A hook lifting manipulator for a railway hump operation robot

Abstract

An embodiment of the present invention provides a hook-lifting manipulator for a railway hump operation robot, which relates to the field of railway operation robots. The hook-lifting manipulator of the railway hump operation robot comprises: a mounting structure and a gripping mechanism connected to a manipulator arm, wherein the gripping mechanism is connected to the mounting structure and is used to limit the position of the coupler handle; the gripping mechanism comprises a connecting arm, a mounting seat, a spring, a slider, a first tension spring, a steering claw and a first stopper. The problem that the existing manipulator cannot effectively align with the coupler handle, resulting in gripping failure or inaccurate positioning is solved. The mounting structure provides overload protection for the manipulator arm, avoids possible overload or damage of mechanical parts of the robot, and reduces the incidence of equipment failure.

Description

Technical Field

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

[0002] At present, the hump operation in marshalling yards in my country is completely completed manually. The specific process is as follows: the hook operator knows the car that needs to be hooked and the number of times to be unmarshalled through the hook operation order sent by the railway control center, and pushes the car that needs to be unmarshalled into the hump operation platform through the locomotive. The locomotive controls the speed of the car through the three-color indicator light on the hump operation platform; when the hook operator finds the car that needs to be operated, he needs to move with the car at that time, hold the hook handle, and bend the hook handle several times, and need to keep the action to perform the hook protection operation at one end. The hook operator determines the hook separation point based on his own experience. When the car to be separated reaches the hook separation point, the car to be unmarshalled will slide to the marshalling yard entrance of the corresponding track through the slope due to its own gravity and inertia. The manual operation conditions are relatively complicated, because the train hump operation needs to be carried out 24 hours a day without stopping, and personnel need to work in shifts, which has a high fatigue intensity.

[0003] In the prior art, when a hook lifting robot is used for railway hump operations, it usually relies on a manipulator to grasp or limit the coupler handle. For example, the publication number "CN215621999U" discloses an automatic hook lifting walking robot for railway hump operations, and the coupler handle is grasped by a manipulator during the hook lifting operation. However, in the prior art, for example, the publication number "CN117400984A" discloses a train unhooking robot with an auxiliary structure, and its unhooking claw is operated by a fixed structure, which lacks the ability to effectively grasp and limit the coupler handle. In actual use, the unhooking claw needs to be precisely docked with the coupler handle, but when the coupler handle of the coupler is bent or offset due to external force or long-term use, the manipulator may not be able to effectively align with the coupler handle, resulting in grasping failure or inaccurate positioning, increasing the risk of hook lifting failure.

[0004] In the prior art: a mobile hook-lifting robot disclosed in the publication number "CN211541232U"; a railway hump operation hook-removing robot hand mechanism disclosed in the publication number "CN211491578U", the above prior art lacks the ability to provide real-time feedback and adjustment during the hook-lifting process. It is impossible to make corresponding adjustments according to the actual situation, resulting in the hook-lifting manipulator being subjected to excessive operating force or making operational errors. In this case, the hook-lifting robot may be at risk of mechanical parts overload and damage, and even cause equipment failure in extreme cases. Summary of the invention

[0005] According to an embodiment of the present invention, a hook lifting manipulator of a railway hump operation robot is provided to solve the problem that the existing manipulator may not be able to effectively align the coupler handle, resulting in grasping failure or inaccurate positioning.

[0006] In a first aspect of the present invention, a hook lifting manipulator of a railway hump operation robot is provided.

[0007] The hook lifting manipulator of the railway hump operation robot comprises: a mounting structure connected to the manipulator arm and a gripping mechanism, wherein the gripping mechanism is connected to the mounting structure and is used to limit the position of the coupler handle;

[0008] The gripping mechanism includes a connecting arm, a mounting seat, a spring, a slider, a first tension spring, a steering claw and a first stop block; the connecting arm is connected to the mounting structure, the mounting seat is fixedly mounted on the connecting arm, the slider is slidably connected to the connecting arm, and the first stop block is fixedly connected to the slider; the spring is connected between the mounting seat and the slider, and the spring is used to provide an elastic force for the slider to move away from the mounting seat, the steering claw is rotatably connected to the connecting arm, and the first tension spring is connected between the slider and the steering claw.

[0009] Preferably, the connecting arm is provided with a guide rail for the sliding of the slider, the slider is slidably connected to the guide rail, the slider is provided with an extension portion, the extension portion is connected to a guide column, the spring is sleeved on the guide column, and the guide column passes through the mounting seat and is slidably connected to the mounting seat.

[0010] Preferably, the gripping mechanism further comprises a draw wire encoder connected to the mounting seat, and a draw wire of the draw wire encoder is connected to the extension portion.

[0011] Preferably, a first proximity sensor is provided on the extension portion, and the first proximity sensor is used to detect whether the coupler handle is in place.

[0012] Preferably, a pressure plate is connected to the steering claw via an articulated seat, and the pressure plate is connected to the articulated seat via a first torsion spring, the first torsion spring is used to provide torsional force for the pressure plate, a second limit block is provided on the steering claw, the second limit block is used to limit the torsion of the pressure plate, a position sensor is provided on the pressure plate, and the position sensor is used to detect the position of the pressure plate.

[0013] Preferably, the connecting arm comprises a rotating arm and a mounting portion; the rotating arm is connected to the mounting portion via a rotating shaft, the rotating arm is fixedly connected to the rotating shaft, the rotating shaft is rotatably connected to the mounting portion, a second torsion spring is sleeved on the rotating shaft, and the second torsion spring is used to provide a torsional force for the rotating shaft;

[0014] The connecting arm is also provided with a second stopper, the second stopper is provided with a second proximity sensor, the second proximity sensor passes through the second stopper and contacts the rotating arm, and a gyroscope is also provided on the lower surface of the rotating arm.

[0015] Preferably, the mounting structure includes a base, a connecting seat, a connecting block and a second tension spring; the base is used to connect the robotic arm, the connecting seat is rotatably connected to the base, the connecting block is fixedly connected to the connecting seat, the connecting block is L-shaped, the second tension spring is connected between the base and the connecting block, and is used to provide tension to the connecting seat; the connecting seat is fixedly connected to the connecting arm.

[0016] Preferably, the number of the second tension springs is three, the three second tension springs are all connected to the base, the ends of the three second tension springs away from the base are connected to the connecting block via a mounting bracket, the mounting bracket is connected to a screw rod, the screw rod passes through the connecting block and is slidably connected to the connecting block, the screw rod is threadedly connected to an adjusting nut, and the adjusting nut is in contact with the connecting block under the action of the tension of the second tension spring.

[0017] Preferably, the mounting structure further comprises a micro switch mounted on the base, and the connecting seat is in contact with the micro switch.

[0018] Preferably, the hook lifting manipulator of the railway hump operation robot also includes a recognition device, which includes a bracket and a recognition camera, and the recognition camera is connected to the mounting structure via the bracket.

[0019] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0020] 1. The hook lifting manipulator of a railway hump operation robot provided by the present invention uses a mechanical arm to drive the installation structure and the gripping mechanism to move in the direction close to the coupler handle, and at the same time, the side of the steering claw close to the slider is fitted with the coupler handle. When the first stopper contacts the coupler handle, the gripping mechanism continues to move, and then under the action of the coupler handle, the slider slides on the connecting arm, and the spring is compressed. The sliding of the slider will drive the first tension spring to stretch, and the first tension spring provides elastic force for the steering claw. Then, under the action of the first tension spring, the steering claw rotates, prompting the steering claw and the first stopper to form a gripping space for accommodating the coupler handle. After the hook lifting operation is completed, it is only necessary to control the installation structure and the gripping mechanism to move in the direction away from the coupler handle through the mechanical arm. Then, under the action of the restoring force of the spring, the slider slides in the direction away from the mounting seat, the first tension spring gradually recovers, and the steering claw contacts the coupler handle and returns to the initial state for the next use. When the manipulator positions the coupler handle, it only needs to make the first block correspond to the coupler handle, and the first block is a plate structure, which makes it easy to place the coupler handle on the side of the first block close to the steering claw. If the coupler handle is bent or offset, the coupler handle will also be on the side of the first block, so as to capture and grasp the coupler handle. This solves the problem that the existing manipulator cannot effectively align the coupler handle, resulting in grasping failure or inaccurate positioning.

[0021] 2. The mounting structure of the present invention is used to provide overload protection for the robot arm. When the gripping mechanism grips the coupler handle and lifts the coupler handle, if the coupler handle is abnormal and cannot be lifted, for example, the coupler handle is stuck by something, as the robot arm continues to lift, when the overload force is greater than the tension of the second tension spring, the connecting arm will drive the connecting seat to rotate, and the second tension spring will be stretched, thereby providing overload protection for the robot arm. This prevents possible overload or damage to the mechanical parts of the robot and reduces the incidence of equipment failure.

[0022] 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

[0023] 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:

[0024] Figure 1 A schematic diagram of the three-dimensional structure of a hook lifting manipulator for railway hump operation according to an embodiment of the present invention is shown;

[0025] Figure 2A schematic diagram of the three-dimensional structure of a gripping mechanism of a hook lifting manipulator for railway hump operation according to an embodiment of the present invention is shown in a first perspective;

[0026] Figure 3 A schematic diagram of the three-dimensional structure of a gripping mechanism of a hook lifting manipulator for railway hump operation according to an embodiment of the present invention is shown in a second viewing angle;

[0027] Figure 4 It shows a three-dimensional structural schematic diagram of a connecting arm of a hook lifting manipulator for railway hump operation according to an embodiment of the present invention;

[0028] Figure 5 It shows a cross-sectional structural schematic diagram of a connecting arm of a hook lifting manipulator for railway hump operation according to an embodiment of the present invention;

[0029] Figure 6 A schematic diagram showing the connection structure of a spring and a guide column of a hook lifting manipulator for railway hump operation according to an embodiment of the present invention is shown;

[0030] Figure 7 A schematic diagram of the three-dimensional structure of the installation structure of the hook lifting manipulator for railway hump operation according to an embodiment of the present invention is shown;

[0031] Figure 8 It shows a schematic structural diagram of the connection between a hook lifting manipulator and a manipulator arm for railway hump operation according to an embodiment of the present invention;

[0032] 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.

[0033] Description of Reference Numerals

[0034] 1-mounting structure, 11-base, 12-connecting seat, 13-connecting block, 14-tension spring, 15-mounting frame, 151-screw, 152-adjusting nut, 16-micro switch, 2-gripping mechanism, 21-connecting arm, 211-guide rail, 212-rotating arm, 213-mounting part, 214-rotating shaft, 215-second torsion spring, 216-second stopper, 217-second proximity sensor, 218-gyroscope, 219-first limit block, 22-mounting seat, 23-spring , 24-slider, 241-extension part, 242-guide column, 25-first tension spring, 26-steering claw, 261-position sensor, 262-articulated seat, 263-pressure plate, 264-first torsion spring, 265-second limit block, 27-first stopper, 28-wire encoder, 29-first proximity sensor, 3-identification device, 31-bracket, 32-identification camera, 4-beam coil, 5-mechanical arm, 6-coupler seat, 61-handle hole, 7-coupler handle, 71-flat part. DETAILED DESCRIPTION

[0035] 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.

[0036] 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.

[0037] like Fig. 9 As shown, in this embodiment, the coupler handle 7 takes the existing No. 17 coupler as an example. The coupler handle 7 is an L-shaped structure, one part of which is perpendicular to the ground, and the other part extends horizontally to the coupler and is parallel to the ground. The gripping mechanism 2 can effectively grasp the vertical part of the coupler handle 7 through its mechanical structure, ensuring stability and reliability during the grasping process. The coupler handle 7 passes through the handle hole 61 on the coupler seat 6. The handle hole 61 is composed of a straight groove and a circle. The flat part 71 of the coupler handle 7 extends into the straight groove. Since the flat part 71 cooperates with the straight groove of the handle hole 61, it cannot rotate. The hook lifting operation requires lifting the coupler handle 7 upwards, so that the flat part 71 moves from the straight groove to the circle, and the coupler handle 7 is rotated to complete the hook lifting operation.

[0038] The robot mainly includes a mechanical arm 5, a lifting module and a walking mechanism. The lifting module is used to drive the mechanical arm 5 to lift and lower, and the lifting and lowering of the mechanical arm 5 will drive the manipulator to lift the hook, and the walking mechanism is used to adapt to the carriage in the walking state to ensure that the robot always keeps the same speed as the carriage.

[0039] like Figure 1-Figure 6 and Figure 8 As shown, this embodiment discloses a hook lifting manipulator for railway hump operation, which includes a mounting structure 1 and a gripping mechanism 2 connected to a manipulator arm 5. The gripping mechanism 2 is connected to the manipulator arm 5 through the mounting structure 1, and can limit the position of the coupler handle 7. The manipulator arm 5 is connected to a traveling mechanism (not shown in the figure) for synchronous operation with the carriage, ensuring that the manipulator arm 5 moves synchronously with the carriage during the hook lifting operation, thereby improving the stability of the operation.

[0040] In actual use, the movement of the mechanical arm 5 drives the gripping mechanism 2 to move along a specified path through the mounting structure 1, and when the gripping mechanism 2 is aligned with the coupler handle 7, the gripping action is performed. After the gripping is completed, the mechanical arm 5 drives the mounting structure 1 and the gripping mechanism 2 to move up in a vertical direction to complete the hook lifting operation.

[0041] The specific structure of the gripping mechanism 2 is as follows: it includes a connecting arm 21, a mounting seat 22, a spring 23, a slider 24, a first tension spring 25, a steering claw 26 and a first stopper 27. The connecting arm 21 is used to connect with the mounting structure 1, and transmit the action of the mechanical arm 5 to the gripping mechanism 2 through the mounting structure 1. The mounting seat 22 is fixedly mounted on the connecting arm 21 to provide structural support for the gripping mechanism 2.

[0042] The slider 24 is slidably connected to the connecting arm 21 and can move along the axial direction of the connecting arm 21. The first stopper 27 is fixedly connected to the slider 24. The spring 23 is arranged between the mounting seat 22 and the slider 24 to provide elastic force for the slider 24 to move away from the mounting seat 22. When the gripping mechanism 2 is released, the spring 23 resets the slider 24 to the initial position. The steering claw 26 is rotatably connected to the connecting arm 21 through the rotating shaft 214.

[0043] In addition, the first tension spring 25 is connected between the slider 24 and the steering claw 26, and the clamping action of the steering claw 26 is achieved by the tension of the tension spring 14. When the gripping mechanism 2 is aligned with the coupler handle 7, the mechanical arm 5 drives the gripping mechanism 2 to move near the coupler handle 7. Under the action of the spring 23, the slider 24 drives the steering claw 26 to rotate and contact the coupler handle 7, thereby achieving the gripping and limiting of the coupler handle 7. Subsequently, the mechanical arm 5 drives the mounting structure 1 and the gripping mechanism 2 to complete the hook lifting operation.

[0044] The steering claw 26 is a plate structure. In the initial state, Figure 1As shown, the steering claw 26 is flush with the connecting arm 21, and the steering claw 26 is in an open state, and the first tension spring 25 is also in a relaxed state. In actual use, when the first stopper 27 corresponds to the coupler handle 7, the mechanical arm 5 is used to drive the mounting structure 1 and the gripping mechanism 2 to move in the direction close to the coupler handle 7, and at the same time, the side of the steering claw 26 close to the slider 24 is in contact with the coupler handle 7. After the first stopper 27 contacts the coupler handle 7, the gripping mechanism 2 continues to move, and then under the action of the coupler handle 7, the slider 24 slides on the connecting arm 21, and the spring 23 is compressed. The sliding of the slider 24 will drive the first tension spring 25 to stretch, and the first tension spring 25 provides elastic force for the steering claw 26. Then, under the action of the first tension spring 25, the steering claw 26 rotates, causing the end of the steering claw 26 away from the connecting arm 21 to approach or contact the first stopper 27, and at this time, a gripping space for accommodating the coupler handle 7 is formed between the steering claw 26 and the first stopper 27. Then, the robot arm 5 is controlled to perform an upward lifting action, so that the robot arm 5 drives the coupler handle 7 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 1 and the gripping mechanism 2 to move away from the coupler handle 7 through the robot arm 5. Then, under the action of the restoring force of the spring 23, the slider 24 slides away from the mounting seat 22, the first tension spring 25 gradually recovers, and the steering claw 26 returns to its initial state after contacting the coupler handle 7 for the next use. In the process of positioning the coupler handle 7, the robot arm only needs to make the first stopper 27 correspond to the coupler handle 7, and the first stopper 27 is as shown in FIG. Figure 2 As shown, the plate structure is easy to make the coupler handle 7 be located on the side of the first stopper 27 close to the steering claw 26. If the coupler handle 7 is bent or offset, the coupler handle 7 will also be located on the side of the first stopper 27, so as to capture and grasp the coupler handle 7. The problem that the existing manipulator cannot effectively align the coupler handle 7, resulting in grasping failure or inaccurate positioning is solved.

[0045] The connecting arm 21 is provided with a first limit block 219, which is used to limit the turning claw 26 from turning toward the side of the connecting arm 21 away from the mounting slider 24. The lower surface of the connecting arm 21 is also provided with a binding coil 4 for limiting the position of the wire.

[0046] Specifically, the connecting arm 21 is provided with a guide rail 211 for the slider 24 to slide, the slider 24 is slidably connected to the guide rail 211, the slider 24 is provided with an extension 241, the extension 241 is connected to a guide post 242, the spring 23 is sleeved on the guide post 242, the guide post 242 passes through the mounting seat 22 and is slidably connected to the mounting seat 22. The guide rail 211 is set so that the slider 24 slides more smoothly on the connecting arm 21. When the slider 24 slides in a direction close to the mounting seat 22, the slider 24 drives the guide post 242 to move, the guide post 242 passes through the mounting seat 22, and the guide post 242 is set so that the movement of the slider 24 plays a guiding effect, thereby improving the stability of the operation of the slider 24. At the same time, the spring 23 is sleeved on the guide post 242, which effectively avoids the problem of the complete axis of the spring 23 during the compression process, and ensures that the elastic force of the spring 23 is fully utilized.

[0047] Specifically, the gripping mechanism 2 in this embodiment further includes a wire encoder 28 connected to the mounting seat 22. The wire of the wire encoder 28 is connected to the extension portion 241 of the slider 24, and is used to detect the linear displacement of the slider 24. When the slider 24 slides, the wire encoder 28 detects the linear displacement of the slider 24. When the slider 24 moves into position, that is, the steering claw 26 rotates and grips the coupler handle 7, the wire encoder 28 sends a gripping signal.

[0048] The wire encoder 28 is also called a rope encoder or a linear position encoder, which is a sensor for measuring linear displacement. It is a prior art, and its specific working principle and use method are well known to those skilled in the art, so it will not be described in detail here.

[0049] Specifically, the extension portion 241 is provided with a first proximity sensor 29, which is used to detect whether the coupler handle 7 is in place. The first proximity sensor 29 passes through the extension portion 241, and the first stopper 27 is installed on the upper side of the extension portion 241 and is flush with the extension portion 241. When the coupler handle 7 contacts the first stopper 27, the first proximity sensor 29 detects that the coupler handle 7 is in place. The first proximity sensor 29 is an existing inductive proximity sensor, which can trigger a signal output by sensing the proximity of a metal object.

[0050] Specifically, the steering claw 26 is connected to a pressing plate 263 via an articulated seat 262, and the pressing plate 263 is connected to the articulated seat 262 via a first torsion spring 264, and the first torsion spring 264 is used to provide a torsion force for the pressing plate 263. The steering claw 26 is provided with a second limit block 265, and the second limit block 265 is used to limit the torsion of the pressing plate 263. The pressing plate 263 is provided with a position sensor 261, and the position sensor 261 is used to detect the position of the pressing plate 263. In the initial state, the first torsion spring 264 provides a torsion force for the pressing plate 263, so that the pressing plate 263 is in an inclined state (such as Figure 2 and Figure 3 As shown), at the same time, the pressure plate 263 is not in contact with the position sensor 261. When the gripping mechanism 2 completes the gripping of the coupler handle 7, the robotic arm 5 drives the gripping mechanism 2 to move upward. At this time, the pressure plate 263 is in contact with the position of the coupler handle 7 parallel to the ground, and the pressure plate 263 rotates. The first torsion spring 264 stores energy, the pressure plate 263 is in contact with the position sensor 261, the position sensor 261 sends a contact signal, and the robotic arm 5 continues to perform the lifting action.

[0051] Specifically, the connecting arm 21 includes a rotating arm 212 and a mounting portion 213; the rotating arm 212 is connected to the mounting portion 213 via a rotating shaft 214, the rotating arm 212 is fixedly connected to the rotating shaft 214, the rotating shaft 214 is rotatably connected to the mounting portion 213, and a second torsion spring 215 is sleeved on the rotating shaft 214, and the second torsion spring 215 is used to provide a torsional force for the rotating shaft 214. When the coupler handle 7 is lifted into place, the mechanical arm 5 will drive the manipulator to perform a circular motion, and the gripping mechanism 2 of the manipulator will drive the coupler handle 7 to rotate, and then the tilted coupler handle 7 will provide a reaction force for the rotating arm 212, causing the rotating arm 212 to rotate, and the second torsion spring 215 will twist and store energy, ensuring that the rotating arm 212 is always in contact with the coupler handle 7, thereby completing the hook lifting operation. When the rotating arm 212 rotates, the rotating shaft 214 is driven to rotate relative to the mounting portion 213, and the second torsion spring 215 is twisted and stores energy. When the gripping mechanism 2 is separated from the coupler handle 7, the torsion force of the second torsion spring 215 drives the rotating arm 212 to return to its original position.

[0052] The connecting arm 21 is also provided with a second stopper 216, and the second stopper 216 is provided with a second proximity sensor 217. The second proximity sensor 217 passes through the second stopper 216 and contacts the rotating arm 212. In the initial state, the rotating arm 212 contacts the second stopper 216, and the second proximity sensor 217 detects that the rotating arm 212 is in the initial position and sends a signal. When the rotating arm 212 rotates, the rotating arm 212 will not contact the second proximity sensor 217, and the second proximity sensor 217 sends a signal. The lower surface of the rotating arm 212 is also provided with a gyroscope 218, and the gyroscope 218 is set to detect the rotation angle of the rotating arm 212, thereby realizing the detection of the rotation angle of the coupler handle 7.

[0053] Specifically, if Figure 7 As shown, the mounting structure 1 includes a base 11, a connecting seat 12, a connecting block 13 and a second tension spring 14; the base 11 is used to connect the mechanical arm 5, the connecting seat 12 is rotatably connected to the base 11, the connecting block 13 is fixedly connected to the connecting seat 12, the connecting block 13 is L-shaped, and the second tension spring 14 is connected between the base 11 and the connecting block 13 to provide tension for the connecting seat 12; the connecting seat 12 is fixedly connected to the connecting arm 21. When the gripping mechanism 2 grips the coupler handle 7 and lifts the coupler handle 7, if the coupler handle 7 is abnormal and cannot be lifted, for example, the coupler handle 7 is stuck by something, as the mechanical arm 5 continues to lift, when the overload force is greater than the tension of the second tension spring 14, the connecting arm 21 will drive the connecting seat 12 to rotate, and the second tension spring 14 will be stretched, thereby providing overload protection for the mechanical arm 5. It can avoid overload or damage of mechanical parts of the robot and reduce the incidence of equipment failure.

[0054] Specifically, there are three second tension springs 14, all of which are connected to the base 11, and one end of the three second tension springs 14 away from the base 11 is connected to the connection block 13 through a mounting frame 15, and a screw 151 is connected to the mounting frame 15, and the screw 151 passes through the connection block 13 and is slidably connected to the connection block 13, and an adjusting nut 152 is threadedly connected to the screw 151, and the adjusting nut 152 is in contact with the connection block 13 under the tension of the second tension spring 14. By adjusting the position of the adjusting nut 152 on the screw 151, the initial length of the second tension spring 14 can be adjusted, thereby adjusting the pre-tension of the second tension spring 14.

[0055] Specifically, the mounting structure 1 further includes a micro switch 16 mounted on the base 11, and the connecting seat 12 is in contact with the micro switch 16. When the connecting seat 12 rotates, the contact with the micro switch 16 is cancelled, and the micro switch 16 sends a signal for the robot arm 5 to judge that an overload occurs at this time, and the lifting operation of the gripping mechanism 2 needs to be stopped in time.

[0056] Specifically, the hook lifting manipulator of the railway hump operation robot also includes an identification device 3, which includes a bracket 31 and an identification camera 32, and the identification camera 32 is connected to the mounting structure 1 through the bracket 31. The identification camera 32 is a 3D identification camera 32, which is used to preliminarily identify the position of the coupler handle 7. In the actual operation process, the identification camera 32 first performs an initial identification, and obtains the spatial position, angle and surrounding environment of the coupler handle 7 through depth perception and three-dimensional modeling technology. After identifying the position of the coupler handle 7, the lifting module and the robot arm 5 in the robot system will drive the manipulator to move to the front of the coupler handle 7 according to the identified position information.

[0057] When the manipulator approaches the coupler handle 7, the recognition camera 32 will perform secondary recognition to further detect the posture of the coupler handle 7 (such as angle, inclination, etc.) and obstacles on the manipulator's movement path. At this time, the recognition camera 32 will analyze the interference on the path, such as whether there is a deformed ladder or other structural objects blocking the coupler handle 7. Based on these recognition results, the system can adjust the manipulator's movement path to ensure that it can approach the coupler handle 7 at the best angle, avoid interfering obstacles, and successfully complete the grasping operation.

[0058] 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 manipulator for a railway hump operation robot, characterized in that: include: A mounting structure (1) and a gripping mechanism (2) connected to the mechanical arm (5), wherein the gripping mechanism (2) is connected to the mounting structure (1) and is used to limit the position of the coupler handle (7); The gripping mechanism (2) comprises a connecting arm (21), a mounting seat (22), a spring (23), a slider (24), a first tension spring (25), a steering claw (26) and a first stopper (27); the connecting arm (21) is connected to the mounting structure (1); the mounting seat (22) is fixedly mounted on the connecting arm (21); the slider (24) is slidably connected to the connecting arm (21); and the first stopper (27) is fixedly connected to the slider (24); the spring (23) is connected between the mounting seat (22) and the slider (24); the spring (23) is used to provide an elastic force for the slider (24) to move away from the mounting seat (22); the steering claw (26) is rotatably connected to the connecting arm (21); and the first tension spring (25) is connected between the slider (24) and the steering claw (26); The slider (24) slides on the connecting arm (21), and the spring (23) is compressed. The sliding of the slider (24) drives the first tension spring (25) to stretch. The first tension spring (25) provides elastic force for the steering claw (26). Subsequently, under the action of the first tension spring (25), the steering claw (26) rotates, causing the end of the steering claw (26) away from the connecting arm (21) to approach or contact the first stopper (27). At this time, a gripping space for accommodating the coupler handle (7) is formed between the steering claw (26) and the first stopper (27).

2. The hook lifting manipulator of the railway hump operation robot according to claim 1, characterized in that: The connecting arm (21) is provided with a guide rail (211) for the sliding block (24) to slide, the sliding block (24) is slidably connected to the guide rail (211), the sliding block (24) is provided with an extension portion (241), the extension portion (241) is connected to a guide column (242), the spring (23) is sleeved on the guide column (242), and the guide column (242) passes through the mounting seat (22) and is slidably connected to the mounting seat (22).

3. The hook lifting manipulator of the railway hump operation robot according to claim 2, characterized in that: The gripping mechanism (2) further comprises a wire encoder (28) connected to the mounting seat (22), wherein the wire of the wire encoder (28) is connected to the extension portion (241).

4. The hook lifting manipulator of the railway hump operation robot according to claim 2, characterized in that: The extension portion (241) is provided with a first proximity sensor (29), and the first proximity sensor (29) is used to detect whether the coupler handle (7) is in position.

5. The hook lifting manipulator of the railway hump operation robot according to claim 1, characterized in that: The steering claw (26) is connected to a pressure plate (263) via an articulated seat (262); the pressure plate (263) is connected to the articulated seat (262) via a first torsion spring (264); the first torsion spring (264) is used to provide a torsion force for the pressure plate (263); a second limit block (265) is provided on the steering claw (26); the second limit block (265) is used to limit the torsion of the pressure plate (263); a position sensor (261) is provided on the pressure plate (263); the position sensor (261) is used to detect the position of the pressure plate (263).

6. The hook lifting manipulator of the railway hump operation robot according to claim 1, characterized in that: The connecting arm (21) comprises a rotating arm (212) and a mounting portion (213); the rotating arm (212) is connected to the mounting portion (213) via a rotating shaft (214); the rotating arm (212) is fixedly connected to the rotating shaft (214); the rotating shaft (214) is rotatably connected to the mounting portion (213); a second torsion spring (215) is sleeved on the rotating shaft (214); the second torsion spring (215) is used to provide a torsional force for the rotating shaft (214); The connecting arm (21) is also provided with a second stopper (216), the second stopper (216) is provided with a second proximity sensor (217), the second proximity sensor (217) passes through the second stopper (216) and contacts the rotating arm (212), and a gyroscope (218) is also provided on the lower surface of the rotating arm (212).

7. The hook lifting manipulator of the railway hump operation robot according to claim 1, characterized in that: The mounting structure (1) comprises a base (11), a connecting base (12), a connecting block (13) and a second tension spring (14); the base (11) is used to connect the mechanical arm (5); the connecting base (12) is rotatably connected to the base (11); the connecting block (13) is fixedly connected to the connecting base (12); the connecting block (13) is L-shaped; the second tension spring (14) is connected between the base (11) and the connecting block (13) and is used to provide tension for the connecting base (12); the connecting base (12) is fixedly connected to the connecting arm (21).

8. The hook lifting manipulator of the railway hump operation robot according to claim 7, characterized in that: The number of the second tension springs (14) is three, and the three second tension springs (14) are all connected to the base (11); one end of the three second tension springs (14) away from the base (11) is connected to the connecting block (13) via a mounting frame (15); a screw rod (151) is connected to the mounting frame (15); the screw rod (151) passes through the connecting block (13) and is slidably connected to the connecting block (13); an adjusting nut (152) is threadedly connected to the screw rod (151); the adjusting nut (152) is in contact with the connecting block (13) under the action of the tension of the second tension spring (14).

9. The hook lifting manipulator of the railway hump operation robot according to claim 7, characterized in that: The mounting structure (1) further comprises a micro switch (16) mounted on the base (11), and the connecting base (12) is in contact with the micro switch (16).

10. The hook lifting manipulator of the railway hump operation robot according to claim 1, characterized in that: It also comprises an identification device (3), the identification device (3) comprising a bracket (31) and an identification camera (32), the identification camera (32) being connected to the mounting structure (1) via the bracket (31).

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