A hook-lifting robot for railway hump operations

Abstract

An embodiment of the present invention provides a hook-lifting robot for railway hump operations, which relates to the field of railway operation robots. The hook-lifting robot for railway hump operations includes: a track, a walking mechanism and a mechanical arm; the walking mechanism is installed on the track, and the mechanical arm is connected to the walking mechanism; the track includes a main rail and a secondary rail arranged parallel to the main rail; the walking mechanism includes a secondary rail wheel set and a walking chassis that cooperate with the secondary rail; by laying the track, walking on uneven ground is avoided, thereby significantly improving the operation stability and accuracy. The setting of the track ensures that the walking mechanism always remains stable during walking, reducing the risk of grasping failure caused by potholes on the ground. In addition, the fixed wheels and the movable wheels roll smoothly on the track, which further improves the efficiency and reliability of the robot in the hook-lifting operation, optimizes the overall operation process, and enhances safety.

Description

Technical Field

[0001] The invention relates to the field of railway operation robots, in particular to a hook lifting robot for railway hump operation. Background Art

[0002] At present, the hump operation of marshalling yards in my country relies entirely on manual work. The specific operation process is as follows: The hook operator confirms the carriages that need to be hooked and the number of times to be unhooked according to the hook operation order issued by the railway control center. Subsequently, the locomotive pushes the carriage to be unhooked to the hump operation platform, and the locomotive controls the pushing speed of the carriage through the three-color indicator light on the platform. After the hook operator locates the working carriage, he needs to move with the carriage and hold the hook handle to perform multiple bending operations. At the same time, the operator needs to perform the hook protection operation to ensure safety. At the separation point, the operator judges the separation position of the hook based on experience. After the carriage to be separated reaches the separation point, due to gravity and inertia, the carriage will slide along the slope to the marshalling yard entrance of the corresponding track.

[0003] The operation process involves multiple links and complex working conditions. In addition, because hump operations need to be carried out uninterruptedly around the clock, operators need to work in shifts, resulting in high fatigue intensity.

[0004] In the prior art, the utility model with the publication number "CN211541232U" discloses a mobile hook-removing robot, including a frame, a receiving plate and a bottom hinge seat, the four corners of the frame are connected with rollers, and the periphery of the rollers is connected with a crawler, the middle part of the threaded rod is connected with a slider, and the upper part of the threaded rod is distributed with a slide bar, the bottom hinge seat is connected to the upper end of the slider, and the middle part of the bottom hinge seat is connected with a rotating shaft, one side of the upper end of the lower arm is connected with an intermediate hinge seat, and the inside of the intermediate hinge seat is connected with a second servo first motor, one end of the second servo first motor is connected with a rotating rod, and the other end of the rotating rod is connected with an upper arm, and the other end of the upper arm is connected with a clamp. The mobile hook-removing robot is provided with a bottom hinge seat, a lower arm, an intermediate hinge seat and an upper arm to form a mechanical arm part. The entire mechanical arm is arranged on the slider and can move linearly. The mechanical arm and the slider are arranged on the bottom plate, so that the robot replaces the human operation, improves efficiency and reduces the risk of personal accidents.

[0005] However, the above-mentioned prior art relies on tracks to move on the ground during walking, and it is difficult to keep the running track of the mobile hook removal robot parallel to the moving track of the carriage in actual use. In addition, due to the potholes on the ground, the robot's walking may be bumpy, which affects the grasping accuracy of the hook handle and increases the risk of hook lifting failure. Summary of the invention

[0006] According to an embodiment of the present invention, a hook lifting robot for railway hump operation is provided to solve the problems raised by the above-mentioned prior art.

[0007] In a first aspect of the present invention, a hook lifting robot for railway hump operations is provided.

[0008] The hook-lifting robot for railway hump operation comprises: a track, a walking mechanism and a mechanical arm; the walking mechanism is installed on the track, and the mechanical arm is connected to the walking mechanism;

[0009] The track comprises a main rail and a secondary rail arranged parallel to the main rail; the walking mechanism comprises a secondary rail wheel group and a walking chassis that cooperate with the secondary rail; the secondary rail wheel group comprises a bracket, a mounting seat, a fixed wheel, a connecting arm, a tension rod, a first spring and a movable wheel; the bracket is connected to the walking chassis, the lower end of the bracket is fixedly connected to the mounting seat, the fixed wheel is rotatably connected to the mounting seat, and the fixed wheel contacts the upper surface of the secondary rail; the connecting arm is rotatably connected to the mounting seat, the tension rod passes through the mounting seat and is slidably connected to the mounting seat, the first spring is sleeved on the tension rod, one end of the first spring contacts the upper surface of the mounting seat, and the other end of the first spring is connected to the tension rod, which is used to provide an upward elastic force for the tension rod; the lower end of the tension rod is rotatably connected to an end of the connecting arm away from the mounting seat; the movable wheel is rotatably connected to the connecting arm, and the tension rod tightens the connecting arm under the elastic force of the first spring, so that the movable wheel contacts the lower surface of the secondary rail.

[0010] Preferably, a support arm extends from the mounting seat, and the fixed wheel is rotatably connected to the support arm via a first pivot.

[0011] Preferably, the movable wheel is rotatably connected to the connecting arm via a second pivot.

[0012] Preferably, the track also includes a base, a limit block, a bus bar mounting bracket and a bus bar; the base is multiple in number and is used to support the main rail, the main rail is installed on the base, the limit block is installed on the upper surface of the end of the main rail, the bus bar mounting bracket is connected to the main rail, and the bus bar is connected to the bus bar mounting bracket.

[0013] Preferably, the main rail is an H-shaped steel, and a plurality of reinforcing ribs are equidistantly arranged on the side of the main rail.

[0014] Preferably, a buffer strip is provided on the upper surface of the main rail, and a buffer pad is provided on the limit block.

[0015] Preferably, the auxiliary rail includes an auxiliary rail body, a connecting beam, a fixing plate and a stabilizing frame; the connecting beam is connected to the bottom of the main rail, the fixing plate is fixedly connected to the connecting beam, the auxiliary rail body is fixedly connected to the fixing plate, there are multiple stabilizing frames, the stabilizing frames are equidistantly arranged and fixedly connected to the fixing plate, and the stabilizing frame is fixedly connected to the upper side of the busbar.

[0016] Preferably, the walking chassis includes a chassis frame, a first motor, a driving wheel, a driven wheel, a current collector and a connecting frame, the first motor is mounted on the chassis frame, the output end of the first motor is connected to the driving wheel, the driving wheel contacts the upper surface of the main rail, the driven wheel is rotatably connected to the chassis frame, the driven wheel contacts the upper surface of the main rail, the current collector is connected to the chassis frame through the connecting frame, the current collector is connected to the busbar, and the current collector is used to supply power to the walking mechanism and the robotic arm.

[0017] Preferably, the robotic arm includes a base, a forearm section, a rear arm section, and a third driving mechanism; the base is connected to the forearm section, an end of the forearm section away from the base is connected to the rear arm section, an end of the rear arm section away from the forearm section is rotatably connected to a robotic arm, and the third driving mechanism is used to drive the robotic arm to move.

[0018] Preferably, the manipulator comprises a mounting structure and a gripping mechanism connected to the rear arm section, wherein the gripping mechanism is connected to the mounting structure and is used to limit the position of the coupler handle;

[0019] The gripping mechanism includes a main body, an angle bracket, a spring, a slider, a tension spring, a steering claw and a stopper; the main body is connected to the mounting structure, the angle bracket is fixedly mounted on the main body, the slider is slidably connected to the main body, and the stopper is fixedly connected to the slider; the spring is connected between the angle bracket and the slider, and the spring is used to provide an elastic force for the slider to move away from the angle bracket, the steering claw is rotatably connected to the main body, and the tension spring is connected between the slider and the steering claw.

[0020] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0021] The present invention provides a hook-lifting robot for railway hump operations. By arranging an auxiliary rail and an auxiliary rail wheel group, during the walking process of the robot, a first spring always provides an upward elastic force for a tension rod, and prompts the tension rod to provide a pulling force to a connecting arm, so that the movable wheel is always in contact with the lower surface of the auxiliary rail, and the fixed wheel is in contact with the upper surface of the auxiliary rail. During the walking process of the robot, the fixed wheel and the movable wheel roll on the auxiliary rail.

[0022] The railway hump operation hook-lifting robot significantly improves the operation efficiency and safety through the design of the automated walking mechanism and the mechanical arm. When the robot walks on the track, the cooperation between the auxiliary rail wheel group and the main rail makes it run smoothly, reducing the risk of grabbing failure caused by uneven ground. The configuration of the tension rod and the first spring ensures the continuous contact between the active wheel and the auxiliary rail, thereby enhancing the grabbing accuracy and reducing the possibility of hook-lifting failure. In addition, the robot system reduces manual participation, reduces the labor intensity of the operator, and improves the safety of the operation. It has the ability to operate all-weather and optimizes the overall process of hump operations. Compared with the existing technology, the railway hump operation hook-lifting robot avoids walking on uneven ground by laying tracks, thereby significantly improving the operation stability and accuracy. The setting of the track ensures that the walking mechanism always remains stable during the walking process, reducing the risk of grabbing failure caused by potholes on the ground. In addition, the fixed wheel and the active wheel roll smoothly on the track, further improving the efficiency and reliability of the robot in the hook-lifting operation, optimizing the overall operation process and enhancing safety.

[0023] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and other features, advantages and aspects of the embodiments of the present invention will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0025] Figure 1 A schematic diagram of the three-dimensional structure of a hook lifting robot for railway hump operation according to an embodiment of the present invention is shown;

[0026] Figure 2 A schematic diagram showing the three-dimensional structure of the track of a hook lifting robot for railway hump operation according to an embodiment of the present invention is shown;

[0027] Figure 3 A schematic diagram of the three-dimensional structure of the contact between the auxiliary rail wheel set and the auxiliary rail body of the hook lifting robot for railway hump operation according to an embodiment of the present invention is shown;

[0028] Figure 4 A partial structural schematic diagram of the auxiliary rail and the main rail of the hook lifting robot for railway hump operation according to an embodiment of the present invention is shown;

[0029] Figure 5 A schematic diagram showing the structure of the contact between the current collector and the busbar of the hook lifting robot for railway hump operation according to an embodiment of the present invention;

[0030] Figure 6 A schematic diagram of a three-dimensional structure from a first perspective showing a connection state between a mechanical arm and a mechanical hand of a hook lifting robot for railway hump operation according to an embodiment of the present invention;

[0031] Figure 7 A schematic diagram of a three-dimensional structure from a second perspective showing a connection state between a mechanical arm and a mechanical hand of a hook lifting robot for railway hump operation according to an embodiment of the present invention;

[0032] Figure 8 A schematic diagram of the three-dimensional structure of a manipulator of a hook lifting robot for railway hump operation according to an embodiment of the present invention is shown;

[0033] Fig. 9 A schematic diagram of the three-dimensional structure of the connection between the coupler handle and the coupler seat according to an embodiment of the present invention is shown.

[0034] Description of Reference Numerals

[0035] 1-track, 11-main rail, 12-secondary rail, 121-secondary rail body, 122-connecting beam, 123-fixed plate, 124-stable frame, 13-base, 14-limiting block, 141-buffer pad, 15-bracket, 16-trolley line, 17-multiple reinforcing ribs, 18-buffer strip, 2-walking mechanism, 21-secondary rail wheel set, 211-bracket, 212-mounting seat, 2121-support arm, 213-fixed wheel, 2131-first pivot, 214-connecting arm, 215-tension rod, 216-first spring, 217-movable wheel, 2171-second pivot, 22-walking chassis, 221-chassis frame, 222-first motor, 223-driving wheel, 224-driven wheel, 225-collector, 226-connecting frame, 3-mechanical arm, 31-base, 3 2-front arm section, 321-first connecting arm, 322-first driving mechanism, 33-rear arm section, 331-second connecting arm, 332-second driving mechanism, 34-third driving mechanism, 341-second motor, 342-reducer, 343-driving sprocket, 344-driven sprocket, 345-transmission chain, 346-shift rod, 347-first connecting rod, 348-second connecting rod, 3481-swinging member, 349-connecting block, 4-manipulator, 41-installation structure, 42-gripping mechanism, 421-main body, 422-angle bracket, 423-spring, 424-slider, 425-tension spring, 426-steering claw, 427-block, 5-lifting module, 6-coupler handle, 7-coupler seat, 71-handle hole, 8 identification device, 81-camera bracket, 82-identification camera. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] In addition, the term "and / or" in this article is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0038] like Figures 1 to 9 As shown, the railway hump operation hook lifting robot comprises a track 1, a walking mechanism 2 and a mechanical arm 3. The walking mechanism 2 is installed on the track 1, and the mechanical arm 3 is connected to the walking mechanism 2. The track 1 is laid on the ground and parallel to the rails. The walking mechanism 2 is used to walk on the track 1, and the mechanical arm 3 is used to perform the hook lifting operation.

[0039] Further, the track 1 is composed of a main rail 11 and a secondary rail 12 arranged in parallel therewith; the walking mechanism 2 includes a secondary rail wheel set 21 and a walking chassis 22 that cooperate with the secondary rail 12. The secondary rail wheel set 21 is composed of a bracket 211, a mounting seat 212, a fixed wheel 213, a connecting arm 214, a tension rod 215, a first spring 216 and a movable wheel 217. The bracket 211 is connected to the walking chassis 22, and the lower end is fixedly connected to the mounting seat 212, and the fixed wheel 213 is rotatably connected to the mounting seat 212, and the fixed wheel 213 is in contact with the upper surface of the secondary rail 12.

[0040] The connecting arm 214 is rotatably connected to the mounting seat 212, the tension rod 215 passes through the mounting seat 212 and is slidably connected thereto, and the first spring 216 is sleeved on the tension rod 215, one end of which contacts the upper surface of the mounting seat 212, and the other end is connected to the tension rod 215 to provide an upward elastic force for the tension rod 215. The lower end of the tension rod 215 is rotatably connected to the end of the connecting arm 214 away from the mounting seat 212, and the movable wheel 217 is rotatably connected to the connecting arm 214. Under the elastic force of the first spring 216, the tension rod 215 applies a pulling force to the connecting arm 214, so that the movable wheel 217 is always in contact with the lower surface of the auxiliary rail 12, and the fixed wheel 213 is kept in contact with the upper surface of the auxiliary rail 12.

[0041] During the specific implementation, the walking chassis 22 walks on the main rail 11, and the auxiliary rail wheel group 21 walks on the auxiliary rail 12. During the walking process of the robot, the first spring 216 always provides an upward elastic force for the tension rod 215, and prompts the tension rod 215 to provide a pulling force to the connecting arm 214, so that the movable wheel 217 is always in contact with the lower surface of the auxiliary rail 12, and the fixed wheel 213 is in contact with the upper surface of the auxiliary rail 12. During the walking process of the robot, the fixed wheel 213 and the movable wheel 217 roll on the auxiliary rail 12.

[0042] The railway hump operation hook-lifting robot significantly improves the operation efficiency and safety through the design of the automated walking mechanism 2 and the mechanical arm 3. When the robot walks on the track 1, the cooperation between the auxiliary rail wheel set 21 and the main rail 11 makes it run smoothly, reducing the risk of grasping failure caused by uneven ground. The configuration of the tension rod 215 and the first spring 216 ensures the continuous contact between the movable wheel 217 and the auxiliary rail 12, thereby enhancing the grasping accuracy and reducing the possibility of hook failure. In addition, the robot system reduces manual participation, reduces the labor intensity of the operator, and improves the safety of the operation. It has the ability to operate all-weather and optimizes the overall process of hump operations. Compared with the prior art, the railway hump operation hook-lifting robot avoids walking on uneven ground by laying the track 1, thereby significantly improving the operation stability and accuracy. The setting of the track ensures that the walking mechanism 2 always remains stable during the walking process, reducing the risk of grasping failure due to potholes on the ground. In addition, the fixed wheels 213 and the movable wheels 217 roll smoothly on the track, further improving the efficiency and reliability of the robot in the hook lifting operation, optimizing the overall operation process, and enhancing safety.

[0043] Specifically, a support arm 2121 extends from the mounting seat 212, and the fixed wheel 213 is rotatably connected to the support arm 2121 via a first pivot 2131. The first pivot 2131 passes through the support arm 2121 and is rotatably connected to the support arm 2121, and the first pivot 2131 is fixedly connected to the fixed wheel 213.

[0044] Specifically, the movable wheel 217 is rotatably connected to the connecting arm 214 via a second pivot 2171. The second pivot 2171 is fixedly connected to the movable wheel 217, passes through the connecting arm 214, and is rotatably connected to the connecting arm 214.

[0045] Specifically, the track 1 also includes a base 13, a limit block 14, a busbar mounting bracket 15 and a busbar 16; the base 13 is multiple in number and is used to support the main rail 11, the main rail 11 is installed on the base 13, the limit block 14 is installed on the upper surface of the end of the main rail 11, the busbar mounting bracket 15 is connected to the main rail 11, and the busbar 16 is connected to the busbar mounting bracket 15.

[0046] The busbar 16 is used to supply power to the traveling mechanism 2 , the base 13 supports the main rail 11 , and the limit block 14 is used to limit the traveling mechanism 2 .

[0047] Specifically, the main rail 11 is an H-shaped steel, and a plurality of reinforcing ribs 17 are equidistantly arranged on the side of the main rail 11. The reinforcing ribs 17 are provided to improve the structural stability of the H-shaped steel.

[0048] Specifically, a buffer strip 18 is provided on the upper surface of the main rail 11, and a buffer pad 141 is provided on the limit block 14. The buffer strip 18 and the buffer pad 141 are both made of rubber. When the walking mechanism 2 runs close to the end, the buffer strip 18 contacts the bottom of the walking mechanism 2 to decelerate the walking mechanism 2, and then the walking mechanism 2 contacts the buffer pad 141, and the buffer pad 141 has a buffering effect on the walking mechanism 2.

[0049] Specifically, the auxiliary rail 12 is composed of an auxiliary rail body 121, a connecting beam 122, a fixing plate 123 and a plurality of stabilizing frames 124. The connecting beam 122 is fixedly connected to the bottom of the main rail 11 to ensure the stability of the auxiliary rail 12. The fixing plate 123 is fixedly connected to the connecting beam 122 to provide support for the auxiliary rail body 121. The auxiliary rail body 121 is fixedly connected to the fixing plate 123 to form the main structure of the entire auxiliary rail. The stabilizing frames 124 are arranged equidistantly and fixedly connected to the fixing plate 123 to provide additional stability. The upper side of each stabilizing frame 124 is fixedly connected to the busbar 16 to ensure the correct position of the busbar and the reliability of power supply. This structural design enhances the overall rigidity and stability of the auxiliary rail, provides a solid foundation for the smooth operation of the walking mechanism 2, and effectively improves the safety and efficiency of the robot in the hook lifting operation.

[0050] Specifically, the walking chassis 22 includes a chassis frame 221, a first motor 222, a driving wheel 223, a driven wheel 224, a current collector 225 and a connecting frame 226. The first motor 222 is installed on the chassis frame 221, and the output end of the first motor 222 is connected to the driving wheel 223, and the driving wheel 223 contacts the upper surface of the main rail 11. The driven wheel 224 is rotatably connected to the chassis frame 221, and the driven wheel 224 contacts the upper surface of the main rail 11. The current collector 225 is connected to the chassis frame 221 through the connecting frame 226, and the current collector 225 is connected to the busbar 16. The current collector 225 is used to supply power to the first motor 222.

[0051] The current collector 225 is connected to the chassis frame 221 through the connecting frame 226 and is connected to the busbar 16 for obtaining power. The current collector 225 converts the electrical energy of the busbar 16 into power supply for the first motor 222, drives the first motor 222 to rotate, thereby rotating the driving wheel 223, and driving the chassis frame 221 to move on the main rail 11. In this process, the rotation of the driven wheel 224 ensures contact with the main rail 11, further enhancing the stability and reliability of walking. This design optimizes the operating efficiency and power supply of the robot in the hook lifting operation, and improves the safety and reliability of the overall operation.

[0052] The principle of the collector 225 supplying power to the first motor 222 is based on the busbar power supply system. The collector 225 obtains electrical energy through direct contact with the busbar 16 and introduces the current into the first motor 222. After receiving the electrical energy from the collector, the first motor generates a rotational motion, driving the driving wheel 223 to rotate, thereby pushing the walking chassis 22 to move on the main rail 11. This process ensures the continuous power supply of the walking mechanism during operation, and improves the reliability and efficiency of the robot in railway hump operations.

[0053] Specifically, the robot arm 3 includes a base 31, a front arm section 32, a rear arm section 33, and a third driving mechanism 34; the base 31 is connected to the front arm section 32, the end of the front arm section 32 away from the base 31 is connected to the rear arm section 33, the end of the rear arm section 33 away from the front arm section 32 is rotatably connected to the robot 4, and the third driving mechanism 34 is used to drive the robot 4 to move.

[0054] The base 31 is connected to the existing lifting module 5, and the lifting module 5 is connected to the walking mechanism 2. The lifting module 5 is used to adjust the height of the manipulator 3 to adapt to the height requirements of different carriages, while the walking mechanism 2 ensures that the manipulator 3 keeps synchronous movement with the carriage in the walking state. During the specific operation, by controlling the rotation of the front arm section 32 relative to the base 31, the front arm section 32 will drive the rear arm section 33 and the manipulator 4 to move accordingly. At the same time, the rotation of the rear arm section 33 will also drive the manipulator 4 to perform more precise positioning to ensure that the manipulator 4 is docked with the hook handle 6. Next, the lifting module 5 will push the manipulator 3 up to realize the hook lifting operation. This significantly improves the operating efficiency, reduces the fatigue of the operator, and enhances the accuracy and safety of the operation. Its flexible adaptability enables it to cope with different types of carriages, support all-weather uninterrupted operation, and reduce the risk of human errors and accidents.

[0055] In addition, mechanized operation also reduces labor intensity and provides a safer working environment for operators. Overall, the system not only improves the operating efficiency of the marshalling yard, but also optimizes working conditions. The lifting module 5 is an existing automation equipment, which is widely used in industrial robots and mechanical arm 3 systems to adjust the working height and position. Its main function includes achieving precise height adjustment through electric or hydraulic drive.

[0056] Furthermore, the forearm section 32 includes a first connecting arm 321 and a first driving mechanism 322. The first connecting arm 321 is rotatably connected to the base 31 so that it can rotate around the base 31. The first driving mechanism 322 is connected to the first connecting arm 321 and is used to drive the first connecting arm 321 to rotate.

[0057] Specifically, the rear arm section 33 includes a second connecting arm 331 and a second driving mechanism 332. The second driving mechanism 332 is installed at one end of the first connecting arm 321 away from the base 31, and the second connecting arm 331 is connected to the first connecting arm 321 at one end away from the base 31 by rotation. The second driving mechanism 332 is connected to the second connecting arm 331 and is responsible for driving the rotation of the second connecting arm 331.

[0058] The third driving mechanism 34 includes a second motor 341, a reducer 342, a driving sprocket 343, a driven sprocket 344, a transmission chain 345, a lever 346, a first connecting rod 347, a second connecting rod 348 and a connecting block 349; the second motor 341 and the reducer 342 are both mounted on the base 31, the output end of the second motor 341 is connected to the reducer 342, the output end of the reducer 342 is connected to the connecting rod mechanism through the transmission assembly, and the end of the connecting rod mechanism away from the transmission assembly is connected to the manipulator 4. The second motor 341 inputs power from the input end of the reducer 342, the driving sprocket 343 is connected to the output end of the reducer 342, the driven sprocket 344 is connected to the connecting rod mechanism, and the driving sprocket 343 and the driven sprocket 344 are connected through the transmission chain 345. The output end of the speed reducer 342 drives the driving sprocket 343 to rotate, and the driving sprocket 343 drives the driven sprocket 344 to rotate through the transmission chain 345. The driven sprocket 344 is connected to the shifting rod 346. The end of the shifting rod 346 away from the driven sprocket 344 is connected to the first connecting rod 347, and the connecting block 349 is rotatably connected to the first connecting arm 321. The end of the first connecting rod 347 away from the shifting rod 346 is rotatably connected to the connecting block 349, and the second connecting rod 348 is also rotatably connected to the connecting block 349, and the end away from the connecting block 349 is connected to the manipulator 4.

[0059] When the driven sprocket 344 rotates, the lever 346 is driven to rotate. The rotation of the lever 346 causes the first connecting rod 347 to swing, thereby driving the connecting block 349 to move. The movement of the connecting block 349 causes the second connecting rod 348 to swing. The second connecting rod 348 is connected to the manipulator 4 through the swinging member 3481, and is rotationally connected to the swinging member 3481. The swinging member 3481 is fixedly connected to the manipulator 4, so the swinging of the second connecting rod 348 directly drives the swinging member 3481 to move, and finally realizes the adjustment of the manipulator 4 relative to the second connecting arm. Finally, the position of the manipulator 4 corresponds to the coupler handle to ensure that the lifting operation is completed smoothly.

[0060] Among them, the walking mechanism 2 , the robot arm 3 and the robot hand 4 are all powered by the collector 225 .

[0061] like Fig. 9 As shown, in this embodiment, the coupler handle 6 takes the existing No. 17 coupler as an example. The coupler handle 6 is an L-shaped structure, one part of which is perpendicular to the ground, and the other part extends horizontally to the coupler, parallel to the ground. The gripping mechanism 42 can effectively grasp the vertical part of the coupler handle 6 through its mechanical structure, ensuring stability and reliability during the grasping process. The coupler handle 6 passes through the handle hole 71 on the coupler seat 7. The handle hole 71 is composed of a straight groove and a circle. The flat part of the coupler handle 6 extends into the straight groove. Since the flat part cooperates with the straight groove of the handle hole 71, it cannot rotate. The hook lifting operation requires lifting the coupler handle 6 upwards, so that the flat part moves from the straight groove to the circle, and the coupler handle 6 is rotated to complete the hook lifting operation.

[0062] Specifically, the manipulator 4 includes a mounting structure 41 connected to the rear arm section 33 and a gripping mechanism 42, wherein the gripping mechanism 42 is connected to the mounting structure 41 and is used to limit the position of the coupler handle 6;

[0063] The gripping mechanism 42 includes a main body 421, an angle bracket 422, a spring 423, a slider 424, a tension spring 425, a steering claw 426 and a stopper 427; the main body 421 is connected to the mounting structure 41, the angle bracket 422 is fixedly mounted on the main body 421, the slider 424 is slidably connected to the main body 421, and the stopper 427 is fixedly connected to the slider 424; the spring 423 is connected between the angle bracket 422 and the slider 424, and the spring 423 is used to provide an elastic force for the slider 424 to move away from the angle bracket 422, the steering claw 426 is rotatably connected to the main body 421, and the tension spring 425 is connected between the slider 424 and the steering claw 426.

[0064] In the initial state, as shown in FIG8 , the steering claw 426 is flush with the main body 421, and the steering claw 426 is in an open state, and the tension spring 425 is also in a relaxed state. In actual use, when the stopper 427 corresponds to the coupler handle 6, the mechanical arm 3 is used to drive the mounting structure 41 and the gripping mechanism 42 to move toward the coupler handle 6, and at the same time, the side of the steering claw 426 close to the slider 424 is in contact with the coupler handle 6. After the stopper 427 contacts the coupler handle 6, the gripping mechanism 42 continues to move, and then under the action of the coupler handle 6, the slider 424 slides on the main body 421, and the spring is compressed. The sliding of the slider 424 will drive the tension spring 425 to stretch, and the tension spring 425 provides elastic force for the steering claw 426. Then, under the action of the tension spring 425, the steering claw 426 rotates, causing the end of the steering claw 426 away from the main body 421 to approach or contact the block 427. At this time, a gripping space for accommodating the coupler handle 6 is formed between the steering claw 426 and the block 427. Then, the lifting module 5 drives the mechanical arm 3 to lift upward, so that the mechanical arm 3 drives the coupler handle 6 to move upward to perform the hook lifting operation. After the hook lifting operation is completed, it is only necessary to control the mounting structure 41 and the gripping mechanism 42 to move away from the coupler handle 6 through the mechanical arm 3. Then, under the action of the restoring force of the spring, the slider 424 slides away from the angle bracket 422, the tension spring 425 gradually recovers, and the steering claw 426 contacts the coupler handle 6 and then returns to the initial state for the next use. In the process of positioning the coupler handle 6, the manipulator only needs to make the block 427 correspond to the coupler handle 6, and the block 427 is a plate structure, which makes it easy to make the coupler handle 6 be on the side of the block 427 close to the steering claw 426. If the coupler handle 6 is bent or offset, the coupler handle 6 will also be on the side of the block 427, so as to capture and grasp the coupler handle 6. The problem that the existing manipulator cannot effectively align the coupler handle 6, resulting in grasping failure or inaccurate positioning is solved. Specifically, the manipulator also includes a recognition device 8, and the recognition device 8 includes a camera bracket 81 and a recognition camera 82, and the recognition camera 82 is connected to the mounting structure 41 through the camera bracket 81. In the actual operation process, the recognition camera 82 first performs initial recognition, and obtains the spatial position, angle and surrounding environment of the coupler handle 6 through depth perception and three-dimensional modeling technology. After the position of the coupler handle 6 is identified, the lifting module 5 and the robot arm 3 in the robot system will drive the robot hand to move to the front of the coupler handle 6 according to the identified position information.When the manipulator approaches the coupler handle 6, the recognition camera 82 will perform secondary recognition to further detect the posture of the coupler handle 6 (such as angle, inclination, etc.) and obstacles on the manipulator's movement path. At this time, the recognition camera will analyze the interference on the path, such as whether there is a deformed ladder or other structural objects blocking the coupler handle 6. Based on these recognition results, the system can adjust the manipulator's movement path to ensure that it can approach the coupler handle 6 at the best angle, avoid interfering obstacles, and successfully complete the grasping operation.

[0065] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A hook-lifting robot for railway hump operations, characterized in that: include: A track (1), a walking mechanism (2) and a mechanical arm (3); the walking mechanism (2) is mounted on the track (1), and the mechanical arm (3) is connected to the walking mechanism (2); The track (1) comprises a main rail (11) and a secondary rail (12) arranged parallel to the main rail (11); the walking mechanism (2) comprises a secondary rail wheel set (21) cooperating with the secondary rail (12) and a walking chassis (22); the secondary rail wheel set (21) comprises a bracket (211), a mounting seat (212), a fixed wheel (213), a connecting arm (214), a tensioning rod (215), a first spring (216) and a movable wheel (217); the bracket (211) is connected to the walking chassis (22); the lower end of the bracket (211) is fixedly connected to the mounting seat (212); the fixed wheel (213) is rotatably connected to the mounting seat (212); the fixed wheel (213) contacts the upper surface of the secondary rail (12); the connecting arm (214) is rotatably connected to the mounting seat (212); The tension rod (215) passes through the mounting seat (212) and is slidably connected to the mounting seat (212); the first spring (216) is sleeved on the tension rod (215); one end of the first spring (216) contacts the upper surface of the mounting seat (212); the other end of the first spring (216) is connected to the tension rod (215) to provide an upward elastic force for the tension rod (215); the lower end of the tension rod (215) is rotationally connected to one end of the connecting arm (214) away from the mounting seat (212); the movable wheel (217) is rotationally connected to the connecting arm (214); the tension rod (215) tightens the connecting arm (214) under the elastic force of the first spring (216), so that the movable wheel (217) contacts the lower surface of the auxiliary rail (12).

2. The hook lifting robot for railway hump operation according to claim 1, characterized in that: A support arm (2121) extends from the mounting seat (212), and the fixed wheel (213) is rotatably connected to the support arm (2121) via a first pivot (2131).

3. The hook-lifting robot for railway hump operation according to claim 1, characterized in that: The movable wheel (217) is rotatably connected to the connecting arm (214) via a second pivot (2171).

4. The hook-lifting robot for railway hump operation according to claim 1, characterized in that: The track (1) further comprises a base (13), a limit block (14), a busbar mounting bracket (15) and a busbar (16); the base (13) is provided in a plurality and is used to support the main rail (11); the main rail (11) is mounted on the base (13); the limit block (14) is mounted on the upper surface of the end of the main rail (11); the busbar mounting bracket (15) is connected to the main rail (11); and the busbar (16) is connected to the busbar mounting bracket (15).

5. The hook-lifting robot for railway hump operation according to claim 4, characterized in that: The main rail (11) is an H-shaped steel, and a plurality of reinforcing ribs (17) are arranged at equal intervals on the side surface of the main rail (11).

6. The hook-lifting robot for railway hump operation according to claim 4, characterized in that: A buffer strip (18) is provided on the upper surface of the main rail (11), and a buffer pad (141) is provided on the limit block (14).

7. The hook-lifting robot for railway hump operation according to claim 4, characterized in that: The auxiliary rail (12) comprises an auxiliary rail body (121), a connecting beam (122), a fixing plate (123) and a stabilizing frame (124); the connecting beam (122) is connected to the bottom of the main rail (11), the fixing plate (123) is fixedly connected to the connecting beam (122), the auxiliary rail body (121) is fixedly connected to the fixing plate (123), there are a plurality of stabilizing frames (124), the stabilizing frames (124) are arranged at equal distances and are fixedly connected to the fixing plate (123), and the stabilizing frames (124) are fixedly connected to the upper side of the busbar (16).

8. The hook-lifting robot for railway hump operation according to claim 4, characterized in that: The walking chassis (22) comprises a chassis frame (221), a first motor (222), a driving wheel (223), a driven wheel (224), a current collector (225) and a connecting frame (226); the first motor (222) is mounted on the chassis frame (221); an output end of the first motor (222) is connected to the driving wheel (223); the driving wheel (223) contacts the upper surface of the main rail (11); the driven wheel (224) is rotatably connected to the chassis frame (221); the driven wheel (224) contacts the upper surface of the main rail (11); the current collector (225) is connected to the chassis frame (221) via the connecting frame (226); the current collector (225) is connected to the busbar (16); and the current collector (225) is used to supply power to the walking mechanism (2) and the mechanical arm (3).

9. The hook-lifting robot for railway hump operation according to claim 1, characterized in that: The mechanical arm (3) comprises a base (31), a front arm section (32), a rear arm section (33), and a third driving mechanism (34); the base (31) is connected to the front arm section (32); one end of the front arm section (32) away from the base (31) is connected to the rear arm section (33); one end of the rear arm section (33) away from the front arm section (32) is rotatably connected to a mechanical hand (4); and the third driving mechanism (34) is used to drive the mechanical hand (4) to move.

10. The hook lifting robot for railway hump operation according to claim 9, characterized in that: The manipulator (4) comprises a mounting structure (41) connected to the rear arm section (33) and a gripping mechanism (42); the gripping mechanism (42) is connected to the mounting structure (41) and is used to limit the position of the coupler handle (6); The gripping mechanism (42) comprises a main body (421), an angle frame (422), a spring (423), a slider (424), a tension spring (425), a steering claw (426) and a stopper (427); the main body (421) is connected to the mounting structure (41); the angle frame (422) is fixedly mounted on the main body (421); the slider (424) is slidably connected to the main body (421); and the stopper (427) is fixedly connected to the slider (424); the spring (423) is connected between the angle frame (422) and the slider (424); the spring (423) is used to provide an elastic force for the slider (424) to move away from the angle frame (422); the steering claw (426) is rotatably connected to the main body (421); and the tension spring (425) is connected between the slider (424) and the steering claw (426).

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