A hook-removing robot and hook-removing method for a dumper
By designing a hook removal robot that includes electronically controlled slide rails, cylinders and motor-driven, the problem of unsmooth removal of the hook by the overturner is solved, and convenient hook removal and adaptability to train hooks is achieved.
Patent Information
- Application Number
- CN202410642094.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-23
- Publication Date
- 2024-12-27
- Estimated Expiration
- 2044-05-23
AI Technical Summary
The existing overturner hook removal actuator is difficult to imitate manual hand grip and rotation actions, resulting in unsmooth hook removal operation.
A hook-removing robot including main module and hook-removing module is designed, using electronically controlled slide rails, cylinders, lifting plates, swinging shafts, gripping components and hook-removing arm. The translation components and lifting plates are driven to move through the electronically controlled slide rails. , the cylinder is used to adjust the height, and the motor drives the screw and drive disc to achieve the grip and rotation of the hook rod, adapting to the position and swing amplitude of the hook rod.
It realizes smooth hook removal operation for train hooks, improves the convenience and applicability of hook removal, and adapts to the needs of different hook removal rods.
Smart Images
Figure CN118495196B_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of unhooking a car tipper, and more specifically, to an unhooking robot and an unhooking method for a car tipper. Background Art
[0002] A car tipper is a large mechanical device used to unload bulk materials from open railway cars. It is a loading and unloading machine that can flip or tilt rail cars to unload materials. It is suitable for ports with large transportation volumes and industrial sectors such as metallurgy, coal, and thermal power. Most mine cars in mines are also unloaded using small car tippers. A car tipper can unload 1-4 car wagons at a time. Early equipment could only unload 1 car wagon, and the largest car tipper could unload 4 car wagons. Before a car tipper flips a train car, it needs to unhook the car wagons in advance to release the connection between the cars. Currently, the unhooking operation is usually done manually.
[0003] According to the search, the Chinese patent with patent number CN218641977U discloses an open car tipper unhooking actuator, including a mounting plate, the top surface of the mounting plate is fixedly connected to a shell, a first motor is installed on the front of the shell, and a worm and a worm wheel are rotatably arranged on the shell, the top end of the worm is fixedly connected to a sleeve, a telescopic column is arranged in the sleeve, a screw rod is connected by a thread in the telescopic column, one end of the sleeve is fixedly connected to a second motor, one end of the telescopic column is fixedly connected to a connecting plate, the front of the connecting plate is fixedly connected to a frame, a cylinder is installed in the frame, and the output end of the cylinder is fixedly connected to a pull plate. By providing components such as a cylinder, a clamping plate, a curved rod and a frame, when the two clamping plates are on the unhooking rod of the coupler, the pull plate can be pulled by starting the cylinder to drive the two clamping plates closer to each other, the two clamping plates clamp the unhooking rod of the coupler, and then the unhooking rod of the coupler is pulled by adjusting the distance of the telescopic column, thereby achieving the purpose of automatic unhooking.
[0004] With respect to the above-mentioned related technologies, the applicant believes that, although the above-mentioned unhooking execution device can realize the unhooking operation of some couplers when in use, during the unhooking process, the staff needs to hold the handle of the unhooking rod when unhooking the train coupler, and then rotate the train unhooking rod counterclockwise to make the unhooking rod rotate around the horizontal axis part, and the horizontal axis part subsequently drives the hook lock to disengage from the coupler to complete the unhooking operation. The above-mentioned unhooking execution device is not easy to imitate and realize manual handholding and subsequent rotation movements, so that it is difficult to smoothly realize the unhooking operation of the train coupler during actual use. For this reason, we propose a unhooking robot and unhooking method for a tipping machine. Summary of the invention
[0005] In order to solve the above problems, the present application provides a hook-removing robot and hook-removing method for a dumper, which adopts the following technical solutions:
[0006] A hook-removing robot for a car tipper, comprising a main body module and a hook-removing module, the main body module comprising a main body platform, a turning machine is arranged inside the main body platform, the front end face of the turning machine is fixedly connected to a connecting platform, the top of the connecting platform is fixedly connected to two guardrails, the hook-removing module comprises an electric control slide rail arranged on the top of the connecting platform, a translation assembly is fixedly connected to the electric control slide rail, the top of the translation assembly is fixedly connected to a support platform, a lifting plate is movably connected inside the support platform, a swing shaft is rotatably connected inside the lifting plate and near the top, a hook-removing arm is fixedly connected to one end of the swing shaft, an installation groove is provided on the inner wall of the hook-removing arm, a lifting assembly and a holding assembly are arranged inside the installation groove, the lifting assembly is connected to the holding assembly, a swing assembly is arranged at the other end of the swing shaft, the swing assembly is connected to one side of the lifting plate, the front end face and the rear end face of the support platform are both fixedly connected to cylinders, and the output shafts of the two cylinders are respectively fixedly connected to the front end face and the rear end face of the lifting plate.
[0007] Furthermore, the holding assembly includes an H-shaped lifting block slidably connected to the inside of the mounting groove, the front end face and the rear end face of the H-shaped lifting block are fixedly connected to hollow plates, the interiors of the two hollow plates are slidably connected to movable blocks, one end of the two movable blocks are fixedly connected to connecting plates, the adjacent ends of the two connecting plates are fixedly connected to holding splints, and the adjacent sides of the two holding splints are provided with holding grooves.
[0008] By adopting the above technical solution, the hook removing rod can be held through the holding groove.
[0009] Furthermore, the holding assembly also includes a booster rod movably connected to the inside of the H-shaped lifting block, both ends of the booster rod extend to the outside of the H-shaped lifting block, one end of the booster rod is located between two holding clamps, and the other end of the booster rod is hinged to two connecting arms, and one end of the two connecting arms is respectively hinged to the two movable blocks.
[0010] By adopting the above technical solution, the two movable blocks are driven to approach each other by the retreat of the booster rod.
[0011] Furthermore, the holding assembly also includes a return spring fixedly connected between one side of the H-shaped lifting block and the outer surface of the booster rod, and the return spring is located outside the booster rod.
[0012] By adopting the above technical solution, the reset spring can subsequently drive the booster rod to reset.
[0013] Furthermore, the translation assembly includes a hollow table fixedly connected to the electric control slide rail, a screw rod is rotatably connected between the two sides of the inner wall of the hollow table, the outer surface of the screw rod is threadedly connected to the translation block, the bottom of the support table is fixedly connected to the top of the translation block, the outer surface of the translation block is slidably connected to the inside of the hollow table, a first motor is fixedly connected to one side of the hollow table, and the output shaft of the first motor is fixedly connected to one end of the screw rod.
[0014] By adopting the above technical solution, the holding assembly can be driven to gradually approach the hook removing rod, and the hook removing rod can resist the push rod from retreating.
[0015] Furthermore, the swing assembly includes a swing gear fixedly connected to the outer surface of the swing shaft, a second motor is fixedly connected to one side of the lifting plate, an output shaft of the second motor is fixedly connected to a transmission plate, a strip groove is opened on one side of the transmission plate, a transmission shaft is movably connected inside the strip groove, a connecting shaft is rotatably connected to one side of the lifting plate, a fitting block is movably sleeved on the outer surface of the connecting shaft, a half-circle gear and a driving empty plate are fixedly connected to the outer surface of the fitting block, the half-circle gear is meshed with the swing gear, and the transmission shaft is movably connected inside the driving empty plate.
[0016] By adopting the above technical solution, the unhooking arm can be driven to perform a swinging operation.
[0017] Furthermore, the swing assembly also includes a threaded rod movably inserted between the set block and the inside of the connecting shaft, the outer surface of the threaded rod is threadedly connected to two nuts, the inside of the strip groove is rotatably connected to an adjustment screw, one end of the adjustment screw extends to the outside of the transmission disk, and the outer surface of the adjustment screw is threadedly connected to the internal thread of the transmission shaft.
[0018] By adopting the above technical solution, the swing amplitude of the hook removing arm can be adjusted accordingly as needed.
[0019] Furthermore, the lifting assembly includes two lifting screws that are rotatably connected between the top and bottom of the inner wall of the mounting groove, the bottom ends of the two lifting screws extend to the bottom of the unhooking arm, the bottom ends of the two lifting screws are fixedly connected with connecting gears, and the interior of the H-shaped lifting block is threadedly connected to the outer surfaces of the two lifting screws.
[0020] By adopting the above technical solution, the height of the gripping assembly can be adjusted as needed.
[0021] Furthermore, the lifting assembly also includes a handle rotatably connected to the bottom of the unhooking arm, the outer surface of the handle is fixedly connected to a driving gear, and the outer surfaces of the two connecting gears are meshed with the outer surface of the driving gear.
[0022] By adopting the above technical solution, the driving gear can be driven to rotate by rotating the handle, thereby driving the two lifting screws to rotate.
[0023] A method for unhooking a dumper comprises the following steps:
[0024] S1. Preparation step: The train to be unhooked is towed to the docking platform, and the electric control slide rail drives the translation assembly and the lifting plate to move, so that the unhooking rod is directly opposite to the booster rod, and the cylinder is opened to drive the lifting plate to adjust the height, so that the swing axis is directly opposite to the axis center of the horizontal axis of the unhooking rod;
[0025] S2, height adjustment step: by turning the handle, the driving gear can be driven to rotate. When the driving gear rotates, it will transmit two connecting gears, and the two connecting gears will drive two lifting screws to rotate. The two lifting screws will drive the H-shaped lifting block to move up and down, so that the height of the holding component can be adjusted, so that the holding component can hold different positions of the hook removal rod as needed;
[0026] S3, amplitude adjustment steps: by removing the nut and pulling out the threaded rod, the half-circle gear of the set block and the driving blank plate can be removed from the connecting shaft, and then the position of the transmission shaft can be adjusted by rotating the adjustment screw, and then the set block and the half-circle gear are reinstalled according to the position of the transmission shaft, and the unhooking arm is still kept in a vertical state, so that when the transmission plate drives the transmission shaft to rotate 180 degrees, the swing amplitude of the unhooking arm will change;
[0027] S4, hook removal step: turn on the first motor, the first motor will drive the screw rod to drive the translation block to move, and the translation block will drive the booster rod to approach the hook removal rod while moving. Subsequently, the hook removal rod will contact the booster rod and push the booster rod backward. When the booster rod retreats, it will pull the reset spring to extend and pull the two movable blocks closer to each other through the two connecting arms. The two movable blocks drive the two holding clamps to close together, and the holding groove holds the hook removal rod. Then turn on the second motor to drive the transmission disk to drive the holding clamp to rotate 180 degrees. The transmission shaft will move inside the driving empty plate and drive the connecting shaft and the half-circle gear to swing, so that the half-circle gear drives the swinging gear to drive the swinging shaft to rotate, so that the holding clamp holds the hook removal rod and the hook removal arm drives the hook removal rod to rotate around the horizontal axis, thereby completing the hook removal operation.
[0028] In summary, this application includes the following beneficial technical effects:
[0029] (1) The present application adopts the arrangement of the electric-controlled slide rail, the cylinder, the lifting plate, the swing shaft, the gripping assembly and the hook-removing arm, so that the machine can imitate the steps of the working operation, first grip the hook-removing rod and then drive the hook-removing rod to rotate around the horizontal axis, thereby completing the hook-removing operation, making it more compatible with the hook-removing operation of the train coupler and making the overall hook-removing operation smoother;
[0030] (2) The present application provides a set block, a threaded rod, an adjustment screw and a transmission shaft, so that the half-circle gear can be disassembled, the position of the transmission shaft is adjusted accordingly, and the half-circle gear is reinstalled, thereby changing the swing amplitude of the unhooking arm driving the unhooking rod, thereby meeting the swing requirements of different unhooking rods;
[0031] (3) The present application adopts the arrangement of a lifting screw, a connecting gear, a turning handle and a driving gear, so that the height of the holding assembly of the machine can be adjusted, thereby adjusting the holding position of the holding assembly according to the needs of different unhooking rods, thereby improving the applicability of the machine. BRIEF DESCRIPTION OF THE DRAWINGS
[0032] Figure 1 This is a schematic diagram of the overall structure of this application;
[0033] Figure 2 This is a schematic diagram of the main structure of this application;
[0034] Figure 3 This is a schematic diagram of the structure of the dehooking module for this application;
[0035] Figure 4 This is a schematic diagram of the structure of the lifting assembly and the holding assembly of this application;
[0036] Figure 5 This is a schematic diagram of the structure of the swing assembly of the present application;
[0037] Figure 6 This is a schematic diagram of the exploded structure of the swing assembly of this application;
[0038] Figure 7 This is an enlarged structural diagram of location A of this application;
[0039] Figure 8 This is an enlarged structural diagram of location B of this application.
[0040] Description of the numbers in the figure:
[0041] 100, main body module; 110, main body platform; 120, turning machine; 130, connection platform; 140, guardrail;
[0042] 200, unhooking module; 210, electric control slide rail; 220, translation assembly; 221, hollow platform; 222, lead screw; 223, translation block; 224, first motor; 230, support platform; 240, lifting plate; 250, swing shaft; 260, lifting assembly; 261, lifting screw; 262, connecting gear; 263, turning handle; 264, driving gear; 270, holding assembly; 271, H-shaped lifting block; 272 , movable block; 273, connecting plate; 274, holding splint; 275, holding groove; 276, booster rod; 277, connecting arm; 278, return spring; 280, swing assembly; 281, swing gear; 282, second motor; 283, transmission plate; 284, transmission shaft; 285, connecting shaft; 286, set block; 287, half-circle gear; 288, threaded rod; 289, adjustment screw; 290, cylinder. DETAILED DESCRIPTION
[0043] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application; obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application without making creative work are within the scope of protection of the present application.
[0044] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.
[0045] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "set / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0046] The following is combined with Figure 1-8 This application is described in further detail.
[0047] See also Figure 1-8A hook-removing robot for a car tipper includes a main body module 100 and a hook-removing module 200. The main body module 100 includes a main body platform 110. A turning machine 120 is arranged inside the main body platform 110. A connecting platform 130 is fixedly connected to the front end surface of the turning machine 120. Two guardrails 140 are fixedly connected to the top of the connecting platform 130. The hook-removing module 200 includes an electric control slide rail 210 arranged on the top of the connecting platform 130. A translation component 220 is fixedly connected to the electric control slide rail 210. A support platform 230 is fixedly connected to the top of the translation component 220. A lifting plate 240 is movably connected to the inside of the support platform 230. A swing shaft 250 is rotatably connected inside the lifting plate 240 and near the top. One end of the swing shaft 250 is fixedly connected to a hook-removing arm. An installation groove is provided on the inner wall of the hook-removing arm. A lifting component 260 and a holding component 270 are arranged inside the installation groove. The lifting component 260 is connected to the holding component 270. A swing component 280 is arranged at the other end of the swing shaft 250. The swing component 280 is connected to one side of the lifting plate 240. The front end face and the rear end face of the support platform 230 are fixedly connected to a cylinder 290. The output shafts of the two cylinders 290 are fixedly connected to the front end face and the rear end face of the lifting plate 240, respectively.
[0048] During use, the train that needs to be unhooked is towed onto the docking platform 130, and the electrically controlled slide rail 210 drives the translation assembly 220 and the lifting plate 240 to move, so that the unhooking rod is directly opposite the holding assembly 270. The subsequent staff opens the translation assembly 220 to drive the holding assembly 270 to approach the unhooking rod. The unhooking rod will then contact the holding assembly 270, so that the holding assembly 270 holds the unhooking rod, and then opens the swing assembly 280. The swing assembly 280 will transmit the swing shaft 250, and the swing shaft 250 drives the unhooking arm and the holding assembly 270 to swing, so that the holding assembly 270 holds the unhooking rod and the unhooking arm drives the unhooking rod to rotate around the horizontal axis part, thereby completing the unhooking operation, and the lifting assembly 260 can adjust the height of the holding assembly 270, so that the holding assembly 270 can hold different positions of the unhooking rod as needed to meet more needs.
[0049] The holding assembly 270 includes an H-shaped lifting block 271 slidably connected to the inside of the installation groove, the front end face and the rear end face of the H-shaped lifting block 271 are fixedly connected to hollow plates, the insides of the two hollow plates are slidably connected to movable blocks 272, one end of the two movable blocks 272 are fixedly connected to a connecting plate 273, the adjacent ends of the two connecting plates 273 are fixedly connected to a holding clamping plate 274, and the adjacent sides of the two holding clamping plates 274 are provided with a holding groove 275. The holding assembly 270 also includes a booster rod 27 movably connected to the inside of the H-shaped lifting block 271. 6. Both ends of the booster rod 276 extend to the outside of the H-shaped lifting block 271. One end of the booster rod 276 is located between the two holding clamps 274. The other end of the booster rod 276 is hinged to two connecting arms 277. One end of the two connecting arms 277 is respectively hinged to the two movable blocks 272. The holding assembly 270 also includes a return spring 278 fixedly connected between one side of the H-shaped lifting block 271 and the outer surface of the booster rod 276. The return spring 278 is located outside the booster rod 276. The translation assembly 220 includes a fixed connection on the electric control slide rail 210. The hollow platform 221 has a screw rod 222 rotatably connected between the two sides of the inner wall of the hollow platform 221, and the outer surface of the screw rod 222 is threadedly connected to the translation block 223, the bottom of the support platform 230 is fixedly connected to the top of the translation block 223, and the outer surface of the translation block 223 is slidably connected to the inside of the hollow platform 221. A first motor 224 is fixedly connected to one side of the hollow platform 221, and the output shaft of the first motor 224 is fixedly connected to one end of the screw rod 222. The swing assembly 280 includes a swing gear 281 fixedly connected to the outer surface of the swing shaft 250, and the lifting plate A second motor 282 is fixedly connected to one side of 240, and a transmission disk 283 is fixedly connected to the output shaft of the second motor 282. A strip groove is opened on one side of the transmission disk 283, and a transmission shaft 284 is movably connected inside the strip groove. A connecting shaft 285 is rotatably connected to one side of the lifting plate 240, and a fitting block 286 is movably sleeved on the outer surface of the connecting shaft 285. A half-circle gear 287 and a driving empty plate are fixedly connected to the outer surface of the fitting block 286. The half-circle gear 287 is meshed with the swing gear 281, and the transmission shaft 284 is movably connected to the inside of the driving empty plate.
[0050] Turn on the first motor 224, the first motor 224 will drive the screw rod 222 to drive the translation block 223 to move, and the translation block 223 will drive the booster rod 276 to approach the hook-off rod while moving, and the hook-off rod will subsequently contact the booster rod 276 and push the booster rod 276 back, and when the booster rod 276 retreats, it will pull the return spring 278 to extend and pull the two movable blocks 272 closer to each other through the two connecting arms 277, and the two movable blocks 272 drive the two holding splints 274 to close together, and the holding slot 275 is pressed against the hook-off rod. Hold it, then turn on the second motor 282 to drive the transmission disk 283 to drive the holding clamp 274 to rotate one hundred and eighty degrees, the transmission shaft 284 will move inside the driving empty plate and drive the connecting shaft 285 and the half-circle gear 287 to swing, so that the half-circle gear 287 drives the swing gear 281 to drive the swing shaft 250 to rotate, and the swing shaft 250 drives the unhooking arm and the two holding clamps 274 to swing, so that the holding clamp 274 holds the unhooking rod and the unhooking arm drives the unhooking rod to rotate around the horizontal axis part, thereby completing the unhooking operation.
[0051] The swing assembly 280 also includes a threaded rod 288 that is movably inserted between the set block 286 and the inside of the connecting shaft 285. The outer surface of the threaded rod 288 is threadedly connected to two nuts. The inside of the strip groove is rotatably connected to an adjustment screw 289. One end of the adjustment screw 289 extends to the outside of the transmission disk 283. The outer surface of the adjustment screw 289 is threadedly connected to the internal thread of the transmission shaft 284.
[0052] By removing the nut and pulling out the threaded rod 288, the set block 286, the half-circle gear 287 and the driving empty plate can be removed from the connecting shaft 285, and then the position of the transmission shaft 284 can be adjusted by rotating the adjusting screw 289, and then the set block 286 and the half-circle gear 287 are reinstalled according to the position of the transmission shaft 284, and the unhooking arm is still kept in a vertical state, so that when the transmission disk 283 drives the transmission shaft 284 to rotate one hundred and eighty degrees, the swing amplitude of the unhooking arm will change.
[0053] The lifting assembly 260 includes two lifting screws 261 that are rotatably connected between the top and bottom of the inner wall of the mounting groove. The bottom ends of the two lifting screws 261 extend to the bottom of the unhooking arm. The bottom ends of the two lifting screws 261 are fixedly connected with connecting gears 262. The interior of the H-shaped lifting block 271 is threadedly connected to the outer surfaces of the two lifting screws 261. The lifting assembly 260 also includes a turning handle 263 that is rotatably connected to the bottom of the unhooking arm. The outer surface of the turning handle 263 is fixedly connected with a driving gear 264. The outer surfaces of the two connecting gears 262 are meshed with the outer surface of the driving gear 264.
[0054] Rotating the handle 263 can drive the driving gear 264 to rotate. When the driving gear 264 rotates, it will transmit the two connecting gears 262. The two connecting gears 262 drive the two lifting screws 261 to rotate. The two lifting screws 261 will drive the H-shaped lifting block 271 to rise and fall, thereby adjusting the height of the holding assembly 270, so that the holding assembly 270 can hold different positions of the unhooking rod as needed to meet more needs.
[0055] A method for unhooking a dumper comprises the following steps:
[0056] S1, preparation step: the train to be unhooked is towed onto the docking platform 130, the electric control slide rail 210 drives the translation assembly 220 and the lifting plate 240 to move, so that the unhooking rod is directly opposite to the booster rod 276, and the cylinder 290 is opened to drive the lifting plate 240 to adjust the height, so that the swing shaft 250 is directly opposite to the axis center of the horizontal axis of the unhooking rod;
[0057] S2, height adjustment step: by rotating the handle 263, the driving gear 264 can be driven to rotate. When the driving gear 264 rotates, it will drive the two connecting gears 262. The two connecting gears 262 drive the two lifting screws 261 to rotate. The two lifting screws 261 will drive the H-shaped lifting block 271 to rise and fall, so that the height of the holding assembly 270 can be adjusted, so that the holding assembly 270 can hold different positions of the hook removal rod as needed;
[0058] S3, amplitude adjustment step: by removing the nut and pulling out the threaded rod 288, the set block 286, the half-circle gear 287 and the driving blank plate can be removed from the connecting shaft 285, and then the position of the transmission shaft 284 can be adjusted by rotating the adjustment screw 289, and then the set block 286 and the half-circle gear 287 are reinstalled according to the position of the transmission shaft 284, and the unhooking arm is still kept in a vertical state, so that when the transmission plate 283 drives the transmission shaft 284 to rotate 180 degrees, the swing amplitude of the unhooking arm will change;
[0059] S4, hook removal step: turn on the first motor 224, the first motor 224 will drive the screw rod 222 to drive the translation block 223 to move, and the translation block 223 will drive the booster rod 276 to approach the hook removal rod while moving, and the hook removal rod will subsequently contact the booster rod 276 and push the booster rod 276 back, and when the booster rod 276 moves back, it will pull the return spring 278 to extend and pull the two movable blocks 272 closer to each other through the two connecting arms 277, and the two movable blocks 272 drive the two holding clamps 274 to move. It is close to closing, and the holding groove 275 holds the unhooking rod, and then the second motor 282 is turned on to drive the transmission disk 283 to drive the holding clamp 274 to rotate one hundred and eighty degrees, and the transmission shaft 284 will move inside the driving hollow plate and drive the connecting shaft 285 and the half-circle gear 287 to swing, so that the half-circle gear 287 drives the swing gear 281 to drive the swing shaft 250 to rotate, so that the holding clamp 274 holds the unhooking rod and the unhooking arm drives the unhooking rod to rotate around the horizontal axis part, thereby completing the unhooking operation.
[0060] The implementation principle of the embodiment of the present application is as follows: during use, the train that needs to be unhooked is towed onto the docking platform 130, the electric-controlled slide rail 210 drives the translation assembly 220 and the lifting plate 240 to move, so that the unhooking rod is directly opposite to the booster rod 276, and the cylinder 290 is turned on to drive the lifting plate 240 to adjust the height, so that the swing shaft 250 is directly opposite to the axis of the horizontal axis of the unhooking rod, and the subsequent staff turns on the first motor 224, and the first motor 224 will drive the screw rod 222 to drive the translation block 223 to move, and the translation block 223 drives the booster rod 276 to approach the unhooking rod while moving, and the unhooking rod will subsequently contact the booster rod 276 and push the booster rod 276. 6 moves backward, when the booster rod 276 moves backward, it will pull the reset spring 278 to extend and pull the two movable blocks 272 closer to each other through the two connecting arms 277, and the two movable blocks 272 drive the two holding clamps 274 to move closer and close, and the holding groove 275 holds the hook-off rod, and then the second motor 282 is turned on to drive the transmission disk 283 to drive the holding clamp 274 to rotate 180 degrees, and the transmission shaft 284 will move inside the driving hollow plate and drive the connecting shaft 285 and the half-circle gear 287 to swing, so that the half-circle gear 287 drives the swing gear 281 to drive the swing shaft 250 to rotate, and the swing shaft 250 drives the hook-off arm and the two holding clamps 274 The gripping clamp 274 grips the unhooking rod and the unhooking arm drives the unhooking rod to rotate around the horizontal axis to complete the unhooking operation. The subsequent second motor 282 continues to drive the transmission plate 283 to rotate 180 degrees to drive the unhooking rod to reset. The turning handle 263 can drive the driving gear 264 to rotate. When the driving gear 264 rotates, it will drive the two connecting gears 262. The two connecting gears 262 drive the two lifting screws 261 to rotate. The two lifting screws 261 will drive the H-shaped lifting block 271 to rise and fall, so that the height of the gripping assembly 270 can be adjusted, so that the gripping assembly 270 can be adjusted as needed. The hook removing rod can be held in different positions to meet more needs. By removing the nut and pulling out the threaded insert 288, the set block 286, the half circle gear 287 and the driving empty plate can be removed from the connecting shaft 285. The position of the transmission shaft 284 can be adjusted by rotating the adjusting screw 289, and then the set block 286 and the half circle gear 287 are reinstalled according to the position of the transmission shaft 284. The hook removing arm still remains in a vertical state, so that when the subsequent transmission disk 283 drives the transmission shaft 284 to rotate one hundred and eighty degrees, the swing amplitude of the hook removing arm will change, so that the swing amplitude of the hook removing arm during operation can be adjusted according to the needs of the hook removing rod, thereby improving the overall applicability.
[0061] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.
Claims
1. A hook-removing robot for a car tipper, comprising a main body module (100) and a hook-removing module (200), characterized in that: The main body module (100) comprises a main body platform (110), a turning machine (120) is arranged inside the main body platform (110), a connection platform (130) is fixedly connected to the front end surface of the turning machine (120), and two guardrails (140) are fixedly connected to the top of the connection platform (130); The hook removal module (200) comprises an electric control slide rail (210) arranged on the top of the connection platform (130), a translation assembly (220) is fixedly connected to the electric control slide rail (210), a support platform (230) is fixedly connected to the top of the translation assembly (220), a lifting plate (240) is movably connected inside the support platform (230), a swing shaft (250) is rotatably connected inside the lifting plate (240) and near the top, one end of the swing shaft (250) is fixedly connected to a hook removal arm, and the inner wall of the hook removal arm is opened. A mounting groove is provided, wherein a lifting component (260) and a holding component (270) are provided inside the mounting groove, wherein the lifting component (260) is connected to the holding component (270), a swing component (280) is provided at the other end of the swing shaft (250), wherein the swing component (280) is connected to one side of the lifting plate (240), and the front end surface and the rear end surface of the support platform (230) are both fixedly connected to cylinders (290), and the output shafts of the two cylinders (290) are respectively fixedly connected to the front end surface and the rear end surface of the lifting plate (240); The holding assembly (270) comprises an H-shaped lifting block (271) slidably connected to the inside of the installation groove, the front end face and the rear end face of the H-shaped lifting block (271) are fixedly connected to hollow plates, the insides of the two hollow plates are slidably connected to movable blocks (272), one end of the two movable blocks (272) are fixedly connected to a connecting plate (273), the adjacent ends of the two connecting plates (273) are fixedly connected to a holding clamping plate (274), and the adjacent sides of the two holding clamping plates (274) are provided with a holding groove (275); The holding assembly (270) further comprises a booster rod (276) movably connected to the interior of the H-shaped lifting block (271), both ends of the booster rod (276) extending to the exterior of the H-shaped lifting block (271), one end of the booster rod (276) being located between the two holding clamping plates (274), and the other end of the booster rod (276) being hinged to two connecting arms (277), one end of the two connecting arms (277) being respectively hinged to the two movable blocks (272); The holding assembly (270) further comprises a return spring (278) fixedly connected between one side of the H-shaped lifting block (271) and the outer surface of the booster rod (276), wherein the return spring (278) is located outside the booster rod (276).
2. A hook-removing robot for a car tipper according to claim 1, characterized in that: The translation assembly (220) comprises a hollow table (221) fixedly connected to the electric control slide rail (210); a lead screw (222) is rotatably connected between two sides of the inner wall of the hollow table (221); a translation block (223) is threadedly connected to the outer surface of the lead screw (222); the bottom of the support table (230) is fixedly connected to the top of the translation block (223); the outer surface of the translation block (223) is slidably connected to the inside of the hollow table (221); a first motor (224) is fixedly connected to one side of the hollow table (221); and an output shaft of the first motor (224) is fixedly connected to one end of the lead screw (222).
3. A hook-removing robot for a car tipper according to claim 2, characterized in that: The swing assembly (280) comprises a swing gear (281) fixedly connected to the outer surface of the swing shaft (250); a second motor (282) is fixedly connected to one side of the lifting plate (240); an output shaft of the second motor (282) is fixedly connected to a transmission plate (283); a strip groove is provided on one side of the transmission plate (283); a transmission shaft (284) is movably connected inside the strip groove; a connecting shaft (285) is rotatably connected to one side of the lifting plate (240); a sleeve block (286) is movably sleeved on the outer surface of the connecting shaft (285); a half-circle gear (287) and a driving hollow plate are fixedly connected to the outer surface of the sleeve block (286); the half-circle gear (287) is meshed with the swing gear (281); and the transmission shaft (284) is movably connected inside the driving hollow plate.
4. The hook-removing robot for a car tipper according to claim 3, characterized in that: The swing assembly (280) further comprises a threaded rod (288) movably inserted between the set block (286) and the interior of the connecting shaft (285), the outer surface of the threaded rod (288) being threadedly connected to two nuts, the interior of the strip groove being rotatably connected to an adjusting screw (289), one end of the adjusting screw (289) extending to the exterior of the transmission disk (283), the outer surface of the adjusting screw (289) being threadedly connected to the interior of the transmission shaft (284).
5. The hook-removing robot for a car tipper according to claim 4, characterized in that: The lifting assembly (260) comprises two lifting screws (261) which are rotatably connected between the top and bottom of the inner wall of the installation groove, the bottom ends of the two lifting screws (261) extend to the bottom of the hook removing arm, the bottom ends of the two lifting screws (261) are fixedly connected to the connecting gear (262), and the interior of the H-shaped lifting block (271) is threadedly connected to the outer surfaces of the two lifting screws (261).
6. The hook-removing robot for a car tipper according to claim 5, characterized in that: The lifting assembly (260) further comprises a turning handle (263) rotatably connected to the bottom of the hook removing arm, the outer surface of the turning handle (263) is fixedly connected to a driving gear (264), and the outer surfaces of the two connecting gears (262) are both meshed with the outer surface of the driving gear (264).
7. A hook-removing method for a car tipper, according to a hook-removing robot for a car tipper according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1, preparation step: the train to be unhooked is towed onto the docking platform (130), the electric control slide rail (210) drives the translation assembly (220) and the lifting plate (240) to move so that the unhooking rod is directly opposite to the booster rod (276), and the cylinder (290) is opened to drive the lifting plate (240) to adjust the height so that the swing shaft (250) is directly opposite to the axis center of the horizontal axis of the unhooking rod; S2, height adjustment step: by rotating the handle (263), the driving gear (264) can be driven to rotate. When the driving gear (264) rotates, it will drive the two connecting gears (262). The two connecting gears (262) drive the two lifting screws (261) to rotate. The two lifting screws (261) will drive the H-shaped lifting block (271) to move up and down, so that the height of the holding component (270) can be adjusted, so that the holding component (270) can hold different positions of the hook removal rod as needed; S3, amplitude adjustment step: by removing the nut and pulling out the threaded rod (288), the half-circle gear (287) of the set block (286) and the driving blank plate can be removed from the connecting shaft (285), and then the position of the transmission shaft (284) is adjusted by rotating the adjustment screw (289), and then the set block (286) and the half-circle gear (287) are reinstalled according to the position of the transmission shaft (284), and the hook-removing arm is still kept in a vertical state, so that when the transmission plate (283) drives the transmission shaft (284) to rotate 180 degrees, the swing amplitude of the hook-removing arm will change; S4, hook removal step: turn on the first motor (224), the first motor (224) will drive the screw rod (222) to drive the translation block (223) to move, and the translation block (223) will drive the booster rod (276) to approach the hook removal rod while moving, and the hook removal rod will subsequently contact the booster rod (276) and push the booster rod (276) back, and when the booster rod (276) moves back, it will pull the return spring (278) to extend and pull the two movable blocks (272) closer to each other through the two connecting arms (277), and the two movable blocks (272) drive the two holding clamps (274) ) are brought close to close, and the holding slot (275) holds the hook-removing rod, and then the second motor (282) is turned on to drive the transmission disk (283) to drive the holding clamp (274) to rotate 180 degrees, and the transmission shaft (284) will move inside the driving hollow plate and drive the connecting shaft (285) and the half-circle gear (287) to swing, so that the half-circle gear (287) drives the swing gear (281) to drive the swing shaft (250) to rotate, so that the holding clamp (274) holds the hook-removing rod and the hook-removing arm drives the hook-removing rod to rotate around the horizontal axis part, thereby completing the hook-removing operation.