Buffering type tentacle system of unhooking and rehooking robot

Abstract

Relates to the field of trains, and discloses an unhooking and re-hooking robot buffer type tentacle system which comprises a mechanical arm arranged at the upper end of a moving vehicle and a mounting disc arranged on the mechanical arm and used for mounting an unhooking device. The deformation device is arranged on the connecting plate; the lifting hook is arranged on one side, far away from the connecting plate, of the deformation device; the grabbing hook is arranged on the side, close to the deformation device, of the lifting hook and used for clamping the lifting rod, when the detection device detects that the lifting rod rotating force of the lifting hook and the grabbing hook is larger than a set value, the deformation device starts to work, and the mechanical arm buffer type tentacle system is more suitable for on-site complex working conditions. The hooking phenomenon is effectively detected, overload of the mechanical arm is prevented, intelligent attempt to break through a sticking point is achieved, intelligent early warning is achieved, and the success rate of unhooking and rehooking is increased to 99%.

Description

Technical Field

[0001] The invention relates to the technical field of trains, in particular to a buffer-type tentacle system of a hook-removing and hook-re-retrieving robot. Background Art

[0002] The hook-removing and hook-reattaching robot is a robotic arm used for the unhooking and hooking of train hooks by the tipping machine system. The tentacles of the robotic arms currently produced domestically use conventional claws, hooks or manipulator clamps for grasping, and the robotic arms are driven by servo controllers.

[0003] Due to the complex working conditions on site, the train couplers and lifting and pin operating levers that are the operating objects vary depending on the vehicle conditions. Some carriage operating levers are stuck, and the locations of the sticking are different, as are the characteristics of the sticking force. In very rare cases, the hooks are dead and cannot be opened at all (the operating levers are stuck after rotating about 45 degrees), and some models are even tied with wires (causing the lifting action to jam the robot, causing the robot to overload).

[0004] The existing equipment has the following shortcomings: the tentacles of conventional unhooking and rehooking robots are connected by rigid materials. When encountering jams in various links, the robot will experience torque overload, causing the robot to get stuck. It may take 4-5 minutes to handle the fault. Frequent fault handling has a great impact on the continuous operation of the tipping machine system, prolongs the time for the tipping machine to load and unload materials, and generates a large amount of railway delay costs.

[0005] Therefore, the present application proposes a hook-removing and hook-re-hooking robot buffer-type tentacle system to solve the above-mentioned problems. Summary of the invention

[0006] The purpose of the present invention is to provide a buffered tentacle system for a hook-removing and hook-reattaching robot to solve the problem that the frequent handling of faults has a significant impact on the continuous operation of the tipping machine system, prolongs the time for the tipping machine to load and unload materials, and generates a large amount of railway delay costs.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a hook-removing and hook-re-removing robot buffer-type tentacle system, comprising a mechanical arm arranged at the upper end of a mobile vehicle and a mounting plate arranged on the mechanical arm for mounting a hook-removing device:

[0008] The hook removing device comprises:

[0009] A connecting plate, detachably fixed on the mounting plate;

[0010] A deformation device, arranged on the connecting plate;

[0011] A lifting hook, arranged on a side of the deformation device away from the connecting plate;

[0012] A grab hook is arranged on one side of the lifting hook close to the deformation device and is used for clamping the lifting rod.

[0013] Wherein, the deformation device comprises an adjusting member arranged on the connecting plate and a deformation member sleeved on the adjusting member, and the deformation member is arranged between the connecting plate and the lifting hook.

[0014] Wherein, the adjusting member includes a power member fixed on the connecting plate, an insert block arranged at the power output end of the power member and a connecting block fixed on the lifting hook, the insert block is inserted into the connecting block, and a slot for fixing the insert block is provided on the connecting block.

[0015] Wherein, the plug block is a regular hexagon.

[0016] Wherein, a mounting bracket is arranged at a position of the connecting plate above the deformable member, and a laser sensor is arranged at a position of the mounting bracket above the connecting block.

[0017] Wherein, a pressure sensor is arranged on the installation plate, and the pressure sensor is electrically connected to the power part through a PLC control element.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] When the detection device of the present invention detects that the force of the lifting hook and the grab hook rotating the lifting rod is greater than the set value, the deformation device starts to work, and the buffered tentacle system of the robotic arm is more suitable for complex working conditions on site, effectively detects the hook jamming phenomenon, prevents the robotic arm from overloading, intelligently attempts to break through the jamming point, and intelligently warns. The success rate of hook removal and re-hooking is increased to 99% (the current success rate of hook removal and re-hooking on the market is about 85%), and the comprehensive dumping efficiency of the tipping machine system is increased by 20 seconds. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the main structure in one embodiment of the present invention;

[0021] Figure 2 It is a front view structural schematic diagram of an embodiment of the present invention;

[0022] Figure 3 It is a schematic diagram of the structure when viewed from above in one embodiment of the present invention;

[0023] Figure 4 It is a schematic structural diagram of a cross-section of a hook removing device in one embodiment of the present invention;

[0024] Figure 5 It is a structural schematic diagram of the explosion of the hook removing device in one embodiment of the present invention.

[0025] In the figure: 1. mobile vehicle; 2. robotic arm; 21. mounting plate; 22. pressure sensor; 3. hook removal device; 31. connecting plate; 32. mounting frame; 33. laser sensor; 34. lifting hook; 35. grab hook; 36. deformation device; 361. power part; 362. plug block; 363. connecting block; 36301. slot; 364. deformation part. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0027] See also Figure 1-5 The present invention provides a technical solution: a hook-removing and hook-re-removing robot buffer-type tentacle system, comprising a mechanical arm 2 arranged at the upper end of a mobile vehicle 1 and a mounting plate 21 arranged on the mechanical arm 2 for mounting a hook-removing device 3:

[0028] The hook removal device 3 comprises:

[0029] The connecting plate 31 is detachably fixed on the mounting plate 21;

[0030] A deformation device 36 is provided on the connecting plate 31;

[0031] A lifting hook 34 is provided on a side of the deformation device 36 away from the connecting plate 31;

[0032] The grab hook 35 is arranged on one side of the lifting hook 34 close to the deformation device 36 and is used to clamp the lifting rod.

[0033] It should be noted that when working, the unhooking robot detects the carriage through the laser radar, determines the position range of the unhooking hook lifting rod, and the mobile car 1 drives the mechanical arm 2 to move. The mechanical arm 2 is extended to the front of the hook lifting rod 20 cm away from the hook lifting rod, and the three-dimensional coordinates of the lifting pin rod are scanned by the mechanical arm 2. The target position is sent to the servo actuator, and the lifting hook 34 and the grab hook 35 quickly reach the target point of the lifting rod. When they touch the lifting rod, they start to push upward to the unlocking position, rotate and pull the lifting rod to 90 degrees, and after the robot detects that the unhooking is successful, it returns the lifting pin rod to its original position, retracts the mechanical arm 2, and sends a signal that the machine has completed unhooking to the readjusting machine (car shifting machine). The readjusting machine (car shifting machine) is affected After the robot arm 2 sends a hook-removing arm signal, the towing operation begins. From the time the robot arm 2 reaches the target point of the lifting pin rod until the hook is removed, the deformation device 36 is in a torque buffering state to prevent jamming and damage to the robot arm 2. When the detection device detects that the force of the lifting hook 34 and the grab hook 35 to rotate the lifting rod is greater than the set value, the deformation device 36 starts to work. The buffered tentacle system of the robot arm 2 is more suitable for complex working conditions on site, effectively detects the hook jamming phenomenon, prevents the robot arm 2 from overloading, intelligently attempts to break through the jamming point, and intelligently warns. The success rate of hook removal and re-hooking is increased to 99% (the current success rate of hook removal and re-hooking on the market is about 85%), and the comprehensive dumping efficiency of the tipping machine system is increased by 20 seconds.

[0034] In one embodiment, the deformation device 36 includes an adjusting member disposed on the connecting plate 31 and a deformation member 364 sleeved on the adjusting member. The deformation member 364 is disposed between the connecting plate 31 and the lifting hook 34 .

[0035] With this design, the deformable part 364 is made of a spring, and the mounting plate 21 is the part that is subjected to the greatest force. It is the base connecting the spring and the lifting hook 34, and is bridged by the spring mechanism and the lifting hook 34, thereby achieving a 180-degree regional deformation effect, and is able to absorb the force exerted on the lifting hook 34 when clamping the lifting rod or performing other operations, thereby effectively reducing the torque on the manipulator 2 and the entire robot, and extending the service life of the equipment. By adjusting the adjusting part, the device subjected to force can be changed, thereby improving the safety of the use of the manipulator 2.

[0036] In one embodiment, the adjusting member includes a power member 361 fixed on the connecting plate 31, an insert block 362 arranged at the power output end of the power member 361, and a connecting block 363 fixed on the lifting hook 34. The insert block 362 is inserted into the connecting block 363. The connecting block 363 is provided with a slot 36301 for fixing the insert block 362. The power member 361 includes but is not limited to a hydraulic cylinder, a linear guide rail, an electric push rod and a cylinder.

[0037] With this design, when the mounting plate 21 detects that the force of rotating the lifting rod exceeds the set value, the power piece 361 moves to drive the plug block 362 to be pulled out from the connecting block 363. At this time, the connecting plate 31 and the lifting hook 34 are flexibly connected. The control system can monitor the torque, control the robot arm 2 to stop working in time, and repeat the current action to try to break through the stuck point. The buffering tentacle mechanism plays a torque buffering role in the stopping process, from issuing the stop command to sliding to a stationary state, ensuring that the deformation force after stopping does not exceed the robot's limit torque.

[0038] In one embodiment, the insert block 362 is a regular hexagon.

[0039] With this design, when the regular hexagonal plug block 362 is inserted into the slot 36301 of the connecting block 363, due to its polygonal characteristics, it can provide better anti-rotation and anti-sliding capabilities, thereby ensuring the stability of the connection between the plug block 362 and the connecting block 363, and it is not easy to loosen or fall off even when subjected to external force.

[0040] In one embodiment, a mounting bracket 32 ​​is disposed at a position of the connecting plate 31 above the deformable member 364 , and a laser sensor 33 is disposed at a position of the mounting bracket 32 ​​above the connecting block 363 .

[0041] With this design, the laser sensor 33 can accurately monitor the positions of the lifting hook 34 and the connecting block 363, and provide accurate positioning information for the robot arm 2 system, which helps to ensure the accuracy of the hook removal or re-hooking operation, reduce errors, and improve work efficiency. Through real-time monitoring by the laser sensor 33, the system can instantly obtain the movement state of the lifting hook 34, including position, speed, acceleration, etc., so that the robot can quickly adjust according to real-time feedback to adapt to different working environments and needs.

[0042] In one embodiment, a pressure sensor 22 is disposed on the mounting plate 21 , and the pressure sensor 22 is electrically connected to the power component 361 through a PLC control element.

[0043] With this design, the pressure sensor 22 can monitor the pressure changes on the mounting disk 21 in real time, ensuring that the system can promptly understand and respond to external pressure conditions. Through the electrical connection between the PLC control element and the power component 361, the pressure sensor 22 can instantly feed back the monitored pressure data to the PLC control element. When the pressure sensor 22 detects that the force applied to the mounting disk 21 is greater than the set value, the information is transmitted to the PLC control element. The PLC control element will start the power component 361, so that the plug block 362 is pulled out from the connecting block 363, so that the deformable member 364 acts as a connecting link between the torques, thereby avoiding equipment overload damage and improving the safety of the system.

Claims

1. A hook-removing and hook-re-retrieving robot buffer-type tentacle system, comprising a mechanical arm (2) arranged at the upper end of a mobile vehicle (1) and a mounting plate (21) arranged on the mechanical arm (2) for mounting a hook-removing device (3), characterized in that: The hook removing device (3) comprises: A connecting plate (31) detachably fixed on the mounting plate (21); A deformation device (36) is arranged on the connecting plate (31); A lifting hook (34) is arranged on a side of the deformation device (36) away from the connecting plate (31); A grab hook (35) is arranged on one side of the lifting hook (34) close to the deformation device (36) and is used to clamp the lifting rod.

2. The buffer-type tentacle system of the hook-removing and hook-re-hooking robot according to claim 1 is characterized in that: The deformation device (36) comprises an adjusting member arranged on the connecting plate (31) and a deformation member (364) sleeved on the adjusting member, and the deformation member (364) is arranged between the connecting plate (31) and the lifting hook (34).

3. The buffer-type tentacle system of the hook-removing and hook-re-hooking robot according to claim 2 is characterized in that: The adjusting member comprises a power member (361) fixed on the connecting plate (31), an insert block (362) arranged at the power output end of the power member (361), and a connecting block (363) fixed on the lifting hook (34); the insert block (362) is inserted into the connecting block (363), and the connecting block (363) is provided with a slot (36301) for fixing the insert block (362).

4. The buffer-type tentacle system of the hook-removing and hook-re-hooking robot according to claim 3 is characterized in that: The insert block (362) is a regular hexagon.

5. The buffer-type tentacle system of the hook-removing and hook-re-hooking robot according to claim 3 is characterized in that: A mounting frame (32) is provided at a position of the connecting plate (31) located above the deformable member (364), and a laser sensor (33) is provided at a position of the mounting frame (32) located above the connecting block (363).

6. The buffer-type tentacle system of the hook-removing and hook-re-hooking robot according to claim 1, characterized in that: A pressure sensor (22) is provided on the installation plate (21), and the pressure sensor (22) is electrically connected to the power component (361) via a PLC control element.

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