Multifunctional train unhooking robot system and control method thereof

Abstract

The invention provides a multifunctional train unhooking robot system and a control method thereof, relates to the field of rail transit automation, and aims to solve the technical problem that carriages of a traditional train cannot be dynamically and automatically separated. The system is composed of a bearing vehicle body and a recognizing and grabbing assembly, the bearing vehicle body adopts a double-straddle type frame design, and the front end and the rear end of a chassis are each provided with a set of chassis; the recognition grabbing assembly comprises a six-degree-of-freedom mechanical arm, a laser radar, a depth camera and a multifunctional integrated claw, the mechanical arm and an electric control cabinet of the mechanical arm are installed in the middle of the vehicle body, the claw with the functions of an air pulling rod, a switch angle cock, an air picking pipe and an air picking hook is installed at the tail end of the vehicle body, and a follow-up depth camera is arranged at the flange end of the claw. And a depth camera is additionally arranged at the front end of the mechanical arm base, and a lens of the depth camera faces one side of the train. The requirements of automatic wind pulling rods, angle cock opening and closing, wind pipe picking and hook picking in train operation can be met.

Description

Technical Field

[0001] The present invention relates to the field of rail transit automation, and in particular to a multifunctional train uncoupling robot system and a control method thereof. Background Art

[0002] In terms of rail transportation, traditional trains are often used to transport goods. When the train carriages are separated, they need to stop and manually separate the trains. This method is not only time-consuming, but also has safety hazards. The degree of automation is low and cannot meet the needs of disconnection and unmanned unhooking during train operation. With the development of automation technology, automated unhooking robots have gradually become a research hotspot in the field of railway transportation. The existing unhooking robot system has a single function and cannot simultaneously meet multiple operational needs such as pulling air rods, unhooking, unhooking air ducts, and opening and closing corner plugs. Summary of the invention

[0003] The first object of the present invention is to provide a multifunctional train unhooking robot system to solve the problems of single function, low efficiency and insufficient safety in the prior art.

[0004] The multifunctional train unhooking robot system provided by the present invention includes a load-bearing vehicle body and an identification and grasping component. The load-bearing vehicle body includes a chassis and a straddle-type frame. The chassis is composed of a rectangular steel plate and a channel steel bracket, and the channel steel bracket is symmetrically welded under the rectangular steel plate to support the straddle-type frame. The straddle-type frame includes a main frame, a motor, an air spring, a shock absorber, a stabilizing wheel mounting frame, a guide wheel connecting frame, an upper cover plate, an anti-roll torsion bar assembly, a vehicle body connecting plate base, a running wheel, a rotating shaft seat, a guide wheel and a stabilizing wheel. The straddle-type frame drives the running wheel through a motor to realize the movement of the vehicle body, and realizes the shock absorption and stability of the vehicle body through air springs and shock absorbers. The identification and grasping component includes a six-degree-of-freedom mechanical arm, a laser radar, a depth camera and a multifunctional integrated claw. The six-degree-of-freedom mechanical arm is fixed to the load-bearing vehicle body through a base, and can realize the movement of the end to any position in the workspace. The laser radar is installed at the front and rear ends of the vehicle body to measure the distance and relative speed between the vehicle body and the target point. The depth camera is installed in front of the multifunctional integrated gripper and the base of the robotic arm to obtain image information of the train connection and identify the location of the target point. The multifunctional integrated gripper is installed at the end of the robotic arm and has four functions: pulling the air rod, removing the car hook, removing the air duct, and opening and closing the corner plug door.

[0005] Furthermore, the multifunctional integrated gripper includes an end flange, a flange coupling, an outer sleeve, a lead screw stepper motor, a joint motor, a lever, a slide bar, a base, a clamp and a connecting plate. The gripper can realize the opening and closing of the clamp and the rotation of the lever through the coordinated control of the lead screw stepper motor and the joint motor, thereby completing operations such as pulling the air rod, removing the car hook, removing the air duct and opening and closing the corner plug door.

[0006] Furthermore, there are two ways to remove the coupler. The first way is to drive the sliding rod to slide through the screw stepper motor, drive the clamp to open and clamp the coupler lifting rod, and the mechanical arm moves to rotate the coupler lifting rod, lift the lock pin, and realize the coupler separation. The second way is to drive the lever to rotate through the joint motor, and move the coupler lifting rod to realize the coupler separation. The air duct removal operation is driven by the screw stepper motor to drive the sliding rod to slide, drive the clamp to open and clamp the inner air duct, the lever rotates to touch the outer air duct, the mechanical arm lifts the air duct joint, and the lever rotates downward to remove the air duct. The opening and closing angle plug door operation is driven by the screw stepper motor to drive the sliding rod to slide, drive the clamp to open and clamp the angle plug door handle, and the mechanical arm lifts the angle plug door and rotates to another state point to complete the switching action. The wind rod pulling operation is driven by the screw stepper motor to drive the sliding rod to slide, drive the clamp to open and clamp the wind rod, and the mechanical arm moves to pull the wind rod outward to complete the wind rod pulling action.

[0007] The second object of the present invention is to provide a collaborative control method for a multifunctional train uncoupling robot system to achieve dynamic control of the uncoupling robot system and ensure its efficient, accurate and safe operation in a complex railway environment.

[0008] The collaborative control method provided by the present invention realizes dynamic control of the unhooking robot system through the data obtained by the laser radar and the depth camera. The laser radars at both ends of the vehicle body measure the distance between the vehicle body and the target point and the relative speed with the train. The depth camera obtains the image information of the train connection and identifies the position of the target point, and feeds the data back to the vehicle body to achieve high-precision tracking and ensure the relative stability of the robot arm and the target position.

[0009] Furthermore, based on the position of the target point measured by the depth camera, the three-dimensional spatial coordinates and posture information of the target point are generated, the robotic arm is controlled to move near the target point, the optimal grasping posture is generated and fed back to the robotic arm for grasping control. The depth camera on the gripper further identifies the operation target and controls the opening and closing of the gripper. The laser radar identifies the direction of travel and pedestrians and obstacles on the outside, calculates the relative distance, and issues an alarm and takes safety measures when it is less than the safe distance.

[0010] Furthermore, in order to improve work efficiency and system reliability, the present invention adopts a double-sided unhooking robot system. Unhooking robots are installed on both sides of the train track, which can work synchronously or alternately to ensure that the operation is completed continuously and efficiently throughout the entire train route. The double-sided configuration also has a redundant effect. When a robot system on one side fails, the robot on the other side can continue to work independently, ensuring that the unhooking operation is not affected, thereby improving the reliability and stability of the system.

[0011] The multifunctional train unhooking robot system and control method thereof of the present invention have the following beneficial effects:

[0012] The present invention integrates multiple functions such as pulling the air rod, removing the hook, removing the air duct, and opening and closing the corner plug door, which can meet various operational requirements in railway transportation. Through the double-sided configuration and collaborative control method, the system can efficiently complete the operation during the train's movement, significantly improving work efficiency. The collaborative control of the laser radar and the depth camera can monitor the surrounding environment in real time to ensure safe operation. The redundant design of the double-sided configuration effectively reduces the risk of single-point failure of the system and improves the reliability and stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A schematic diagram of the structure of a multifunctional train unhooking robot system provided by an embodiment of the present invention;

[0014] Figure 2 A schematic diagram of the structure of a carrier body of a multifunctional train unhooking robot system provided by an embodiment of the present invention;

[0015] Figure 3 A schematic diagram of the identification and grasping components of the multifunctional train unhooking robot system provided by an embodiment of the present invention;

[0016] Figure 4 A schematic diagram of the structure of a carrier chassis of a multifunctional train unhooking robot system provided by an embodiment of the present invention;

[0017] Figure 5 A schematic diagram of a straddle-type frame structure of a carrier body of a multifunctional train unhooking robot system provided by an embodiment of the present invention;

[0018] Figure 6 for Figure 5 A magnified view of the local structure at point A in the middle;

[0019] Figure 7 A schematic diagram of the structure of a multifunctional integrated claw hand of the identification and grasping component of the multifunctional train unhooking robot system provided by an embodiment of the present invention;

[0020] Figure 8 A schematic diagram of the control framework of the multifunctional train uncoupling robot system provided in an embodiment of the present invention.

[0021] Fig. 9 A schematic diagram of the configuration of both sides of a hump section of a multifunctional train unhooking robot system provided by an embodiment of the present invention;

[0022] Description of reference numerals:

[0023] Car body (1), identification and grasping component (2), chassis (3), straddle frame (4), six-degree-of-freedom mechanical arm (5), laser radar (6), depth camera (7), multifunctional integrated claw (8), rectangular steel plate (9), channel steel bracket (10), main frame (11), motor (12), air spring (13), shock absorber (14), stabilizing wheel mounting frame (15), stabilizing wheel connecting frame (16), guide wheel connecting frame (17), upper cover plate (18), anti-roll torsion bar assembly (19), connecting rod (19 -1), connecting pin (19-2), hinge seat (19-3), torsion arm (19-4), torsion bar (19-5), vehicle body connecting plate base (20), running wheel (21), vehicle body connecting plate (22), shaft seat (23), guide wheel (24), stabilizing wheel (25), end flange (26), flange coupling (27), outer sleeve (28), screw stepper motor (29), joint motor (30), lever (31), slide bar (32), base (33), clamping claw (34), connecting plate (35). DETAILED DESCRIPTION

[0024] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0025] A multifunctional train unhooking robot system, characterized in that it comprises a carrier body (1) and an identification and grasping component (2), such as Figure 1 As shown, the load-bearing vehicle body (1) includes a chassis (3) and a straddle-type vehicle frame (4), as shown in FIG. Figure 2 As shown, the chassis (3) is rectangular in shape, and the straddle-type frame (4) is in two groups, which are installed at the front and rear ends of the chassis (3), and the chassis (3) and the straddle-type frame (4) can move relative to each other; the identification and grasping component (2) includes a six-degree-of-freedom mechanical arm (5), a laser radar (6), a depth camera (7), and a multifunctional integrated claw hand (8), as shown in FIG. Figure 3 As shown, the six-degree-of-freedom mechanical arm (5) is fixed on the supporting vehicle (1) through a base, and the end of the mechanical arm can be controlled by its electric control cabinet to reach any position in its working space; the number of the laser radars (6) is two, which are respectively installed at the front and rear ends of the supporting vehicle (1) in the direction of travel; the number of the depth cameras (7) is two, which are respectively installed on the flange of the multifunctional integrated gripper (8) and the supporting vehicle (1) in front of the base of the six-degree-of-freedom mechanical arm (5) through the camera bracket at the bottom, and the camera can adjust the tilt angle around the bracket; the multifunctional integrated gripper (8) is installed at the end of the mechanical arm.

[0026] The chassis (3) comprises a rectangular steel plate (9) and a channel steel bracket (10). Figure 4 As shown, the channel steel bracket (10) is a symmetrically welded form of two groups of channel steels, which are welded below the rectangular steel plate. The outer side surface of the channel steel bracket (10) is flush with the four side edges of the rectangular steel plate (9), and the inner side is staggeredly welded with channel steels according to the installation position of the straddle-type frame (4).

[0027] The straddle-type vehicle frame (4) comprises a main frame (11), a motor (12), an air spring (13), a shock absorber (14), a stabilizing wheel mounting frame (15), a stabilizing wheel connecting frame (16), a guide wheel connecting frame (17), an upper cover plate (18), an anti-roll torsion bar assembly (19), a vehicle body connecting plate base (20), a running wheel (21), a vehicle body connecting plate (22), a rotating shaft seat (23), a guide wheel (24), and a stabilizing wheel (25), such as Figure 5As shown, the main frame (11) is composed of two groups of steel sections. The outer plane shape of one end of the side steel section is an upper convex circle, and a circular groove and a through hole are opened at the center of the convex circle. The plane shape of the other end is a rectangle with a smaller height, and the middle part is a medium-height plane transition. The planes at both ends of the end steel section of the main frame (11) are rectangular, and the height of the rectangle is equal to the height of the two ends of the side steel section. The two groups of steel sections are installed symmetrically at the center, and a steel beam is installed at the middle plane of the side steel sections on both sides, and the height is equal to the middle height of the side steel sections; the number of the motors (12) is two, and they are respectively installed in the circular grooves on the outer sides of the side channel steels on both sides; the number of the stabilizing wheel mounting frames (15) is two, and they are respectively installed in the side channels on both sides. At the middle plane of the outer side of the steel, the stabilizing wheel mounting frame (15) is divided into two parts, the upper part is fixedly connected to the main frame (11), the top end is a cylindrical structure, the cylindrical surface is welded with an ear plate connected to the shock absorber (14), and the bottom end is a flange structure. The top end of the lower part is the same flange structure, and the bottom end is a plane. The two parts are connected by the flange structure; the number of the guide wheel connecting frame (17) is four groups, which are respectively installed on the bottom end planes of the four corners of the main frame (11). The guide wheel connecting frame (17) is divided into two parts. The first part is C-shaped steel, the top section is welded on the bottom end planes of the four corners of the main frame (11), and the opening is installed outwards. The second part is T-shaped steel, connected to the The first part is complementary in structure and installed by bolts, and a circular flange is welded on the lower section of the T-shaped steel; the number of the guide wheels (24) is four, and they are respectively connected and fixed to the circular flange at the bottom of the guide wheel connecting frame (17); the number of the stabilizing wheel connecting frame (16) is two groups, and the structure is the same as that of the guide wheel connecting frame (17), and they are respectively installed on the bottom end plane of the lower half of the stabilizing wheel mounting frame (15); the number of the stabilizing wheels (25) is two, and they are respectively connected and fixed to the circular flange at the bottom of the stabilizing wheel connecting frame (16); the number of the air springs (13) is two, and the bottom flange is connected and fixed to the cylindrical top surface of the stabilizing wheel mounting frame (15), and the top flange is installed with an upper cover plate (18 ); the number of the upper cover plates (18) is two, and the bottom surface is welded with an ear plate connecting the anti-roll assembly and the shock absorber (14), and a through hole is opened in the middle; the number of the shock absorber (14) is two groups, which are respectively installed between the stabilizing wheel mounting frame (15) and the upper cover plate (18) through the ear plate structure; the number of the running wheels (21) is four, and two are installed on the output shafts of the two motors (12) in a group, and the outer end surface of each group of running wheels (21) is equal to the distance between the two side profiles; the anti-roll torsion bar assembly (19) includes a connecting rod (19-1), a connecting pin (19-2), a hinge seat (19-3), a torsion arm (19-4) and a torsion bar (19-5), such as Figure 6As shown, there are two connecting rods (19-1), one end of which is respectively connected to the ear plate of the upper cover plate (18), and the other end is connected to the torsion arm (19-4) through the connecting pin (19-2); there are two hinge seats (19-3), and the shaft holes are relatively installed on the middle plane of the side steel of the main frame (11); there are two torsion arms (19-4), one end of which is hinged to the hinge seat (19-3), and the other end is hinged to the connecting pin (19-2), and the torsion arms (19-4) have the same twisting direction; the torsion bar (19-5) is a straight rod, and both ends are fixedly connected to the two torsion arms (19-4) at one end of the hinge hole; the vehicle The body connection plate base (20) is installed on the steel beam. The bottom plate is a rectangular plate with a width equal to that of the steel beam. Six equal-height columns are provided at the four corners and the midpoints of the long sides, supporting a top plate with the same size as the bottom plate. The connecting rod passes through the space between the columns. The bottom plate of the rotating shaft seat (23) is a square plate with a circular side wall inscribed in the bottom plate welded thereto. A bearing seat is provided at the concentric position of the side wall, and is connected and fixed to the top plate of the body connection plate base (20) through the bottom plate. The body connection plate (22) has a rectangular shape, with a rotating shaft welded at the center of the bottom surface. The bottom surface slides relative to the end surface of the side wall of the rotating shaft seat (23), and the rotating shaft cooperates with the bearing seat.

[0028] The multifunctional integrated gripper (8) comprises an end flange (26), a flange coupling (27), an outer sleeve (28), a lead screw stepper motor (29), a joint motor (30), a lever (31), a slide bar (32), a base (33), a clamping claw (34), and a connecting plate (35). Figure 7As shown, the end flange (26) is a two-section disc shape, the small disc has the same diameter as the end flange of the robot arm, the large disc has the same diameter as the flange coupling (27), the side of the large disc is provided with a plane of a tangent arc, the length of which is equal to the length of the camera bracket, the outer end face of the large disc is provided with a countersunk hole and a through hole at a position corresponding to the mounting hole of the end flange of the robot arm, and a through hole is provided at a position corresponding to the mounting hole of the flange coupling (27), and the end face of the small disc is fitted with the end flange of the robot arm; the aperture of the flange coupling (27) is equal to the outer diameter of the outer sleeve (28), and six evenly distributed mounting holes are provided on the end face and the side face, which are fitted with the end face of the large disc of the end flange (26); the two ends of the outer sleeve (28) are large and small circular tubes, and the middle part is provided with a certain The slope of the circular table is transitioned, a threaded hole is opened at the corresponding position of the side surface of the small round tube connected to the flange coupling (27), and a joint motor (30) mounting partition is provided on the inner side, and half of the cylindrical side surface is cut off at a distance inward from the partition. Six protruding blocks are evenly arranged on the end surface of the large round tube, and each block is provided with a mounting hole on the side surface, and a screw stepper motor (29) mounting partition is provided on the inner side, and a through hole is provided in the center of the partition, and the small round tube is inserted into the flange coupling (27) hole, and the through hole is aligned and fixed with the threaded hole; the joint motor (30) is installed on the small round tube partition; the connecting end of the shifting rod (31) is a disk with a diameter equal to that of the output end of the joint motor (30), and a mounting hole is opened, and the force arm extends from the side of the disk, and the end is perpendicular to the force arm to the clamp A straight rod is welded to one side of the claw (34); the lever (31) is mounted to the output end of the joint motor (30) and can rotate at the small round tube cut-off position; the motor seat of the lead screw stepper motor (29) is mounted on the large round tube partition, the lead screw passes through the central through hole of the partition, and the lead screw nut can move on the lead screw; one end of the slide rod (32) is a round tube, the inner diameter and length of which are consistent with the outer diameter and length of the lead screw nut, leaving a certain thickness, and the end face of the round tube is provided with a sliding disk with the same inner diameter as the large round tube of the outer sleeve (28), and the outer end face of the sliding disk is provided with two symmetrical long square rods, each of which has a mounting hole at the end of the square rod, and the lead screw nut is installed in cooperation with the slide rod (32) round tube; the appearance of the base (33) is a disc with the same outer diameter as the large round tube of the outer sleeve (28), wherein A slot corresponding to the large circular tube block is formed on one end face, and a threaded hole is formed on the surface of the slot. Two mounting blocks are symmetrically formed on the other end face, and each mounting block has two mounting holes. A through hole having the same cross-sectional shape as the stepping motor lead screw and the sliding plate square rod is formed at the corresponding position on the end face of the circular disc. The slot cooperates with the block on the outer sleeve (28), and the through hole is aligned and fixed with the threaded hole. The number of the clamping jaws (34) is two, and the structure is the same. The shape is an arch bridge. The thickness of the front end is respectively consistent with the thickness of the sliding rod (32) square rod and the base (33) mounting block, and mounting holes are formed on different faces. A trapezoidal groove is formed on the side surface of the end tangent to the lower bottom surface, with the large mouth facing downward, and the arched arc is a semicircular curve. When the clamping jaws (34) are closed, the large mouth of the trapezoidal groove is closed, and the arched circle is a complete circle.The connecting plates (35) are in two groups, and are waist-shaped. One group is shorter, and has two mounting holes in the center of the arc, connecting the slide bar (32), the long square bar and the clamp (34). The other group is longer, and has three mounting holes in the center of the arc and the centroid, and is fixed to the mounting block of the base (33) through two holes, and the remaining holes are connected to the clamp (34).

[0029] The multifunctional integrated claw hand (8) has the functions of realizing four different actions, namely, pulling the air rod, removing the hook, removing the air duct, and opening and closing the corner plug door. Among them, there are two ways to remove the hook. The first way is that the screw stepper motor (29) drives the slide bar (32) to slide forward, and the two long square bars of the slide bar (32) drive the clamping claw (34) to open through the connecting plate (35). When reaching the grasping position, the screw stepper motor (29) drives the slide bar (32) to slide backward, and the clamping claw (34) is closed. The trapezoidal grooves at the ends of the two clamping claws (34) are closed to clamp the hook. The second method is to control the movement of the end of the mechanical arm, the lever (31) enters the left side of the coupler lever, controls the joint motor (30) to rotate, and the lever (31) drives the coupler lever to rotate around the rotation center, lifts the lock pin, and separates the coupler; the air duct removal operation method is that the lead screw stepper motor (29) drives the slide bar (32) to slide forward, and the two long square bars of the slide bar (32) drive the clamping claw (34) to open through the connecting plate (35), and the claw is moved first The hand moves to the front of the inner air duct, rotates the lever (31) to the top of the outer air duct, and then moves to the grasping position. The lead screw stepper motor (29) drives the slide bar (32) to slide backward, and the clamping claw (34) closes. The arched circles at the ends of the two clamping claws (34) close and clamp the inner air duct. The lever (31) rotates to touch the outer air duct, and the six-degree-of-freedom mechanical arm (5) is controlled to lift the air duct joint upward. The lever (31) rotates downward to remove the air duct. The operation mode of the switch angle plug door is that the lead screw stepper motor (29) drives the slide bar (32) to slide forward, and the slide bar (32) ) The two long square rods drive the clamping claw (34) to open through the connecting plate (35), and move the clamping claw to the designated position above the corner plug gate at the end of the clamping claw (34). The lead screw stepper motor (29) drives the slide bar (32) to slide backward, and the clamping claw (34) is closed. The trapezoidal grooves at the ends of the two clamping claws (34) are closed to clamp the handle of the corner plug gate, and the end of the robot arm is controlled to lift the corner plug gate, and then the six-degree-of-freedom robot arm (5) is controlled to move, and the corner plug gate rotates around the rotation center to another state point position, and the end of the robot arm is controlled to lower the corner plug gate to complete the switch action. The operation mode of the wind pulling rod is that the lead screw stepper motor (29) drives the slide bar (32) to slide forward, and the two long square bars of the slide bar (32) drive the clamping claw (34) to open through the connecting plate (35). When the grasping position is reached, the lead screw stepper motor (29) drives the slide bar (32) to slide backward, and the clamping claw (34) is closed. The trapezoidal grooves at the ends of the two clamping claws (34) are closed to clamp the wind rod, thereby controlling the movement of the end of the mechanical arm and pulling the wind rod.

[0030] The control framework of the multifunctional train unhooking robot system is as follows: Figure 8As shown, the data obtained by the laser radar (6) and the depth camera (7) are used to control the unhooking robot to dynamically operate the carrier body (1), the six-degree-of-freedom mechanical arm (5), and the gripper (34). The laser radars (6) at both ends of the carrier body (1) can measure the distance between the carrier body (1) and the target point, and estimate the relative speed of the carrier body (1) and the train. The depth camera (7) in front of the base of the six-degree-of-freedom mechanical arm (5) can obtain image information of the train connection, and identify and measure the position of the target point. Finally, the obtained data is fed back to the vehicle body for high-precision tracking to ensure that the six-degree-of-freedom mechanical arm and the target position are relatively stable. When the carrier body (1) and the train remain relatively stable, the gripper (8) is controlled to move to the vicinity of the target point according to the position of the target point measured by the depth camera (7) in front of the base of the six-degree-of-freedom robot (5). After the position of the target point is determined, the optimal grasping posture is generated and fed back to the six-degree-of-freedom robot (5) for grasping control. At the same time, the depth camera (7) on the gripper (8) further identifies the operation target and controls the opening and closing of the clamp (34). During the whole process, the laser radar (6) will also identify the direction of travel of the unhooking robot and pedestrians and obstacles on the outside, calculate the relative distance, and issue an alarm and take safety measures when it is less than the safe distance.

[0031] The system is designed to use reciprocating motion to improve work efficiency and ensure efficient work progress while the train is moving. Specifically, hook removal robots are configured on both sides of the track at the hump, which can work synchronously or alternately, such as Fig. 9 As shown, through the double-sided configuration, it is ensured that the operation is completed continuously and efficiently along the train route. The unhooking robot system has a variety of unhooking options and finds the fastest solution to avoid the efficiency loss caused by the working limitations of the robot on one side; the double-sided unhooking robot system also has a redundant effect. When a robot system on one side fails, the robot on the other side continues to work independently to ensure that the unhooking operation is not affected, thereby improving the reliability and stability of the entire system, greatly reducing the risk of single-point failures in the system, and effectively improving the continuity and safety of the train unhooking operation. At the same time, it can ensure that the travel speed of the train is not affected.

Claims

1. A multifunctional train unhooking robot system, characterized in that: The invention comprises a load-bearing vehicle body (1) and an identification and grasping assembly (2), wherein the load-bearing vehicle body (1) comprises a chassis (3) and a straddle-type frame (4), wherein the chassis (3) has a rectangular shape, and the straddle-type frame (4) is provided in two groups and is installed at the front and rear ends of the chassis (3), and the chassis (3) and the straddle-type frame (4) can move relative to each other; the identification and grasping assembly (2) comprises a six-degree-of-freedom mechanical arm (5), a laser radar (6), a depth camera (7), and a multifunctional integrated claw hand (8), wherein the six-degree-of-freedom mechanical arm (5) is fixed to the load-bearing vehicle body (1) through a base, and the end of the mechanical arm can be controlled by an electric control cabinet to reach any position in its working space; the laser radar (6) is provided in two groups and is installed at the front and rear ends of the load-bearing vehicle body (1) in the direction of travel; the depth camera (7) is provided in two groups and is installed to the multifunctional integrated claw hand (8) through a camera bracket at the bottom. The camera can adjust the tilt angle around the bracket on the front of the flange plate of the integrated gripper (8) and the six-degree-of-freedom mechanical arm (5) base; the multifunctional integrated gripper (8) includes an end flange plate connected to the end of the mechanical arm, an outer sleeve connected through a flange coupling, a screw stepper motor and a joint motor arranged in the outer sleeve, a lever mechanism driven by the joint motor and a clamping claw mechanism driven by the screw stepper motor; the lever mechanism includes a torque arm and an end lever fixedly connected to the output end of the joint motor, wherein the joint motor realizes the rotational movement of the lever by driving the torque arm; the clamping claw mechanism includes a base and two clamping claws hinged by a connecting plate, wherein the screw stepper motor realizes the opening and closing movement of the clamping claw by driving the sliding rod; the clamping claw is in the shape of an arch bridge and a trapezoidal groove is provided at the end, wherein the arch bridge and trapezoidal groove structures can adapt to the grasping function of different operation targets.

2. A multifunctional train unhooking robot system as claimed in claim 1, characterized in that: The chassis (3) comprises a rectangular steel plate (9) and a channel steel bracket (10), wherein the channel steel bracket (10) is a symmetrically welded form of two groups of channel steels, which are welded below the rectangular steel plate (9); the outer side surface of the channel steel bracket (10) is flush with the four side edges of the rectangular steel plate (9), and the inner side is staggeredly welded with channel steels according to the installation position of the straddle-type frame (4).

3. A multifunctional train unhooking robot system as claimed in claim 1, characterized in that: The straddle-type vehicle frame (4) comprises a main frame (11), a motor (12), an air spring (13), a shock absorber (14), a stabilizing wheel mounting frame (15), a stabilizing wheel connecting frame (16), a guide wheel connecting frame (17), an upper cover plate (18), an anti-roll torsion bar assembly (19), a vehicle body connecting plate base (20), a running wheel (21), a vehicle body connecting plate (22), a rotating shaft seat (23), a guide wheel (24), and a stabilizing wheel (25), wherein the main frame (11) is composed of two groups of side profiles and end profiles that are centrally symmetrical, one end of the side profile is an upper convex circle with a circular groove and a through hole on the outer side, and the other end is a rectangular plane, and a steel cross beam is provided on the inner side of the middle of the two side profiles for connection; the motor (12) There are two of them, which are respectively installed in the circular grooves of the side steel profiles; the stabilizing wheel mounting frame (15) is divided into two parts connected by upper and lower flanges, the upper half is welded to the middle part of the side steel profile of the main frame (11), the top end is provided with a shock absorber (14) connecting the ear plate, and the lower half is provided with a stabilizing wheel (25) through a stabilizing wheel connecting frame (16); the guide wheel connecting frame (17) is composed of a C-shaped steel welded on the top and a T-shaped steel connected by bolts at the bottom, and four groups are respectively fixed to the four corners of the main frame (11) and are provided with guide wheels (24); the stabilizing wheel connecting frame (16) has the same structure as the guide wheel connecting frame (17), and two groups are respectively fixed to the bottom end of the lower half of the stabilizing wheel mounting frame (15); the air spring (13) is There are two of them, the bottom flange is connected and fixed to the cylindrical top surface of the stabilizing wheel mounting frame (15), and the top flange is installed with an upper cover plate (18); there are two of the upper cover plates (18), the bottom surface of which is welded with an ear plate connecting the anti-roll assembly and the shock absorber (14), and a through hole is opened in the middle; there are two groups of shock absorbers (14), which are respectively installed between the stabilizing wheel mounting frame (15) and the upper cover plate (18) through the ear plate structure; there are four running wheels (21), two of which are installed on the output shafts of the two motors (12); the anti-roll torsion bar assembly (19) includes a connecting rod (19-1), a connecting pin (19-2), a hinge seat (19-3), a torsion arm (19-4) and a torsion bar (19-5), and the There are two connecting rods (19-1), one end of which is hinged to the ear plate of the upper cover plate (18), and the other end is hinged to the torsion arm (19-4) through the connecting pin (19-2); there are two hinge seats (19-3), which are fixed to the top of the side steel of the main frame (11); there are two torsion arms (19-4), one end of which is hinged to the hinge seat (19-3), and the other end is hinged to the connecting pin (19-2); the two ends of the torsion rod (19-5) are fixedly connected to the two torsion arms (19-4) at one end of the hinge hole; the vehicle body connecting plate base (20) is installed on the steel beam, and the bottom plate is provided with six equal-height columns and supports the top plate; the bottom plate of the rotating shaft seat (23) is welded with a circular side wall, and a bearing seat is provided at the concentric position of the side wall;A rotating shaft is welded at the center of the bottom surface of the vehicle body connecting plate (22), the bottom surface slides relative to the end surface of the side wall of the rotating shaft seat (23), and the rotating shaft cooperates with the bearing seat. ; 4. A multifunctional train unhooking robot system as claimed in claim 1, characterized in that: The multifunctional integrated gripper (8) comprises an end flange (26), a flange coupling (27), an outer sleeve (28), a screw stepper motor (29), a joint motor (30), a lever (31), a slide rod (32), a base (33), a clamping claw (34), and a connecting plate (35), wherein the end flange (26) is composed of two coaxial large and small discs, the end face of the small disc is fitted with the end flange of the robot arm, and the side face of the large disc is provided with a plane tangent to the arc and connected to the flange coupling (27). The holes are aligned and fixed; the end face and side face of the flange coupling (27) are provided with six mounting holes, which are matched and connected with the countersunk holes of the end flange (26); the outer sleeve (28) is composed of a small round tube, a large round tube and a transitional round table surface, the small round tube section is provided with a joint motor (30) mounting partition and half of the cylindrical side is cut off, the large round tube section is provided with a screw stepper motor (29) mounting partition and six card blocks with holes are provided at the end; the joint motor (30) is installed on the small round tube section partition; the connecting end of the lever (31) is provided with a mounting The disk has a hole, the force arm extends from the side of the disk, and the end is perpendicular to the force arm and welded with a straight rod to one side of the clamp (34); the screw stepper motor (29) is fixed to the large circular tube partition, and its screw passes through the through hole of the partition; one end of the slide rod (32) is a circular tube that matches the screw nut, and the end surface of the circular tube is provided with a sliding disk that can slide in the large circular tube, and the outer end surface of the sliding disk is provided with two symmetrical long square rods, and the end of the square rod has a hole connected to the clamp (34); the base (33) is provided with a slot that matches the large circular tube block, and the other end surface is symmetrically provided with Two mounting blocks with holes, corresponding positions of the end faces of the disks are also provided with through holes with the same cross-sectional shape as the stepping motor lead screw and the sliding disk square rod; the clamping jaw (34) is composed of two arch bridge-shaped blocks with the same structure, the front end openings are respectively hinged with the sliding rod (32) square rod and the base (33) mounting block, and the end side is provided with a trapezoidal groove, which forms a complete circle when closed; the connecting plate (35) is divided into a short waist type group and a long waist type group, the short group connects the sliding rod (32) and the clamping jaw (34), and the long group connects the base (33) and the clamping jaw (34).

5. The multifunctional train unhooking robot system according to claim 1, characterized in that: The multifunctional integrated claw hand (8) has the functions of realizing four different actions, namely, unhooking the vehicle coupler, unhooking the air duct, opening and closing the angle plug door, and pulling the air rod. There are two ways to unhook the vehicle coupler. The first way is that the screw stepper motor (29) drives the slide bar (32) to move forward, and the clamping claw (34) is opened to the grasping position through the connecting plate (35) and then retreats and closes. The trapezoidal grooves at the ends of the two clamping claws (34) are closed to clamp the vehicle coupler lifting rod, and the mechanical arm drives the lifting rod to rotate and lift the lock pin. The second way is that the mechanical arm positions the lever (31) to the left side of the vehicle coupler lifting rod, and the joint motor (30) drives the lever (31) to rotate and drive the lifting rod to rotate and lift the lock pin. The operation mode of unhooking the air duct is that the slide bar (3 2) Move forward to open the clamping claw (34), the mechanical arm positions the clamping claw (34) to clamp the inner air duct, and at the same time the lever (31) rotates to touch the outer air duct, the mechanical arm (5) lifts the air duct joint and then the lever (31) turns downward to remove the pipe; the operation mode of opening and closing the angle plug door is that the sliding bar (32) moves forward to open the clamping claw (34), and after moving to the top of the plug door handle, the trapezoidal grooves at the ends of the two clamping claws (34) close to clamp the plug door handle, and the mechanical arm (5) lifts and rotates the plug door to the target position; the operation mode of pulling the wind rod is that the sliding bar (32) moves forward to open the clamping claw (34), and after reaching the wind rod grabbing position, the trapezoidal grooves at the ends of the two clamping claws (34) close to clamp the wind rod, and then the mechanical arm pulls the wind rod in a straight line.

6. A multifunctional train unhooking robot collaborative control method, characterized in that: The data obtained by the laser radar (6) and the depth camera (7) as claimed in claim 1 are used to control the coordinated operation of the load-bearing vehicle body (1), the six-degree-of-freedom robot arm (5) and the multifunctional integrated gripper (8) as claimed in claim 1, wherein the front and rear end laser radars (6) scan the geometric feature points of the connection between the vehicle body and the train in real time, and the encoder data of the running wheel (21) as claimed in claim 3 are integrated to calculate the relative speed between the vehicle body and the train; the image information of the connection between the train is obtained by using the depth camera at the base as claimed in claim 1, and the three-dimensional coordinate measurement of the end depth camera of the multifunctional integrated gripper as claimed in claim 4 is combined to generate the target grasping posture parameters; by the method as claimed in claim 5 The coordinated drive of the lead screw stepper motor (29) and the joint motor (30) controls the clamping jaws (34) as described in claim 4 to respectively execute: the linear drive mode of the slide bar (32), specifically the lead screw stepper motor (29) drives the sliding plate square bar to drive the clamping jaws (34) to achieve precise opening and closing clamping of the wind rod, the hook lifting rod and the air duct; the rotational drive mode of the lever (31), specifically the joint motor (30) drives the lever (31) to achieve lateral shifting operations of the hook lifting rod and the air duct; during the whole process, the laser radar (6) as described in claim 1 will also identify the direction of travel of the unhooking robot and the pedestrians and obstacles on the outside, calculate the relative distance, and issue an alarm and take safety measures when it is less than the safe distance.

7. A multifunctional train unhooking robot system as claimed in claim 1, characterized in that: The system is designed to adopt reciprocating motion to improve work efficiency and ensure efficient work progress during the train's movement. Specifically, unhooking robots are configured on both sides of the track at the hump, which can work synchronously or alternately. The double-sided configuration ensures that the work can be completed continuously and efficiently along the train's route. The unhooking robot system has a variety of unhooking options and finds the fastest solution to avoid the decline in efficiency caused by the working limitations of the robot on one side. The double-sided unhooking robot system also has redundancy. When a failure occurs in the robot system on one side, the robot on the other side continues to work independently to ensure that the unhooking operation is not affected, thereby improving the reliability and stability of the entire system, greatly reducing the risk of single-point failures in the system, and effectively improving the continuity and safety of the train's unhooking operation, while ensuring that the train's travel speed is not affected.

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