A power plant coal unloading car unhooking device and unhooking method

Abstract

This invention discloses a coal unloading car unhooking device and method for power plants, including a calibration electric slide rail, a three-axis robotic arm, a rotary robotic arm, a positive hook electromagnetic device, and a spring lifting hook calibration electric slide rail, which is mounted on a robot; the three-axis robotic arm is mounted on the calibration electric slide rail and driven by the calibration electric slide rail to move along a horizontal straight line; the rotary robotic arm is mounted on the free end of the three-axis robotic arm and driven by the three-axis robotic arm to rotate or move up and down; it includes a bracket with a first support rod and a second support rod, an alignment laser probe disposed on the inner side wall of the first support rod, a fixed frame mounted on the outer side wall of the second support rod, and a magnetic plate mounted on the outer end face of the fixed frame; the positive hook electromagnetic device includes a square electromagnet, which is mounted in the fixed frame and located on the back of the magnetic plate. This invention has a large mechanical motion redundancy, making the mechanical device reliable and stable in performance.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a device and method for uncoupling a coal unloading car in a power plant. Background Technology

[0002] Railway coal transport and tippler unloading are the main coal supply methods used in most onshore thermal power plants. The smooth operation of tippler operations plays a crucial role in the production process of thermal power plants. Tipplers are large, efficient, and mechanized unloading equipment with a high degree of mechanization and large production capacity, and are widely used.

[0003] Currently, tippler coal unloading systems are largely automated, but the unhooking of open wagons before and after unloading is still done manually. Developing automated unhooking equipment can reduce on-site operational risks for workers and enable unmanned unhooking, significantly contributing to unattended coal unloading. Most unhooking robots consist of a six-axis robotic arm, with the unhooking part being a mechanical gripper. The gripper grasps the object to be unhooked, and the robotic arm then performs the unhooking action. However, this method presents the following challenges:

[0004] 1. During the unhooking process, the hook needs to be upright, with the hook handle perpendicular to the ground, so as to minimize the upward torque of the hook handle; otherwise, the robot arm is prone to overload.

[0005] 2. During the hook removal process, the hook handle undergoes a certain deformation due to years of operation, which may cause it to deviate from the vertical plane, increasing the difficulty for the robotic arm to grasp it.

[0006] Therefore, the unhooking mechanism needs to avoid the grasping action of the mechanical claw in order to achieve greater control and fault tolerance. Summary of the Invention

[0007] The purpose of this section is to outline some aspects of the embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0008] Therefore, the purpose of this invention is to provide a device and method for uncoupling coal unloading cars in power plants. The design is simple, the mechanical action has high redundancy, and the mechanical device has reliable and stable performance.

[0009] To address the aforementioned technical problems, according to one aspect of the present invention, the present invention provides the following technical solution:

[0010] A coal unloading car uncoupling device for a power plant, comprising:

[0011] Calibrate the electric guide rails and install them on the robot;

[0012] A three-axis robotic arm is mounted on the calibration electric slide rail and driven by the calibration electric slide rail to move along a horizontal straight line.

[0013] A rotary robotic arm is installed at the free end of the three-axis robotic arm and driven by the three-axis robotic arm to rotate or move up and down. It includes a bracket with a first support rod and a second support rod, an alignment laser probe disposed on the inner side wall of the first support rod, a fixed frame disposed on the outer side wall of the second support rod, and a magnetic plate disposed on the outer end face of the fixed frame.

[0014] A positive hook electromagnetic device, comprising a square electromagnet, the square electromagnet being installed within the fixed frame and located on the back of the magnetic plate;

[0015] The spring-loaded lifting hook is vertically mounted on the outer side wall of the magnetic sheet.

[0016] As a preferred embodiment of the unhooking device for a coal unloading car in a power plant according to the present invention, the calibration electric slide rail includes a slide rail body, a stepper motor installed at the head end of the slide rail body, a lead screw connected to the output end of the stepper motor, a rainproof and dustproof cover disposed between the two sides of the slide rail body and the slider, and a bus controller for controlling the number of stepping revolutions of the stepper motor, and the three-axis robotic arm is mounted on the slider.

[0017] As a preferred embodiment of the uncoupling device for a coal unloading car in a power plant according to the present invention, the rainproof and dustproof cover is a retractable and foldable corrugated structure.

[0018] As a preferred embodiment of the uncoupling device for a coal unloading car in a power plant according to the present invention, the three-axis robotic arm includes a robotic arm column, a robotic arm lifting shaft motor mounted on the side wall of the robotic arm column, a lifting shaft connector mounted on the output end of the robotic arm lifting shaft motor, a lifting shaft partially mounted on the bottom side of the lifting shaft connector, an upper and lower rotating shaft connector mounted on the other end of the lifting shaft, an upper and lower rotating shaft motor mounted on the side wall of the upper and lower rotating shaft connector, a left and right rotating shaft connector mounted on the output end of the upper and lower rotating shaft motor, and a left and right rotating shaft motor mounted on the left and right rotating shaft connector.

[0019] In a preferred embodiment of the uncoupling device for a coal unloading car in a power plant according to the present invention, the output end of the left and right rotating shaft motor has a first connecting flange, and the rotating mechanical arm further includes a second connecting flange disposed at the end of the first support rod. The first connecting flange and the second connecting flange are fixedly connected by bolts.

[0020] As a preferred embodiment of the uncoupling device for a coal unloading car in a power plant according to the present invention, the positive hook electromagnetic device further includes a bus control switch connected to the square electromagnet.

[0021] As a preferred embodiment of the unhooking device for a coal unloading car in a power plant according to the present invention, the spring lifting hook includes a bending bracket, a lower base disposed on the bending portion of the bending bracket, an upper base sleeved on the lower base, and an elastic component disposed between the lower base and the upper base.

[0022] In a preferred embodiment of the uncoupling device for a coal unloading car in a power plant according to the present invention, the elastic component is a spring.

[0023] As a preferred embodiment of the uncoupling device for a coal unloading car in a power plant according to the present invention, the slider has a built-in wire-type position sensor to measure the left and right movement position of the slider.

[0024] A method for uncoupling a coal unloading car uncoupling device in a power plant, comprising the following specific steps:

[0025] S1. Hook handle positioning: The robotic arm lifting axis motor moves to a 60-degree angle, the up-down rotation axis motor moves to a 30-degree angle, and the left-right rotation axis motor is at a 0-degree angle, which is the initial position of the robotic arm. At this time, the height of the robotic arm is consistent with the hook handle. The alignment laser probe is perpendicular to the hook handle. The electric slide rail is calibrated to the initial position of 0mm. The robot is moved to the position of 50mm+ of the hook handle. The electric slide rail is calibrated to move to the right until the distance measured by the alignment laser probe is 620±5mm, indicating that the alignment laser probe 202 is aligned with the hook handle. Mark the alignment position P1.

[0026] S2. Hook alignment: The lifting axis motor of the robotic arm moves to an 80-degree angle, the vertical rotation axis motor moves to a -10-degree angle, the calibration electric slide rail moves to the right to the position of P1+50mm, and the robotic arm is moved to the rear side of the hook handle. The lifting axis motor of the robotic arm moves to a 60-degree angle, the vertical rotation axis motor moves to a -30-degree angle, the calibration electric slide rail moves to the right to the position of P1+22mm, and the robotic arm is moved to align with the rear side of the handle.

[0027] S3, Positive Hook: When the left and right rotating shaft motor rotates to 1 degree, the square electromagnet is energized, the hook handle is attracted, and when the left and right rotating shaft motor rotates to -1 degree, the hook handle is aligned.

[0028] S4, Hook Lifting: The lifting axis motor of the robotic arm moves to a 62-degree angle, and the up-down rotation axis motor moves to a -28-degree angle;

[0029] S5, Unhooking: When the left and right rotating shaft motor A3 rotates to 90 degrees, the square electromagnet is de-energized;

[0030] S6, Uncoupling: Send a signal to uncoupling the tractor.

[0031] Compared with existing technologies, the advantages of this invention are as follows: This invention uses a laser probe to locate and determine the handle of the open wagon hook. The hooking action is then initiated by electromagnet attraction. The entire robotic arm uses electromagnets instead of grippers, resulting in more precise hook handle positioning and alignment compared to using electromagnets alone. Furthermore, the magnetic plate and hook handle can have a -2 degree redundancy deviation during hooking, leading to higher hooking efficiency and accuracy. The spring-lifting hook method provides a 20mm redundancy deviation for hook lifting. The entire device is simple in design, clear in principle, and has high mechanical redundancy, ensuring reliable and stable mechanical operation. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0033] Figure 1 This is a schematic diagram of the overall structure of a coal unloading car uncoupling device for a power plant according to the present invention;

[0034] Figure 2 This is a schematic diagram of the structure of a calibration electric slide rail for a coal unloading car uncoupling device in a power plant according to the present invention;

[0035] Figure 3 This is an assembly drawing of the rotating robotic arm, the positive hook electromagnetic device, and the spring lifting hook of a coal unloading car unhooking device for a power plant according to the present invention.

[0036] Figure 4 This is a partial structural diagram of the spring lifting hook of the uncoupling device for a coal unloading car in a power plant according to the present invention;

[0037] Figure 5 This is a schematic diagram of the first state of a coal unloading car uncoupling device for a power plant provided by the present invention;

[0038] Figure 6 This is a schematic diagram of the second state of a coal unloading car uncoupling device for a power plant provided by the present invention;

[0039] Figure 7 This is a schematic diagram of the third state of a coal unloading car uncoupling device for a power plant provided by the present invention;

[0040] Figure 8 This is a schematic diagram of the fourth state of a coal unloading car uncoupling device for a power plant provided by the present invention. Detailed Implementation

[0041] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0042] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0043] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0044] This invention provides a device and method for uncoupling coal unloading cars in power plants. The design is simple, and the mechanical movement has a large redundancy, which makes the mechanical device reliable and stable.

[0045] Figures 1-4 The diagram shown is a structural schematic of one embodiment of a coal unloading car uncoupling device for a power plant according to the present invention. Please refer to [link / reference]. Figures 1-4 The uncoupling device for a coal unloading car in a power plant according to this embodiment specifically includes a calibration electric slide rail 100, a three-axis robotic arm 200, a rotating robotic arm 300, a positive hook electromagnetic device 400, and a spring lifting hook 500.

[0046] The calibration electric slide rail 100 is mounted on the robot, and its position can be adjusted by the robot. The calibration electric slide rail 100 drives the three-axis robotic arm 200. In this embodiment, the calibration electric slide rail 100 includes a slide rail body 110, a stepper motor 120 mounted at the head end of the slide rail body 110, a lead screw 130 connected to the output end of the stepper motor 120, a rainproof and dustproof cover 150 disposed between the two sides of the slide rail body 110 and the slider 140, and a bus controller for controlling the number of stepper motor revolutions of the stepper motor 120. The three-axis robotic arm 200 is mounted on the slider 140. When the stepper motor 120 is running, the stepper motor 120... 20 drives the lead screw 130 to rotate, and the lead screw 130 drives the slider 140 to move. In this embodiment, the rainproof and dustproof cover 150 is a retractable and foldable corrugated structure. When the slider 140 reciprocates, the rainproof and dustproof cover 150 extends and folds accordingly, thereby achieving dust and rain protection. The bus controller is directly connected to the motor through 4 wires and can control the number of motor steps. The minimum number of steps to be identified is 1 / 8 of a step. The bus controller has a serial upper-level controller network port and a serial lower-level controller network port, and can also be directly connected to a gateway. Since it is a cascaded setting, the functions of the two network ports can be interchanged. The slider 140 has a built-in pull-wire position sensor to measure the left and right movement position of the slider 140.

[0047] The three-axis robotic arm 200 is mounted on the calibration electric slide rail 100 and driven by the calibration electric slide rail 100 to move along a horizontal linear direction. In this embodiment, the three-axis robotic arm 200 includes a robotic arm column 210, a robotic arm lifting axis motor 220 mounted on the side wall of the robotic arm column 210, a lifting axis connector 230 mounted on the output end of the robotic arm lifting axis motor 220, a lifting axis 240 partially mounted on the bottom side of the lifting axis connector 230, an up-down rotation axis connector 250 mounted on the other end of the lifting axis 240, an up-down rotation axis motor 260 mounted on the side wall of the up-down rotation axis connector 250, a left-right rotation axis connector 270 mounted on the output end of the up-down rotation axis motor 260, and a left-right rotation axis motor 280 mounted on the left-right rotation axis connector 270.

[0048] A rotary robotic arm 300 is mounted on the free end of a three-axis robotic arm 200 and is driven by the three-axis robotic arm 200 to rotate or move vertically. It includes an L-shaped bracket 310 with a first support rod 310a and a second support rod 310b, an alignment laser probe 320 disposed on the inner side wall of the first support rod 310a, a fixed frame 330 disposed on the outer side wall of the second support rod 310b, and a magnetic guide plate 340 disposed on the outer end face of the fixed frame 330. The magnetic guide plate 340 can generate magnetic force to attract the hook by controlling the positive hook electromagnetic device 400.

[0049] The positive hook electromagnetic device 400 is used to generate electromagnetic attraction when energized to attract the hook. In this embodiment, the positive hook electromagnetic device 400 includes a square electromagnet 410, which is installed in the fixed frame 330 and located on the back of the magnetic plate 340. The square electromagnet 410 is connected to a bus control switch, and the connection line between the bus control switch and the square electromagnet 410 is a 24V power line, which is used to control the electromagnetic on and off of the square electromagnet 410.

[0050] The spring lifting hook 500 is vertically mounted on the outer side wall of the magnetic sheet 340 to prevent deformation of the hook handle. In this embodiment, the spring lifting hook 500 includes a bending bracket 510, a lower base 520 disposed on the bending portion of the bending bracket 510, an upper base 530 sleeved on the lower base 520, and an elastic member 540 disposed between the lower base 520 and the upper base 530.

[0051] The present invention also provides a method for uncoupling a coal unloading car uncoupling device in a power plant, the specific steps of which are as follows:

[0052] S1. Hook handle positioning: such as Figure 5 and Figure 6As shown, the robotic arm lifting axis motor 220 moves to a 60-degree angle, the up-down rotation axis motor 260 moves to a 30-degree angle, and the left-right rotation axis motor 280 is at a 0-degree angle, which is the initial position of the robotic arm. At this time, the height of the robotic arm is consistent with the hook handle. The alignment laser probe 320 is perpendicular to the hook handle. The calibration electric slide rail 100 moves to the initial position of 0mm. The robot is moved to the position of 50mm+ of the hook handle. The calibration electric slide rail 100 moves to the right until the distance measured by the alignment laser probe 320 is 620±5mm, indicating that the alignment laser probe 202 is aligned with the hook handle. The alignment position P1 is marked.

[0053] S2. Hook alignment: such as Figure 7 As shown, the robotic arm lifting axis motor 220 moves to an 80-degree angle, the vertical rotation axis motor 260 moves to a -10-degree angle, the calibration electric slide rail 100 moves to the right to the position P1+50mm, and the robotic arm is moved to the rear side of the hook handle. The robotic arm lifting axis motor 220 moves to a 60-degree angle, the vertical rotation axis motor 260 moves to a -30-degree angle, the calibration electric slide rail 100 moves to the right to the position P1+22mm, and the robotic arm is moved to align with the rear side of the handle.

[0054] S3, Positive Hook: such as Figure 8 As shown, when the left and right rotating shaft motor 280 rotates to 1 degree, the square electromagnet 410 is energized, the hook handle is attracted, and when the left and right rotating shaft motor 280 rotates to -1 degree, the hook handle is aligned.

[0055] S4, Lifting hook: The lifting axis motor 220 of the robotic arm moves to a 62-degree angle, and the up-down rotation axis motor 260 moves to a -28-degree angle;

[0056] S5, Unhooking: The left and right rotating shaft motor 280A3 rotates to 90 degrees, and the square electromagnet 410 is de-energized;

[0057] S6, Uncoupling: Send a signal to uncoupling the tractor.

[0058] Although the present invention has been described above with reference to embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, as long as there is no structural conflict, the features in the disclosed embodiments can be combined with each other in any manner. The lack of an exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A device for uncoupling a coal unloading car in a power plant, characterized in that, include: Calibrate the electric slide rail (100) and install it on the robot; A three-axis robotic arm (200) is mounted on the calibration electric slide rail (100) and driven by the calibration electric slide rail (100) to move along a horizontal straight line. A rotary robotic arm (300) is installed at the free end of the three-axis robotic arm (200) and is driven by the three-axis robotic arm (200) to rotate or move up and down. It includes an L-shaped bracket (310) with a first support rod (310a) and a second support rod (310b), an alignment laser probe (320) disposed on the inner side wall of the first support rod (310a), a fixed frame (330) disposed on the outer side wall of the second support rod (310b), and a magnetic plate (340) disposed on the outer end face of the fixed frame (330). The positive hook electromagnetic device (400) includes a square electromagnet (410) which is installed in the fixed frame (330) and located on the back of the magnetic plate (340); A spring-loaded lifting hook (500) is vertically mounted on the outer side wall of the magnetic plate (340); A method for uncoupling a coal unloading car uncoupling device in a power plant, comprising the following specific steps: S1. Hook handle positioning: The lifting axis motor (220) of the robotic arm moves to a 60-degree angle, the up-down rotation axis motor (260) moves to a 30-degree angle, and the left-right rotation axis motor (280) is at a 0-degree angle, which is the initial position of the robotic arm. At this time, the height of the robotic arm is consistent with the hook handle. The alignment laser probe (320) is perpendicular to the hook handle. The calibration electric slide rail (100) moves to the initial position of 0mm. The robot is moved to the hook handle 50mm+ position. The calibration electric slide rail (100) moves to the right until the distance measured by the alignment laser probe (320) is 620±5mm, indicating that the alignment laser probe 202 is aligned with the hook handle. Mark the alignment position P1. S2. Hook alignment: The lifting axis motor (220) of the robotic arm moves to an 80-degree angle, the vertical rotation axis motor (260) moves to a -10-degree angle, the calibration electric slide rail (100) moves to the right to the position of P1+50mm, and the robotic arm is moved to the back of the hook handle. The lifting axis motor (220) of the robotic arm moves to a 60-degree angle, the vertical rotation axis motor (260) moves to a -30-degree angle, the calibration electric slide rail (100) moves to the right to the position of P1+22mm, and the robotic arm is moved to align with the back of the handle. S3, Positive Hook: When the left and right rotating shaft motor (280) rotates to 1 degree, the square electromagnet (410) is energized, the hook handle is attracted, and when the left and right rotating shaft motor (280) rotates to -1 degree, the hook handle is aligned. S4, Lifting hook: The lifting axis motor (220) of the robotic arm moves to a 62-degree angle, and the up and down rotation axis motor (260) moves to a -28-degree angle; S5, Unhook: Rotate the left and right rotating shaft motor (280) A3 to 90 degrees, and the square electromagnet (410) will be de-energized; S6, Uncoupling: Send a signal to uncoupling the tractor.

2. The uncoupling device for a coal unloading car in a power plant according to claim 1, characterized in that, The calibration electric slide rail (100) includes a slide rail body (110), a stepper motor (120) installed at the head end of the slide rail body (110), a lead screw (130) connected to the output end of the stepper motor (120), a rainproof and dustproof cover (150) disposed between the two sides of the slide rail body (110) and the slider (140), and a bus controller for controlling the number of stepping revolutions of the stepper motor (120). The three-axis robotic arm (200) is mounted on the slider (140).

3. The uncoupling device for a coal unloading car in a power plant according to claim 2, characterized in that, The rainproof and dustproof cover (150) has a retractable and foldable corrugated structure.

4. The uncoupling device for a coal unloading car in a power plant according to claim 1, characterized in that, The three-axis robotic arm (200) includes a robotic arm column (210), a robotic arm lifting axis motor (220) mounted on the side wall of the robotic arm column (210), a lifting axis connector (230) mounted on the output end of the robotic arm lifting axis motor (220), a lifting axis (240) partially mounted on the bottom side of the lifting axis connector (230), an up-down rotation axis connector (250) mounted on the other end of the lifting axis (240), an up-down rotation axis motor (260) mounted on the side wall of the up-down rotation axis connector (250), a left-right rotation axis connector (270) mounted on the output end of the up-down rotation axis motor (260), and a left-right rotation axis motor (280) mounted on the left-right rotation axis connector (270).

5. The uncoupling device for a coal unloading car in a power plant according to claim 4, characterized in that, The output end of the left and right rotating shaft motor (280) has a first connecting flange, and the rotating mechanical arm (300) also includes a second connecting flange disposed at the end of the first support rod (310a). The first connecting flange and the second connecting flange are fixedly connected by bolts.

6. The uncoupling device for a coal unloading car in a power plant according to claim 1, characterized in that, The positive hook electromagnetic device (400) also includes a bus control switch connected to the square electromagnet (410).

7. The uncoupling device for a coal unloading car in a power plant according to claim 1, characterized in that, The spring lifting hook (500) includes a bending bracket (510), a lower base (520) disposed on the bending portion of the bending bracket (510), an upper base (530) sleeved on the lower base (520), and an elastic member (540) disposed between the lower base (520) and the upper base (530).

8. The uncoupling device for a coal unloading car in a power plant according to claim 7, characterized in that, The elastic component (540) is a spring.

9. A power plant coal unloading car uncoupling device according to claim 2, characterized in that, The slider (140) has a built-in wire-type position sensor to measure the left and right movement position of the slider (140).

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