Adsorption type unhooking robot

Abstract

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.

Description

Technical Field

[0001] The invention belongs to the technical field of railway robot structures, and in particular relates to an adsorption-type hook-removing robot. Background Art

[0002] In recent years, with the continuous expansion of railway transportation scale and the continuous improvement of transportation efficiency requirements, the automation level of marshalling yards has become the key to improving railway transportation capacity. The specific situation of existing mobile working types (including ground rail type, overhead rail type and trackless type) and fixed-point working types is as follows: (1) Mobile working style

[0003] 1) Ground rail type An existing train automatic unhooking robot mainly decomposes the unhooking action into several simple movements, each of which is independently driven by its own drive device. The unhooking robot runs on a rail laid parallel to the train and can move parallel to the train along the linear axis (X axis). Through the analysis between the speed radar and the sensor signal, the approximate position of the coupler to be unhooked can be calculated in real time and provided to the control system as a preliminary preparation for unhooking. The relevant information obtained by the above method cannot guarantee the accurate unhooking action. In order to ensure the accuracy of the unhooking action, a camera needs to be set on the unhooking robot to accurately draw the exact position of the coupler to be unhooked through image recognition technology. Finally, through the comprehensive application of various technologies, the precise position of the coupler to be unhooked is obtained, and it is fed back to the train unhooking robot to ensure its smooth unhooking. Domestic companies have borrowed this solution, but the practical effect does not meet the needs of large marshaling yards.

[0004] A railway hook-removing robot appeared in 2014. The hook-removing robot is designed with a rotating disc-shaped six-fingered claw as the front end hook-removing hand of the mechanical arm to complete the automatic hook-lifting function; a gear rack-type transverse movement mechanism is designed to realize the lateral movement of the mechanical arm, so that the mechanical arm can reach between the carriages when removing the hook, approach the hook-lifting rod, and leave the hook-lifting rod after removing the hook; a scissor-type lift is designed to realize the vertical movement of the hook-lifting mechanism to complete the hook-removing operation of hook-lifting rods at different heights; a camera is installed on the hook-removing robot to obtain the accurate position of the hook to be released through image recognition technology, so that the hook-lifting manipulator can insert the hook-lifting rod to remove the hook. This mechanical design reasonably solves the problem of the degree of freedom of the automatic hook-removing robot, but the vehicle is driven by a traction rope. Due to the large elasticity of the rope, the control is not precise enough and too complicated, which is not conducive to on-site implementation. In addition, the design does not have a device for positioning the coupler or the coupler handle, and all drivers are open-loop structures, and cannot accurately complete the tasks of following the vehicle, finding the coupler, removing the hook, and judging the end.

[0005] 2) Overhead Track An existing automatic unhooking device for trains is provided, which is arranged above a running train and extends a unhooking device downward. The unhooking device is arranged above the train and can move along the direction in which the train is running. When the train is pushed onto the hump and is ready to be disassembled, the unhooking device above it is inserted downward into the gap between the train carriages at a designated position and coupled with the hook to be unhooked to unhook. Multiple unhooking devices can be arranged on the running track at the same time, so that multiple hooks can be unhooked at the same time. The automatic unhooking device is controlled by a special electronic device. The research only completed the Adams simulation experiment, and did not produce a physical prototype, so the practicality is difficult to guarantee.

[0006] 3) Trackless An existing automatic hook-removing and hook-re-removing robot for a dumper includes a mobile carrier, a first motor is disposed at the top of the mobile carrier, an electric push rod is disposed at the output end of the first motor, a bracket is disposed at the output end of the electric push rod, an adjustment component is disposed in the inner cavity of the bracket, a connecting plate is disposed at the top of the adjustment component, a support rod is disposed at the front end of the connecting plate, a reinforcing rib is disposed on the support rod, the reinforcing rib is fixedly connected to the connecting plate, and a frame is disposed at the front end of the support rod. Although the automatic hook-removing robot does not require the laying of corresponding tracks, the small crawler mobile vehicle cannot move freely between different tracks, and may damage the surface of the rails during the shuttling process, causing unnecessary losses, and the hook-removing operation requires the device and the vehicle to move at the same speed, and the small crawler vehicle cannot meet the corresponding requirements.

[0007] Both the ground track and the overhead track require the laying of rails and occupy a huge area. They are not convenient for outdoor protection and maintenance, and are prone to failures in power supply and gas supply, making them difficult to be put into practical use. Although the trackless type does not require large-scale construction work, it is difficult to move freely in the complex track environment of the marshalling yard, whether it is wheeled or tracked, and may damage the surface of the rails, and the speed cannot be synchronized with the train carriages.

[0008] (2) Fixed-point working method An existing automatic unhooking device for railway vehicles in place mainly comprises a roller cam, a roller, a thrust cylinder, a U-shaped transmission rod, a hook unhooking chain, and a lock and lift pin. During the unhooking process, the roller rises along the roller cam, and during the rising process, the thrust cylinder and the U-shaped transmission rod are lifted up, the hook unhooking chain is tightened, and the hook between the front car and the rear car is loosened at the moment the train stops. At this time, the hook unhooking chain lifts out the lock and lift pin, so that the automatic unhooking of the coupler can be achieved.

[0009] This device is an automatic hook-removing device with a simple structure, easy to manufacture and maintain. The device uses a light source, a photoelectric controller and a microcomputer controller to manipulate the positioning electromagnet to attract an effective magnet suction head and a pull rod with a slot plate, a bump and a crank arm mounted on the vehicle to drive the rotating shaft, and pull the hook lifting chain and the lock lifting pin to achieve the purpose of hook removal. Its main disadvantage is that the electromagnet and the soft magnet suction head on the running vehicle must be accurately aligned to remove the hook, but the alignment range of the electromagnet during vehicle operation is limited. Although photoelectric control is used, when the electromagnet and the suction head deviate from each other, the purpose of hook removal is often not achieved due to insufficient suction or no suction. The reliability of the hook removal operation is poor, the control device is complex, the cost is high, and maintenance is difficult.

[0010] An existing vehicle automatic unhooking device has an upper acting cylinder and a lower acting cylinder installed on a linear motor. The upper acting cylinder is connected to an upper mechanical arm, the upper mechanical arm is connected to an upper mechanical wrist, the upper mechanical wrist is connected to an upper mechanical palm, and then there is a compression spring. The lower acting cylinder is composed of a longitudinal cylinder and a transverse cylinder. The transverse cylinder is connected to the lower mechanical wrist. The linear motor is also equipped with a light source, a camera, a hydraulic station, a controller, etc., which constitutes an automatic vehicle unhooking device.

[0011] This vehicle automatic unhooking device is suitable for automatically unhooking the connecting coupler of dismantled vehicles at railway hump marshaling yards. The device has a simple structure, is easy to manufacture, and has a low cost. Too few degrees of freedom will reduce the adaptability of the device, and the device will not work in special circumstances. To achieve the corresponding function, machine vision technology is also required, but this concept is not fully reflected in the patent.

[0012] In summary, the current research on automated hook removal technology in marshalling yards at home and abroad is mainly focused on two types: mobile working type (ground rail type, overhead rail type and trackless type) and fixed-point working type. Although the mobile working type solution can simulate the manual hook removal action, some of them require additional track laying, have high requirements for environmental conditions, and have high maintenance costs. There are many limitations in practical applications, and it is difficult to meet the needs of large marshalling yards; some may cause damage to the track during movement and have no adaptability value. The fixed-point working type solution is relatively simple in structure, but its reliability, accuracy and adaptability still need to be further improved. The existing automated hook removal technology still faces many challenges, and further research and development of more reliable, efficient, economical and adaptable automated hook removal systems are needed to meet the growing demand for automation levels in modern railway marshalling yards.

[0013] The current technologies have the following defects: Track laying is required: the track-type solution has high construction costs and cannot be applied in the turnout area of ​​​​the hump station. During the construction period, it will seriously affect the operation of the marshaling yard, causing certain economic losses. The unhooking range is limited to the length of the laid track; Poor dynamic adaptability: The number of carriages will change according to needs, and the unhooking timing of the unhooking device will also change. The unhooking device needs to have high dynamic adaptability and have corresponding unhooking capabilities for single or multiple vehicles; Insufficient compatibility: There are large differences in the height (0.7-1.5m) and spacing (30-100mm) of the coupler levers, and some vehicles may suffer varying degrees of damage during long-term transportation, which makes it difficult for existing fixing devices to adapt; Difficult maintenance: When the track or high-altitude equipment fails, it is necessary to shut down for maintenance, affecting the continuity of marshalling yard operations; Poor processing capacity: When performing unhooking operations, it may be necessary to unhook multiple carriages at the same time, and a single unhooking operation device cannot meet the needs. Summary of the invention

[0014] In order to overcome the problems existing in the prior art, the present invention provides a suction-type hook-removing robot to overcome the current defects.

[0015] A fixing device, the fixing device being used for an adsorption-type hook-removing robot, the fixing device comprising a 3-PRS assembly (7), an adsorption base assembly (8), a clamping arm assembly (9), a worm reducer assembly (10) and a motor lead screw assembly (11); The 3-PRS component (7) is connected to the adsorption base component (8) and is used to adsorb the fixing device onto other objects; The adsorption base assembly (8) is also connected to the worm reducer assembly (10) and the motor screw assembly (11) to support the entire fixing device; The clamping arm assembly (9) is connected to the worm reducer assembly (10) and is used to rotate under the drive of the worm reducer assembly (10), so that the fixing device clamps the other object; The motor screw assembly (11) is connected to the worm reducer assembly (10) and is used for pulling the worm reducer assembly (10).

[0016] According to the aspects described above and any possible implementation method, an implementation method is further provided, wherein the adsorption base assembly (8) includes an upper connecting bracket (12), and the upper connecting bracket (12) is connected to the clamping arm assembly (9) and is used to adjust the movement of the motor screw assembly (11) according to the state of the clamping arm assembly (9).

[0017] According to the aspects and any possible implementation methods described above, an implementation method is further provided, wherein the 3-PRS assembly (7) includes a triangular base (13), three identical 3-PRS branches (14) and a moving platform assembly (15), wherein the triangular base (13) is fixed on the adsorption base assembly (8); the three identical 3-PRS branches (14) are connected to the triangular base (13) through an L-shaped bracket (17), and are also connected to the moving platform assembly (15), and a proportional valve is also fixed on the L-shaped bracket (17).

[0018] According to the above aspects and any possible implementation, there is further provided an implementation, wherein the fixing device further comprises a controller, the 3-PRS assembly (7) further comprises a converter assembly (16), and the controller is connected to the converter assembly (16).

[0019] According to the aspects described above and any possible implementation method, an implementation method is further provided, wherein each of the 3-PRS branch chains (14) includes a movable pair, a rotating pair and a ball pair, wherein the movable pair is a cylinder (22), the surface of which is provided with an electronic ruler and a two-position five-way valve (28), and is fixed to the L-shaped bracket (17) by countersunk bolts, and the movable end of the cylinder (22) is provided with a metal bearing seat (21), and the metal bearing seat (21) is provided with a joint spindle (19), through which a metal connecting rod (20) passes, and joint end covers (18) are provided on both sides of the metal connecting rod (20), forming the rotating pair; the head end of the metal connecting rod (20) is connected to the moving platform assembly (15) to form the ball pair.

[0020] According to the aspects described above and any possible implementation method, an implementation method is further provided, wherein the movable platform assembly (15) includes a hexagonal movable end (29), an electromagnet (30), an electromagnet extension rod (31) and an extension rod end cover (32), wherein the electromagnet (30) is arranged at the head end of the electromagnet extension rod (31), the end of the electromagnet extension rod (31) is fixed to the hexagonal movable end (29) through the extension rod end cover (32), and the head end of the metal connecting rod (20) is inserted into the hexagonal movable end (29).

[0021] According to the above aspects and any possible implementation, an implementation is further provided, wherein the clamp arm assembly comprises a finger grabbing arm (51), an output shaft spacer (52), a torque sensor end cover (53), a torque sensor (54), a bearing seat assembly (55), an ultrasonic distance sensor (56) and a contact block (57), wherein the contact block (57) is arranged at the head end of the finger grabbing arm (51), the ultrasonic distance sensor (56) is inserted into the center of the contact block (57), the torque sensor (54) is arranged at the end of the finger grabbing arm (51), the torque sensor (54) is inserted into the torque sensor end cover (53) and is fixed to the finger grabbing arm (51), and the bearing seat assembly (55) is connected to the worm reducer assembly (10).

[0022] According to the aspects and any possible implementation methods described above, an implementation method is further provided, wherein the worm reducer assembly (10) includes a stepper motor (58), a worm reducer (59), a worm reducer bracket (60) and an output connecting plate (61), wherein the stepper motor (58) is inserted into and fixed in the worm reducer (59), and an output connecting plate (61) is provided at the front end of the worm reducer (59); the worm reducer bracket (60) is symmetrically provided on both sides of the worm reducer (59), and the worm reducer bracket (60) is connected and fixed to the bearing seat assembly (55), and at the same time, the output shaft of the worm reducer (59) is inserted into the bearing seat assembly (55), so that in a set of worm reducer assemblies (10), two clamping arm assemblies (9) are symmetrically provided on both sides.

[0023] According to the above aspects and any possible implementation, an implementation is further provided, wherein the motor screw assembly (11) comprises a servo motor (62), a trapezoidal screw (63), a screw motor connecting flange (64), a screw nut (65), a screw output connector (66), a screw motor coupling (67) and a dual-bearing bearing fixing seat group (68), wherein the servo motor (62) is fixed to the screw motor connecting flange (64), the output shaft of the servo motor (62) is plugged into one end of the screw motor coupling (67), the other end of the screw motor coupling (67) is plugged into the trapezoidal screw (63), the trapezoidal screw (63) passes through the dual-bearing bearing fixing seat group (68), the screw output connector (66) and the screw nut (65); the screw nut (65) and the screw output connector (66) are fixed by bolts, and the screw output connector (66) and the output connecting plate (61) are fixed by bolts.

[0024] The present invention also provides a suction-type hook-removing robot, which comprises a hook-removing mechanical arm and the fixing device.

[0025] Beneficial Effects of the Invention The suction-type hook-removing robot of the present invention comprises a fixing device and a hook-removing mechanical arm, wherein the fixing device comprises a 3-PRS assembly, a suction base assembly, a clamping arm assembly, a worm reducer assembly and a motor screw assembly. The present invention has the following beneficial effects: (1) Good adaptability and stability: The adsorption fixing device (4) uses electronic devices such as an electronic ruler (25), an ultrasonic distance sensor (56), and a torque sensor (54), which can provide real-time feedback on the extension distance of the cylinder (22), the distance between the contact block (57) and the corresponding surface of the pedal (2), the clamping force applied by the clamping arm assembly (9) to the surface of the pedal (2), and other data, which facilitates the feedback adjustment of the device and greatly improves the adaptability of the device. The adsorption fixing device (4) acts on the pedal (2), which is widely used in various freight trains and is a standard part, so that the adsorption fixing device (4) can adapt to various types of vehicles. The adsorption fixing device (4) divides the work into two parts: adsorption and fixation, and arranges a reasonable working method, which can effectively resist vibration and ensure that the unhooking robot (3) can remain stable even in a moving train.

[0026] (2) Low manufacturing, maintenance and modification costs: Multiple adsorption fixtures (4) can be manufactured, and these devices can perform adsorption work at the same time, with good processing capabilities. The adsorption fixture (4) adopts a modular design, and various modules are independent of each other and easy to disassemble, replace and repair. Most of the non-standard parts are metal parts, which are made by mechanical processing, which is convenient for subsequent reprocessing and provides convenience for the modification of parts.

[0027] (3) Energy saving and environmental protection: The 3-PRS component (7) in the adsorption fixing device (4) is pneumatic and is supplied with air from a gas tank (42); the stepper motor (58), the servo motor (62), the Arduino control board (38) and various sensors are powered by rechargeable batteries. After the adsorption fixing action is completed, the adsorption fixing device (4) moves with the freight train, consuming less energy and being more economical and environmentally friendly.

[0028] (4) No reliance on track laying: The adsorption fixing device (4) is directly adsorbed and fixed to the footrest (2) of the freight train, without the need for additional track laying. The construction cost is low, no major economic losses will be caused, and no damage will be caused to the track, thus reducing downtime for maintenance. It can work in complex terrains such as the turnout area of ​​a hump station, and can also achieve unhooking operations within a large working range, adapting to various numbers of carriages. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the working scene of the hook removing robot belonging to the adsorption and fixing device for railway hook removing operation according to the present invention; Figure 2 It is a structural schematic diagram of a hook-removing robot belonging to the adsorption and fixing device for railway hook-removing operation according to the present invention; Figure 3 It is a structural schematic diagram of the adsorption and fixing device for railway hook removal operation according to the present invention; Figure 4 It is a structural schematic diagram of the 3-PRS component in the adsorption and fixing device for railway hook removal operation according to the present invention; Figure 5 It is a schematic structural diagram of the 3-PRS branch chain of the 3-PRS assembly in the adsorption and fixing device for railway hook removal operation according to the present invention; Figure 6 It is a structural schematic diagram of the moving platform component of the 3-PRS component in the adsorption and fixing device for railway hook removal operation according to the present invention; Figure 7 It is a schematic structural diagram of the converter assembly of the 3-PRS assembly in the adsorption and fixing device for railway hook removal operation according to the present invention; Figure 8 It is a front structural schematic diagram of an adsorption base assembly in the adsorption fixing device for railway hook removal operation according to the present invention; Fig. 9 It is a schematic diagram of the back structure of the adsorption base assembly in the adsorption fixing device for railway hook removal operation according to the present invention; Fig.10 It is a structural schematic diagram of the clamp arm assembly in the adsorption and fixing device for railway hook removal operation according to the present invention; Fig.11 It is a structural schematic diagram of a worm reducer assembly in the adsorption and fixing device for railway hook removal operation according to the present invention; Fig.12 It is a structural schematic diagram of the motor screw assembly in the adsorption and fixing device for railway hook removal operation according to the present invention; Fig.13 It is a structural schematic diagram of the movable part of the clamping claw in the adsorption and fixing device for railway hook removal operation according to the present invention; Fig.14 It is a front structural schematic diagram of the adsorption and fixing device for railway hook removal operation according to the present invention. DETAILED DESCRIPTION

[0030] In order to better understand the technical solution of the present invention, the content of the present invention includes but is not limited to the specific implementation methods described below, and similar technologies and methods should be considered to be within the scope of protection of the present invention. In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0031] It should be clear that the embodiments described in the present invention are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] like Figure 2-Figure 14 As shown, the present invention provides an adsorption type hook-removing robot, the robot includes a hook-removing mechanical arm and a fixing device, the fixing device includes a 3-PRS component 7, an adsorption base component 8, a clamping arm component 9, a worm reducer component 10 and a motor screw component 11; the 3-PRS component 7 is connected to the adsorption base component 8, and is used to adsorb the fixing device on other objects; the adsorption base component 8 is also connected to the worm reducer component 10 and the motor screw component 11, and is used to support the entire fixing device; The clamping arm assembly 9 is connected to the worm reducer assembly 10, and is used to rotate under the drive of the worm reducer assembly 10, so that the fixing device clamps the other object; the motor screw assembly 11 is connected to the worm reducer assembly 10, and is used to pull the worm reducer assembly 10. The other object is the foot pedal of the carriage, wherein the foot pedal 2 is a standard part, with fewer types and roughly the same shape, so this structure on the carriage of the flatbed car 1 is used as the object of adsorption by the unhooking robot 3. Other types of freight trains have this standard structure, so the unhooking robot 3 involved in the present invention has a wide range of applicability, and the types of freight trains will not be discussed later. The unhooking robot 3 consists of two parts: an adsorption fixing device 4 and an unhooking mechanical arm 6, and the two are fixed by a base connected to a transition plate 5. The present invention focuses on describing the adsorption and fixing device 4, and the hook unhooking mechanical arm 6 adopts the existing device. The function of the fixing device is to carry the hook unhooking mechanical arm, so that the entire hook unhooking robot can be adsorbed and fixed to the foot pedal of the carriage, and can withstand the force brought by the hook unhooking operation. It has a high degree of adaptability and can ensure that the hook unhooking robot can efficiently and safely realize automatic hook unhooking operations when dealing with various vehicle models and hook positions.

[0033] Specifically, the adsorption and fixing device 4 for railway hook removal operation includes a 3-PRS assembly 7, an adsorption base assembly 8, a clamping arm assembly 9, a worm reducer assembly 10, a motor screw assembly 11 and a controller. The 3-PRS assembly 7 includes a triangular base 13, a 3-PRS branch chain 14, a moving platform assembly 15 and a converter assembly 16. The triangular base 13 is the frame of the entire 3-PRS assembly 7, which is used to fix the entire 3-PRS assembly 7 on the adsorption base assembly 8. The 3-PRS assembly 7 has a parallel mechanism of three identical 3-PRS branch chains 14, each of which has a moving pair, a rotating pair and a ball pair. The 3-PRS branch chain 14 is connected and fixed to the triangular base 13 through an L-shaped bracket 17, and the L-shaped bracket 17 is fixed to the cylinder 22 through a countersunk bolt, and the cylinder 22 forms the moving pair of the branch chain. The movable end of the cylinder 22 is provided with a metal bearing seat 21, and a joint spindle 19 is provided on the metal bearing seat 21. The joint spindle 19 passes through the metal connecting rod 20. Joint end covers 18 are provided on both sides of the metal connecting rod 20 to provide axial fixation for the metal connecting rod 20, thus forming a rotating pair of the branch chain. The head end of the metal connecting rod 20 is inserted into the hexagonal movable end 29 of the moving platform assembly 15 to form a ball pair of the branch chain. The branch chain has one degree of freedom, that is, the cylinder 22 acts as an active component to control the entire branch chain. The cylinder 22 has two states: retracted and extended. The proportional valve 23 is used to control and switch the air pressure in the cylinder 22. The size of the air pressure in the cylinder 22 affects the load-bearing capacity of the entire parallel mechanism. The proportional valve 23 is fixed to the L-shaped bracket 17 by bolts. The present invention needs to detect the extension length of the cylinder 22 in real time, therefore, an electronic ruler 25 is set on the side of the cylinder 22 to achieve this, the body of the electronic ruler 25 is clamped and fixed on the surface of the cylinder 22 by the electronic ruler bracket 24, and the output end of the electronic ruler 25 is fixed on the electronic ruler output end bracket 26 by two small nuts, and the electronic ruler output end bracket 26 is fixed on the metal bearing seat 21 by bolts. In this way, when the cylinder 22 extends and moves, the output end of the electronic ruler 25 is driven to move, and then the extension distance of the cylinder 22 is measured. Since the cylinder 22 is required to be quickly retracted during the adsorption process, it involves reverse ventilation of the cylinder 22. Since the proportional valve 23 cannot achieve reverse ventilation, a sheet metal bracket 27 is fixed on the surface of the cylinder 22, and a small two-position five-way valve 28 is set on the sheet metal bracket 27. The control of the two-position five-way valve 28 is achieved by a relay, and then the ventilation direction of the cylinder 22 can be changed. The three branches are all fixed on the triangular base 13, and the head ends of the metal connecting rods 20 of the three branches are all inserted into the hexagonal movable end 29 of the moving platform assembly 15. At this time, the triangular base 13 is the static platform of the 3-PRS parallel mechanism, and the hexagonal movable end 29 is the moving platform of the 3-PRS parallel mechanism, forming a complete parallel mechanism. The moving platform assembly 15 includes a hexagonal movable end 29, an electromagnet 30, an electromagnet extension rod 31 and an extension rod end cover 32. Figure 3 Since the parallel mechanism needs to fix the moving platform to the bottom surface of the pedal 2 through the electromagnet 30, the electromagnet extension rod 31 is designed to move the position of the electromagnet 30 to a lower position, so as to facilitate adsorption on the pedal 2. The end of the electromagnet extension rod 31 is fixed to the hexagonal movable end 29 through the extension rod end cover 32, and the head end of the electromagnet extension rod 31 is provided with the electromagnet 30 through a bolt. Since the controller of the adsorption fixing device 4 is an Arduino control board 38, the controller can only output a 0~100% PWM signal, that is, a digital quantity, and the proportional valve 23 changes the output air pressure by accepting different voltages, that is, the proportional valve 23 only accepts analog quantities, so the digital quantity output by the Arduino control board 38 needs to be converted into an analog quantity through a PWM converter 35, and the converter needs to be set to a suitable position, and there is still space inside the 3-PRS component 7, so a converter component 16 is provided for fixing the converter. The converter component 16 includes a triangular sheet metal 33, a converter fixing sheet metal 34 and a PWM converter 35. Three converter fixing sheet metals 34 are arranged at equal distances on the triangular sheet metal 33 , and the PWM converter 35 is arranged on the inner side of the converter fixing sheet metal 34 , corresponding to the proportional valves 23 on the three 3-PRS branches 14 , respectively.

[0034] The adsorption base assembly 8 is the frame part of the adsorption fixing device 4, and the remaining components are connected and fixed to the adsorption base assembly 8. The overall shape of the adsorption base assembly 8 is a rectangular frame, which is mainly composed of an upper connecting bracket 12 and an adsorption base bottom plate 49. The short sides of the adsorption base bottom plate 49 are fixed to the upper connecting bracket 12 by bolts, and at the center of the adsorption base bottom plate 49, it is fixed to the upper connecting bracket 12 by the bottom plate connecting flange 44 and the base connecting flange 43. The base connecting flange 43 acts as a pillar, supporting the entire rectangular frame from the center, while the bottom plate connecting flange 44 passes through the triangular base 13 in the 3-PRS assembly 7, is fixed to the adsorption base bottom plate 49, and contacts the base connecting flange 43. Various connecting wires on the PWM converter 35 pass through the center holes of the bottom plate connecting flange 44 and the base connecting flange 43, and extend from the bottom of the upper connecting bracket 12, reducing the pressure on the wiring. On one side of the long side of the adsorption base bottom plate 49, a lithium battery L-shaped bracket 41 is provided, and above the lithium battery L-shaped bracket 41, a gas storage tank 42 is provided for inflating the proportional valve 23; below the lithium battery L-shaped bracket 41, a lithium battery bracket 46 is provided for fixing the lithium battery 50, and the control board bracket 40 is provided on the two lithium battery brackets 46, on which an Arduino control board 38 is provided. On the other side of the long side of the adsorption base bottom plate 49, a lithium battery L-shaped lower bracket 45 is provided, and below the lithium battery L-shaped lower bracket 45, a lithium battery bracket 46 is also provided for fixing the lithium battery 50. Below the long sides of the adsorption base bottom plate 49, guide rails 48 are provided, and each guide rail 48 has two sliders 47, and the worm reducer brackets 60 on both sides of the worm reducer 59 are respectively fixed to the sliders 47, so that the worm reducer assembly 10 can move along the guide rails 48 under the traction of the motor screw assembly 11. Four transmitters 37 are fixed on the adsorption base bottom plate 49 by copper columns 39. Since the clamping force of the adsorption fixing device 4 acting on both sides of the pedal 2 needs to be measured in real time during the adsorption fixing process, a torque sensor 54 is provided in the clamp arm assembly 9, and the signal of the torque sensor 54 needs to be converted into an analog quantity acceptable to the Arduino control board 38 through the transmitter 37, so the transmitter (37) needs to be fixed on the adsorption base bottom plate 49, and the four transmitters 37 correspond to the four clamp arm assemblies 9 respectively. Two touch switch mounting plates 36 are symmetrically arranged on both sides of the short side of the adsorption base bottom plate 49, and the touch switch mounting plates 36 are used to fix the double-bearing type bearing fixing seat group 68 and the screw motor connecting flange 64 in the motor screw assembly 11, and fix the motor screw assembly 11 on the adsorption base assembly 8. At the same time, during the adsorption fixing process, the upper surface of the touch switch mounting plate 36 should be close to the pedal 2 to reduce the corresponding degree of freedom.The surface of the bottom plate 49 of the adsorption base is symmetrically provided with oblong holes, so as to extend the lead screw output connector 66 in the motor lead screw assembly 11 into the rectangular frame, so as to facilitate fixing with the output connecting plate 61 in the worm reducer assembly 10, thereby realizing the traction of the motor lead screw assembly (11) on the worm reducer assembly 10, and the oblong holes also facilitate the movement of the lead screw output connector 66 along the guide rail 48. Two circular grooves are provided at the bottom of the upper connection bracket 12, and the circular groove on the right side is used to set the base connection transition plate 5, so as to connect the adsorption fixing device 4 with the hook removal robot arm 6; and the circular groove on the left side is a reserved installation point for the mother robot to grasp the hook removal robot 3. The above is a structural description of the adsorption base assembly 8.

[0035] The clamp arm assembly 9 is an actuator for the adsorption and fixing device 4 to achieve adsorption and fixing. The entire adsorption and fixing device 4 includes 4 groups of clamp arm assemblies 9, which are symmetrically distributed on both sides of the device, so that the adsorption and fixing device 4 can achieve the clamping action of the pedal (2) from both sides. The clamp arm assemblies 9 on both sides are different only in the setting direction of the grasping finger rotating arm 51, and the other structures are exactly the same, all of which include: the grasping finger rotating arm 51, the output shaft spacer 52, the torque sensor end cover 53, the torque sensor 54, the bearing seat assembly 55, the ultrasonic distance sensor 56 and the contact block 57. The contact block 57 is arranged at the head end of the grasping finger rotating arm 51, and the ultrasonic distance sensor 56 is inserted in the center of the contact block 57. The torque sensor 54 is arranged at the end of the grasping finger rotating arm 51. The torque sensor 54 is inserted into the torque sensor end cover 53 and fixed to the grasping finger rotating arm 51. The bearing seat assembly 55 is connected to the worm reducer assembly 10. Specifically, a contact block 57 is provided at the head end of the finger-grabbing rotating arm 51, which is the part that directly contacts the pedal 2. After digging a hole in the center of the contact block 57, an ultrasonic distance sensor 56 is inserted and fixed with a nut. The ultrasonic distance sensor 56 is used to detect the distance between the corresponding surfaces of the clamping arm assembly 9 and the pedal 2 during the clamping process, so as to facilitate the subsequent adjustment of the clamping force. A torque sensor 54 is provided at the end of the finger-grabbing rotating arm 51, and the head end of the torque sensor 54 is inserted into the torque sensor end cover 53 and fixed to the finger-grabbing rotating arm 51. An output shaft spacer 52 is installed at the end of the torque sensor 54, and the output shaft spacer 52 is fixed to the bearing seat assembly 55 by bolts. Later, when the clamping arm assembly 9 begins to bear the reaction force brought by clamping the pedal 2, the torque sensor 54 deflects, and then generates a signal and sends it to the Arduino control board 38 through the transmitter 37, and the movement of the motor screw assembly 11 is appropriately adjusted according to the clamping force.

[0036] The worm reducer assembly 10 includes a stepper motor 58, a worm reducer 59, a worm reducer bracket 60 and an output connecting plate 61. The function of the worm reducer assembly 10 is to control the rotation of the clamp arm assembly 9, to ensure that the surface of the contact block 57 in the clamp arm assembly 9 can be parallel to the surface of the corresponding pedal 2, thereby ensuring the clamping effect. The stepper motor 58 is directly inserted into the worm reducer 59 and fixed, and an output connecting plate 61 is arranged at the front end of the worm reducer 59, and the output connecting plate 61 is fixed to the screw output connector 66 in the motor screw assembly 11 by bolts. The worm reducer bracket 60 is symmetrically arranged on both sides of the worm reducer 59, and the worm reducer bracket 60 is fixed to the bearing seat assembly 55 in the clamp arm assembly 9 by bolts, and the output shaft of the worm reducer 59 is inserted into the bearing seat assembly 55 of the clamp arm assembly 9, so that in a set of worm reducer assemblies 10, the clamp arm assemblies 9 are symmetrically arranged on both sides. The worm reducer bracket 60 is connected to the slider 47 on the guide rail 48 to ensure that the entire worm reducer assembly 10 and the clamping arm assemblies 9 on both sides can move along the guide rail 48 under the traction of the motor screw assembly 11. The entire adsorption and fixing device 4 includes two sets of worm reducer assemblies 10, which are symmetrically distributed on both sides of the device. The above is a structural description of the worm reducer assembly (10).

[0037] The motor screw assembly 11 is used to control the clamping movement of the clamp arm assembly 9. The motor screw assemblies 11 on both sides of the adsorption fixing device 4 move toward the center plane at the same time, and the clamp arm assembly 9 squeezes both sides of the pedal 2, thereby realizing the clamping action. First, the servo motor 62 is fixed to the screw motor connecting flange 64 by bolts. After being fixed, the output shaft of the servo motor 62 is inserted into one end of the screw motor coupling 67. The other end of the screw motor coupling 67 is inserted with a trapezoidal screw 63. The trapezoidal screw 63 passes through the double-bearing bearing fixing seat group 68, the screw output connector 66 and the screw nut 65. The double-bearing bearing fixing seat group 68 and the screw motor connecting flange 64 are both fixed to the touch switch mounting plate 36, thereby fixing the motor screw assembly 11 on the adsorption base assembly 8. The screw nut 65 and the screw output connector 66 are fixed by bolts, and both move synchronously with the rotation of the trapezoidal screw 63, and the screw output connector 66 pulls the worm reducer 59 to move. The above is a structural description of the motor screw assembly 11.

[0038] The structure related to the movement of the clamping arm in the adsorption fixing device 4 is formed by two sets of motor screw assemblies 11, two sets of worm reducer assemblies 10 and four sets of clamping arm assemblies 9. The structure is symmetrically distributed on both sides of the adsorption fixing device 4, such as Fig.13As shown. The dual-bearing bearing fixing seat group 68 and the screw motor connecting flange 64 in the motor screw assembly 11 are fixed to the touch switch mounting plate 36 of the adsorption base assembly 8, and then the worm reducer bracket 60 in the worm reducer assembly 10 is connected to the slider 47 on the guide rail 48 in the adsorption base assembly 8, so that the motor screw assembly 11 and the worm reducer assembly 10 are fixed to the adsorption base assembly 8. Then, the base connecting flange 43 passes through the triangular bottom plate in the 3-PRS assembly 7 and is fixed to the adsorption base bottom plate 49 in the adsorption base assembly 8 by bolts, so that the 3-PRS assembly 7 is fixed to the adsorption base assembly 8. So far, the internal structure of all components of the adsorption fixing device 4 and the structural relationship between various components have been explained.

[0039] As an embodiment disclosed by the present invention, the present invention also provides an adsorption-type hook removal robot, the robot includes a hook removal mechanical arm and the fixing device, and the hook removal mechanical arm and the fixing device are fixed via a base connected to a transition plate. The adsorption-type hook removal robot 3 is adsorbed on the side of the freight train during operation, and needs to have an anti-falling capability, and the hook removal position is flexible and not restricted by ground line conditions. The first is the selection of the adsorption position. The adsorption position of the adsorption-type hook removal robot 3 of the present invention during operation is the pedal 2 of the train, such as Figure 1 As shown in the figure, the vehicle type selected is a flatbed truck 1, the pedal 2 is located at the end of the flatbed truck 1, and the hook-removing robot 3 is adsorbed on the pedal 2. The pedal 2 is a standard part, with fewer types and roughly the same shape, so the structure on the flatbed truck 1 is used as the object of adsorption by the hook-removing robot 3. Other types of freight trains have this standard structure, so the adsorption-type hook-removing robot of the present invention has a wide range of applicability, and the types of freight trains will not be discussed later.

[0040] The adsorption and fixing device 4 for railway hook removal operations of the present invention is arranged on an adsorption and hook removal robot. When the adsorption and hook removal robot starts to work, the mother robot lifts the hook removal robot 3 from the mobile robot by grabbing the handle set at the upper connecting bracket 12, and moves it to the pedal 2 of the moving cart 1 and transports the hook removal robot 3 at a speed relatively stationary to the cart 1, so as to ensure that the fixing device 4 can work normally as much as possible and complete the adsorption and fixing task in a shorter time.

[0041] As an embodiment disclosed in the present invention, the present invention also provides a child-mother type hook-removing robot system. The whole system includes two mother robots, which are responsible for loading and unloading the hook-removing robot at the carriage foot pedal, several adsorption-type hook-removing robots, which are responsible for adsorbing on the foot pedal and directly performing hook-removing operations, and a set of mobile robots are responsible for cyclically transmitting the hook-removing robot between the loading point and the unloading point. The system does not need to lay additional tracks, has a low construction cost, and does not affect the daily operation of the marshaling yard. The hook-removing robot can directly perform hook-removing operations in complex areas such as turnouts, is not affected by the push-peak speed, and is suitable for various types of hump stations, including complex four-push double-slide hump stations. The system has the advantages of high adaptability, low risk, and easy maintenance. The hook-removing robot can visually identify the position of the coupler, can undertake most of the hook-removing operations, and multiple hook-removing robots can operate simultaneously. By co-controlling with the shunting system, abnormal situations can be discovered and handled in a timely manner to ensure safe and reliable operation. Compared with the traditional track-type solution, the child-mother solution of the present invention has higher efficiency, stronger adaptability and lower maintenance cost, and effectively solves the limitations of the existing technology in complex hump station scenarios. The workflow of the adsorption-type hook-removing robot in the system is as follows: it is loaded by the No. 1 mother robot and placed on the moving truck. The hook-removing robot can perform the adsorption action by itself. After completing the adsorption, the No. 1 mother robot releases the hook-removing robot, and then the hook-removing robot performs the hook-removing action. After completing the hook-removing, it is unloaded from the truck by the No. 2 mother robot and placed on the mobile robot. It replenishes energy during the movement and is ready for the next hook-removing work.

[0042] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0043] The above description shows and describes several preferred embodiments of the present invention, but as mentioned above, it should be understood that the present invention is not limited to the form disclosed in the present invention, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the application concept of the present invention through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art shall not deviate from the spirit and scope of the present invention, and shall be within the scope of protection of the claims attached to the present invention.

Claims

1. A fixing device, characterized in that: The fixing device is used for an adsorption-type hook-removing robot. The fixing device comprises a 3-PRS assembly (7), an adsorption base assembly (8), a clamping arm assembly (9), a worm reducer assembly (10), and a motor screw assembly (11); The 3-PRS component (7) is connected to the adsorption base component (8) and is used to adsorb the fixing device onto other objects; The adsorption base assembly (8) is also connected to the worm reducer assembly (10) and the motor screw assembly (11) to support the entire fixing device; The clamping arm assembly (9) is connected to the worm reducer assembly (10) and is used to rotate under the drive of the worm reducer assembly (10), so that the fixing device clamps the other object; The motor screw assembly (11) is connected to the worm reducer assembly (10) and is used for pulling the worm reducer assembly (10).

2. The fixing device according to claim 1, characterized in that: The adsorption base assembly (8) comprises an upper connecting bracket (12), and the upper connecting bracket (12) is connected to the clamping arm assembly (9) and is used to adjust the movement of the motor screw assembly (11) according to the state of the clamping arm assembly (9).

3. The fixing device according to claim 1 or 2, characterized in that: The 3-PRS assembly (7) comprises a triangular base (13), three identical 3-PRS branches (14) and a moving platform assembly (15); the triangular base (13) is fixed on the adsorption base assembly (8); the three identical 3-PRS branches (14) are connected to the triangular base (13) through an L-shaped bracket (17), and are also connected to the moving platform assembly (15); a proportional valve is also fixed on the L-shaped bracket (17).

4. The fixing device according to claim 3, characterized in that: The fixing device further comprises a controller, and the 3-PRS assembly (7) further comprises a converter assembly (16), wherein the controller is connected to the converter assembly (16).

5. The fixing device according to claim 3, characterized in that: Each of the 3-PRS branch chains (14) includes a moving pair, a rotating pair and a ball pair. The moving pair is a cylinder (22) on the surface of which an electronic ruler and a two-position five-way valve (28) are arranged and fixed to the L-shaped bracket (17) by countersunk bolts. The moving end of the cylinder (22) is provided with a metal bearing seat (21), and the metal bearing seat (21) is provided with a joint spindle (19), through which a metal connecting rod (20) passes. Joint end covers (18) are arranged on both sides of the metal connecting rod (20), forming the rotating pair; the head end of the metal connecting rod (20) is connected to the moving platform assembly (15) to form the ball pair.

6. The fixing device according to claim 5, characterized in that: The movable platform assembly (15) comprises a hexagonal movable end (29), an electromagnet (30), an electromagnet extension rod (31) and an extension rod end cover (32), wherein the electromagnet (30) is arranged at the head end of the electromagnet extension rod (31), the end of the electromagnet extension rod (31) is fixed to the hexagonal movable end (29) via the extension rod end cover (32), and the head end of the metal connecting rod (20) is inserted into the hexagonal movable end (29).

7. The fixing device according to claim 1, characterized in that: The clamp arm assembly comprises a finger grabbing arm (51), an output shaft spacer (52), a torque sensor end cover (53), a torque sensor (54), a bearing seat assembly (55), an ultrasonic distance measuring sensor (56) and a contact block (57); the contact block (57) is arranged at the head end of the finger grabbing arm (51); the ultrasonic distance measuring sensor (56) is inserted into the center of the contact block (57); the torque sensor (54) is arranged at the end of the finger grabbing arm (51); the torque sensor (54) is inserted into the torque sensor end cover (53) and fixed to the finger grabbing arm (51); the bearing seat assembly (55) is connected to the worm reducer assembly (10).

8. The fixing device according to claim 7, characterized in that: The worm reducer assembly (10) comprises a stepper motor (58), a worm reducer (59), a worm reducer bracket (60) and an output connecting plate (61); the stepper motor (58) is inserted into and fixed in the worm reducer (59); an output connecting plate (61) is arranged at the front end of the worm reducer (59); the worm reducer bracket (60) is symmetrically arranged on both sides of the worm reducer (59); the worm reducer bracket (60) is connected and fixed to the bearing seat assembly (55); and the output shaft of the worm reducer (59) is inserted into the bearing seat assembly (55), so that in a set of worm reducer assemblies (10), two clamping arm assemblies (9) are symmetrically arranged on both sides.

9. The fixing device according to claim 8, characterized in that: The motor screw assembly (11) comprises a servo motor (62), a trapezoidal screw (63), a screw motor connecting flange (64), a screw nut (65), a screw output connector (66), a screw motor coupling (67) and a double-bearing bearing fixing seat group (68), wherein the servo motor (62) is fixed to the screw motor connecting flange (64), the output shaft of the servo motor (62) is plugged into one end of the screw motor coupling (67), the other end of the screw motor coupling (67) is plugged into the trapezoidal screw (63), the trapezoidal screw (63) passes through the double-bearing bearing fixing seat group (68), the screw output connector (66) and the screw nut (65); the screw nut (65) and the screw output connector (66) are fixed by bolts, and the screw output connector (66) and the output connecting plate (61) are fixed by bolts.

10. A suction-type hook-removing robot, characterized in that: The robot comprises a hook-removing robot arm and the fixing device according to any one of claims 1-9.

Images