ends of the robot moving motor 14 and the trolley driving main servo motor 10 are fixedly connected with a trolley moving driving gear 4, the output ends of the robot moving motor 14 and the trolley driving main servo motor 10 are provided with a speed reducer for reducing speed, the outer side of one side of the trolley moving driving gear 4 is in meshed connection with a rack 12, the outer side of the other side of the trolley moving driving gear 4 is in meshed connection with a ground rail rack 7, two sides of the ground rail rack 7 are respectively provided with a ground rail 8, the tops of the two ground rails 8 are fixedly connected with the bottom of the trolley main frame 2, one side of the trolley main frame 2 is provided with a freight train carriage 6, the outer side of the freight train carriage 6 is provided with a train jan hook latch deflector rod 18 and jan hook 19, and the top of the trolley main frame 2 is provided with a plurality of running indicator lamps 17;

in the specific implementation process, it is worth particularly pointing out that the running indicator lamp 17 is lightened during working, and warning irrelevant personnel are not close, so that the safety is greatly improved;

further, two linear guide rails 13 are arranged below the robot sliding bottom plate 16;

in the specific implementation process, it is worth particularly pointing out that the linear guide rail 13 can drive the sliding bottom plate 16 to finely adjust the position;

further, a pedal capable of providing an operator to go up and down is arranged on one side of the trolley main body frame 2;

in the specific implementation process, it is worth particularly pointing out that the pedal can be convenient for a user to mount the trolley main body frame 2 for operation;

further, an electrical control cabinet 9 and a robot control cabinet 11 are arranged above the trolley main body frame 2;

in the specific implementation process, it is worth particularly pointing out that the electrical control cabinet 9 can control electrical equipment, and the robot control cabinet 11 can control the stroke of the robot 1;

specifically, when the train unhooking robot trolley is used, the train carriage head is stopped when moving, and then the moving robot finely adjusts the distance to be used as the compensation distance, wherein the vision system 15 consists of a vision camera, vision software and the like and is communicated with the robot 1, so that the gesture of the robot 1 is automatically adjusted in order to correctly find the pin pulling poking rod position of the train, the tail end gripper 5 of the robot is easy to grasp the poking rod, a user can start the trolley to drive the main servo motor 10 and the moving motor 14 of the robot to respectively drive the two moving driving gears 4 to rotate, and the two moving driving gears 4 respectively drive the movement of the ground rail rack 7 and the rack 12, thereby realizing the movement of the sliding floor 16 and the trolley main body frame 2.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation. The term "comprising" an element defined by the term "comprising" does not exclude the presence of other identical elements in a process, method, article or apparatus that comprises the element.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "configured," "connected," "secured," "screwed," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intermediaries, or in communication with each other or in interaction with each other, unless explicitly defined otherwise, the meaning of the terms described above in this application will be understood by those of ordinary skill in the art in view of the specific circumstances.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims (5)

1. The utility model provides a train unhooking robot dolly, includes dolly main body frame (2), its characterized in that, the below of dolly main body frame (2) is provided with four dolly wheels (3), the top of dolly main body frame (2) sets up and is equipped with dolly drive main servo motor (10), the top of dolly main body frame (2) is provided with robot (1), robot sliding bottom plate (16) are installed to the below of robot (1), robot moving motor (14) are installed in the outside of sliding bottom plate (16), the head of robot (1) is equipped with terminal tongs (5) of robot, the end of robot (1) is equipped with machine vision system (15).

2. The train unhooking robot trolley according to claim 1, wherein the output ends of the robot moving motor (14) and the trolley driving main servo motor (10) are fixedly connected with a trolley moving driving gear (4), one side of the trolley moving driving gear (4) is connected with a rack (12) in an engaged manner, the other side of the trolley moving driving gear (4) is connected with a ground rail rack (7) in an engaged manner, two sides of the ground rail rack (7) are respectively provided with a ground rail (8), the tops of the two ground rails (8) are fixedly connected with the bottom of the trolley main frame (2), one side of the trolley main frame (2) is provided with a freight train carriage (6), the outer side of the freight train carriage (6) is provided with a Jane hook latch deflector rod (18) and a Jane hook (19), and the top of the trolley main frame (2) is provided with a plurality of running indication lamps (17).

3. Train unhooking robot trolley according to claim 1, characterized in that two linear guides (13) are mounted under the robot slide floor (16).

4. Train unhooking robot trolley according to claim 1, characterized in that one side of the trolley main body frame (2) is provided with a pedal for the operator to go up and down.

5. Train unhooking robot trolley according to claim 1, characterized in that an electrical control cabinet (9) and a robot control cabinet (11) are arranged above the trolley main body frame (2).