A device for a railway hump operation robot to achieve the same speed as the train

Abstract

A train speed synchronization device for a railway hump operation robot disclosed by the present invention includes a foundation, a rail, a robot frame, a train speed synchronization detection device, a train speed detection device, and a scanning car body gap mechanism. The foundation is arranged on one side of the train track, the rail is arranged on the foundation parallel to the train track, the robot frame is arranged on the rail, a train carriage is arranged on the train track, the train speed detection device is arranged between the bottom plate of the train carriage and the train wheels, the scanning car body gap mechanism is arranged on the robot frame, and the train speed synchronization detection device is arranged in the middle of the upper part of the robot frame. The present invention belongs to the technical field of railway transportation uncoupling, and specifically is a train speed synchronization device for a railway hump operation robot that uses the train speed detection device to enable the main control room to detect the train speed in real time through the device, and uses the train speed synchronization detection device to enable the robot to obtain feedback after synchronizing with the train.

Description

Technical Field

[0001] The present invention belongs to the technical field of railway transportation uncoupling, and particularly relates to a train speed synchronization device for a railway hump operation robot. Background Art

[0002] In China, railway transportation is an indispensable part of the road transportation industry. Railway transportation undertakes the transportation of large goods or some goods that cannot be transported by road. Due to the heavy self-weight of train carriages, in order to ensure the smooth running of each carriage on the track, mechanical couplers are used to connect two carriages. Therefore, the uncoupling work at railway marshalling yards is completed manually. The uncoupling process is as follows: The uncoupling operator, holding the freight record sheet in one hand, finds the carriage that needs to be uncoupled in the current train, runs to the uncoupling position, and performs the single-handed uncoupling action with the other hand. And a process of protecting the coupler for a certain distance is required. Finally, the uncoupling process is completed and recorded.

[0003] The manual uncoupling working conditions are relatively complex, the operation is relatively difficult, and the uncoupling time needs to be judged by the operator according to work experience. The carriages that need to be uncoupled of the train are only recorded in the freight list held by the operator. Outdoor operation is affected by weather or other external factors, resulting in the situation of the operator uncoupling by mistake or missing uncoupling. After such a situation occurs, in order to investigate this situation, the train needs to be pulled back and rechecked, thereby reducing the efficiency of the uncoupling work at the marshalling yard.

[0004] Comprehensive research on railway uncoupling technologies at home and abroad shows that: The railway uncoupling technologies studied abroad are not applicable to domestic marshalling yard operations, and the domestic research results are not applicable to on-site requirements. Some achievements cannot be applied or widely used due to cost and technical reasons. Generally speaking, the existing uncoupling technologies have the following difficulties:

[0005] 1. The structural form of vehicle couplers. In China, the types of vehicles are diverse, and the vehicle couplers in the country have not been uniformly adjusted. As a result, the shapes of coupler loops are different, and the positions of couplers are different, which makes it impossible for robots to complete the uncoupling operation through simple and repetitive operations.

[0006] 2. Different shapes of vehicle couplers. Some of the trains currently in use at marshalling yards in China have been in use for a long time, and there are certain damages to the coupler loops and certain deformations of the coupler shanks, making it more difficult for robots to uncouple automatically.

[0007] 3. Different running speeds of train vehicles during operation. During the uncoupling process at marshalling yards, it is very difficult to ensure the same speed of the train. During the uncoupling operation, the operator needs to synchronize the speed with the train vehicle to perform the uncoupling operation. If the uncoupling is too early, the coupler tongue will automatically fall, and the vehicles cannot be separated.

[0008] 4. The single hook-lifting time is relatively short. When the train uncouples, its running speed is approximately 3 - 5 km / h, and the uncoupling distance is approximately 8 to 10 meters, which requires the uncoupling operator to remove the hook within a short time. It is difficult to use a robot to replace humans for uncoupling.

[0009] 5. The number of carriages for train uncoupling is complex. When a train enters a marshalling station, there are approximately 15 - 25 carriages, and only 1 to 4 of them need to be uncoupled. The robot needs to identify and determine the position of the carriages to be uncoupled. This situation poses certain technical difficulties for automatic uncoupling.

[0010] The existing train uncoupling clamping system has the following disadvantages: It uses a hugging-arm method to make rigid collision contact with the train bogie, and realizes the same speed as the train by clamping the train bogie before and after, which has certain risks, is prone to damage the equipment, and has poor stability; The driving method of the clamping method is pneumatic, and a large amount of gas storage is required for rigid collision contact with the train bogie, and a relatively large air pipe needs to be equipped, occupying a large amount of space; The types of trains commonly used in our country are diverse, and the types of bogie models are numerous. The contact plane is not necessarily a specific plane, and the types of clamping methods used are relatively single. Summary of the Invention

[0011] In view of the above situation, to overcome the defects of the prior art, the present invention provides a device for a railway hump operation robot to achieve the same speed as the train, which mainly includes a train speed detection device and a train speed synchronization detection device. This application mainly uses a train speed detection device composed of a connecting plate, an extended clamp, a rotating shaft rod, an encoder fixing part, a speed detection encoder, and a rubber roller to enable the main control room to detect the train speed in real time through the device; A train speed synchronization detection device composed of a cylinder, a guide rail slider, a cylinder guide rail connecting plate, an angle detection encoder, an encoder mounting plate, and a nylon contact rod is used to obtain feedback after the robot synchronizes with the train.

[0012] The technical solution adopted by the present invention is as follows: A train speed synchronization device for a railway hump operation robot, comprising a foundation, a rail, a robot frame, a train speed synchronization detection device, a train speed detection device, and a scanning car seam mechanism. The foundation is provided on one side of the train track. The rail is provided on the foundation parallel to the train track. The robot frame is provided on the rail. There is a train carriage on the train track. The train speed detection device is provided between the bottom plate of the train carriage and the train wheel. The scanning car seam mechanism is provided on the robot frame. The train speed synchronization detection device is provided in the middle of the upper part of the robot frame. The train speed synchronization detection device includes a cylinder, a rear cylinder fixing member, a front cylinder fixing member, a guide rail slider, a cylinder guide rail connecting plate, an angle detection encoder, an encoder mounting plate, and a nylon contact rod. The front cylinder fixing member and the rear cylinder fixing member are oppositely arranged on the steel plate of the robot frame. The cylinder is provided between the front cylinder fixing member and the rear cylinder fixing member. The cylinder is connected with a cylinder guide rail connecting plate. The guide rail slider is provided on the cylinder guide rail connecting plate. The encoder mounting plate is provided at the front end of the guide rail slider. The angle detection encoder is provided on the encoder mounting plate. The nylon connecting rod is provided on the rotating shaft of the angle detection encoder.

[0013] Further, the train speed detection device includes a fixed clamping plate, an extended clamping plate, a speed detection encoder, a rubber roller, a rotating shaft rod, a roller fixing washer, and an encoder fixing member. The fixed clamping plate is provided on the bottom plate of the train carriage. The fixed clamping plate is connected with a connecting plate. The connecting plate is connected with an extended clamping plate. The extended clamping plate is connected with a rotating shaft rod. The rotating shaft rod is connected with an encoder fixing member. The speed detection encoder is provided on the encoder fixing member. The rotating shaft of the speed detection encoder is connected with a rubber roller. The train carriage is provided with a train bogie. The rubber roller is in contact with the surface of the wheel of the train bogie.

[0014] Further, the scanning car seam mechanism includes a rear lidar and a front lidar.

[0015] After adopting the above structure, the beneficial effects of the present invention are as follows: The train speed synchronization device of the railway hump operation robot of the present invention can accurately detect the number of carriages. Before the uncoupling operation starts, it can ensure that the uncoupled carriages are the correct ones; it can ensure synchronization with the movement of the train. In order to complete the uncoupling action, the robot completes the uncoupling operation under the condition of synchronizing with the train, realizing that the uncoupler or the robot needs to complete the uncoupling operation with the train in a relatively static motion state. (If the synchronization is high, it is equivalent to the uncoupling robot operating on a stationary train); when meeting the stiffness and strength required for the uncoupling operation, it is designed to be as lightweight as possible, so as to increase the speed; flexible collision is adopted for speed synchronization. Using rigid collision during the speed synchronization process may cause damage to the robot equipment, requiring too much time and cost for maintenance, and the uncoupling operation on this line of the marshalling station needs to be suspended. Therefore, in the design, rigid collision between the equipment and the train carriages should be avoided, and flexible collision or non-contact detection should be used as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention.

[0017] Figure 1 It is a schematic diagram of the overall structure of the train speed synchronization device of the railway hump operation robot of the present invention;

[0018] Figure 2 is Figure 1 an enlarged view of part A of

[0019] Figure 3 It is a schematic diagram of the structure of the train speed synchronization detection device of the railway hump operation robot of the present invention;

[0020] Figure 4 It is a schematic diagram of the structure of the train speed detection device of the railway hump operation robot of the present invention.

[0021] In the accompanying drawings: 1. Foundation; 2. Rail; 3. Robot frame; 4. Train co-speed detection device; 5. Train speed detection device; 6. Scanning car body seam mechanism; 7. Train carriage; 8. Cylinder; 9. Rear cylinder fixing part; 10. Front cylinder fixing part; 11. Guide rail slider; 12. Cylinder guide rail connecting plate; 13. Angle detection encoder; 14. Encoder mounting plate; 15. Nylon contact rod; 16. Fixed clamping plate; 17. Extended clamping plate; 18. Speed detection encoder; 19. Rubber roller; 20. Rotating shaft rod; 21. Roller fixing washer; 22. Encoder fixing part; 23. Rear lidar; 24. Front lidar; 25. Connecting plate; 26. Reinforcing rib; 27. Clamping screw; 28. Train carriage floor; 29. Train bogie; 30. Car body seam. Detailed implementation mode

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a 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 those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0024] Such as Figures 1-4As shown in the figure, a train speed synchronization device for a railway hump operation robot, which comprises a foundation 1, a rail 2, a robot frame 3, a train speed synchronization detection device 4, a train speed detection device 5 and a scanning car body gap mechanism 6. The foundation 1 is arranged on one side of the train track. The rail 2 is arranged on the foundation 1 parallel to the train track. The robot frame 3 is arranged on the rail 2. There is a train carriage 7 on the train track. The train speed detection device 5 is arranged between the bottom plate of the train carriage 7 and the train wheels. The scanning car body gap mechanism 6 is arranged on the robot frame 3. The train speed synchronization detection device 4 is arranged in the middle of the upper part of the robot frame 3. The train speed synchronization detection device 4 comprises a cylinder 8, a rear cylinder fixing part 9, a front cylinder fixing part 10, a guide rail slider 11, a cylinder guide rail connecting plate 12, an angle detection encoder 13, an encoder mounting plate 14 and a nylon contact rod 15. The front cylinder fixing part 10 and the rear cylinder fixing part 9 are oppositely arranged on the steel plate of the robot frame 3. The cylinder 8 is arranged between the front cylinder fixing part 10 and the rear cylinder fixing part 9. The cylinder 8 is connected with the cylinder guide rail connecting plate 12. The guide rail slider 11 is arranged on the cylinder guide rail connecting plate 12. The guide rail slider 11 slides along the telescopic direction of the cylinder 8 on the steel plate of the robot frame 3 and is arranged on one side of the cylinder 8. The encoder mounting plate 14 is arranged at the front end of the guide rail slider 11. The angle detection encoder 13 is arranged on the encoder mounting plate. The nylon connecting rod is arranged on the rotating shaft of the angle detection encoder 13. When the train speed detection device 5 detects the train speed and the lidar (mounted at the rear of the robot) detects the car body gap at the uncoupling position, the robot starts to move in the forward direction of the train. At this time, the cylinder 8 in the train speed synchronization detection device 4 extends. When the nylon contact rod 15 contacts the front plane of the train bogie 29 and the angle detection encoder 13 rotates 30 degrees, at this time, the robot and the train are at the same speed. The angle values transmitted by the angle detection encoder 13 are used to detect whether the robot and the train are at the same speed.

[0025] Among them, the train speed detection device 5 includes a fixed clamping plate 16, an extended clamping plate 17, a speed detection encoder 18, a rubber roller 19, a rotating shaft rod 20, a roller fixing washer 21 and an encoder fixing member 22. The fixed clamping plate 16 is arranged on the bottom plate of the train carriage 7. The fixed clamping plate 16 is connected to a connecting plate 25. The connecting plate 25 is connected to an extended clamping plate 17. The extended clamping plate 17 is connected to a rotating shaft rod 20. The rotating shaft rod is connected to an encoder fixing member 22. The speed detection encoder 18 is arranged on the encoder fixing member 22. The rotating shaft of the speed detection encoder 18 is connected to a rubber roller 19. The train carriage 7 is provided with a train bogie 29. The rubber roller 19 is in contact with the surface of the wheel of the train bogie 29. The device is installed on the bottom plate of the train carriage 7 through the connecting plate 25. Through the connecting threaded holes, clamping is achieved by clamping screws. There is a gap in the middle of one end of the extended clamping plate 17 for installation on the connecting plate 25 and clamping is carried out through threads, which is convenient for disassembly and adjustment of the installation position. The other end of the extended clamping plate 17 is installed with a rotating shaft rod 20 and is fixed by a nut through the threads on the rotating shaft rod 20. The roller fixing washer 21 is arranged on the rubber roller 19. The micro-tail end of the rotating shaft rod 20 is connected to the speed detection encoder 18 fixed on the encoder fixing member 22. The rubber roller 19 is installed on the rotating shaft of the speed detection encoder 18. The rubber roller 19 is in contact with the surface of the wheel of the train bogie 29. When the train starts to move and the train wheels start to rotate, the rubber roller 19 in contact with the train roller starts to rotate, driving the rotating shaft of the speed detection encoder 18 to start rotating. In the program, function proportional substitution is carried out to convert the speed of the rotation of the small rubber roller 19 into the speed of the train, and the obtained train speed is transmitted to the robot; the sewing seam scanning mechanism 6 includes a rear lidar 23 and a front lidar 24, and the train sewing seam is scanned by the lidar for counting. The lidar is placed on the side so that its scanning range is in the vertical direction. The lidar can emit a signal in an area with an angle of 270 degrees, a thickness of 40 cm and a length of 10 m. If there is an opaque object in this area, a signal can be fed back. When the carriage is scanned, a high-level signal is displayed. When the sewing seam is scanned and there is no obstacle in the scanning area, the high level is converted into a low level, and the falling edge is counted. For the front and rear two lidars, addition and subtraction are calculated according to the order of scanning the sewing seam successively.

[0026] During specific use, the robot frame 3 is installed on the steel rail 2. The two steel rails 2 are parallel to the two tracks of the train, and a steel plate is welded to the robot frame 3 to provide an installation platform. The speed measurement fixed clamping plate 16 is clamped at one end and is U-shaped. The other end of the speed measurement fixed clamping plate 16 is T-shaped with the connecting plate 25, and a reinforcing rib 26 is provided between the other end of the speed measurement fixed clamping plate 16 and the connecting plate 25. First, the train starts to move, and the rubber roller 19 in contact with the train roller rotates accordingly, driving the rotation of the shaft of the speed detection encoder 18. In the program, function proportional substitution is performed to convert the speed of the rotation of the small rubber roller 19 into the speed of the train, and the train speed is obtained. The obtained train speed is transmitted to the robot. When the lidar installed on the robot (installed at the rear of the robot) detects the seam of the car body at the position where the hook needs to be unhooked, the robot starts to move in the forward direction of the train. The robot accelerates from a standstill. At the same time, the cylinder 8 installed on the steel plate extends, and the angle detection encoder 13 at the front end of the guide rail slider 11 extends. When the nylon contact rod 15 contacts the front plane of the train bogie and the angle detection encoder 13 rotates 30 degrees, at this time, the robot and the train have the same speed. The robot can perform the hook unhooking operation.

[0027] In the train speed synchronization device of the railway hump operation robot of the present application, the driving mode of the train speed synchronization detection device adopts the pneumatic mode. Its advantage is that it can respond quickly. In the process of railway hook unhooking operation, a short time is required. Adopting pneumatic drive can save time as much as possible, shorten the time for the train and the robot to reach the same speed, and in case of emergencies, adopting the pneumatic mode can quickly retract to ensure that it will not be damaged.

[0028] In the train speed synchronization device of the railway hump operation robot of the present application, the contact part between the train speed synchronization detection device and the train bogie adopts a contact rod made of nylon material, and the angle detection encoder can rotate 360 degrees, forming a flexible collision with the train bogie. In case of emergencies, the angle detection encoder can rotate 360 degrees to ensure that the equipment will not be damaged due to the associated movement with the train.

[0029] In the train speed detection device of the railway hump operation robot of the present application, the screw method is adopted for clamping, which is convenient for installing and adjusting the corresponding position. Rotating the rotating shaft can achieve 360-degree rotation. During installation, it is ensured that a certain angle is formed with the train roller to ensure that the rubber roller can always be in contact with the train roller during the movement of the train, and the situation of suspension or detachment will not occur.

[0030] The present application discloses a railway hump operation robot train speed sharing device. In the marshaling yard, there are few locomotives in the unmarshaling operation. The speed detection device of the present invention can be installed at the locomotive head, and the equipment cost is low. The encoder can be powered by the locomotive, and the bridge is used for data transmission. If the data exceeds a certain range, the data will be disconnected and cannot be read. This ensures that after multiple locomotives are installed, there will be no interference between the devices, and the stability is good.

[0031] The present application discloses a railway hump operation robot train speed measuring device in which a complete set of train speed measuring devices is installed on the bottom plate of the locomotive. Before the entire train carriage enters the unhooking operation area, personnel are required to inspect the removal of the air duct. The inspectors only need to inspect the devices fixed on the bottom of several locomotives. In addition, the device adopts a multi-section installation, which is more convenient for disassembly and installation during maintenance and inspection.

[0032] Although the embodiments of the present invention have been shown and described, it is understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents. In short, if those skilled in the art are inspired by them and design structural modes and embodiments similar to the technical solution without creativity without departing from the purpose of the present invention, they shall all fall within the scope of protection of the present invention.

Claims

1. A device for a railway hump operation robot to achieve the same speed as a train, characterized in that: It includes a foundation, a steel rail, a robot frame, a train speed synchronization detection device, a train speed detection device, and a scanning car seam mechanism. The foundation is arranged on one side of the train track. The steel rail is arranged on the foundation parallel to the train track. The robot frame is arranged on the steel rail. There is a train carriage on the train track. The train speed detection device is arranged between the bottom plate of the train carriage and the train wheels. The scanning car seam mechanism is arranged on the robot frame. The train speed synchronization detection device is arranged in the middle of the upper part of the robot frame. The train speed synchronization detection device includes a cylinder, a rear cylinder fixing piece, a front cylinder fixing piece, a guide rail slider, a cylinder guide rail connecting plate, an angle detection encoder, an encoder mounting plate, and a nylon contact rod. The front cylinder fixing piece and the rear cylinder fixing piece are arranged oppositely on the steel plate of the robot frame. The cylinder is arranged between the front cylinder fixing piece and the rear cylinder fixing piece. The cylinder is connected with the cylinder guide rail connecting plate. The guide rail slider is arranged on the cylinder guide rail connecting plate. The encoder mounting plate is arranged at the front end of the guide rail slider. The angle detection encoder is arranged on the encoder mounting plate. The nylon contact rod is arranged on the rotating shaft of the angle detection encoder.

2. The train speed synchronization device of the railway hump operation robot according to claim 1, characterized in that: The train speed detection device includes a fixed clamping plate, an extended clamping plate, a speed detection encoder, a rubber roller, a rotating shaft rod, a roller fixing washer, and an encoder fixing piece. The fixed clamping plate is arranged on the bottom plate of the train carriage. The fixed clamping plate is connected with a connecting plate. The connecting plate is connected with an extended clamping plate. The extended clamping plate is connected with a rotating shaft rod. The rotating shaft rod is connected with an encoder fixing piece. The speed detection encoder is arranged on the encoder fixing piece. The rotating shaft of the speed detection encoder is connected with a rubber roller. There is a train bogie on the train carriage. The rubber roller is in contact with the surface of the wheel of the train bogie.

3. The train speed synchronization device of a railway hump operation robot according to claim 1, characterized in that: The scanning car seam mechanism includes a rear lidar and a front lidar.

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