800results about "Railway coupling accessories" patented technology

The invention provides a state self-checking system for an unhooking robot, and relates to the technical field of automatic machinery, and the system comprises a real-time collection module which collects a real-time working data set of the unhooking robot; the operation evaluation module is used for comprehensively evaluating the operation of the unhooking robot based on the real-time working data set; the fault detection module is used for carrying out point cloud matching and data comparison on the unhooking robot based on the operation state evaluation information, carrying out fault detection according to a comparison result and generating a fault self-detection report; the fault tracing module is used for synchronizing the fault self-checking report to a human-computer interface for fault tracing; and the fault processing module is used for formulating fault processing suggestions and sending the suggestions to the human-computer interface to perform remote control on the unhooking robot. The technical problem that in the prior art, due to insufficient fault detection precision, tiny or complex faults cannot be found in time, and the operation stability of the robot is affected is solved, the fault detection precision and the response speed are improved, and the operation reliability and safety are enhanced.

The invention discloses a self-adaptive control method for operation of a coupler unhooking robot under multiple working conditions, and relates to the technical field of coupler unhooking, and the method comprises the steps: obtaining a target unhooking robot, and collecting and obtaining an operation environment data flow and a coupler state data flow; working condition sensing and coupler recognition are conducted, and the current working condition and coupler feature information are obtained; performing traversal retrieval and adaptive adjustment in the unhooking strategy database, and determining target unhooking strategy parameters; and executing unhooking operation according to the target unhooking strategy parameters, and performing adaptive closed-loop control and abnormal emergency control on the target unhooking robot based on the unhooking operation state data flow. The technical problems that in the prior art, a car coupler unhooking robot is difficult to adapt to complex and various working conditions, and consequently the unhooking operation accuracy, safety and efficiency are poor are solved, accurate sensing of the working conditions of the car coupler unhooking robot is achieved, and the technical effect of improving the unhooking operation accuracy, safety and efficiency is achieved.

The invention discloses a cooperative control method for a heavy haul railway long and large combination train based on a coupler force closed loop in order to solve the problem that operation safety is threatened due to unstability and breakage of a coupler caused by overlarge longitudinal impact force in the traction braking process of the long and large marshalling train. According to the method, coupler force is introduced into a control system of a locomotive to form a unit train coupler force closed-loop control system in a marshalling train, and traditional locomotive control is changed into train control. According to the method, the purpose of minimizing coupler force of slave control locomotives and front locomotives in a group is achieved, a distributed cooperative control strategy is adopted for unit trains in the group, the purpose of equivalently decomposing the long and large heavy-load combined train into unit trains running independently is achieved with the fact that stress of front coupler of each slave control locomotive is almost zero. And automatic driving operation of the unit trains in the marshalling is realized. By recognizing the stress change trend of the couplers and adopting a coupler force closed-loop active control mode, the overlarge impact force of the train couplers is relieved, and the running safety of the whole heavy-load train is guaranteed.

The adsorption type unhooking robot comprises a fixing device and an unhooking mechanical arm, and the fixing device comprises a 3-PRS assembly, an adsorption base assembly, a clamping arm assembly, a worm reducer assembly and a motor lead screw assembly. The device has good adaptability and stability, electronic devices such as an electronic ruler, an ultrasonic distance measuring sensor and a torque sensor are used in the fixing device, and data such as the extending distance of the air cylinder, the distance between the contact block and the corresponding face of the pedal and the clamping force applied to the surface of the pedal by the clamping arm assembly are fed back in real time; convenience is provided for feedback adjustment of the device, and the adaptability of the device is greatly improved. The acting object of the adsorption fixing device is a pedal, and the adsorption fixing device is widely applied to various freight trains and is a standard part, so that the fixing device can adapt to various train types.

The invention belongs to the technical field of coal mine auxiliary transportation, and discloses a monorail hoist yard unattended system and method.The monorail hoist yard unattended system comprises a multi-section container type mine car, a special lifting appliance, a hook picking and hooking device, a precise positioning car arrester, a righting mechanism and a car pusher, and the special lifting appliance can grab or release the container type mine car; the unhooking and hooking device is used for automatically connecting or separating the front section and the rear section of the container type mine car, the precise positioning car arrester is used for adjusting the position before the front section and the rear section of the container type mine car are separated, and the righting mechanism is used for righting the container type mine car when the special lifting appliance releases the container type mine car. The center of the container type mine car is kept consistent with the centralizing center of the centralizing mechanism, and the car pusher is used for pushing the container type mine car to a designated area. According to the invention, the effects of automation, unmanned operation and less manpower in the single-rail crane conveying process can be realized, the conveying efficiency is improved, and the traditional material distribution mode is thoroughly changed.

A coupling assembly (100) in a first car (12) configured to move relative to a second car (18), the coupling assembly (100) includes an extender (88) and a connector (99). While the first and second cars (12, 18) are both in motion, the extender (88) is configured to extend away from the first car (12) for connecting with the second car (18). The connector (99) is coupled to the extender (88) and is configured to perform the following while the first and second cars (12, 18) are both in motion: (i) connect with a mating connector (98) of the second car (18) when connecting between the first and second cars (12, 18), and (ii) disconnect from the mating connector (98) when disconnecting the first car (12) from the second car (18).

The invention discloses an operation control method and system for an unhooking robot, and relates to the technical field of robot control, and the method comprises the steps: collecting a train hooking image through a visual sensor, and extracting the position and direction features of a hooking; and based on the alignment relation between the hooking position and the current position of the robot, a moving path is planned, an unhooking action instruction is optimized, and an unhooking scheme is formed. And performing cooperative connection of path tracking and unhooking action, determining control information, and finally generating an unhooking operation control instruction containing joint movement, a clamping jaw angle and driving parameters, thereby realizing efficient and accurate unhooking operation. The technical problems of action delay and insufficient accuracy caused by incoordination of path planning and an unhooking action instruction in the operation of an existing unhooking robot are solved, and by optimizing coordination of the path planning and the unhooking action instruction and connecting path tracking and unhooking actions in advance, the effects of improving the operation efficiency and accuracy of the unhooking robot and reducing the labor intensity of the unhooking robot are achieved. And errors and collision risks are reduced.

The invention discloses an intelligent automatic hook lifting robot system for a railway wagon and an operation method. The intelligent automatic hook lifting robot system comprises an information system, a monitoring system, an unhooking robot trolley and an early warning system. The information system is used for collecting truck information, confirming the unhooking robot trolley needing unhooking operation according to the plan list, and calculating the time required by the truck to move from the unhooking position to the position of the corresponding unhooking robot trolley; the monitoring system is used for monitoring the action of the unhooking robot trolley and judging whether unhooking operation and unhooking conditions of the unhooking robot trolley are abnormal or not; the unhooking robot trolley is used for autonomously driving, autonomously judging an unhooking position, performing unhooking operation, autonomously returning, monitoring and sending state information of the unhooking robot trolley, receiving a control instruction and adjusting the state of the unhooking robot trolley according to the state information of the unhooking robot trolley or the control instruction; the early warning system is used for receiving and feeding back unhooking operation abnormal information and unhooking condition abnormal information of the unhooking robot trolley.

The invention discloses a robot for pulling a car coupler pin and picking an air pipe. The robot comprises a carrier, a pitching swing module, a telescopic arm, a folding contraction operation module and a detection module. The pitching swing module is arranged on the carrier, the output end of the pitching swing module is hinged to the fixed end of the telescopic arm, and the telescopic arm is driven to conduct pitching action and swing action; the telescopic end of the telescopic arm is connected with the folding and shrinking operation module, and the telescopic arm drives the folding and shrinking operation module to stretch out and draw back to pull pins and pick air pipes. The folding and shrinking operation module performs pin pulling operation when being unfolded and performs air pipe picking operation when being shrunk; the detection module is arranged at the fixed end of the telescopic arm and detects the positions of the coupler lock pin and the air pipe. According to the automatic pin pulling and air pipe picking device, automatic pin pulling and air pipe picking operation can be achieved, and manual pin pulling and air pipe picking are replaced; the switching between a pin pulling position and an air pipe picking position can be realized without moving the carrier; switching between the pin pulling state and the pipe picking state is achieved, and interference and damage influences of the pin pulling device on the air pipe during pipe picking are avoided.

A train coupling method for a virtual coupling control system. The train coupling method comprises: sending a coupling plan to a front train and a rear train which are to be coupled (S10); sending vehicle information of the front train to the rear train, such that the rear train establishes vehicle-to-vehicle communication on the basis of the received vehicle information (S20); exchanging information by means of the vehicle-to-vehicle communication, and controlling the front train and the rear train to approach each other (S30); the front train and the rear train each checking whether a coupling condition is met (S40); the front train and the rear train each sending coupling state information to a radio block center (S50); when it is confirmed that the coupling state information of the front train and the coupling state information of the rear train have been received and are consistent, sending coupling confirmation information to each of the front train and the rear train (S60); and when receiving the coupling confirmation information, the front train and the rear train entering a virtual coupling mode (S70). In the train coupling method for a virtual coupling control system, by means of communication among a front train, a rear train and a radio block center, an operation state is confirmed, and the front train and the rear train enter a virtual coupling state when conditions are suitable, thereby improving line operation efficiency while ensuring coupling flexibility.

The invention relates to the technical field of railway related devices, in particular to an automatic coupler unhooking and rehooking method based on artificial intelligence, and the method comprises the following steps: a coupler unhooking and rehooking robot performs wireless magnetic attraction charging in a charging station, is in a standby state, performs self-inspection once every 2 hours in the charging standby state, and performs self-inspection once every 2 hours; a self-inspection result is transmitted to the centralized control center, the robot is started, the multi-mode sensing module scans the surrounding environment of the robot and detects obstacles in the surrounding environment of the robot and a travel path, and then the robot moves to an operation position. According to the scheme provided by the invention, the unhooking and rehooking robot can realize a composite detection effect in different weather and environment states by utilizing multiple detection means in a multi-mode detection mode, so that the accuracy of environment and coupler detection by the robot is improved, and meanwhile, the efficiency of the unhooking and rehooking process is improved.

The invention relates to the technical field of trains, in particular to a re-hooking system which comprises an auxiliary moving device, a multi-axis mechanical arm and a re-hooking device, and the multi-axis mechanical arm is installed on the auxiliary moving device; the re-hooking device comprises a first supporting component, a second supporting component, an adapter arm, a hook lifting component, a re-hooking component and a re-hooking spring; one end of the first supporting component is mounted on the multi-axis mechanical arm; one end of the second supporting component is fixedly connected with the first supporting component, the other end of the second supporting component is rotationally connected with one end of the adapter arm, and the lifting hook component is rotationally connected with the other end of the adapter arm; one position of the double-hooking component is connected with one end of the first supporting component through the double-hooking spring, and the other position of the double-hooking component is rotationally connected with the other end of the first supporting component. According to the re-hooking system, complex actions such as hook lifting, hook lifting, re-hooking and positive hooking can be flexibly completed, the operation convenience is improved, and therefore manpower and material resources are saved.

The embodiment of the invention discloses a railway hump hook lifting operation robot system and method. The railway hump hook lifting operation robot system comprises a loading unit, a hook separating unit, an unloading unit, a returning unit and a central control unit. Wherein the hook separation unit comprises a hook separation robot, and the hook separation unit is used for carrying out hook separation on a vehicle set to be unhooked; the return unit comprises a carrying robot, and the return unit is used for returning the hook separating robot; the loading unit is located in front of a hook lifting operation area, and the loading unit is used for loading the carrying robot and the hook separating robot; the unloading unit is located behind the hook lifting operation area and used for unloading the hook separating robot. The loading unit and the unloading unit adopt the same equipment and mainly comprise an axle counting sensor, a speed measuring sensor, a visual sensor, a monitoring camera and a loading and unloading robot; the central control unit comprises a main controller and a monitoring terminal.

The invention provides a steering hydraulic system which is characterized in that the system comprises a power unit, the power unit is connected with a plurality of damping hydraulic cylinders so as to provide power hydraulic oil for the damping hydraulic cylinders, and a control oil way of each damping hydraulic cylinder comprises a displacement closed-loop control oil way and a hydraulic cylinder damping oil way; pressure sensors are arranged in control oil ways of the damping hydraulic cylinders to monitor oil way pressure values in real time, and the electric control unit is in signal connection with the pressure sensors so as to correspondingly switch the control oil ways of the damping hydraulic cylinders according to the real-time oil way pressure detected by the pressure sensors. Therefore, different corresponding control oil ways are selected for the hydraulic system according to different vehicle running conditions.

A control system includes a task manager that can determine capability requirements to perform a task on the target object. The task has an associated series of sub-tasks, with the sub-tasks having one or more capability requirements. The task manager selects and assigns a first sequence of sub-tasks to a first robotic machine that has a first set of capabilities and operates according to a first mode of operation. The task manager selects and assigns a second sequence of sub-tasks to a second robotic machine that has a second set of capabilities and operates according to a second mode of operation. The task manager selects the first robotic machine based on the first set of capabilities and the first mode of operation of the first robotic machine, and selects the second robotic machine based on the second set of capabilities and the second mode of operation.

The invention discloses a car coupler state detection and execution control circuit and a car coupler automatic picking and hanging system and method, and relates to the technical field of railway vehicle automation control, and the car coupler state detection and execution control circuit comprises a state detection unit which comprises a plurality of non-contact sensors arranged at different detection positions of a car coupler; the safety execution unit comprises a 2oo2 interlocking structure formed by a first relay and a second relay which are connected in series, a through-type Hall current sensor arranged on a main loop between the first relay and the second relay, and a third relay for controlling the extension and retraction directions of an electric push rod; the power supply management unit comprises a 24VDC power supply input terminal, a fuse, a reverse connection protection diode and a surge suppression TVS (Transient Voltage Suppressor) tube; wherein the output end of the state detection unit is connected to the input port of the controller, and the output port of the controller is connected to the control end of the safety execution unit. The safety of the system is improved through a hardware-level redundant architecture, and the reliability of coupler state detection is improved through multi-sensor fusion.

A freight coupler (100) is arranged on a first rail vehicle to interconnect the first rail vehicle with a second rail vehicle. The freight coupler (100) has outer and inner portions (110; 120). The outer portion (110) includes a first locking mechanism (115) of a coupler 5 head, which first locking mechanism (115) is configured to be connected to a second locking mechanism (1115) of a counter-coupler head of the second rail vehicle. The inner portion (120) includes a mounting structure for mounting on the first rail vehicle. At least one shear member (131) interconnects the outer and inner portions (110; 120) mechanically. The at least one shear member (131) is configured to break in response to a draft force (FD) exceeding a first threshold level, which draft force (FD) pulls the outer and inner portions (110; 120) away from one another so as to disconnect the outer and inner portions (110; 120) mechanically from one another and allow the outer portion (110) to be physically separated from the inner portion (120). The at least one shear member (131) is integrated in a mechanical interface (200) that is configured to absorb buff forces (FB) between the inner and outer portions (110; 120), which buff forces (FB) are absorbed without the at least one shear member (131) being broken, and which buff forces (FB) exceed the first threshold level.

An automatic control system and method for a telescopic coupler cushioning apparatus, used for coupler control. The control system comprises a locking electric cylinder (2), a telescopic electric cylinder (1), a mechanical coupler decoupling electric cylinder (4), an electric coupler telescopic electric cylinder (7), and a controller (3); the telescopic electric cylinder (1) and the locking electric cylinder (2) are both installed on a telescopic rod (81) of a mechanical coupler (8); the decoupling electric cylinder (4) is arranged at a coupler head (82) of the mechanical coupler (8); the electric coupler telescopic electric cylinder (7) is arranged on an electric coupler (701); sensors for detecting the states of the electric cylinders are respectively installed on the electric cylinders; the controller collects the states of the sensors and communicates with the electric cylinders, and outputs controls signals for the electric cylinders. The control system achieves fully-automatic control over the whole process of stretching and retracting, locking, coupling and decoupling of a mechanical coupler, and stretching and retracting, coupling and the like of an electric coupler, thereby solving the problem of some of tramcars having no gas path power source, and satisfying the requirement for a narrow space below a vehicle.

The invention discloses a front end energy absorption structure for a railway vehicle, and relates to the technical field of vehicle engineering. In the front end energy absorption structure for the railway vehicle, a car coupler mounting seat is arranged on the front side of a main body frame in the longitudinal direction and can be slidably connected to the main body frame in the longitudinal direction, and an energy absorption device and a car coupler guide device are both fixed between the car coupler mounting seat and the main body frame in the longitudinal direction; the car coupler mounting seat comprises a main seat body; the transverse middle part of the main seat body is a main connecting part which is thicker than the two sides; a center hole is longitudinally formed in the center of the main connecting part in a penetrating mode and communicated with a coupler guiding device, and the periphery, located on the center hole, of the main connecting part is used for being connected with a coupler assembly. The part, directly connected with the coupler assembly, of the main seat body is a high-stress area relative to other positions, the structural requirement for connection of the coupler assembly is met through the thick main connecting part, the other parts are subjected to weight reduction, and the lightweight effect of the front end energy absorption structure can be improved while the structural stability is guaranteed.

The invention relates to an end plate for a railway vehicle coupling head, comprising an end face characterized by an extension in the width and height direction and axially opposed to each other, and a rear face. Coupling elements comprising a coupling projection extending forward from the end plate on the front face and a coupling opening for receiving a coupling projection of a compatible end plate of a counter-rail vehicle head and a The end plate detachably connects to the gripper, which projects forward for alignment with a counter-coupling. The connection between the end plate and the gripper includes a positive-locking anti-rotation device and a locking device for fixing the gripper in the axial direction.

The invention provides an unhooking robot, and belongs to the technical field of compartment unhooking, the unhooking robot specifically comprises a chassis and a mechanical arm, the mechanical arm is connected with a manipulator, and the manipulator is used for carrying out unhooking operation on a compartment; the mechanical arm is connected with the manipulator and used for adjusting the position of the manipulator. The chassis is used for bearing the mechanical arm, and the chassis is arranged on the side of the carriage and can move in the same direction as the carriage; a telescopic positioning device is arranged on the chassis, and the two ends of the telescopic positioning device are connected to the chassis and the compartment respectively. Compared with the prior art, the time for unhooking operation through the mechanical arm is short, other preparatory work is completed before the compartment stops, namely the chassis is driven to move through movement of the compartment, in this way, in the compartment deceleration process, the mechanical arm can be controlled to move, and operation such as alignment of the mechanical arm and a hook handle is completed; and therefore, when the carriage stops, quick unhooking operation can be carried out through the manipulator.

The invention relates to an automatic train coupling (10), in particular for a freight wagon of a track-guided vehicle, especially a rail vehicle, wherein the automatic train coupling (10) has a coupling head with at least one coupling element, wherein the coupling head with the at least one coupling element is, in particular, optionally or as required, in an uncoupled and ready-to-couple position or in a coupled position. The coupling head with the at least one coupling element is, in particular, also optionally or as required, operable in a buffer position, in which the coupling head with the at least one coupling element is in an uncoupled and not ready-to-couple position.According to the invention, it is particularly provided that the automatic train coupling (10) further comprises a contactless data exchange device which is designed to detect the presence or absence of a counter coupling of an immediately adjacent wagon.

The invention provides an anti-jumping mounting structure of a hook buffer device. The coupler buffer device comprises a coupler tail frame and a coupler installed on the coupler tail frame. The coupler yoke mounting groove is formed in the vehicle body end; the mounting groove is U-shaped and is provided with a downward groove opening; the anti-jumping mounting structure comprises a guide plate, and the guide plate is mounted at an opening of the mounting groove and located on the lower portion of the coupler yoke; the plate surface of the guide plate can cover the width of the mounting groove, and an inserting groove is formed in the guide plate in the direction parallel to the extending direction of the mounting groove; and an inserting block is arranged on the coupler yoke and is arranged in the inserting groove.

The utility model discloses an automatic unhooking device for a locomotive coupler, which relates to the technical field of unhooking of locomotive couplers and comprises a locomotive end plate, a plurality of coupler seats and a plurality of coupler assemblies. The coupler rod is arranged in the through hole of the coupler seat in a penetrating manner; hook lifting driving rods are movably arranged on the coupler rod, a hook lifting driven rod is fixedly arranged on the coupler rod, and the hook lifting driven rod is arranged between the hook lifting driving rods; an electric push rod is arranged at the bottom of the hook-lifting driving rod; a coupler lifting chain is arranged in the middle of the coupler rod; a coupler pin is arranged at the bottom of the coupler lifting chain; and an electric control module is arranged on the locomotive end plate. According to the device, manual or automatic unhooking can be effectively conducted on the locomotive coupler, the risk of manual operation is reduced, the possibility of accidents is reduced, it is ensured that the locomotive coupler keeps stable in the unhooking process, unhooking is conducted smoothly, compared with a traditional unhooking mode, the unhooking efficiency and safety are effectively improved, and the unhooking time is shortened. And the requirements of modern railway transportation can be met.

The present invention relates generally to track-guided vehicles and in particular to rail vehicles. Specifically, the invention relates to an uncoupling system for an automatic train coupler for a rail vehicle and a train coupler with such an uncoupling system, as well as a method for uncoupling an automatic train coupler mechanically coupled to a counter-train coupler. The invention is characterized in that an operator specifies an actuation request (X-EK) to move the coupling lock (8) from a coupled to an uncoupled position and the control device (11) controls the uncoupling device (9) to move the coupling lock (8) from a coupled to an uncoupled position as a function of the actuation request (X-EK), wherein control only takes place when or after the availability of information confirming a verification of the actuation request (X-EK).

The invention provides a multifunctional train unhooking robot system and a control method thereof, relates to the field of rail transit automation, and aims to solve the technical problem that carriages of a traditional train cannot be dynamically and automatically separated. The system is composed of a bearing vehicle body and a recognizing and grabbing assembly, the bearing vehicle body adopts a double-straddle type frame design, and the front end and the rear end of a chassis are each provided with a set of chassis; the recognition grabbing assembly comprises a six-degree-of-freedom mechanical arm, a laser radar, a depth camera and a multifunctional integrated claw, the mechanical arm and an electric control cabinet of the mechanical arm are installed in the middle of the vehicle body, the claw with the functions of an air pulling rod, a switch angle cock, an air picking pipe and an air picking hook is installed at the tail end of the vehicle body, and a follow-up depth camera is arranged at the flange end of the claw. And a depth camera is additionally arranged at the front end of the mechanical arm base, and a lens of the depth camera faces one side of the train. The requirements of automatic wind pulling rods, angle cock opening and closing, wind pipe picking and hook picking in train operation can be met.

Systems, methods and devices for monitoring slack, coupling events, speeds and impacts, and rail car orientation during railway coupling operations and for determining health of coupling components. Monitoring devices are configured with a radar unit and circuitry to generate radar signals for detection of a rail car within a target zone, and for monitoring the rail car proximity to another rail car when adjacent rail cars are coupled together. The system, devices and methods determine slack between adjacent rail cars, and can be measured and monitored during travel of the rail cars on a track, and can also measure coupler health, including the condition of coupling components. The system, methods and devices include intelligent learning and algorithms to allow the radar to provide accurate determinations using the target location of a rail car.

According to the pressure closed-loop control algorithm of the intelligent railway vehicle hinge device, the vehicle speed, the angle and the angular speed serve as input signals, the pressure of a damper hydraulic cylinder serves as a feedback signal, meanwhile, the corresponding relation between the input signals and the feedback signal is established through a fuzzy rule, PID closed-loop control is carried out, and the control precision is improved. The damping force is changed in a self-adaptive mode so as to restrain the displacement amount of yawing motion between compartments of the intelligent railway vehicle. Complex modeling is avoided, robustness of a control system is enhanced, closed-loop control is carried out by monitoring actuator oil cylinder pressure based on the fuzzy rule, and when the pressure does not meet a target value, input current of a proportional valve is adjusted through a PID closed-loop algorithm to carry out self-adaptive control on the oil cylinder pressure. The purpose of adaptively changing the damping force to restrain the large yaw motion between the carriages of the intelligent railway vehicle is achieved.