Automatic train uncoupling device

Abstract

The present invention discloses an automatic train uncoupling device that can travel at the same speed as a train and can quickly and accurately uncouple various types of train couplers even when the coupler lifting rod is blocked. The automatic train uncoupling device includes: a first robotic arm, supporting a first robotic arm and moving the first robotic arm to a preset position; a second robotic arm, supporting a second robotic arm and moving the second robotic arm to a preset position; the first robotic arm, grasping a train pedal, so that the automatic train uncoupling device and the train travel at the same speed; the second robotic arm, performing the uncoupling action; a transmission mechanism, respectively moving the first robotic arm and the second robotic arm to preset positions; a traveling mechanism, supporting the first robotic arm and the second robotic arm, and causing the first robotic arm, the second robotic arm, and the train to move together along the track; a driving device, providing power to the transmission mechanism and the traveling mechanism, and also for driving the second robotic arm; and a controller, controlling the driving device to start or stop working.

Description

Technical Field

[0001] The present invention relates to the technical field of coupling removal in railway hump operations, and in particular to an automatic train coupling removal device. Background Art

[0002] A marshaling yard is a station on the railway network that handles the disassembly and marshaling of large numbers of freight trains, including direct, through, and other trains, and is equipped with comprehensive shunting equipment. As the fundamental production unit of railway transportation and a key node in the transport chain, a marshaling yard is a critical hub connecting trunk lines and structuring the railway network. It handles the arrival, departure, disassembly, and marshaling of a large number of freight trains, playing a key role in ensuring smooth rail network operation and improving transportation efficiency.

[0003] The hump is a key feature of a marshaling yard and a crucial piece of equipment for the rapid marshaling and unmarshaling of freight trains. The hump is essentially a small hill built on the ground, resembling the back of a camel. It is designed with a suitable slope and has railroad tracks laid on its surface. This shunting device utilizes the potential energy generated by the weight of the trains and the slope of the hump, supplemented by locomotive thrust, to unmute trains. It is a primary method for unmarshaling trains at marshaling yards.

[0004] The hump train dismantling operation at the marshaling yard usually includes four steps: the trailer step: after the freight train enters the arrival yard, the locomotive goes to the arrival yard to connect with the train. When the arrival yard and the shunting yard are arranged in parallel, the train is pulled to the push line in front of the peak. The peak pushing step: the locomotive pushes the train from the push line to the top of the peak. The railway control room sends the car number and the corresponding number of cars to be disassembled through the internal network. The hook lifter waits for the right time with a printed form next to the peak track to carry out the hook lifting operation. The shunting step: the locomotive continues to push the train. After the front car group is uncoupled, it automatically slides down the slope to the designated line in the shunting yard under its own gravity. The yard sorting step: after several trains are dismantled in succession, the locomotive goes down the peak to connect with the train group and pushes it as far as possible to the end of the shunting yard to create conditions for the hump to continue shunting.

[0005] Currently, both the trailering and yard preparation processes at hump marshaling yards can be controlled by shunting locomotives. The shunting process can also be automatically controlled by the hump shunting speed control system based on parameters such as vehicle type, weight, and speed. Only the unhooking operation at the hump remains unautomated and requires manual operation. Since hump unhooking occurs outdoors, manual unhooking is complex, labor-intensive, and prone to accidents. Inclement weather, such as rain or snow, significantly impacts on-site operations, increasing the difficulty and risk. Furthermore, due to weather and other external factors, operators often make or miss unhooking. In such cases, the errant vehicle must be pulled back to the hump for re-unhooking, requiring investigation and re-unhooking. This wastes manpower and resources and significantly reduces the efficiency of hump train unhooking operations at marshaling yards. Therefore, designing an automatic hook-lifting robot for railway hump operations to improve the automation level of hump unhooking is an effective method for improving the efficiency of railway freight marshaling yards and enhancing the efficiency of my country's railway transportation.

[0006] However, the existing automatic unhooking robot arm structure cannot meet the actual unhooking needs well; for example, in terms of train speed, the Chinese utility model patent with application number 201922371071.3 proposes a railway hump operation unhooking robot system, which clamps the carriage bogie front and back through the front arm mechanism and the rear arm mechanism respectively to achieve the same speed as the train; however, the bogie, as the running part of the train, plays a very important role in the operation of the train. The stability of the carriage bogie needs to be maintained during the operation of the train, and the unhooking robot holding the bogie will bring great instability to the train operation and affect the safety of the train driving; in addition, a pneumatic system is also used in the robot system. From the comparison of the three systems of motor servo system, hydraulic system and pneumatic system, the pneumatic system has the worst accuracy, which will affect the success rate of unhooking.

[0007] Chinese invention patent application number 201910708497.5 proposes a suspended automatic uncoupling device, system, and method for railway freight. This device adjusts an uncoupling robot based on video data until its manipulator is parallel to the coupler to be uncoupled. It then synchronizes its travel speed with the locomotive's operating speed, ensuring the uncoupling robot and the locomotive are relatively stationary. However, this uncoupling device requires an independent speed-sharing system to detect the train's speed and continuously adjust the uncoupling device's forward speed to achieve the same speed as the train. This constant adjustment process increases the computational complexity of the entire automatic uncoupling system, consumes significant time, and reduces uncoupling efficiency, failing to achieve the goal of rapid uncoupling, which should be completed in a relatively short time. Chinese utility model patent application number 202121720544.7 proposes an automatic uncoupling robot for railway hump operations. This robot uses laser radar scanning to synchronize its mechanism with the train's speed, which increases the time required for the uncoupling process. Furthermore, the robot's manipulator structure is complex, preventing rapid uncoupling and failing to meet the speed requirements of hump uncoupling operations.

[0008] In terms of grabbing the coupler lifting rod, due to the large number of vehicle models and the complex types of carriages, the side direction of the coupler of some carriages, that is, the direction parallel to the rails, is blocked by the edge of the carriage or the ladder, and the existing automatic hook-removing robot arm cannot grab the blocked coupler lifting rod.

[0009] In 2013, Wang Zhanzhong, Zhao Sai, and others proposed a suspended automatic uncoupling scheme that utilizes electromagnets to improve the coupler pin. This scheme involves suspending the uncoupling device on a track installed at the top of the hump propulsion line, constantly operating above the train. Upon receiving the uncoupling command, the uncoupling device is driven by a motor to the uncoupling position, maintaining the same operating speed as the train. The electromagnetic attraction device on the uncoupling device is driven downward by a telescopic cylinder and stops when a sensor detects contact with the coupler. The electromagnetic device then attracts the coupler pin and, driven by the telescopic cylinder, moves upward as a whole to unlock the coupler. Finally, all devices reset to await the next uncoupling command.

[0010] Mounting the uncoupling device above the train fully utilizes the limited space on the hump, reduces ground occupation, and is virtually unaffected by terrain conditions. However, freight car models vary in size, requiring the uncoupling device's downward extension stroke to be adjusted accordingly. Furthermore, extending the uncoupling actuator from above the train to the coupler where uncoupling is required will intrude into the vehicle's clearances. If the uncoupling device malfunctions and loses its relative stationary position relative to the train, the electromagnetic attraction device inserted into the coupler will not be able to exit the gap between the vehicles in a timely manner, potentially colliding with the vehicle body. Furthermore, to improve the electromagnetic device's ability to attract the coupler, this uncoupling device requires significant modifications to the existing coupler, removing the existing coupler's uncoupling handle and chain. This completely eliminates the coupler's ability to be manually uncoupled, rendering manual disassembly impossible in the event of a malfunction in the dedicated uncoupling device. Furthermore, my country has a large fleet of freight trains, and modifying existing couplers would be costly and labor-intensive.

[0011] In 2014, Yao Jianjun, Jiang Guilin, and others designed a wheeled, four-degree-of-freedom train unhooking robot. This robot possesses three degrees of freedom (DOF) in motion and one degree of freedom (DOF). It primarily consists of a traversing mechanism, a lifting mechanism, and a wrist unhooking mechanism. The wrist unhooking mechanism is mounted on the baseplate of the lifting mechanism and consists of a first motor, a reducer, and a gripper. The lifting mechanism is mounted on the traversing mechanism and consists of a sliding bearing, a sliding screw, a sliding nut, a coupling, a second motor, and a baseplate. The traversing mechanism is fixed to a wheeled trolley and consists of a third motor, a sliding guide rail, a rack, and a pinion shaft.

[0012] The unhooking robot runs on a track parallel to the train, powered by a traction belt and a remote motor. However, the traction belt alone doesn't allow for precise control of the relative position of the coupler and manipulator arm. Furthermore, the mechanism can't grasp the coupler lever if it's obstructed. Furthermore, there's no feedback loop to determine if the unhooking action is complete; it only considers whether the robot's manipulator arm can complete the unhooking action.

[0013] Therefore, how to quickly and accurately remove various types of train couplers when the distance and time of the coupler removal are short and the coupler lifting rod is blocked is a key issue to be considered during the train coupling process. Summary of the Invention

[0014] At least one of the purposes of the present invention is to overcome the problems existing in the above-mentioned prior art and provide a train automatic uncoupling device that can quickly and accurately uncouple train couplers of different models in a short time and short distance when the coupler lifting rod is blocked, thereby improving the accuracy and efficiency of uncoupling.

[0015] In order to achieve the above objectives, the technical solutions adopted by the present invention include the following aspects.

[0016] A train automatic uncoupling device, comprising:

[0017] A first robotic arm is used to support the first robotic arm and move the first robotic arm to a preset position;

[0018] The second robotic arm is arranged in parallel with the first robotic arm and is used to support the second robotic arm so that the second robotic arm moves to a preset position;

[0019] The first manipulator is provided on the first manipulator arm and is used to grab the train pedal so that the automatic uncoupling device of the train is in the same speed as the train;

[0020] The second manipulator is provided on the second manipulator arm and is used to grab the coupler lifting rod and perform the hook removal action to unlock the coupler;

[0021] A transmission mechanism, used to respectively move the first robotic arm, the second robotic arm, and the walking mechanism to preset positions;

[0022] A walking mechanism is provided on the square steel rail, and is used to support the first robotic arm and the second robotic arm, and to enable the first robotic arm, the second robotic arm and the train to move together along the track direction;

[0023] The driving device is used to provide power to the transmission mechanism and also to drive the second manipulator to enable the second manipulator to grab the coupler lifting rod and perform the hook removal action;

[0024] The controller controls the working state of the driving device according to the detected three-dimensional coordinates of the train pedal and the coupler lifting rod, so as to move the first manipulator and the second manipulator to the preset positions.

[0025] Preferably, the first robotic arm includes a first upper arm and a first lower arm, the first end of the first lower arm is rotatably connected to the second end of the first upper arm, the first robotic arm is arranged at the second end of the first lower arm, and the first end of the first upper arm is rotatably arranged on the first base.

[0026] The second robotic arm includes a second large arm and a second small arm, the first end of the second small arm is rotatably connected to the second end of the second large arm, the second robotic arm is arranged at the second end of the second small arm, and the first end of the second large arm is rotatably arranged on the second base.

[0027] Preferably, the first manipulator includes a first base plate, a second base plate, a buffer spring and a first connecting plate; the first base plate and the second base plate are parallel to each other, one or more buffer springs are arranged between the first base plate and the second base plate, one end of the buffer spring is connected to the first base plate and the other end is connected to the second base plate, the second base plate is vertically connected to the first connecting plate, the first connecting plate is vertically connected to the first forearm, and the plane where the first base plate is located is parallel to the plane where the first forearm is located.

[0028] Preferably, the second manipulator includes a support arm, a rotating arm and a gripper, the first end of the support arm is connected to the second end of the second forearm, the second end is rotatably connected to the first end of the rotating arm, the second end of the rotating arm is rotatably connected to the gripper, and the plane where the rotating arm is located is perpendicular to the plane where the gripper is located.

[0029] Preferably, the support arm includes a first side plate parallel to each other and a second side plate parallel to each other, the first end of the first side plate and the first end of the second side plate are both connected to the second end of the second forearm, the second end of the first side plate and the second end of the second side plate are connected through a flange plate, and a U-shaped structure is formed between the first side plate, the second side plate and the flange plate.

[0030] A third motor is provided on the flange plate, the first end of the rotating arm is connected to the third motor, an L-shaped second connecting plate is provided on the second end of the rotating arm, the first side of the second connecting plate is connected to the second end of the rotating arm, a servo is provided on the second side, the servo is connected to the servo adapter plate, and the servo adapter plate is connected to the gripper; a gripper baffle is also provided on the second side of the second connecting plate, and the end of the baffle extends to the servo adapter plate.

[0031] Preferably, the overall shape of the grabber is a U-shaped structure, including a first grab plate, a second grab plate, a third grab plate and a fourth grab plate, the first grab plate and the second grab plate are parallel to each other, the first grab plate and the second grab plate are connected through the third grab plate, and the first grab plate is connected to the servo adapter plate; the fourth grab plate and the second grab plate are parallel to each other, a hinge is provided between the fourth grab plate and the second grab plate, and a first push rod is also provided on the bottom surface of the third grab plate, one end of the first push rod is connected to the third grab plate, and the other end is connected to one end of the second push rod, and the other end of the second push rod is connected to the second end of the fourth grab plate.

[0032] Reinforcement plates are symmetrically arranged at the connection position of the first grab plate and the third grab plate and at the connection position of the second grab plate and the third grab plate. The reinforcement plate, the first grab plate and the third grab plate form a triangular structure. The reinforcement plate, the second grab plate and the third grab plate form a triangular structure.

[0033] Preferably, the second base includes a second horizontal plate and a second vertical plate, the second vertical plate is vertically arranged on the first end of the second horizontal plate, the second vertical plate is connected to the first end of the second arm, and the second vertical plate is provided with a fifth motor; one or more first guide rails are provided in the length direction of the second horizontal plate, and the first guide rails are provided at the top of the second horizontal plate; a counterweight block is slidably provided on the first guide rail, and a third push rod is also provided at the first end of the second horizontal plate, and the third push rod is installed on the second horizontal plate through a push rod seat, a first push plate is provided on the push rod head of the third push rod, and a second push plate is provided at the bottom of the counterweight block.

[0034] Preferably, a pull rod seat is further provided at the first end of the second small arm, and the pull rod seat is an inverted triangle structure, with the bottom being the first end and the left and right ends being the second end and the third end respectively.

[0035] The first end of the pull rod seat is coaxially arranged with the second end of the second forearm, the second end of the pull rod seat is rotatably connected to the first end of the second pull rod, the second end of the second pull rod is rotatably connected to the first side plate of the support arm, the second pull rod and the second forearm are parallel to each other, and the second pull rod, the second forearm, the connecting line of the first and second ends of the pull rod seat, and the connecting line of the rotation center of the second end of the second forearm and the rotation center of the second end of the second pull rod form a parallelogram structure.

[0036] The third end of the pull rod seat is rotatably connected to the second end of the first pull rod, the first end of the first pull rod is rotatably connected to the second vertical plate, the first pull rod and the second arm are parallel to each other, and the first pull rod, the second arm, the connecting line of the first end and the third end of the pull rod seat, and the connecting line of the rotation center of the first end of the first pull rod and the rotation center of the first end of the second arm form a parallelogram structure.

[0037] Preferably, the traveling mechanism includes a frame, and the frame is provided with two sets of wheels, and the two sets of wheels are respectively provided at the left and right ends of the frame.

[0038] The frame includes a first frame side panel and a second frame side panel that are arranged opposite to each other, and the wheel is arranged between the first frame side panel and the second frame side panel; support rods are respectively vertically arranged at both ends of the first frame side panel and the second end of the second frame side panel, the top of the first frame side panel and the top of the second frame side panel are connected through a slide base plate, a slide is arranged in the length direction of the top of the slide base plate, a seventh motor is arranged at the end of the slide, and a slider matching the seventh motor is arranged on the slide, and the second horizontal plate of the second base is arranged on the slider and is perpendicular to the slide.

[0039] Preferably, the transmission mechanism includes a first transmission mechanism, a second transmission mechanism and a third transmission mechanism.

[0040] The first transmission mechanism includes a first pulley and a second pulley. The first pulley is coaxially arranged at the first end of the first arm, and the second pulley is coaxially arranged on the first motor. The first pulley and the second pulley are in transmission connection.

[0041] The second transmission mechanism includes a third pulley and a fourth pulley. The third pulley is coaxially arranged at the first end of the first small arm, and the fourth pulley is coaxially arranged on the second motor. The third pulley is transmission-connected to the fourth pulley.

[0042] The third transmission mechanism includes a fifth pulley and a sixth pulley. The fifth pulley is arranged at the second end of the second arm. The sixth pulley is connected to the sixth motor. The fifth pulley and the sixth pulley are in transmission connection.

[0043] In summary, due to the adoption of the above technical solution, the present invention has at least the following beneficial effects:

[0044] By arranging a first robotic arm and a second robotic arm in parallel on the walking mechanism, a first robotic arm is arranged at the end of the first robotic arm, which can grab the train pedal through the first robotic arm, so that the train automatic uncoupling device and the train run at the same speed, and no additional common speed system is required to control the forward speed of the automatic uncoupling robotic arm, which reduces the amount of calculation, shortens the common speed time of the train automatic uncoupling device and the train, and improves the uncoupling efficiency; a second robotic arm is arranged at the end of the second robotic arm, and the second robotic arm grabs the coupler lifting rod through rotational motion and performs the uncoupling action to complete the automatic uncoupling operation; the second robotic arm always maintains a horizontal state under the action of the parallelogram pull rod, and its U-shaped structure can rotate to bypass the obstruction of the coupler lifting rod by the edge of the car, thereby realizing the automatic uncoupling function and improving the uncoupling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the structural composition of an automatic train uncoupling device according to an exemplary embodiment of the present invention.

[0046] Figure 2 It is a schematic diagram of the three-dimensional structure of the automatic train uncoupling device according to an exemplary embodiment of the present invention.

[0047] Figure 3 yes Figure 2 Schematic diagram of the three-dimensional structure of the first robotic arm.

[0048] Figure 4 yes Figure 3 Schematic diagram of the structure of the first robotic arm from another perspective.

[0049] Figure 5 yes Figure 2 Schematic diagram of the three-dimensional structure of the second robotic arm.

[0050] Figure 6 yes Figure 5 Schematic diagram of the structure of the second robotic arm from the first perspective.

[0051] Figure 7 yes Figure 5 Schematic diagram of the second robotic arm from the second perspective.

[0052] Figure 8 yes Figure 2 Schematic diagram of the three-dimensional structure of the second manipulator.

[0053] Figure 9yes Figure 2 Schematic diagram of the three-dimensional structure of the walking mechanism.

[0054] Figure 10 yes Figure 9 Schematic diagram of the walking mechanism from another perspective.

[0055] Symbols in the figure: 1-first robotic arm, 11-first large arm, 12-first small arm, 13-first base, 130-first horizontal plate, 131-first vertical plate, 2-second robotic arm, 21-second large arm, 22-second small arm, 23-second base, 230-second horizontal plate, 231-second vertical plate, 24-first guide rail, 25-counterweight, 26-third push rod, 3-first robotic hand, 31-first bottom plate, 32-second bottom plate, 33-buffer spring, 34-first connecting plate, 4-second robotic hand, 41-support arm, 410-first side plate, 411-second side plate, 412-flange plate, 42-rotating arm, 43-gripper, 430-first gripper, 431-second gripper, 432-third gripper, 433-fourth gripper, 434-hinge, 435 -First push rod, 436-second push rod, 44-second connecting plate, 45-servo adapter plate, 46-grip baffle, 5-transmission mechanism, 51-first transmission mechanism, 510-first pulley, 511-second pulley, 52-second transmission mechanism, 520-third pulley, 521-fourth pulley, 53-third transmission mechanism, 530-fifth pulley, 531-sixth pulley, 6-traveling mechanism, 61-frame, 610-first frame side plate, 611-second frame side plate, 62-wheel, 63-support rod, 7-drive device, 71-first motor, 72-second motor, 73-third motor, 74-servo, 75-fifth motor, 76-sixth motor, 77-seventh motor, 78-eighth motor, 8-pull rod seat, 81-first pull rod, 82-second pull rod. DETAILED DESCRIPTION

[0056] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments to make the purpose, technical solutions and advantages of the present invention more clearly understood. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0057] refer to Figure 1 、 Figure 2 , an automatic train uncoupling device according to an exemplary embodiment of the present invention includes:

[0058] The first robotic arm 1 is used to support the first robotic arm 3 and move the first robotic arm 3 to a preset position;

[0059] The second robotic arm 2 is arranged parallel to the first robotic arm 1 and is used to support the second robotic arm 4 so that the second robotic arm 4 moves to a preset position;

[0060] The first manipulator 3 is provided on the first manipulator arm 1 and is used to grab the train pedal so that the automatic uncoupling device of the train is in the same speed as the train;

[0061] The second manipulator 4 is provided on the second manipulator arm 2 and is used to grab the coupler lifting rod and perform the hook removal action to unlock the coupler;

[0062] The transmission mechanism 5 is used to move the first robotic arm 1, the second robotic arm 2 and the walking mechanism 6 to preset positions respectively;

[0063] The walking mechanism 6 is provided on the square rails, and is used to support the first robotic arm 1 and the second robotic arm 2, and to enable the first robotic arm 1, the second robotic arm 2 and the train to move along the track direction;

[0064] The driving device 7 is used to provide power to the transmission mechanism 5 and also to drive the second manipulator 4 so that the second manipulator 4 grabs the coupler lifting rod and performs the hook removal action;

[0065] The controller controls the working state of the driving device 7 according to the detected three-dimensional coordinates of the train pedal and the coupler lifting rod, so that the first manipulator and the second manipulator move to the preset positions.

[0066] refer to Figure 3 、 Figure 4 The first robotic arm 1 includes a first large arm 11 and a first small arm 12. The first end of the first small arm 12 is rotatably connected to the second end of the first large arm 11. The second end of the first small arm 12 is detachably provided with a first robotic arm 3. The first end of the first large arm 11 is rotatably provided on a first base 13. The first base 13 is used to install the first robotic arm 1 on the walking mechanism.

[0067] The first manipulator 3 is a buffer gripper, comprising a first base plate 31, a second base plate 32, a buffer spring 33, and a first connecting plate 34. The first base plate 31 and the second base plate 32 are parallel to each other. One or more buffer springs 33 are disposed between the first base plate 31 and the second base plate 32. When multiple buffer springs 33 are disposed, they are arranged in an array, with one end of the buffer spring 33 connected to the first base plate 31 and the other end to the second base plate 32. The second base plate 32 is perpendicularly connected to the first connecting plate 34, and the first connecting plate 34 is perpendicularly connected to the first small arm 12, so that the plane of the first base plate 31 is parallel to the plane of the first small arm 12. The first base plate 31 is used to grasp the train pedal. To ensure close contact between the first base plate 31 and the surface of the train pedal, the first base plate 31 can be configured as a magnetic plate.

[0068] The first base 13 includes a first horizontal plate 130 and a first vertical plate 131. The first horizontal plate 130 and the first vertical plate 131 are perpendicular to each other. The bottom of the first vertical plate 131 is integrally connected to the first horizontal plate 130. The first end of the first vertical plate 131 is rotatably connected to the first end of the first arm 11.

[0069] The first base 13 is also provided with a first transmission mechanism 51 and a second transmission mechanism 52. The first transmission mechanism 51 includes a first pulley 510 and a second pulley 511. The first pulley 510 is coaxially arranged at the first end of the first arm 11, and the second pulley 511 is coaxially arranged on the first motor 71. The first motor 71 is arranged on the base 13 or beside the base 13 through a motor bracket. The first pulley 510 and the second pulley 511 are connected in a transmission manner, thereby controlling the motion state of the first arm 11. The second transmission mechanism 52 includes a third pulley 520 and a fourth pulley 521. The third pulley 520 is coaxially arranged at the first end of the first small arm 12, and the fourth pulley 521 is coaxially arranged on the second motor 72. The second motor 72 is arranged on the base 13 or beside the base 13 through a motor bracket. The third pulley 520 and the fourth pulley 521 are connected in a transmission manner, thereby controlling the motion state of the first small arm 12. Through the mutual cooperation of the first arm 11 and the first small arm 12, the first manipulator moves to a preset position to grab the train pedal.

[0070] A limit switch is also provided on the top of the second end and the side of the first end of the first vertical plate 131, which is used to detect the rotation position of the first large arm 11, thereby controlling the movement state of the first large arm 11; a limit switch is also provided on the top and side of the second end of the first large arm 11, which is used to detect the rotation position of the first small arm 12, thereby controlling the movement state of the first small arm 12.

[0071] refer to Figure 5-Figure 8 The second robotic arm 2 includes a second large arm 21 and a second small arm 22. The first end of the second small arm 22 is rotatably connected to the second end of the second large arm 21. The second end of the second small arm 22 is provided with a second robotic hand 4. The first end of the second large arm 21 is rotatably provided on the second base 23.

[0072] The second manipulator 4 includes a support arm 41, a rotating arm 42 and a gripper 43. The first end of the support arm 41 is rotatably connected to the second end of the second small arm 22, and the second end is rotatably connected to the first end of the rotating arm 42. The second end of the rotating arm 42 is rotatably connected to the gripper 43. The plane where the rotating arm 42 is located is perpendicular to the plane where the gripper 43 is located.

[0073] The support arm 41 includes a first side plate 410 parallel to each other and a second side plate 411 parallel to each other. The first end of the first side plate 410 and the first end of the second side plate 411 are both connected to the second end of the second small arm 22, and the second end of the first side plate 410 and the second end of the second side plate 411 are connected through a flange plate 412. A U-shaped structure is formed between the first side plate 410, the second side plate 411 and the flange plate 412 (the first side plate 410 and the second side plate 411 can also be reinforced by a reinforcement plate to improve the structural strength of the support arm).

[0074] A third motor 73 is mounted on the flange plate 412. The first end of the pivot arm 42 is connected to the third motor 73, driving the pivot arm 42 to rotate. An L-shaped second connecting plate 44 is mounted on the second end of the pivot arm 42. The first side of the second connecting plate 44 is connected to the second end of the pivot arm 42, and a steering gear 74 is mounted on the second side. The steering gear 74 is connected to the steering gear adapter plate 45, which is connected to the gripper 43. The steering gear 74 drives the gripper 43 to rotate, allowing the gripper 43 to grasp the coupler lever. A gripper stopper 46 is also mounted on the second side of the second connecting plate 44. The end of the stopper 46 extends to the steering gear adapter plate 45 to limit the rotation angle of the gripper 43.

[0075] The overall shape of the gripper 43 is a U-shaped structure, including a first gripping plate 430, a second gripping plate 431, a third gripping plate 432 and a fourth gripping plate 433. The first gripping plate 430 and the second gripping plate 431 are parallel to each other, and the first gripping plate 430 and the second gripping plate 431 are connected by the third gripping plate 432. The first gripping plate 430 is connected to the steering gear adapter plate 45; the fourth gripping plate 433 and the second gripping plate 431 are parallel to each other, and a hinge 434 is provided between the fourth gripping plate 433 and the second gripping plate 431 so that the fourth gripping plate 433 can rotate a certain angle relative to the second gripping plate 431, thereby The gripper 43 grips the coupler lever. A first push rod 435 is also provided on the bottom surface of the third gripping plate 432. One end of the first push rod 435 is connected to the third gripping plate 432, and the other end is connected to one end of a second push rod 436. The other end of the second push rod 436 is connected to the second end of the fourth gripping plate 433. By adjusting the length of the first push rod 435, the fourth gripping plate 433 can be rotated by a certain angle relative to the second gripping plate 431, thereby adjusting the distance between the first end of the fourth gripping plate 433 and the first end of the second gripping plate 431, allowing the gripper 43 to grip or release the coupler lever. The surfaces where the first end of the fourth gripping plate 433 and the first end of the second gripping plate 431 approach each other are inclined, so that the opening between the first end of the fourth gripping plate 433 and the first end of the second gripping plate 431 is wedge-shaped, facilitating gripping or release of the coupler lever.

[0076] Reinforcement plates are symmetrically arranged at the connection position of the first grab plate 430 and the third grab plate 432, and at the connection position of the second grab plate 431 and the third grab plate 432. The reinforcement plates, the first grab plate 430 and the third grab plate 432 form a triangular structure. The reinforcement plates, the second grab plate 431 and the third grab plate 432 form a triangular structure. The reinforcement plates are used to improve the overall structural strength of the gripper 43 and prevent the gripper 43 from structural deformation.

[0077] The second base 23 includes a second horizontal plate 230 and a second vertical plate 231. The second vertical plate 231 is vertically arranged at the first end of the second horizontal plate 230, and the second vertical plate 231 is connected to the first end of the second large arm 21. One or more first guide rails 24 are arranged in the length direction of the second horizontal plate 230, and the first guide rail 24 is arranged at the top of the second horizontal plate 230; a counterweight block 25 is slidingly arranged on the first guide rail 24, and by adjusting the position of the counterweight block 25 on the first guide rail 24, the second robotic arm can be kept balanced and the stability of the second robotic arm can be increased. Rollers are respectively arranged on both sides of the bottom of the counterweight block 25, and the counterweight block 25 can be moved on the first guide rail 24 by the rollers; a third push rod 26 is also provided at the first end of the second horizontal plate 230 (refer to Figure 6 ), the third push rod 26 is installed on the second horizontal plate 230 through the push rod seat, and a first push plate is provided on the push rod head of the third push rod 26. Correspondingly, a second push plate is provided at the bottom of the counterweight block 25. Through the mutual cooperation of the first push plate and the second push plate, the counterweight block 25 moves on the first guide rail 24.

[0078] A fifth motor 75 is provided on the second vertical plate 231, and the second arm 21 can be rotated by the fifth motor 75; a third transmission mechanism 53 is also provided on the second base 23, and the third transmission mechanism 53 includes a fifth pulley 530 and a sixth pulley 531. The fifth pulley 530 is provided at the second end of the second arm 21, and the sixth pulley 531 is connected to the sixth motor 76. The sixth motor 76 is installed on the first end of the second horizontal plate 230 through the motor bracket. The fifth pulley 530 and the sixth pulley 531 are connected in transmission, thereby controlling the movement state of the second small arm 22; through the mutual cooperation of the second large arm 21 and the second small arm 22, the second robotic arm reaches the preset position, so that the second robotic hand on the second robotic arm grabs the coupler lifting rod and performs the hook-unhooking action.

[0079] A limit switch is also provided on the top surface and one of the side surfaces of the second vertical plate 231 for detecting the movement position of the second upper arm 21, thereby controlling the movement state of the second upper arm. A limit switch is provided on the top and side surface of the second end of the second upper arm 21 for detecting the movement position of the second small arm 22, thereby controlling the movement state of the second small arm 22.

[0080] refer to Figure 5, the first end of the second small arm 22 is also provided with a pull rod seat 8, the pull rod seat 8 is an inverted triangle structure, the bottom of which is the first end, and the left and right ends are respectively the second end and the third end, the first end of the pull rod seat 8 is coaxially arranged with the second end of the second small arm 22, the second end of the pull rod seat 8 is rotatably connected to the first end of the second pull rod 82, the second end of the second pull rod 82 is rotatably connected to the first side plate 410 of the support arm 41, the second pull rod 82 and the second small arm 22 are parallel to each other, and the second pull rod 82, the second small arm 22, the connecting line of the first end and the second end of the pull rod seat 8, The line connecting the rotation center of the second end of the second small arm 22 and the rotation center of the second end of the second tie rod 82 forms a parallelogram structure. The third end of the tie rod base 8 is rotatably connected to the second end of the first tie rod 81, and the first end of the first tie rod 81 is rotatably connected to the second vertical plate 231. The first tie rod 81 and the second large arm 21 are parallel to each other. The first tie rod 81, the second large arm 21, the line connecting the first and third ends of the tie rod base 8, and the line connecting the rotation center of the first end of the first tie rod 81 and the rotation center of the first end of the second large arm 21 form a parallelogram structure. These two parallelogram structures enable the U-shaped gripper 43 of the second mechanism 4 to always remain horizontal.

[0081] refer to Figure 9 、 Figure 10 The walking mechanism 6 includes a frame 61, and two sets of wheels 62 are provided on the frame 61. The two sets of wheels 62 are respectively provided at the left and right ends of the frame 61; the frame 61 includes a first frame side plate 610 and a second frame side plate 611 that are arranged opposite to each other, and the wheels 62 are provided between the first frame side plate 610 and the second frame side plate 611. Support rods 63 are respectively provided vertically at both ends of the first frame side plate 610 and the second frame side plate 611, and the support rods 63 are used to support the frame 61. The top of the first frame side plate 610 and the top of the second frame side plate 611 are connected by a slide base plate, and a slide is provided in the longitudinal direction of the top of the slide base plate (refer to Figure 2 ), a seventh motor 77 is provided at the end of the slide, a slider matched therewith is provided on the slide, and a second horizontal plate of the second base 23 is provided on the slider and is perpendicular to the slide (reference Figure 2 、 Figure 5 ), so that the second robotic arm 2 moves back and forth on the slide, and the back and forth movement state of the second robotic arm 2 is controlled by the seventh motor 77.

[0082] An eighth motor 78 is also provided on the frame 61. The eighth motor 78 is arranged close to the first set of wheels. The eighth motor 78 is connected to the reducer. The main shaft of the reducer extends out of the second frame side plate 611. A driving sprocket is provided on the main shaft of the reducer. The main shaft of the second set of wheels also extends out of the second frame side plate 611. A driven sprocket is provided on the main shaft of the second set of wheels. The driving sprocket and the driven sprocket are connected in transmission, thereby adjusting the position of the walking mechanism on the square rail.

[0083] The working process of the automatic train uncoupling device of the present invention is as follows: when the train approaches the automatic train uncoupling device, the position of the train pedal is detected by the binocular stereo vision system and the three-dimensional coordinates of the pedal are calculated. The controller sends a motor control signal according to the calculated three-dimensional coordinates of the pedal to control the first motor 71 and the second motor 72 respectively. The first motor 71 controls the movement of the first large arm 11 through a synchronous belt, and the second motor 72 controls the movement of the first small arm 12 through a synchronous belt, so that the first manipulator 3 at the end of the first small arm 12 reaches the specified position. After the first manipulator 3 reaches the specified position, the first base plate 31 of the first manipulator 3 can grab the train pedal as the train moves. Under the action of the walking mechanism 6, the automatic train uncoupling device runs at the same speed as the train. Then, the binocular stereo vision system is used to detect the position of the train coupler lifting rod and calculate the three-dimensional coordinates of the coupler lifting rod. The controller sends a motor control signal according to the calculated three-dimensional coordinates of the coupler lifting rod to control the fifth motor 75 and the sixth motor 76 respectively. The fifth motor 75 drives the second arm 21 to move through the harmonic reducer, and the sixth motor 76 drives the second small arm 22 to move through the synchronous belt and the harmonic reducer, so that the second manipulator 4 at the end of the second small arm 22 reaches the specified position; when the distance between the second manipulator 2 and the first manipulator 1 is far, the controller also sends a motor control signal according to the three-dimensional coordinates of the pedal and the three-dimensional coordinates of the coupler lifting rod. , sends out a motor control signal to control the seventh motor 77, so that the seventh motor 77 adjusts the distance between the first robotic arm 1 and the second robotic arm 2, so that the second robotic arm 2 reaches the specified position; after the second robotic arm 2 and the second robotic arm 4 reach the specified position, the controller sends out a motor control signal, and after the servo 74 receives the signal, it controls the gripper 43 to rotate 90 degrees in the horizontal plane and grab the coupler lifting rod, and then the controller sends out a motor control signal, and after the third motor receives the signal, it drives the rotating arm 42 to rotate 90 degrees in the space parallel to the side of the train body, thereby driving the gripper 43 and the coupler lifting rod to rotate together, so that the coupler is unlocked.

[0084] The above description is only a detailed description of the specific embodiments of the present invention, and does not limit the present invention. Various substitutions, modifications and improvements made by those skilled in the relevant art without departing from the principles and scope of the present invention should be included in the scope of protection of the present invention.

Claims

1. A train automatic uncoupling device, characterized in that: include: A first robotic arm (1) is used to support the first robotic arm (3) so that the first robotic arm (3) moves to a preset position; A second robotic arm (2) is arranged parallel to the first robotic arm (1) and is used to support the second robotic arm (4) so ​​that the second robotic arm (4) moves to a preset position; A first manipulator (3) is provided on the first manipulator arm (1) and is used to grab the train pedal so that the train automatic uncoupling device and the train are in the same speed; A second manipulator (4) is provided on the second manipulator arm (2) and is used to grab the coupler lifting rod and perform a hook removal action to unlock the coupler; A transmission mechanism (5) is used to respectively move the first mechanical arm (1), the second mechanical arm (2) and the walking mechanism (6) to preset positions; A walking mechanism (6) is arranged on a square steel rail and is used to support the first mechanical arm (1) and the second mechanical arm (2), and to enable the first mechanical arm (1), the second mechanical arm (2) and the train to move together along the rail direction; A driving device (7) is used to provide power to the transmission mechanism (5) and is also used to drive the second manipulator (4) so ​​that the second manipulator (4) grabs the coupler lifting rod and performs a hook removal action; The controller controls the working state of the driving device (7) according to the detected three-dimensional coordinates of the train pedal and the coupler lifting rod, so as to move the first manipulator and the second manipulator to a preset position; The first mechanical arm (1) comprises a first large arm (11) and a first small arm (12), the first end of the first small arm (12) being rotatably connected to the second end of the first large arm (11), the first mechanical hand (3) being arranged at the second end of the first small arm (12), and the first end of the first large arm (11) being rotatably arranged on the first base (13); The second mechanical arm (2) comprises a second large arm (21) and a second small arm (22), the first end of the second small arm (22) is rotatably connected to the second end of the second large arm (21), the second mechanical hand (4) is arranged at the second end of the second small arm (22), and the first end of the second large arm (21) is rotatably arranged on the second base (23); The second manipulator (4) comprises a support arm (41), a rotating arm (42) and a gripper (43), wherein the first end of the support arm (41) is connected to the second end of the second small arm (22), the second end is rotationally connected to the first end of the rotating arm (42), the second end of the rotating arm (42) is rotationally connected to the gripper (43), and the plane where the rotating arm (42) is located is perpendicular to the plane where the gripper (43) is located; The support arm (41) includes a first side plate (410) and a second side plate (411) that are parallel to each other, the first end of the first side plate (410) and the first end of the second side plate (411) are both connected to the second end of the second small arm (22), the second end of the first side plate (410) and the second end of the second side plate (411) are connected via a flange plate (412), and a U-shaped structure is formed between the first side plate (410), the second side plate (411) and the flange plate (412); A third motor (73) is provided on the flange plate (412), a first end of the rotating arm (42) is connected to the third motor (73), a second L-shaped connecting plate (44) is provided on the second end of the rotating arm (42), a first side of the second connecting plate (44) is connected to the second end of the rotating arm (42), a steering gear (74) is provided on the second side, the steering gear (74) is connected to the steering gear adapter plate (45), and the steering gear adapter plate (45) is connected to the gripper (43); a gripper baffle (46) is also provided on the second side of the second connecting plate (44), and an end of the baffle (46) extends to the steering gear adapter plate (45); The overall shape of the gripper (43) is a U-shaped structure, comprising a first gripping plate (430), a second gripping plate (431), a third gripping plate (432) and a fourth gripping plate (433), wherein the first gripping plate (430) and the second gripping plate (431) are parallel to each other, the first gripping plate (430) and the second gripping plate (431) are connected via the third gripping plate (432), and the first gripping plate (430) is connected to the steering gear adapter plate (45); the fourth gripping plate (433) and the second gripping plate (431) are parallel to each other, a hinge (434) is provided between the fourth gripping plate (433) and the second gripping plate (431), and a first push rod (435) is further provided on the bottom surface of the third gripping plate (432), one end of the first push rod (435) is connected to the third gripping plate (432), and the other end is connected to one end of the second push rod (436), and the other end of the second push rod (436) is connected to the second end of the fourth gripping plate (433); Reinforcement plates are symmetrically provided at the connection position between the first grabbing plate (430) and the third grabbing plate (432) and at the connection position between the second grabbing plate (431) and the third grabbing plate (432); the reinforcement plates, the first grabbing plate (430) and the third grabbing plate (432) form a triangular structure; and the reinforcement plates, the second grabbing plate (431) and the third grabbing plate (432) form a triangular structure.

2. The automatic train uncoupling device according to claim 1, characterized in that: The first manipulator (3) includes a first base plate (31), a second base plate (32), a buffer spring (33) and a first connecting plate (34); the first base plate (31) and the second base plate (32) are parallel to each other, one or more buffer springs (33) are arranged between the first base plate (31) and the second base plate (32), one end of the buffer spring (33) is connected to the first base plate (31), and the other end is connected to the second base plate (32), the second base plate (32) is vertically connected to the first connecting plate (34), the first connecting plate (34) is vertically connected to the first small arm (12), and the plane where the first base plate (31) is located is parallel to the plane where the first small arm (12) is located.

3. The automatic train uncoupling device according to claim 1, characterized in that: The second base (23) includes a second horizontal plate (230) and a second vertical plate (231), the second vertical plate (231) is vertically arranged at the first end of the second horizontal plate (230), the second vertical plate (231) is connected to the first end of the second arm (21), and the second vertical plate (231) is provided with a fifth motor (75); one or more first guide rails (24) are provided in the length direction of the second horizontal plate (230), and the first guide rails (24) are provided at the top of the second horizontal plate (230); a counterweight (25) is slidably provided on the first guide rail (24), and a third push rod (26) is further provided at the first end of the second horizontal plate (230), and the third push rod (26) is installed on the second horizontal plate (230) through a push rod seat, a first push plate is provided on the push rod head of the third push rod (26), and a second push plate is provided on the bottom of the counterweight (25).

4. The automatic train uncoupling device according to claim 1, characterized in that: The first end of the second small arm (22) is further provided with a pull rod seat (8), and the pull rod seat (8) is an inverted triangle structure, with the bottom being the first end and the left and right ends being the second end and the third end respectively; The first end of the pull rod seat (8) is coaxially arranged with the second end of the second small arm (22), the second end of the pull rod seat (8) is rotatably connected to the first end of the second pull rod (82), the second end of the second pull rod (82) is rotatably connected to the first side plate (410) of the support arm (41), the second pull rod (82) and the second small arm (22) are parallel to each other, and the line connecting the second pull rod (82), the second small arm (22), the first end and the second end of the pull rod seat (8), the rotation center of the second end of the second small arm (22) and the rotation center of the second end of the second pull rod (82) form a parallelogram structure; The third end of the pull rod seat (8) is rotatably connected to the second end of the first pull rod (81), the first end of the first pull rod (81) is rotatably connected to the second vertical plate (231), the first pull rod (81) and the second arm (21) are parallel to each other, and the line connecting the first end and the third end of the first pull rod (81), the second arm (21), the pull rod seat (8), the rotation center of the first end of the first pull rod (81) and the rotation center of the first end of the second arm (21) form a parallelogram structure.

5. The automatic train uncoupling device according to claim 1, characterized in that: The walking mechanism (6) includes a vehicle frame (61), and two sets of wheels (62) are provided on the vehicle frame (61). The two sets of wheels (62) are respectively provided at the left and right ends of the vehicle frame (61); The vehicle frame (61) comprises a first vehicle frame side panel (610) and a second vehicle frame side panel (611) which are arranged opposite to each other, and the wheel (62) is arranged between the first vehicle frame side panel (610) and the second vehicle frame side panel (611); support rods (63) are respectively arranged vertically at both ends of the first vehicle frame side panel (610) and the second vehicle frame side panel (611); the top of the first vehicle frame side panel (610) and the top of the second vehicle frame side panel (611) are connected via a slide base plate; a slide is arranged in the longitudinal direction of the top of the slide base plate; a seventh motor (77) is arranged at the end of the slide; a slider matched with the seventh motor (77) is arranged on the slide; and a second horizontal plate of the second base (23) is arranged on the slider and is perpendicular to the slider.

6. The automatic train uncoupling device according to any one of claims 1 to 5, characterized in that: The transmission mechanism (5) comprises a first transmission mechanism (51), a second transmission mechanism (52) and a third transmission mechanism (53); The first transmission mechanism (51) comprises a first pulley (510) and a second pulley (511), wherein the first pulley (510) is coaxially arranged on the first end of the first arm (11), and the second pulley (511) is coaxially arranged on the first motor (71), and the first pulley (510) and the second pulley (511) are transmission-connected; The second transmission mechanism (52) comprises a third pulley (520) and a fourth pulley (521), wherein the third pulley (520) is coaxially arranged on the first end of the first small arm (12), and the fourth pulley (521) is coaxially arranged on the second motor (72), and the third pulley (520) is transmission-connected to the fourth pulley (521); The third transmission mechanism (53) includes a fifth pulley (530) and a sixth pulley (531), wherein the fifth pulley (530) is arranged at the second end of the second large arm (21), and the sixth pulley (531) is connected to the sixth motor (76). The fifth pulley (530) and the sixth pulley (531) are in transmission connection.

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