Rocker-arm hook robot

Abstract

The present invention discloses a rocker-type hook-righting robot, which is used for straightening the open car hook on the dumper body, and comprises: a track frame, which is arranged on the dumper body; a walking module, which is arranged on the track frame and can move along the track frame; a rocker module, one end of which abuts against the open car hook, and the rocker module straightens the open car hook; a rocker drive module, which is arranged on the walking module and connected to the rocker module, and the rocker drive module drives the rocker module to rotate in the vertical direction. The present invention can completely replace manual labor, be integrated into the dumper automation program, and eliminate the manual hook-righting operation procedure after the dumping operation; the structure is compact, suitable for all dumper systems, and easy to achieve standardization; the hook position can be automatically positioned, and various hook types can be adapted to implement the hook position holding operation at the accurate position.

Description

Technical Field

[0001] The invention relates to the technical field of coupler hooking, and in particular to a rocker-arm hooking robot. Background Art

[0002] In the prior art, a coupler is a vehicle component used to achieve the connection between a locomotive and a carriage or between carriages, transmit traction and impact force, and keep a certain distance between carriages. The coupler body is connected to the coupler frame installed at both ends of the carriage through the coupler tail pin. The coupler body takes the coupler tail pin as the center of the circle and can swing left and right within a certain range to adapt to the curved and turning railway transportation conditions. Most of the domestic railway systems use automatic couplers. The so-called automatic coupler is a coupler that can automatically complete the action of unhooking or hooking after the lifting rod of a coupler is lifted, and then the locomotive is used to pull the carriage open or collide with the hook of another carriage. Open carriages are often used for the transportation of bulk goods such as coal and iron ore, and the unloading is often carried out by a tipping machine system. After the open carriage is unhooked and unpacked, it is towed into the tipping machine system. The tipping machine rotates the open carriage about 160 degrees for unloading, with a high degree of automation and high unloading efficiency.

[0003] When the car tipper rotates and unloads the car, the hook body will be tilted to the side of the discharge port due to gravity and cannot return to its original position automatically. The tilt of the hook body will cause the shunting machine to push the car and the subsequent collision hook to behave abnormally and even cause an accident. Before the car is pushed out by the shunting machine, the tilted hook body of the car needs to be manually straightened. This is done by hand or by swinging a crowbar. Often, when the automatic system of the car tipper is not interrupted, the operator will wait for an opportunity to enter the two ends of the car tipper and straighten it. The whole process carries the risk of personnel being involved in the equipment.

[0004] Since train couplers are located in the center of the railway and equipment, there is currently no automated device that can replace personnel to complete the coupler straightening operation. Summary of the invention

[0005] According to an embodiment of the present invention, a rocker arm type hook-positive robot is provided, which is used for righting the hook of an open car on a dumper body, and comprises: a track frame, a walking module, a rocker arm module, a hook-positive arm module and a rocker arm driving module;

[0006] The track frame is arranged on the dumper body;

[0007] The walking module is arranged on the track frame, and the walking module can move along the track frame;

[0008] One end of the rocker module is connected to the walking module, and the rocker module is used to drive the positive hook arm module to be lifted to a vertical position or dropped to a horizontal position;

[0009] The positive hook arm module is hingedly installed in the rocker arm module, and the head of the positive hook arm module abuts against the open car hook to straighten the open car hook;

[0010] The rocker arm driving module is arranged on the walking module and is connected with the rocker arm module. The rocker arm driving module drives the rocker arm module to rotate in a vertical direction.

[0011] Furthermore, the traveling module comprises: a traveling vehicle and a driving assembly; the traveling vehicle is nested on the track frame, and the driving assembly is arranged on the traveling vehicle, driving the traveling vehicle to move along the track frame.

[0012] Furthermore, the traveling vehicle comprises: a vehicle body and four wheels;

[0013] Four wheels are respectively arranged at the four corners of the vehicle body, and the four wheels are nested on the track frame;

[0014] A cavity is arranged in the vehicle body, and the driving component is arranged in the cavity.

[0015] Further, the driving assembly includes: a driving motor, a gear and a rack;

[0016] The driving motor is arranged in the traveling vehicle, and the output end of the driving motor is connected to the gear;

[0017] The rack is arranged between the track frames, the length direction of the rack is parallel to the length direction of the track frames, and the sawtooth side of the rack is meshed with the gear;

[0018] The driving motor drives the gear to rotate, thereby driving the traveling vehicle to move along the length direction of the rack.

[0019] Furthermore, the driving assembly also includes: a guide rail, a slider and a limiting wheel;

[0020] The guide rail is arranged in the traveling vehicle, and the length direction of the guide rail is perpendicular to the length direction of the rack;

[0021] The slider is slidably arranged on the guide rail and is connected to the driving motor;

[0022] The limiting wheel is connected with the driving motor and connected with the side of the rack away from the saw teeth.

[0023] Further, the rocker arm driving module comprises: a driving member and a rotating shaft;

[0024] The rotating shaft is arranged in the rocker module and passes through the rocker module, and both ends of the rotating shaft are rotatably connected with the walking module;

[0025] The driving member is arranged in the walking module and is connected to the rotating shaft, and the driving member drives the rotating shaft to rotate.

[0026] Further, the rocker arm module comprises:

[0027] A rocker arm cavity, one end of which is open, and the other end of which is connected to a rocker arm drive module;

[0028] The positive hook arm module is arranged in the rocker arm cavity and extends out of the opening;

[0029] The trigger assembly is arranged on the rocker arm cavity. When the trigger assembly collides with the open car hook, the positive hook arm module straightens the open car hook.

[0030] Further, the trigger assembly includes: a touch rod, a return spring and a limit switch;

[0031] The touch rod is rotatably connected to the surface of the rocker arm cavity through a first pin shaft;

[0032] The limit switch is arranged on the rocker arm cavity and is opposite to the touch rod, and is used to trigger the righting action of the hook arm module;

[0033] The reset spring is arranged in the rocker arm cavity, passes through the rocker arm cavity and is connected with the touch rod, and is used for resetting the touch rod.

[0034] Furthermore, the positive hook arm module includes:

[0035] A positive hook arm, the positive hook arm is arranged in the rocker arm cavity, one end of the positive hook arm extends out of the rocker arm cavity, and the other end is rotatably connected to the rocker arm cavity through a second pin shaft;

[0036] A pusher is fixed in the rocker arm cavity, the output end of the pusher is hingedly connected to the positive hook arm, and the pusher pushes the positive hook arm toward or away from the open car coupler;

[0037] An indicator is arranged at one end of the positive hook arm and is used to indicate the rotation position of the positive hook arm.

[0038] Furthermore, the rocker arm module also includes:

[0039] A pair of rollers, the pair of rollers are arranged on both sides of the opening end of the rocker arm cavity;

[0040] A pair of tension springs, the pair of tension springs are arranged on both sides of the rocker arm cavity, and one end of the tension spring is connected to the side of the rocker arm cavity;

[0041] A pair of sealing curtains are respectively arranged on both sides of the positive hook arm module by passing through a pair of rollers, one end of the sealing curtain is connected to the positive hook arm module, the other end of the sealing curtain is connected to the tension spring, the inner surface of the sealing curtain is in contact with the outer surface of the roller, and the sealing curtain seals the opening.

[0042] The rocker-arm hook robot according to the embodiment of the present invention can completely replace manual labor and be integrated into the automated program of the car tipper, eliminating the need for manual hook alignment procedures after tipping operations; it has a compact structure, is applicable to all car tipper systems, and is easy to standardize; it can autonomously locate the hook position, adapt to various hook types, and perform hook position maintenance operations at accurate locations.

[0043] It is to be understood that both the foregoing general description and the following detailed description are exemplary, and are intended to provide further explanation of the technology as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic diagram of a rocker-arm type positive hook robot installed on a dumper according to an embodiment of the present invention;

[0045] Figure 2 Schematic diagram of a rocker-arm hook robot in standby state according to an embodiment of the present invention;

[0046] Figure 3 A side view schematic diagram of a driving assembly of a rocker-type hook robot according to an embodiment of the present invention;

[0047] Figure 4 It is a schematic side view of a rocker-arm type hook robot in a righting state according to an embodiment of the present invention;

[0048] Figure 5 It is a front view schematic diagram of a rocker-arm type hook robot in a righting state according to an embodiment of the present invention;

[0049] Figure 6 for Figure 5 A partial enlarged view of . DETAILED DESCRIPTION

[0050] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings to further illustrate the present invention.

[0051] First, combine Figures 1 to 6 The rocker arm hook robot 1 according to an embodiment of the present invention is described, which is installed on the entrance and exit track beam 3 of the dumper body 2 and is used to abut against the hook 41 before dumping to avoid tilting after flipping. It has a wide range of application scenarios.

[0052] like Figures 1 to 6 As shown, the rocker arm type hook robot 1 of the embodiment of the present invention is used for straightening the hook 41 of the open car 4 on the dumper body 2, and comprises: a track frame 5, a walking module 6, a rocker arm module and a rocker arm driving module.

[0053] Specifically, Figures 1 to 6As shown, in this embodiment, the track frame 5 is arranged on the tipping machine body 2, and the track frame 5 is composed of a frame structure of channel steel, and is fixed to the tipping machine body 2 by welding or bolting; it is specifically located at the center of the track wheel of the tipping machine body 2 and close to the entrance or exit of the carriage. The track frame 5 provides track support for the walking module 6 to realize the walking and positioning function along the track direction, and meet the function that the trolley remains confined within the track during the rotation of the tipping machine body 2; the walking module 6 is arranged on the track frame 5, and the walking module 6 can move along the track frame 5, so that the robot 1 can cover a larger working area, adapt to the operation requirements of the hook 41 at different positions, and improve the flexibility of the operation; one end of the rocker module is connected to the walking module 6, and the rocker module is used to drive the positive hook arm module Lifting to a vertical position or dropping to a horizontal position corresponds to the working state and standby state of the positive hook arm module; the positive hook arm module is hingedly installed in the rocker arm module, and the head of the positive hook arm module abuts against the open car hook 41 to straighten the open car hook 41 to prevent the hook 41 from tilting due to gravity during the unloading and rotation process, and keep the open car hook 41 after unloading in the center of the track to ensure that subsequent carts and crashed cars can be hooked smoothly; the rocker arm drive module is arranged on the walking module 6 and is connected to the rocker arm module. The rocker arm drive module drives the rocker arm module to rotate in the vertical direction. The rocker arm module is lifted or dropped under the action of the rocker arm drive module. When it drops to a horizontal state, it is in a standby state and does not affect the passage of the carriage; when it is lifted to a 90-degree position, it is in an operating state to straighten the hook 41.

[0054] Specifically, Figures 1 to 6 As shown, in this embodiment, the traveling module 6 includes: a traveling vehicle and a driving assembly; the traveling vehicle is nested on the track frame 5, and the driving assembly is arranged on the traveling vehicle to drive the traveling vehicle to move along the track frame 5. The traveling vehicle includes: a vehicle body 61 and four wheels 62; the four wheels 62 are respectively arranged at the four corners of the vehicle body 61, providing stable support to ensure that the traveling vehicle has good balance and stability when running on the track frame 5, and the four wheels 62 are nested on the track frame 5 to prevent the traveling vehicle from derailing or overturning during movement, thereby improving the safety of operation; a cavity is arranged in the vehicle body 61, and the driving assembly is arranged in the cavity, so that the structure is more compact, saving space while improving safety.

[0055] Further, if Figures 1 to 6As shown, in this embodiment, the driving assembly includes: a driving motor 63, a gear 64 and a rack 65; the driving motor 63 is arranged in the traveling vehicle, and the output end of the driving motor 63 is connected to the gear 64; the rack 65 is arranged between the track frames 5, the length direction of the rack 65 is parallel to the length direction of the track frame 5, and the serrated side of the rack 65 is meshed with the gear 64; the driving motor 63 drives the gear 64 to rotate, thereby driving the traveling vehicle to move along the length direction of the rack 65, and the meshing of the gear 64 and the rack 65 can provide precise linear motion control, which is convenient for realizing precise positioning and stable movement of the traveling vehicle; the meshing transmission is smooth and not prone to slippage, thereby ensuring the smooth movement of the traveling vehicle on the track; the transmission is efficient, the structure is simple and reliable, and the control is flexible and convenient.

[0056] Further, if Figures 1 to 6 As shown, in this embodiment, the driving assembly further comprises: a guide rail 66, a slider 67 and a limiting wheel 68; the guide rail 66 is arranged in the traveling vehicle, and the length direction of the guide rail 66 is perpendicular to the length direction of the rack 65; the slider 67 is slidably arranged on the guide rail 66 and connected to the driving motor 63; the limiting wheel 68 is connected to the driving motor 63 and connected to the side of the rack 65 away from the sawtooth, and the interval between the limiting wheel 68 and the gear 64 meets the reasonable tooth gap requirement. The floating design of the driving assembly is realized by the guide rail 66 and the slider 67, allowing the driving motor 63 and the gear 64 to move freely within a certain range to adapt to the unevenness and slight height changes on the track, ensuring that the gear 64 and the rack 65 always maintain a good meshing state, and the floating design can effectively buffer the impact and vibration caused by the unevenness or deformation of the track, reduce the phenomenon of the traveling vehicle being stuck, and improve the stability of walking; improve the meshing accuracy and enhance the stability; the limiting wheel 68 provides lateral support to prevent the traveling vehicle from lateral deviation or derailment during operation.

[0057] Specifically, Figures 1 to 6 As shown, in this embodiment, the rocker arm driving module includes: a driving member 81 and a rotating shaft 82; the driving member 81 can be a motor, the rotating shaft 82 is arranged in the rocker arm module and passes through the rocker arm module, and both ends of the rotating shaft 82 are rotatably connected to the walking module 6; the driving member 81 is arranged in the walking module 6 and is connected to the rotating shaft 82, and the driving member 81 drives the rotating shaft 82 to rotate, thereby realizing the vertical rotation of the rocker arm module and realizing the switching between the standby state and the working state.

[0058] Specifically, Figures 1 to 6As shown, in the present embodiment, the rocker arm module comprises: a rocker arm cavity 70, one end of the rocker arm cavity 70 is open, and the other end of the rocker arm cavity 70 is connected to the rocker arm driving module; a positive hook arm module, the positive hook arm module is arranged in the rocker arm cavity 70 and extends out of the opening, so as to save installation space; a trigger component, the trigger component is arranged on the rocker arm cavity 70, when the trigger component collides with the coupler 41 of the open car 4, the positive hook arm module straightens the coupler 41 of the open car 4, and the trigger component activates the positive hook arm module by contacting with the coupler 41 of the open car 4, so as to ensure that the positive hook arm module performs the straightening operation at the appropriate time and position, thereby improving the accuracy and reliability of the operation and enhancing the level of automation.

[0059] Further, if Figures 1 to 6 As shown, in this embodiment, the trigger assembly includes: a touch rod 71, a reset spring 72 and a limit switch 73; the touch rod 71 is rotatably connected to the surface of the rocker cavity 70 through a first pin shaft; the limit switch 73 is arranged on the rocker cavity 70 and is opposite to the touch rod 71, and is used to trigger the straightening action of the hook arm module; the reset spring 72 is arranged in the rocker cavity 70, and passes through the rocker cavity 70 and is connected to the touch rod 71, and is used to reset the touch rod 71. Under normal circumstances, the touch rod 71 is connected to the limit switch 73 under the action of the reset spring 72. When the touch rod 71 is touched by the coupler 41 of the open car 4, the reset spring 72 will be stretched and away from the limit switch 73, triggering the positive hook arm module to perform the straightening action. The combination of the touch rod 71 and the limit switch 73 can accurately detect the position and state of the coupler 41 of the open car 4, ensuring that the positive hook arm module is straightened at the appropriate time, ensuring the accuracy of the operation, realizing automated operation, and reducing human intervention; the reset spring 72 ensures that the touch rod 71 can quickly return to its initial position after each triggering action, ensuring that the system can work continuously and stably, and reducing the failure rate.

[0060] Further, if Figures 1 to 6 As shown, in this embodiment, the positive hook arm module includes: a positive hook arm 74, which is arranged in the rocker arm cavity 70, one end of the positive hook arm 74 extends out of the rocker arm cavity 70, and the other end is rotatably connected to the rocker arm cavity 70 through a second pin shaft; a pusher 75, which can be an electric push rod, and the pusher 75 is fixed in the rocker arm cavity 70, and the output end of the pusher 75 is hingedly connected to the positive hook arm 74, and the pusher 75 pushes the positive hook arm 74 to move closer to or away from the coupler 41 of the open car 4, and the pusher 75 drives the positive hook arm 74 to abut against the coupler 41 to prevent the coupler 41 from tilting after flipping, so as to realize the straightening of the coupler 41; an indicator 76, which is arranged at one end of the positive hook arm 74, and the indicator 76 is used to indicate the rotation position of the positive hook arm 74, and the indicator 76 can be a laser switch or a touch switch to detect the position of the coupler 41 to ensure that the positive hook arm 74 rotates to a suitable position to abut against the coupler 41.

[0061] Further, if Figures 1 to 6As shown, in this embodiment, the rocker module further includes: a pair of rollers 77, the pair of rollers 77 are arranged on both sides of the opening end of the rocker cavity 70; a pair of tension springs 78, the pair of tension springs 78 are arranged on both sides of the rocker cavity 70, one end of the tension spring 78 is connected to the side of the rocker cavity 70; a pair of sealing curtains 79, the pair of sealing curtains 79 are respectively bypassed by the pair of rollers 77 and arranged on both sides of the positive hook arm module, one end of the sealing curtain 79 is connected to the positive hook arm module, and the other end of the sealing curtain 79 is connected to the tension spring 78, the inner surface of the sealing curtain 79 abuts against the outer surface of the roller 77, and the sealing curtain 79 is connected to the outer surface of the roller 77. 9 Sealed opening, the sealing curtain 79 seals the opening of the rocker arm cavity 70, effectively preventing dust, dirt and moisture from entering the cavity, protecting the positive hook arm module and other internal components from the external environment, and improving the reliability and durability of the system. The design of the roller 77 and the tension spring 78 ensures that the sealing curtain 79 can be flexibly stretched and contracted with the movement of the positive hook arm module, without affecting the normal operation of the positive hook arm module, ensuring its flexibility during the working process. The function of the tension spring 78 enables the sealing curtain 79 to automatically reset after the operation of the positive hook arm module is completed, ensuring that the cavity can be re-sealed after each operation.

[0062] Two sets of robots 1 of this solution are installed on the tipping machine body 2, specifically at the entrance and exit positions of the tipping machine body 2, above the tipping machine track beam 3 and between the tracks. The positive hook arm 74 of the robot 1 is located on the side of the tipping machine close to the car plate. The rocker arm positive hook robot 1 at the entrance and exit adopts a symmetrical structure.

[0063] Before and after the train carriage / open car 4 enters the dumper body 2, the rocker arm and other devices of the robot 1 are all in a retracted and flat state, located at the parking position. At this time, all parts of the robot 1 are located inside the dumper body 2 and close to the track surface, without affecting the passage of the carriage. When the carriage enters the dumper body 2 and stops, the shunting machine unhooks and detaches from the carriage and continues to push the empty car that has been dumped and unloaded in the previous sequence to completely push out the dumper body 2. After that, the tipping machine body 2 starts the unloading program, starts the support plate and the pressure beam until the car body is supported and pressed; in this process, the rocker arm type positive hook robot 1 in the present invention starts to move toward the entrance and exit end, and after reaching the end position, the rocker arm is raised to a 90-degree position, starts to move, and moves into the tipping machine body 2 until the touch rod 71 on the rocker arm is stopped by the coupler 41 and triggers the limit switch 73, indicating that the robot 1 has found the coupler 41, stops moving, starts the pusher 75 to pull the positive hook arm 74 to swing toward the coupler 41, and determines that the contact with the coupler 41 is completed through the triggering method of the indicator 76.

[0064] After the hook is in place, the robot 1 sends a signal to the tipping machine system. After receiving the interlocking signal of completing the approaching and pressing of the car and completing the hook in place, the tipping machine system starts the flipping and unloading operation procedure.

[0065] During the flipping process, the hook 41 will be pressed toward the positive hook arm 74 of the robot 1 due to the influence of gravity. However, due to the restriction of the positive hook arm 74, the hook body position always remains at the original center position, eliminating the need for subsequent positive hook operation.

[0066] After the dumper body 2 completes unloading and rotates back to its original position, during the time when the support plate and the pressure beam are evacuated, the robot 1 evacuates and returns to the standby position according to the reverse process.

[0067] Above, refer to Figures 1 to 6 The invention describes a rocker arm type hook robot according to an embodiment of the present invention, which can completely replace manual labor and be integrated into the automated program of the car tipper, eliminating the need for manual hook alignment procedures after the tipping operation; the robot has a compact structure, is suitable for all car tipper systems, and is easy to standardize; it can autonomously locate the hook position, adapt to various hook types, and perform hook position maintenance operations at the exact position.

[0068] It should be noted that, in this specification, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprises..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0069] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A rocker-arm hook-righting robot, used for righting the hook of an open car on a dumper body, characterized in that: Contains: track frame, walking module, rocker module, positive hook arm module and rocker drive module; The track frame is arranged on the dumper body; The walking module is arranged on the track frame, and the walking module can move along the track frame; One end of the rocker module is connected to the walking module, and the rocker module is used to drive the positive hook arm module to be lifted to a vertical position or dropped to a horizontal position; The positive hook arm module is hingedly installed in the rocker arm module, and the head of the positive hook arm module abuts against the open car hook to straighten the open car hook; The rocker arm driving module is arranged on the walking module and connected to the rocker arm module, and the rocker arm driving module drives the rocker arm module to rotate in a vertical direction; The rocker arm module comprises: A rocker arm cavity, one end of which is open, and the other end of which is connected to the rocker arm drive module; The positive hook arm module is arranged in the rocker arm cavity and extends out of the opening; A trigger assembly, wherein the trigger assembly is arranged on the rocker arm cavity, and when the trigger assembly collides with the open car coupler, the positive hook arm module straightens the open car coupler; The rocker arm module also includes: A pair of rollers, the pair of rollers being arranged on both sides of the opening end of the rocker arm cavity; A pair of tension springs, the pair of tension springs being arranged on both sides of the rocker arm cavity, one end of the tension spring being connected to the side of the rocker arm cavity; A pair of sealing curtains are provided, the pair of sealing curtains are respectively bypassed by the pair of rollers and arranged on both sides of the positive hook arm module, one end of the sealing curtain is connected to the positive hook arm module, the other end of the sealing curtain is connected to the tension spring, the inner surface of the sealing curtain is abutted against the outer surface of the roller, and the sealing curtain seals the opening.

2. The rocker-arm hook robot according to claim 1, characterized in that: The traveling module comprises: a traveling vehicle and a driving assembly; the traveling vehicle is nested on the track frame, and the driving assembly is arranged on the traveling vehicle to drive the traveling vehicle to move along the track frame.

3. The rocker-arm hook robot according to claim 2, characterized in that: The traveling vehicle comprises: a vehicle body and four wheels; The four wheels are respectively arranged at the four corners of the vehicle body, and the four wheels are embedded in the track frame; A cavity is provided in the vehicle body, and the drive assembly is arranged in the cavity.

4. The rocker-arm hook robot according to claim 2, characterized in that: The driving assembly comprises: a driving motor, a gear and a rack; The driving motor is arranged in the traveling vehicle, and the output end of the driving motor is connected to the gear; The rack is arranged between the track frames, the length direction of the rack is parallel to the length direction of the track frames, and the sawtooth side of the rack is meshed with the gear; The driving motor drives the gear to rotate, thereby driving the traveling vehicle to move along the length direction of the rack.

5. The rocker-arm hook robot according to claim 4, characterized in that: The driving assembly also includes: a guide rail, a slider and a limiting wheel; The guide rail is arranged in the traveling vehicle, and the length direction of the guide rail is perpendicular to the length direction of the rack; The slider is slidably disposed on the guide rail and is connected to the drive motor; The limiting wheel is connected to the driving motor and connected to a side of the rack away from the saw teeth.

6. The rocker-arm hook robot according to claim 1, characterized in that: The rocker arm driving module comprises: a driving member and a rotating shaft; The rotating shaft is arranged in the rocker module and passes through the rocker module, and both ends of the rotating shaft are rotatably connected with the walking module; The driving member is arranged in the walking module and connected to the rotating shaft, and the driving member drives the rotating shaft to rotate.

7. The rocker-arm hook robot according to claim 1, characterized in that: The trigger assembly comprises: a touch rod, a return spring and a limit switch; The touch rod is rotatably connected to the surface of the rocker arm cavity through a first pin shaft; The limit switch is arranged on the rocker arm cavity and is opposite to the touch rod, and is used to trigger the righting action of the positive hook arm module; The reset spring is arranged in the rocker arm cavity, passes through the rocker arm cavity and is connected to the touch rod, and is used for resetting the touch rod.

8. The rocker-arm hook robot according to claim 1, characterized in that: The positive hook arm module comprises: A positive hook arm, wherein the positive hook arm is arranged in the rocker arm cavity, one end of the positive hook arm extends out of the rocker arm cavity, and the other end is rotatably connected to the rocker arm cavity through a second pin shaft; A pusher, the pusher is fixed in the rocker arm cavity, the output end of the pusher is hingedly connected to the positive hook arm, and the pusher pushes the positive hook arm to approach or move away from the open car coupler; An indicator member is arranged at one end of the positive hook arm, and is used to indicate the rotation position of the positive hook arm.

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