A traction hanger and an industrial robot equipped with the traction hanger

Abstract

The present application discloses a traction hanger and an industrial robot equipped with the traction hanger, the hanger comprising a hanger base and a safety hook installed thereon, the safety hook being an L-shaped structure consisting of a first hook body and a second hook body, the first hook body being provided with a mounting slot for mounting the second hook body, two slot walls arranged opposite to each other forming mounting holes for mounting a safety pin, the safety pin can tighten the mounting slot after being locked by a locking member to limit the second hook body from rotating relative to the first hook body, thereby ensuring the bent hook shape of the safety hook; in the present application, the safety pin will automatically break when the force load borne by the safety pin reaches the target breaking extreme value, thereby protecting the user or the robot, and having high safety; the hanger provided by the present application can not only adapt to the upper and lower acting hook-removing scenes of the train, but also can disconnect the air pipes between the trains through the safety hook, and has multiple uses and complete functions; a hook-removing robot equipped with the hanger can complete unmanned automatic hook-removing operations.

Description

Technical Field

[0001] The present application relates to the technical field of hanging devices, and in particular to a traction hook that can be used in the field of train hook unhooking and hooking, and the traction hook can realize hook unhooking and hooking in an operational manner. Background Art

[0002] The coupler is a connecting component used to connect adjacent carriages of a rail train, transmit traction and impact force, and maintain a certain distance between vehicles.

[0003] In the energy industry, trains are often used to transport coal, and the train carriages are reliably connected by a James-type coupler. When unloading coal with a car tipper, the air ducts of the front and rear carriages need to be uncoupled from the couplers, and the disconnected carriages need to be reconnected after the car tipper has unloaded the coal. The above involves the uncoupling and re-coupling of the couplers of the two carriages and the removal of the air ducts, which is referred to as the "uncoupling and re-coupling" work of the train carriages in the industry.

[0004] The James-type coupler consists of three parts: the hook head, the hook body and the hook tail. The thick part at the front of the coupler is called the hook head, in which the hook tongue, hook tongue pin, lock pin, hook tongue push iron and hook lock iron are installed. The rear part of the coupler is called the hook tail, and a vertical flat lock hole is opened on the hook tail to connect with the hook tail frame. In order to achieve hooking or unhooking, and connect or disconnect vehicles, the coupler has the following three positions, which are also called the three states of the coupler:

[0005] 1. In the locked position, the hook tongue of the coupler is blocked by the hook lock iron and cannot be turned outward;

[0006] 2. Unlocking position, that is, the hook lock iron is lifted, and the hook tongue can be turned outward as long as it is pulled. According to the way the hook lock iron is lifted, it can be divided into upper action type and lower action type. The upper action type is opened by the lifting mechanism on the upper part of the hook head; the lower action type is opened by the action of the push lever on the lower part of the hook head.

[0007] 3. Fully open position, that is, the position where the hook tongue has been fully turned outward.

[0008] The current tools used to remove hooks cannot cope with emergency situations and there are safety risks during use. Summary of the invention

[0009] The present application provides a traction hanger and an industrial robot equipped with the traction hanger to solve the problem that the current hanging device cannot cope with emergency situations and there are safety risks.

[0010] In order to achieve the above objectives, this application provides the following technical solutions:

[0011] On the one hand, the present application provides a traction hook, including a hook base, on which a safety hook is installed, the safety hook including a first hook body and a second hook body, the first end of the first hook body is provided with a mounting slot, the first end of the second hook body is adapted to be installed in the mounting slot and is connected to the first hook body through a rotating shaft; mounting holes for installing a safety pin are formed on two oppositely arranged slot walls of the mounting slot, the safety pin is inserted in the mounting hole and locked by a locking member to tighten the mounting slot and limit the rotation of the second hook body relative to the first hook body, so that the first hook body and the second hook body form a bent hook; the diameter parameters and / or material of the safety pin are designed so that the safety pin automatically breaks when the force load it bears reaches the target breaking limit, so that the second hook body rotates relative to the first hook body.

[0012] In one embodiment of the present application, the second end of the first hook body is rotatably connected to the hanger base.

[0013] In one embodiment of the present application, a rotation limit baffle is installed on the hanger base, and the rotation limit baffle is located on one side of the safety hook to limit the safety hook from rotating toward the rotation limit baffle.

[0014] In one embodiment of the present application, a first return spring is installed on the hanger base, the first return spring is connected to the second hook body, the first return spring is located below the rotation limit baffle, and the first return spring is used to pull the safety hook to return to the rotation limit baffle.

[0015] In one embodiment of the present application, a sliding baffle is installed on the hanger base, and the sliding baffle and the safety hook are arranged on both sides of the rotation limit baffle opposite to each other, and the sliding baffle can slide on the hanger base; when the sliding baffle is in the first position, the sliding baffle and the safety hook are arranged in parallel; when the sliding baffle slides to the second position, the sliding baffle and the safety hook are staggered.

[0016] In one embodiment of the present application, a mounting groove for mounting the sliding baffle is formed on the hanger base, and the sliding baffle can slide along the mounting groove; one or more ear seats are arranged on the sliding baffle, and the ear seat is connected to the hanger base through a guide rod, and the length direction of the guide rod is parallel to the movement direction of the sliding baffle. A second return spring is sleeved on the guide rod, and when the sliding baffle slides along the mounting groove, the second return spring is compressed to produce deformation, and the second return spring is used to assist the sliding baffle in resetting.

[0017] In one embodiment of the present application, the diameter of the safety pin ranges from 1.9 mm to 2.5 mm.

[0018] In one embodiment of the present application, a connecting seat is installed on the hanger base, and the connecting seat is used to be adapted and connected to the execution end of the six-axis robot.

[0019] In one embodiment of the present application, a sensor component is installed on the hanger base, and the sensor component is connected to the control system signal of the six-axis robot. The sensor component is used to monitor the position and status of the safety hook.

[0020] On the other hand, the present application provides an industrial robot, including a six-axis robot, the execution end of the six-axis robot is equipped with the above-mentioned traction hanger.

[0021] Compared with the prior art, this application has at least the following beneficial effects:

[0022] 1. The present application provides a traction hook, on which a safety hook is installed on a hook base, the safety hook is an L-shaped structure composed of a first hook body and a second hook body, a mounting slot for installing the second hook body is arranged on the first hook body, and mounting holes for installing a safety pin are formed on two slot walls arranged opposite to each other of the mounting slot, and the safety pin can tighten the mounting slot after being locked by a locking member, thereby limiting the second hook body from rotating relative to the first hook body, thereby ensuring the curved hook shape of the safety hook and ensuring its use function as a curved hook; in the present application, the diameter and / or material of the safety pin are designed, and when the force load borne by the safety pin reaches the target breaking extreme value, the safety pin can automatically break, so that the second hook body rotates relative to the first hook body, and completes automatic unhooking, thereby protecting the traction hook or the component equipment connected thereto or its user, so that the hook can respond to emergencies quickly and is safer to use.

[0023] 2. In one embodiment of the present application, the first hook body of the safety hook is rotatably connected to the hanger base, so that the safety hook can be rotated relative to the hanger base, which is convenient for adjusting the use angle of the safety hook and adapting to more application scenarios. In the present application, the safety hook does not require a rotating drive component, and it can rely on gravity and the rotation of the hanger base to adjust the use angle of the safety hook. Therefore, the rotatable safety hook has a simple structure and low cost.

[0024] 3. The rotating limit baffle provided in one embodiment of the present application can make the safety hook rotate only to one side. When in use, the rotating limit baffle can limit the safety hook, and the hanger base is rotated so that the safety hook is horizontally overlapped on the rotating limit baffle, thereby achieving the fixing of the use angle of the safety hook, which is convenient for operation.

[0025] 4. In one embodiment of the present application, a first reset spring is used to pull the safety hook, which can avoid the friction at the connection between the first hook body and the second hook body causing the safety hook to be difficult to reset normally.

[0026] 5. A sliding baffle plate provided in an embodiment of the present application is slidably connected to a hanger base, and is arranged in parallel with the safety hook in the first position to provide shielding protection for the safety hook. When the traction hanger is used for upper-action hook removal, the sliding baffle plate needs to avoid the hook, so the hanger base needs to be rotated to make the sliding baffle plate slide to be offset from the safety hook, and then the safety hook is used to hook the corresponding part of the lifting mechanism on the upper part of the hook head to perform the hook removal operation; when the traction hanger is used for lower-action hook removal, the sliding baffle plate slides to be offset from the safety hook, and the rocker under the hook is pushed upward to make it disengage from the flat groove on the hook, and then the safety hook is used to pull the rocker to achieve hook removal. Therefore, the safety hook in the present application can adapt to the upper-action and lower-action hook removal and re-removal scenarios on the train, and the air pipe between the trains can be disconnected through the safety hook on the hanger. It has multiple uses, complete functions, and is easy to operate.

[0027] 6. In one embodiment of the present application, a second return spring is provided on the sliding baffle. When the sliding baffle slides relative to the hanger base, the return spring can pull the sliding baffle to return to its original position, thereby preventing the friction of the groove from affecting the normal return of the sliding baffle.

[0028] 7. In one embodiment of the present application, a connecting seat is provided on the hanger base, and the connecting seat can be connected to the execution end of the six-axis robot, so that the machine can replace manual labor and realize the industrial automation of the hook picking operation.

[0029] 8. In one embodiment of the present application, a sensor component is provided on the base of the hanger, and the sensor component can monitor the position and status of the safety hook. By connecting the sensor component with the control system signal of the six-axis robot, the information connection between the hanger and the industrial robot can be realized according to the use requirements, thereby realizing automatic control and unmanned hook removal and re-hook operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings. It should be understood that the specific shapes and structures shown in the drawings should not usually be regarded as limiting conditions for implementing the present application; for example, based on the technical concepts and exemplary drawings disclosed in the present application, those skilled in the art are able to easily make routine adjustments or further optimizations to the increase / decrease / attribution division, specific shapes, positional relationships, connection methods, and dimensional ratios of certain units (components).

[0031] Figure 1 This is a schematic diagram of the structure of a traction hook provided by the present application in an embodiment;

[0032] Figure 2 for Figure 1A schematic diagram of the structure of the safety hook;

[0033] Figure 3 This is a structural schematic diagram of a traction hook provided by the present application in another embodiment;

[0034] Figure 4 This is a schematic diagram of the structural dimensions of the arm lengths of the force-bearing components of the safety hook in an embodiment, where the units of the length and diameter values ​​in the figure are mm.

[0035] Description of reference numerals:

[0036] 1. hanger base; 11. base plate one; 12. base plate two; 13. base plate three; 14. base plate four; 15. base plate five; 16. connecting column;

[0037] 2. Safety hook; 21. First hook body; 22. Mounting shaft; 23. Mounting slot; 24. Second hook body; 25. Rotating shaft; 26. Safety pin;

[0038] 3. Rotate the limit baffle;

[0039] 4. Sliding baffle; 41. Ear seat; 42. Guide rod;

[0040] 5. First return spring; 6. Second return spring; 7. Flange; 8. Sensor assembly; 9. Lifting hook handle. DETAILED DESCRIPTION

[0041] The present application is further described below in detail through specific embodiments in conjunction with the accompanying drawings.

[0042] In the description of this application: unless otherwise specified, "plurality" means two or more than two. The terms "first", "second", "substrate one", "substrate two", "substrate three", etc. in this application are intended to distinguish the objects referred to, and do not have special meanings in terms of technical connotations (for example, they should not be understood as emphasis on importance or order, etc.). Expressions such as "including", "comprising", "having", etc. also mean "not limited to" (certain units, components, materials, steps, etc.).

[0043] When the existing couplers need to be separated, there are large differences in the gap between adjacent carriages, the coupling position, the train speed and friction resistance in different actual situations. Therefore, the current uncoupling operation still requires manual lifting of the coupler to complete the uncoupling operation, which has low work efficiency and high labor costs. In addition, since the time required for uncoupling is not fixed, safety accidents caused by fatigue or negligence of workers during the actual operation often occur. Therefore, the safety of workers' operation is always a risk point in manual operation. In addition, the current uncoupling tools are inconvenient to use, and there may be safety risks if workers make mistakes or encounter other emergencies.

[0044] This application is based on further analysis and research of existing technical problems, and recognizes that under the wave of industrial reform, it is a technical trend to use robots to replace manual labor to realize the unhooking and rehooking of carriages, which can not only reduce labor costs and bring economic benefits, but also minimize safety production risks. Therefore, the inventor analyzed and studied the structural characteristics of the existing Zhan-type coupler and the actual operation of the existing unhooking and rehooking operation, and proposed a traction hook that can be used for the unhooking and rehooking operation of the coal transport car carriage. The structural principle of the traction hook is described in detail below.

[0045] In one embodiment, see Figure 1 , 2 The traction hook in the present application includes a hook base 1, on which a safety hook 2 is installed, and the safety hook 2 includes a first hook body 21 and a second hook body 24. The first end of the first hook body 21 is provided with a mounting slot 23, and the first end of the second hook body 24 is adapted to be installed in the mounting slot 23 and is connected to the first hook body 21 through a rotating shaft 25; mounting holes for installing a safety pin 26 are formed on two oppositely arranged slot walls of the mounting slot 23, and the safety pin 26 is inserted in the mounting hole and locked by a locking member to tighten the mounting slot and limit the rotation of the second hook body 24 relative to the first hook body 21, so that the first hook body 21 and the second hook body 24 form a bent hook; the diameter parameter and / or material of the safety pin 26 are designed so that the safety pin 26 automatically breaks when the force load it bears reaches the target breaking limit, thereby allowing the second hook body 24 to rotate relative to the first hook body 21. Therefore, the safety hook in the present application can maintain the bent hook structure under the action of the safety pin, ensuring its use function as a bent hook. If the hanger is subjected to a large impact load during use, the safety hook can automatically break under the action of the impact and achieve automatic unhooking, that is, the hanger has an overload protection function.

[0046] In one embodiment, the safety hook 2 is an L-shaped hook structure, see Figure 2 The first hook body 21 is a straight rod structure, the first end of the first hook body 21 is provided with a mounting slot 23, and the second end is rotatably connected to the hanger base through a mounting shaft 22; the first end of the second hook body 24 is adapted to be installed in the mounting slot 23 and is rotatably connected to the mounting slot 23 through a rotating shaft 25. In a specific embodiment, the second hook body 24 includes an integrally formed first straight rod section and a second straight rod section connected to one end of the first straight rod section, the other end of the first straight rod section is connected to the first hook body 21, the second straight rod section is arranged opposite to the first hook body 21, and the length of the second straight rod section is less than the length of the first hook body 21.

[0047] In one embodiment, the slot width of the above-mentioned installation slot 23 is slightly larger than the width of the rotating connection end of the second hook body 24. In order to ensure that the first hook body 21 and the second hook body 24 can maintain the L-shaped shape after installation and have the hook function, and in order to automatically disconnect and realize overload protection when the hanger is subjected to a large impact load, the present application sets a safety pin 26 at the installation slot 23 of the first hook body 21. After the safety pin 26 is locked by a locking member, the installation slot 23 can be tightened to ensure that the first hook body 21 and the second hook body 24 are relatively fixed and cannot rotate, thereby realizing the L-shaped hook function. When in use, if the hanger is subjected to a large impact load and the force load borne by the safety pin 26 reaches its target breaking extreme value, the safety pin 26 automatically breaks, the second hook body 24 rotates relative to the first hook body 21, the L-shaped hook shape changes, and the safety hook 2 automatically unhooks.

[0048] In one embodiment, the second end of the first hook body 21 in the present application is rotatably connected to the hanger base 1 .

[0049] In a specific embodiment, a mounting hole is set at the second end of the first hook body 21, and a mounting shaft 22 adapted to the mounting hole is set on the hanger base. The safety hook 2 can rotate relative to the mounting shaft 22, which is convenient for adjusting the use angle of the safety hook and can adapt to more application scenarios. In this application, the safety hook does not need a rotating driving component, and it can rely on gravity and the rotation of the hanger base to adjust the use angle of the safety hook. Therefore, the rotatable safety hook has a simple structure and low cost.

[0050] In one embodiment, a rotation limit baffle 3 is installed on the hanger base 1, and the rotation limit baffle 3 is located on one side of the safety hook 2 to limit the safety hook 2 from rotating toward the rotation limit baffle 3. When in use, the rotation limit baffle can limit the safety hook, and the hanger base is rotated so that the safety hook is horizontally overlapped on the rotation limit baffle to prevent the safety hook from always maintaining a vertical downward posture under the action of gravity, that is, the use angle of the safety hook is fixed, which is convenient for operation.

[0051] In one embodiment, a first return spring 5 is installed on the hanger base, the first return spring 5 is connected to the second hook body, the first return spring 5 is located below the rotation limit baffle 3, and the first return spring 5 is used to pull the safety hook 2 to return to the rotation limit baffle 3. Pulling the safety hook by the first return spring can avoid the friction at the connection between the first hook body and the second hook body that makes it difficult for the safety hook to return normally.

[0052] In one embodiment, a sliding baffle 4 is installed on the hanger base, and the sliding baffle 4 and the safety hook 2 are arranged on both sides of the rotating limit baffle 3, and the sliding baffle 4 can slide on the hanger base. When the sliding baffle 4 is in the first position, the sliding baffle 4 and the safety hook 2 are arranged in parallel, and when the sliding baffle 4 slides to the second position, the sliding baffle 4 and the safety hook 2 are arranged in a staggered manner. The sliding baffle and the safety hook are arranged in parallel to form a shielding protection for the safety hook. When the traction hanger is used for upper action hook removal, the sliding baffle needs to avoid the hook, so the hanger base needs to be rotated to make the sliding baffle slide to stagger with the safety hook, and then use the safety hook to hook the corresponding part of the lifting mechanism on the upper part of the hook head to perform the hook removal operation. When the traction hanger is used for lower action hook removal, the sliding baffle slides to stagger with the safety hook, and pushes the rocker under the hook upward to make it detach from the flat groove on the hook, and then the safety hook is used to pull the rocker to achieve hook removal.

[0053] In addition, when the traction hook provided in the present application is used to complete the air duct disconnection operation, the two air ducts connected between the two carriages can be disconnected by hooking the air duct through the L-shaped safety hook.

[0054] Therefore, the safety hook in the present application can adapt to the upper and lower action hook removal and re-hook scenarios on the train, and the air pipe between trains can also be disconnected by hooking the air pipe through the safety hook on the hanger. It has multiple uses, complete functions, and is easy to operate and use.

[0055] In one embodiment, a mounting groove for mounting the sliding baffle 4 is formed on the hanger base, and the sliding baffle 4 can slide along the mounting groove; one or more ear seats 41 are arranged on the sliding baffle 4, and the ear seats 41 are connected to the hanger base 1 through a guide rod 42, and the length direction of the guide rod 42 is parallel to the movement direction of the sliding baffle 4, and a second return spring 6 is sleeved on the guide rod 42. When the sliding baffle 4 slides along the mounting groove, the second return spring is compressed to produce deformation, and the second return spring is used to assist the sliding baffle 4 in resetting.

[0056] In a specific embodiment, the above-mentioned hanger base is a frame structure composed of multiple plates, which is conducive to the integrated installation of other components. The hanger base includes a base plate 11, a base plate 2 12, a base plate 3 13, a base plate 4 14, a base plate 5 15 and a connecting column 16, wherein: the base plate 11 is a horizontal rectangular panel, the base plate 2 12, the base plate 3 13 and the base plate 4 14 are vertically connected to the bottom surface of the base plate 11, the base plate 2 12 and the base plate 3 13 are adjacently arranged and connected at the edge of the base plate 1 11, the base plate 4 14 is located in the middle of the bottom surface of the base plate 1 11, and the base plate 4 14 and the base plate 2 12 are relatively parallel and spaced apart. Figure 1 .

[0057] A first groove is arranged on the bottom end surface of the base plate 2 12, and a base plate 5 15 is arranged directly below the base plate 2 12. The base plate 2 12 and the base plate 5 15 are fastened together by a vertically arranged connecting column 16. A second groove is arranged on the end surface of the base plate 5 15 facing the base plate 2 12. The distance between the first groove and the second groove is matched with the size of the sliding baffle 4. The upper and lower ends of the sliding baffle 4 are respectively matched with the first groove and the second groove, and the sliding baffle 4 can reciprocate along the first groove and the second groove.

[0058] A rotatable safety hook 2 is arranged below the base plate 4 14, and a rotation limit baffle 3 is fixedly arranged on the plate surface of the base plate 4 14 facing the base plate 2 12. The rotation limit baffle 3 is a rectangular panel with the bottom protruding from the base plate 4 14. The rotation limit baffle 3 is located on one side of the safety hook 2, so that the safety hook 2 can only rotate to one side. The above-mentioned sliding baffle 4 and the rotatable safety hook 2 are arranged on both sides of the rotation limit baffle 3 relatively.

[0059] A first return spring 5 for pulling the safety hook 2 to rotate and return to its original position is installed on the surface of the base plate 5 15 facing the safety hook 2 . The first return spring 5 is connected to the second hook body 24 of the safety hook 2 .

[0060] The sliding baffle 4 is provided with two ear seats 41 on the plate surface facing away from the safety hook 2. Figure 1 , two guide rods 42 are installed on the connecting column 16, one guide rod is connected with an ear seat, and a second return spring 6 is installed on the bolt. The two ends of the second return spring 6 in the initial state are respectively in contact with the ear seat and the connecting column 16, and when the sliding baffle 4 is in the first position, the second return spring 6 is also in the initial state without being stretched or compressed. When the sliding baffle 4 is in the second position, the second return spring 6 is compressed. When the hanger base is rotated to make the sliding baffle 4 slide and reset, the second return spring 6 can assist the sliding baffle 4 to slide down due to gravity, ensuring that the sliding reset is overcome by the friction of the groove.

[0061] In one embodiment, the safety pin 26 used in the present application is a columnar rod, preferably a cylindrical rod, and the locking member for locking the safety pin can be a nut adapted to the safety pin 26. In other embodiments, the safety pin 26 can also be a square column or other polygonal column structure.

[0062] In one embodiment, the diameter range of the safety pin 26 can be designed according to the target breaking limit of the safety pin. By calculating the diameter of the safety pin, it will automatically break when subjected to a large impact load, such as when the vehicle slips, thereby achieving the purpose of automatically disconnecting the safety hook and protecting the user.

[0063] In one embodiment, the arm lengths of the force-bearing components of the safety hook of the present application are as follows: Figure 4As shown, the length and diameter values ​​in the figure are in units of mm. As can be seen from the figure, first, the force exerted by the hook handle 9 on the safety hook 26 will be The amplification factor acts on the safety pin.

[0064] Secondly, considering that the minimum impact load coefficient is 2, that is, at the moment of contact, the minimum impact load on the safety pin is 4.54 times the force exerted by the hook handle on the safety hook;

[0065] The selected shear safety pin is an M3*25 (12.9 grade) hexagon socket screw with a minimum diameter of 2.46 mm and a minimum cross-sectional area of:

[0066] Under the action of 120KG thrust, the shear force of the safety pin section is Since 12.9 grade bolts are used, the required shear force is calculated as follows:

[0067] From the calculation, it can be known that under an impact load of about 120KG, the shear stress of the bolt is close to the maximum allowable shear stress, and it is very likely to shear off, thereby protecting the device. If it is under a large impact, the bolt will inevitably shear off, thereby protecting the device.

[0068] Therefore, screws of different specifications can be selected as safety pins to meet different needs. However, high-strength bolts of grade 12.9 and grade 10.9 should be selected as much as possible, because they are more brittle and have less elastic deformation, and are more suitable for shear protection devices.

[0069] In a specific embodiment, according to the design and use requirements, if the target breaking limit of the design safety pin is 450MPa, a safety pin made of alloy steel with a diameter of 1.9mm can be selected. Under the same force, a pin with a larger cross section can usually withstand a greater force.

[0070] In another specific embodiment, if the target breaking limit of the design safety pin is 582MPa, a safety pin made of alloy steel with a diameter of 2.5mm can be selected. During application, when the force load borne by the safety pin reaches the target breaking limit, the safety pin automatically breaks and the safety hook automatically unhooks.

[0071] In one embodiment, a connecting seat is installed on the hanger base, and other actuators can be connected through the connecting seat.

[0072] In a specific embodiment, the above-mentioned connection seat can be a flange 7, see Figure 3 The flange plate can be connected to the end-user of the six-axis robot, and the machine can replace manual labor to realize the industrial automation of the hook-picking and hook-repicking operations.

[0073] In another specific embodiment, the flange 7 can be connected to the handle structure, and the staff can use the traction hanger provided by the present application to remove the hook and dismantle the air duct by holding the handle. There is no need to replace the hanger during use. Of course, the switch button of the rotating drive component can also be set on the hanger base 1 or the handle structure. The staff can automatically adjust the hanger state through the switch button, which is easy to use.

[0074] In one embodiment, a sensor assembly 8 is also installed on the hanger base 1, see Figure 3 , the information connection between the hanger and the industrial robot can be realized according to the use needs, and automatic control and unmanned hook removal and re-hooking operations can be realized. The hanger provided by the present application does not need to be provided with a driving component for driving the safety hook to rotate. The angle adjustment of the safety hook can be achieved by rotating the hanger base by the six-axis robot, and the angle can be fixed by rotating the limit baffle. Therefore, the present application sets the sensor component 8 on the hanger base 1 to conveniently collect signals of the real-time position and use status of the safety hook, which is convenient for the six-axis robot to adjust and control the hanger.

[0075] In one embodiment, the present application also provides an industrial robot equipped with the traction hook, which can realize automatic hooking and unhooking operations. The industrial robot includes a six-axis robot, the sixth axis of the six-axis robot is the execution end of the robot, and the above-mentioned traction hook can be installed on the execution end of the six-axis robot.

[0076] The flange 7 on the hanger base 1 of the traction hanger can form a rigid connection with the execution end of the six-axis robot, that is, the six-axis robot can replace manual work to remove and rehook. The sensor component 8 installed on the hanger base 1 can be connected to the control system signal of the six-axis robot, which can facilitate the control system to obtain the action state of the traction hanger in real time and realize the action control of the traction hanger.

[0077] In summary, the present application provides a traction hook suitable for a tandem six-axis robot. This single set of hooks can be used to complete the disconnection of the air duct, the unhooking and re-hooking of the upper-acting coupler, and the unpinning of the lower-acting coupler. It has strong work adaptability and can protect the six-axis robot by automatically disconnecting when the train slips.

[0078] The traction hook provided in this application provides technical support for unmanned operation of hook removal and re-hook operation. When used, the traction hook provided in this application can be matched with laser radar and industrial camera, etc., and with the support of the algorithm, automatic recognition, automatic execution of actions and other automated processes can be realized to realize unmanned operation, ensure operation safety and improve economic benefits.

[0079] The technical features of the above embodiments may be arbitrarily combined (as long as there is no contradiction in the combination of these technical features). To make the description concise, not all possible combinations of the technical features in the above embodiments are described; these embodiments that are not explicitly written should also be considered to be within the scope of this specification.

[0080] The above is a relatively specific and detailed description of the present application through general description and specific embodiments. It should be understood that, based on the technical concept of the present application, several conventional adjustments or further innovations can be made to these specific embodiments; however, as long as they do not deviate from the technical concept of the present application, the technical solutions obtained by these conventional adjustments or further innovations also fall within the scope of protection of the claims of the present application.

Claims

1. A traction hook, characterized in that: The invention comprises a hanger base (1), a safety hook (2) is installed on the hanger base (1), the safety hook (2) comprises a first hook body (21) and a second hook body (24), the first end of the first hook body (21) is provided with a mounting slot (23), the first end of the second hook body (24) is adapted to be installed in the mounting slot (23) and is connected to the first hook body (21) via a rotating shaft (25); two groove walls of the mounting slot (23) arranged opposite to each other are both formed with a safety hook for installing a safety hook. The safety pin (26) is inserted into the installation hole and locked by a locking member to tighten the installation slot and limit the second hook body (24) from rotating relative to the first hook body (21), so that the first hook body (21) and the second hook body (24) form a bent hook; the diameter parameter and / or material of the safety pin are designed so that the safety pin automatically breaks when the force load borne by the safety pin reaches a target breaking limit, so that the second hook body (24) rotates relative to the first hook body (21).

2. The traction hook according to claim 1, characterized in that: The second end of the first hook body (21) is rotatably connected to the hanger base.

3. The traction hook according to claim 2, characterized in that: A rotation limit baffle (3) is installed on the hanger base, and the rotation limit baffle (3) is located on one side of the safety hook (2) and is used to limit the safety hook (2) from rotating toward the rotation limit baffle (3).

4. The traction hook according to claim 3, characterized in that: A first return spring (5) is installed on the hanger base, the first return spring (5) is connected to the second hook body, the first return spring (5) is located below the rotation limit baffle (3), and the first return spring (5) is used to pull the safety hook (2) to return to the rotation limit baffle (3).

5. The traction hook according to claim 3, characterized in that: A sliding baffle (4) is installed on the hanger base, and the sliding baffle (4) and the safety hook (2) are arranged on both sides of the rotation limit baffle (3) opposite to each other, and the sliding baffle (4) can slide on the hanger base; When the sliding baffle (4) is located at the first position, the sliding baffle and the safety hook (2) are arranged in parallel; When the sliding baffle (4) slides to the second position, the sliding baffle and the safety hook (2) are arranged in a staggered manner.

6. The traction hook according to claim 5, characterized in that: A mounting groove for mounting the sliding baffle (4) is formed on the hanger base, and the sliding baffle (4) can slide along the mounting groove; One or more ear seats (41) are arranged on the sliding baffle (4), and the ear seats (41) are connected to the hanger base through a guide rod (42). The length direction of the guide rod (42) is parallel to the movement direction of the sliding baffle (4). A second return spring (6) is sleeved on the guide rod (42). When the sliding baffle (4) slides along the installation groove, the second return spring is compressed to produce deformation, and the second return spring is used to assist the sliding baffle (4) in returning to its original position.

7. The traction hook according to claim 1, characterized in that: The diameter of the safety pin (26) ranges from 1.9 mm to 2.5 mm.

8. The traction hook according to any one of claims 1 to 6, characterized in that: A connecting seat is installed on the hanger base (1), and the connecting seat is used to be adapted to be connected to the execution end of the six-axis robot.

9. The traction hook according to any one of claims 1 to 6, characterized in that: A sensor component (8) is installed on the hanger base (1), and the sensor component (8) is connected to the control system signal of the six-axis robot. The sensor component (8) is used to monitor the position and state of the safety hook.

10. An industrial robot, characterized in that: It comprises a six-axis robot, the execution end of which is installed with the traction hook according to any one of claims 1 to 9.

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