A multifunctional train uncoupling robot system and a control method thereof

Abstract

The application provides a multifunctional train uncoupling robot system and a control method thereof, relates to the field of rail transit automation, and aims to solve the technical problem that traditional trains cannot dynamically and automatically separate carriages. The system is composed of a bearing vehicle body and an identification and grabbing component. The bearing vehicle body adopts a double-cross seat type frame design, and a group is arranged at the front end and the rear end of the chassis. The identification and grabbing component includes a six-degree-of-freedom mechanical arm, a laser radar, a depth camera and a multifunctional integrated claw hand. The mechanical arm and an electric control cabinet thereof are installed in the middle part of the vehicle body, the tail end is provided with the claw hand which has the functions of pulling a wind rod, opening and closing a corner plug door, uncoupling a wind pipe and uncoupling a hook, and a follow-up depth camera is arranged at the flange end of the claw hand. The laser radars arranged at the front end and the rear end of the vehicle body realize environment sensing, and a depth camera is additionally arranged at the front end of the base of the mechanical arm, and the lens faces the side of the train. The application can meet the needs of automatically pulling a wind rod, opening and closing a corner plug door, uncoupling a wind pipe and uncoupling a hook during train operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of rail transit automation, in particular, to a multifunctional robot system capable of automatically completing a variety of operations such as uncoupling the train hook, uncoupling the air pipe, opening and closing the angle plug door, and pulling the air lever during the train running process, and a collaborative control method thereof. BACKGROUND

[0002] At a railway freight marshalling station, the disassembly of train cars is a frequent and critical operation. The traditional method mainly relies on manual operation after the train is stopped, and a series of operations such as uncoupling the train hook, separating the air pipe, opening and closing the angle plug door, and pulling the air lever are completed in turn. This method has problems such as high labor intensity, low operation efficiency, high safety hazards, and being restricted by weather and light conditions, which seriously restricts the automation level and operation efficiency of the railway marshalling station.

[0003] To improve the automation level, some automatic uncoupling devices or robots have appeared in the prior art. For example, the comparative document CN113460110A discloses a railway hump automatic hook lifting walking robot, which realizes automatic uncoupling of the train hook through the vehicle body, mechanical arm and end effector. However, such devices have a highly single function and can only complete the "hook lifting" operation. The actual separation of railway cars is a continuous and complex process that includes multiple different operations on different objects such as the train hook lifting rod, air pipe joint, plug door handle, and air lever. Robots that can only uncouple the hook cannot meet the automation needs of the entire process, and other operations still require manual intervention or the use of other special equipment, resulting in interrupted operation processes, complex coordination, and limited overall efficiency improvement.

[0004] In addition, existing automation solutions are mostly designed for static or quasi-static operation environments and lack the ability to quickly identify, accurately track and stably operate on multiple targets during continuous train running. The end effector of the robot arm usually has a simple structure and single function, and lacks flexible and integrated design to adapt to different shapes and different operation methods such as clamping, poking, rotating and pulling. Therefore, developing an intelligent robot system that can integrate multiple operation functions, adapt to dynamic operation environments, and efficiently and reliably complete the entire car separation process has become a technical problem that needs to be solved in the field. SUMMARY

[0005] To solve the problems of single function, inability to adapt to the entire car separation process, and insufficient operation precision and reliability in dynamic environments of existing train hook uncoupling automation equipment, the first object of the present application is to provide a highly integrated, multifunctional train hook uncoupling robot system. The system integrates four functions: uncoupling the train hook, uncoupling the air pipe, opening and closing the angle plug door, and pulling the air lever, aiming to realize fully automatic and continuous operation of the entire separation process during train running.

[0006] The second objective of this invention is to provide a collaborative control method compatible with the aforementioned system. This method achieves dynamic collaborative control of the robot body, robotic arm, and end effector through multi-sensor information fusion and intelligent decision-making, ensuring the accuracy, safety, and high reliability of operations in complex railway field environments.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] On one hand, the present invention provides a multifunctional train uncoupling robot system, including a carrier car body and an identification and grasping component.

[0009] The supporting vehicle body includes a chassis and two straddle-type frames, providing a stable platform for the system to move along the track. The identification and grasping component is the core functional unit of the system, including a six-degree-of-freedom robotic arm, LiDAR, depth camera, and an innovatively designed multi-functional integrated gripper.

[0010] The multi-functional integrated gripper, mounted at the end of the robotic arm, is key to its ability to perform various operations. This gripper is not a simple clamp, but a composite end effector integrating dual drives and dual actuators. Its core components include:

[0011] A gripper mechanism driven by a lead screw stepper motor: This mechanism comprises two arched grippers with trapezoidal slots at their ends. The lead screw stepper motor drives a sliding rod to move linearly, which is transmitted through a connecting plate to control the opening and closing of the grippers. The unique design of the arched profile and the trapezoidal slots at the ends allows it to stably adapt to various irregularly shaped operating parts such as coupler lifting rods, angle plug handles, and windshields.

[0012] A lever mechanism driven by a joint motor: This mechanism includes a rotatable lever. The joint motor controls the lever to rotate and swing by driving a torque arm.

[0013] By coordinating the control of the lead screw stepper motor and the articulated motor, this multi-functional integrated gripper is configured to perform four core operations:

[0014] Uncoupling the coupler: This can be accomplished either by gripping the lifting rod with jaws and rotating it, or by using a lever to move the lifting rod, providing operational redundancy and adaptability.

[0015] Duct removal: The inner duct is held by the gripper, while the outer duct is touched and pulled away by the lever, so as to achieve the coordinated separation of the two duct joints.

[0016] Angle-turn stopper: The stopper handle is held by grippers and rotated by a robotic arm for operation.

[0017] Wind pull rod: The wind pull rod is held by grippers and pulled linearly by a robotic arm.

[0018] This design, which combines the two basic action modes of "clamping" and "pushing" through a compact mechanical structure (screw stepper motor, joint motor, push rod, sliding rod, clamping jaw, connecting plate), is a prominent innovation of the present application. It enables a single end effector to handle four different standard operations of a railway, fundamentally solving the contradiction between multi-function integration and the complexity of the effector structure.

[0019] On the other hand, the present application provides a cooperative control method for the above-mentioned robot system. Based on the spatial perception of the laser radar and the visual recognition of the depth camera, the method forms a closed-loop control of "perception-decision-execution", realizes dynamic control of the hook-removing robot system, and ensures efficient, accurate and safe operation in complex railway environments.

[0020] The cooperative control method provided by the present application realizes dynamic control of the hook-removing robot system through the data obtained by the laser radar and the depth camera. The laser radars at both ends of the vehicle measure the distance between the vehicle and the target point and the relative speed with the train, the depth camera obtains image information of the train connection and identifies the target point position, and feeds the data back to the vehicle, realizing high-precision follow-up tracking and ensuring the relative stability of the mechanical arm and the target position.

[0021] Further, according to the target point position measured by the depth camera, the three-dimensional spatial coordinates and attitude information of the target point are generated, the mechanical arm is controlled to move to the vicinity of the target point, the optimal grasping pose is generated and fed back to the mechanical arm for grasping control. The depth camera on the claw hand further identifies the operation target, controls the opening and closing action of the clamping jaw. 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 the distance is less than the safety distance.

[0022] Further, to improve work efficiency and system reliability, the present application adopts a double-sided configuration of the hook-removing robot system. The hook-removing robots are installed on both sides of the train track and can work synchronously or alternately, ensuring continuous and efficient work throughout the train travel route. The double-sided configuration also has a redundancy effect, when one side of the robot system fails, the other side can continue to work independently, ensuring that the hook-removing operation is not affected, improving the reliability and stability of the system.

[0023] Compared with the prior art, the multifunctional train hook-removing robot system and its control method provided by the present application have the following remarkable beneficial effects:

[0024] Highly integrated functions, breaking through the process bottleneck: for the first time, four major operation functions required for car separation are integrated on a single robot system, realizing a leap from "single-action automation" to "full-process continuous automation", greatly improving the overall operation efficiency of the marshalling station.

[0025] The structure is ingeniously designed, and one device is multi-purpose: the innovative multifunctional claw hand adopts a structure of double-motor cooperative driving, a combination of a lever and a clamping claw, so that complex operation requirements are realized by a simple and reliable mechanical scheme, the structure is compact, control is efficient, and the trouble of frequently changing tools for different functions is avoided.

[0026] The dynamic operation capability is strong: combined with the cooperative control method of multi-sensor fusion, the system can stably track and accurately operate the target in the train running state, and adapt to the real railway dynamic operation scene.

[0027] The system has high reliability: the claw hand provides two implementation modes for key operations such as hook removal, forming operation redundancy. In addition, the system can support track double-side deployment, further providing system-level redundancy, when single-side device fails, the operation can still continue, significantly reducing the single-point failure risk, and ensuring the safety and continuity of the operation.

[0028] The adaptability and intelligent degree are high: the arch bridge-shaped clamping claw and the trapezoidal groove design enhance the grasping adaptability to different shaped parts. Based on deep learning, visual recognition and intelligent decision making enable the system to automatically identify the operation target and select the optimal operation strategy. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 A structural schematic view of a multifunctional train hook removal robot system provided by the embodiment of the present application is provided.

[0030] Figure 2 A bearing vehicle body structure schematic view of a multifunctional train hook removal robot system provided by the embodiment of the present application is provided.

[0031] Figure 3 A recognition and grasping assembly schematic view of a multifunctional train hook removal robot system provided by the embodiment of the present application is provided.

[0032] Figure 4 A bearing vehicle body chassis structure schematic view of a multifunctional train hook removal robot system provided by the embodiment of the present application is provided.

[0033] Figure 5 A bearing vehicle body straddle-type frame structure schematic view of a multifunctional train hook removal robot system provided by the embodiment of the present application is provided.

[0034] Figure 6 A Figure 5 A local structure enlarged view at A;

[0035] Figure 7 A multifunctional integrated claw hand structure schematic view of a recognition and grasping assembly of a multifunctional train hook removal robot system provided by the embodiment of the present application is provided.

[0036] Figure 8A control framework schematic diagram of the multifunctional train uncoupling robot system provided by the embodiment of the present application.

[0037] Figure 9 A schematic diagram of the double-side configuration of the hump section of the multifunctional train uncoupling robot system provided by the embodiment of the present application.

[0038] Explanation of reference signs:

[0039] The carrying vehicle body (1), the identification and grabbing assembly (2), the chassis (3), the straddle type vehicle frame (4), the six-degree-of-freedom mechanical arm (5), the laser radar (6), the depth camera (7), the multifunctional integrated claw hand (8), the rectangular steel plate (9), the channel steel support (10), the main frame (11), the motor (12), the air spring (13), the shock absorber (14), the stabilizer wheel mounting frame (15), the stabilizer wheel connecting frame (16), the guide wheel connecting frame (17), the upper cover plate (18), the anti-lateral rolling torsion bar assembly (19), the connecting rod (19-1), the connecting pin (19-2), the hinge seat (19-3), the torsion arm (19-4), the torsion bar (19-5), the vehicle body connecting plate base (20), the running wheel (21), the vehicle body connecting plate (22), the rotating shaft seat (23), the guide wheel (24), the stabilizer wheel (25), the end flange (26), the flange coupling (27), the outer sleeve (28), the lead screw stepping motor (29), the joint motor (30), the lever (31), the slide rod (32), the base (33), the clamping jaw (34), and the connecting plate (35). DETAILED DESCRIPTION

[0040] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0041] A multifunctional train uncoupling robot system, characterized by comprising a carrying vehicle body (1) and an identification and grabbing assembly (2), as shown in Figure 1 wherein the carrying vehicle body (1) comprises a chassis (3) and a straddle type vehicle frame (4), as shown in Figure 2 the chassis (3) is rectangular in shape, and the straddle type vehicle frame (4) is installed at the front and rear ends of the chassis (3) and has relative movement with the chassis (3); the identification and grabbing 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), as shown in Figure 3As shown, the six degrees of freedom robot arm (5) is fixed on the carrying vehicle body (1) through the base, and the end of the robot arm can reach any position in its working space through the electric control cabinet; the number of laser radars (6) is two, which are respectively installed at the front and rear ends of the carrying vehicle body (1) in the running direction; the number of depth cameras (7) is two, which are respectively installed on the flange plate of the multifunctional integrated gripper (8) and the front carrying vehicle body (1) of the base of the six degrees of freedom robot arm (5) through the bottom camera support, and the camera can adjust the inclination angle around the support; the multifunctional integrated gripper (8) is installed at the end of the robot arm.

[0042] The chassis (3) comprises a rectangular steel plate (9) and a channel steel support (10), as Figure 4 As shown, the channel steel support (10) is in the form of two groups of symmetrical channel steels welded, which are welded below the rectangular steel plate, the outer side of the channel steel support (10) is flush with the four side edges of the rectangular steel plate (9), and the inner side is staggered welded with channel steels according to the installation position of the straddle type frame (4).

[0043] The straddle type 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-rolling 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), as Figure 5As shown, the main frame (11) is composed of two groups of section steel, the outer side of one end of the side section steel is convex circular in shape, a circular groove and a through hole are formed at the center of the convex circle, the other end is rectangular in shape with a small height, the middle part is a medium height plane, the end section steel is rectangular in shape at both ends, the height of the rectangle is equal to the height of the two ends of the side section steel, the two groups of section steel are symmetrically installed, the section steel cross beam is installed at the middle plane of the two side section steels, and the height of the section steel cross beam is equal to the height of the middle part of the side section steel; the number of the motor (12) is two, which is installed in the circular groove on the outer side of the two side channel steels; the number of the stabilizing wheel mounting frame (15) is two groups, which is installed at the middle plane of the outer side of the two side channel steels, the stabilizing wheel mounting frame (15) is divided into upper and lower parts, the upper part is fixedly connected with the main frame (11), the top end is a cylindrical structure, the cylindrical surface is welded with an ear plate connected with the shock absorber (14), 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 through the flange structure; the number of the guide wheel connecting frame (17) is four groups, which is installed on the bottom end plane of the four corners of the main frame (11), the guide wheel connecting frame (17) is divided into two parts, the first part is a C-shaped steel, the top section is welded on the bottom end plane of the four corners of the main frame (11), the opening is outwardly installed, the second part is a T-shaped steel, which is complementary to the structure of the first part and is installed through bolts, and the lower section of the T-shaped steel is welded with a circular flange; the number of the guide wheel (24) is four, which is connected and fixed with the bottom circular flange of the guide wheel connecting frame (17); the number of the stabilizing wheel connecting frame (16) is two groups, which is the same as the guide wheel connecting frame (17) and is installed on the bottom end plane of the lower part of the stabilizing wheel mounting frame (15); the number of the stabilizing wheel (25) is two, which is connected and fixed with the bottom circular flange of the stabilizing wheel connecting frame (16); the number of the air spring (13) is two, the bottom flange is connected and fixed with the cylindrical top surface of the stabilizing wheel mounting frame (15), and the top flange is provided with an upper cover plate (18); the number of the upper cover plate (18) is two, the bottom surface is welded with an ear plate connected with the anti-rolling component and the shock absorber (14), and a through hole is formed in the middle; the number of the shock absorber (14) is two groups, which is installed between the stabilizing wheel mounting frame (15) and the upper cover plate (18) through the ear plate structure; the number of the running wheel (21) is four, two groups are installed on the output shaft of the two motors (12), and the outer side end surface distance of each group of running wheels (21) is equal to the distance between the two side section steels; the anti-rolling torsion bar component (19) comprises 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), as Figure 6As shown, the connecting rod (19-1) is two in number, one end is connected with the ear plate of the upper cover plate (18) respectively, and the other end is connected with the torsion arm (19-4) through the connecting pin (19-2); the hinge seat (19-3) is two in number, the shaft holes are oppositely installed on the middle plane of the side section steel of the main frame (11); the torsion arm (19-4) is two in number, one end is hinged with the hinge seat (19-3), and the other end is hinged with the connecting pin (19-2), and the torsion arms (19-4) are twisted towards the same direction; the torsion rod (19-5) is a straight rod, and two ends are fixedly connected with two torsion arms (19-4) at one end of the hinge hole; the vehicle body connecting plate base (20) is installed on the section steel cross beam, the bottom plate is a rectangular plate, the width is equal to the section steel cross beam, six equal-height columns are arranged at the four corners and the middle points of the long edges, a top plate with the same size as the bottom plate is supported, and the connecting rod passes through the column space; the rotating shaft seat (23) is a square plate, a circular side wall inscribed in the bottom plate is welded, a bearing seat is arranged in the side wall at the same center, and the bottom plate is connected and fixed with the top plate of the vehicle body connecting plate base (20); the vehicle body connecting plate (22) is rectangular in shape, a rotating shaft is welded at the center of the bottom surface, the bottom surface slides relative to the end face of the side wall of the rotating shaft seat (23), and the rotating shaft is matched with the bearing seat.

[0044] The multifunctional integrated claw hand (8) comprises a terminal flange plate (26), a flange coupling (27), a sleeve tube (28), a lead screw stepping motor (29), a joint motor (30), a lever (31), a sliding rod (32), a base (33), a clamping claw (34), a connecting plate (35), and the like Figure 7As shown, the end flange (26) is two disc-shaped, the small disc is equal to the diameter of the mechanical arm end flange, the large disc is equal to the diameter of the flange coupling (27), the side of the large disc is provided with a tangent arc plane, the length is equal to the length of the camera support, the outer end face of the large disc is provided with a counterbore and a through hole corresponding to the mounting hole of the mechanical arm end flange, and the through hole is provided with a through hole corresponding to the mounting hole of the flange coupling (27), the end face of the small disc is installed in close contact with the mechanical arm end flange; the flange coupling (27) has a hole diameter equal to the outer diameter of the outer sleeve (28), and the end face and the side are provided with six evenly distributed mounting holes, and the end face of the large disc of the flange coupling (27) is installed in close contact; the outer sleeve (28) has a large pipe at both ends, a middle part is transitioned by a certain slope, a threaded hole is opened at the corresponding position of the side of the connection end of the flange coupling (27), and a joint motor (30) mounting partition is arranged on the inner side, the partition is cut off by half of the cylindrical side at a distance inward, six protruding clamping blocks are uniformly arranged on the end face of the large pipe, each clamping block is provided with a mounting hole, and a lead screw stepping motor (29) mounting partition is arranged on the inner side, the center of the partition is provided with a through hole, the small pipe is inserted into the hole of the flange coupling (27), and the through hole is fixed in alignment with the threaded hole; the joint motor (30) is mounted on the small pipe partition; the connecting end of the lever (31) is a disc with a diameter equal to the output end of the joint motor (30), and is provided with a mounting hole, the force arm is extended from the side of the disc, the end is welded with a straight rod perpendicular to the side of the clamping jaw (34), the lever (31) is mounted to the output end of the joint motor (30) and can rotate at the cut-off position of the small pipe; the motor base of the lead screw stepping motor (29) is mounted on the large pipe partition, the lead screw passes through the center 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 circular tube with an inner diameter and a length consistent with the outer diameter and length of the lead screw nut, leaving a certain thickness, the end face of the circular tube is provided with a sliding disc equal to the inner diameter of the large pipe of the outer sleeve (28), the outer end face of the sliding disc is provided with two symmetrical long strip square rods, the end of each square rod is provided with a mounting hole, and the lead screw nut is matched and mounted with the circular tube of the slide rod (32); the base (33) has an outer shape equal to the outer diameter of the large pipe of the outer sleeve (28), one end face is provided with a clamping groove corresponding to the clamping block of the large pipe, the surface of the clamping groove is provided with a threaded hole, the other end face is symmetrically provided with two mounting blocks, each mounting block is provided with two mounting holes, and the end face of the disc is also provided with a through hole with the same cross-sectional shape as the stepping motor lead screw and the sliding disc square rod at the corresponding position, the clamping groove is matched with the clamping block on the outer sleeve (28), and the through hole is fixed in alignment with the threaded hole; the number of clamping jaws (34) is two, which have the same structure and an arch bridge shape, the thicknesses of the front ends are consistent with the thicknesses of the square rods of the slide rod (32) and the mounting blocks of the base (33), and each mounting hole is opened on different surfaces, the end side is tangent to the lower bottom surface and provided with a trapezoidal groove, the large opening of the trapezoidal groove faces downward, the arc of the arch is a semicircular curve, the large opening of the trapezoidal groove is closed when the clamping jaw (34) is closed, and the arc is a complete circle.The connecting plates (35) are two groups of waist-shaped, one group is shorter, with two mounting holes in the center of the arc, connecting the slide rod (32) and the clamping jaw (34), the other group is longer, with three mounting holes in the center of the arc and the centroid, fixed on the base (33) mounting block through two holes, and the remaining hole connects the clamping jaw (34).

[0045] The multifunctional integrated claw hand (8) has the functions of realizing four different actions of pulling the wind rod, picking up the hook, picking up the wind pipe and opening and closing the angle plug door, wherein the hook picking up has two modes, the first mode is that the lead screw stepper motor (29) drives the sliding rod (32) to slide forward, the two long strip square rods of the sliding rod (32) drive the clamping jaw (34) to open through the connecting plate (35), when reaching the grabbing position, the lead screw stepper motor (29) drives the sliding rod (32) to slide backward, the clamping jaw (34) is closed, the two clamping jaws (34) at the end of the trapezoidal groove are closed to clamp the hook lifting rod, the end of the mechanical arm is controlled to move, the hook lifting rod rotates around the rotation center, the locking pin is lifted, and the hook is separated; the second mode is to control the end of the mechanical arm to move, the lever (31) enters the left side of the hook lifting rod, the control joint motor (30) is rotated, the lever (31) rotates around the rotation center to push the hook lifting rod, lifts the locking pin, and the hook is separated; the operation mode of picking up the wind pipe is that the lead screw stepper motor (29) drives the sliding rod (32) to slide forward, the two long strip square rods of the sliding rod (32) drive the clamping jaw (34) to open through the connecting plate (35), first move the claw hand to the front of the inner side wind pipe, rotate the lever (31) to the upper side of the outer side wind pipe, and then move to the grabbing position, the lead screw stepper motor (29) drives the sliding rod (32) to slide backward, the clamping jaw (34) is closed, the two clamping jaws (34) at the end of the arch-shaped circle are closed to clamp the inner side wind pipe, the lever (31) is rotated to touch the outer side wind pipe, the six-degree-of-freedom mechanical arm (5) is controlled to lift the wind pipe joint upward, and the lever (31) is rotated downward to remove the wind pipe; the operation mode of opening and closing the angle plug door is that the lead screw stepper motor (29) drives the sliding rod (32) to slide forward, the two long strip square rods of the sliding rod (32) drive the clamping jaw (34) to open through the connecting plate (35), the claw hand is moved to the position where the end of the clamping jaw (34) is located above the specified position of the angle plug door, the lead screw stepper motor (29) drives the sliding rod (32) to slide backward, the clamping jaw (34) is closed, the two clamping jaws (34) at the end of the trapezoidal groove are closed to clamp the handle of the angle plug door, the end of the mechanical arm is controlled to lift the angle plug door, then the six-degree-of-freedom mechanical arm (5) is controlled to move, the angle plug door rotates around the rotation center to another state point position, the end of the mechanical arm is controlled to put down the angle plug door, and the opening and closing action is completed. The operation mode of pulling the wind rod is that the lead screw stepper motor (29) drives the sliding rod (32) to slide forward, the two long strip square rods of the sliding rod (32) drive the clamping jaw (34) to open through the connecting plate (35), when reaching the grabbing position, the lead screw stepper motor (29) drives the sliding rod (32) to slide backward, the clamping jaw (34) is closed, the two clamping jaws (34) at the end of the trapezoidal groove are closed to clamp the wind rod, the end of the mechanical arm is controlled to move, and the wind rod is pulled.

[0046] The control framework of the multifunctional train hook picking 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 dynamic operation of the hook-removing robot, including the carrying vehicle body (1), the six-degree-of-freedom mechanical arm (5), and the gripper (34). The laser radar (6) at both ends of the carrying vehicle body (1) can measure the distance between the carrying vehicle body (1) and the target point and estimate the relative speed of the carrying vehicle 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 the position of the target point. Finally, the obtained data are fed back to the vehicle body for high-precision follow-up tracking, ensuring the relative stability of the six-degree-of-freedom mechanical arm and the target position. When the carrying vehicle body (1) and the train remain relatively stable, the gripper (8) is controlled to move to the vicinity of the target point based on the position of the target point measured by the depth camera (7) in front of the base of the six-degree-of-freedom mechanical arm (5). After the position of the target point is determined, the optimal grasping pose is generated and fed back to the six-degree-of-freedom mechanical arm (5) for grasping control. Meanwhile, the depth camera (7) on the gripper (8) further identifies the operation target, and the opening and closing actions of the gripper (34) are controlled. In the entire process, the laser radar (6) also identifies the direction of the hook-removing robot and pedestrians and obstacles on the outside, calculates the relative distance, and issues an alarm and takes safety measures when the distance is less than the safety distance.

[0047] The system design adopts a reciprocating motion mode to improve work efficiency and ensure efficient work progress during train travel. Specifically, hook-removing robots are configured on both sides of the track at the hump, and can work synchronously or alternately, such as Figure 9 As shown, through the double-sided configuration, the work is continuously and efficiently completed in the train travel route. The hook-removing robot system has multiple hook-removing options and finds the fastest solution to avoid efficiency decline caused by the work limitation of a single robot. The double-sided configuration of the hook-removing robot system also has a redundancy effect. When one side of the robot system fails, the other side of the robot continues to work independently, ensuring that the hook-removing operation is not affected, improving the reliability and stability of the entire system, greatly reducing the single-point failure risk of the system, effectively improving the continuity and safety of the train hook-removing operation, and ensuring that the travel speed of the train is not affected.

Claims

1. A multi-functional train uncoupling robot system, characterized by, The utility model relates to a kind of fire train car identification and grabbing device, including bearing vehicle body (1) and identification grabbing assembly (2), wherein: The bearing vehicle body (1) includes chassis (3) and straddle type frame (4), and the straddle type frame (4) is two groups, and is installed in the front and rear ends of chassis (3); The identification grabbing assembly (2) includes six degrees of freedom mechanical arm (5), laser radar (6), depth camera (7) and multifunctional integrated gripper (8) installed in the end of the mechanical arm (5); The multifunctional integrated gripper (8) includes end flange (26), sleeve tube (28), screw stepper motor (29) and joint motor (30) arranged in the sleeve tube (28), lever mechanism driven by the joint motor (30) and jaw mechanism driven by the screw stepper motor (29); The jaw mechanism includes base (33) and two jaws (34) hinged by connecting plate (35), and the jaw (34) is arch bridge shape and provided with trapezoidal slot at the end; The lever mechanism includes torsion arm and end lever (31) fixedly connected with the output end of the joint motor (30); The screw stepper motor (29) drives the linear motion of slide rod (32), and the opening and closing of the jaw (34) are realized by the connecting plate (35); By controlling the coordinated action of the screw stepper motor (29) and the joint motor (30), the multifunctional integrated gripper (8) is configured to perform four different train car connection piece operations of hooking, wind pipe, opening and closing angle plug door and pulling air rod.

2. The multi-functional train uncoupling robot system according to claim 1, wherein, The chassis (3) includes rectangular steel plate (9) and channel steel support (10), wherein the channel steel support (10) is in the form of two groups of channel steels symmetrically welded, welded below the rectangular steel plate (9), and the outer side of the channel steel support (10) is flush with the four sides of the rectangular steel plate (9), and the inner side is staggered welded with channel steels according to the installation position of the straddle type frame (4).

3. The multi-functional train uncoupling robot system of claim 1, wherein, The straddle type frame (4) includes main frame (11), motor (12), air spring (13), shock absorber (14), stabilizer wheel mounting bracket (15), stabilizer wheel connecting bracket (16), guide wheel connecting bracket (17), upper cover plate (18), anti-roll torsion bar assembly (19), vehicle body connecting plate base (20), running wheel (21), vehicle body connecting plate (22), rotating shaft seat (23), guide wheel (24) and stabilizer wheel (25), wherein The main frame (11) is composed of two groups of side steel and end steel in central symmetry, one end of the side steel is upper convex round and a circular groove and a through hole are formed in the outer side, the other end is rectangular plane, and a steel beam connection is arranged in the middle of the two side steels on the inner side; The motor (12) is two, respectively installed in the circular groove of side steel; The stabilizer wheel mounting bracket (15) is divided into two parts connected by upper and lower flanges, the upper half is welded to the middle of the side steel of the main frame (11), the top end is provided with shock absorber (14) connecting lug plate, and the lower half is provided with stabilizer wheel (25) through stabilizer wheel connecting bracket (16) The guide wheel connecting frame (17) is composed of a top-welded C-shaped steel and a bottom-bolted T-shaped steel, four groups of which are fixed to the four corners of the main frame (11) and are provided with guide wheels (24); The structure of the stabilizing wheel connecting frame (16) is the same as that of the guide wheel connecting frame (17), and two groups of which are fixed to the bottom end of the lower half of the stabilizing wheel mounting frame (15); The air springs (13) are two in number, the bottom flanges of which are connected and fixed with the cylindrical top surface of the stabilizing wheel mounting frame (15), and the top flanges of which are provided with upper cover plates (18); The upper cover plates (18) are two in number, the bottom surfaces of which are welded with ear plates connected with the anti-rolling components and shock absorbers (14), and the middle portions of which are provided with through holes; The shock absorbers (14) are two groups in number, which are respectively installed between the stabilizing wheel mounting frame (15) and the upper cover plate (18) through the ear plate structure; The running wheels (21) are four in number, two of which are installed on the output shafts of the two motors (12) as a group; The anti-rolling torsion bar component (19) comprises connecting rods (19-1), connecting pins (19-2), hinge seats (19-3), torsion arms (19-4) and torsion bars (19-5), the connecting rods (19-1) are two in number, one end of which is hingedly connected with the ear plate of the upper cover plate (18), and the other end of which is hingedly connected with the torsion arm (19-4) through the connecting pin (19-2); the hinge seats (19-3) are two in number, which are fixed to the top of the side steel of the main frame (11); the torsion arms (19-4) are two in number, one end of which is hingedly connected with the hinge seat (19-3), and the other end of which is hingedly connected with the connecting pin (19-2); and the torsion bars (19-5) are fixed at both ends to the two torsion arms (19-4) at one end of the hinge hole; The car body connecting plate base (20) is installed on the steel cross beam, the bottom plate is provided with six equal-height vertical columns and supports a top plate; The bottom plate of the rotating shaft seat (23) is welded with a circular side wall, and the bearing seat is arranged at the same center in the side wall; The bottom surface of the car body connecting plate (22) is welded with a rotating shaft at the center, the bottom surface is slidably connected with the side wall end surface of the rotating shaft seat (23), and the rotating shaft is matched with the bearing seat.

4. The multi-functional train uncoupling robot system of claim 1, wherein, The multifunctional integrated claw hand (8) comprises a terminal flange plate (26), a flange coupling (27), an outer sleeve (28), a lead screw stepping motor (29), a joint motor (30), a lever (31), a sliding rod (32), a base (33), a clamping jaw (34) and a connecting plate (35), wherein The terminal flange plate (26) is composed of two coaxial discs of different sizes, the end surface of the small disc is mounted in close contact with the terminal flange of the mechanical arm, and the side surface of the large disc is provided with a tangent circular arc plane and is fixed in alignment with the through hole of the flange coupling (27); The flange coupling (27) is provided with six mounting holes on the end surface and the side surface, and is connected with the counterbore of the terminal flange plate (26); The outer sleeve (28) is composed of a small pipe, a large pipe and a transition circular table, a joint motor (30) mounting partition is arranged in the small pipe segment, and half of the cylindrical side surface is cut off, a lead screw stepping motor (29) mounting partition is arranged in the large pipe segment, and six hole blocks are arranged at the end of the large pipe segment; The joint motor (30) is mounted on the partition of the small pipe segment; The connecting end of the lever (31) is a disc with a mounting hole, a force arm extends from the side of the disc, and a straight rod is welded to the end of the force arm perpendicularly and towards the claw (34); The lead screw stepper motor (29) is fixed to the large circular tube segment partition plate, and the lead screw penetrates through the partition plate through hole; The one end of the slide rod (32) is a circular tube matched with the lead screw nut, the end surface of the circular tube is provided with a slide disc which can slide in the large circular tube, the outer end surface of the slide disc is provided with two symmetrical long strip square rods, and the end of the square rod is provided with a hole matched with the claw (34); The base (33) is provided with a clamping groove matched with the clamping block of the large circular tube, and the other end surface is symmetrically provided with two hole mounting blocks, and the disc end surface is also provided with a through hole matched with the cross section shape of the stepper motor lead screw and the slide disc square rod at the corresponding position; The claw (34) is composed of two arch bridge shaped blocks with the same structure, the front end holes are respectively hinged to the square rods of the slide rod (32) and the mounting blocks of the base (33), the end side is provided with a trapezoidal groove, and the trapezoidal groove is closed to form a complete circle; The connecting plate (35) is divided into a short waist type group and a long waist type group, the short group connects the slide rod (32) and the claw (34), and the long group connects the base (33) and the claw (34).

5. The multi-functional train uncoupling robot system of claim 1, wherein, The multifunctional integrated claw hand (8) has the functions of realizing four different actions of hooking, pipe picking, angle door opening and closing, and wind rod pulling, wherein, The hooking has two modes, the first mode is that the lead screw stepper motor (29) drives the slide rod (32) to move forward, the claw (34) is opened to the grabbing position through the connecting plate (35), and then it is retreated and closed, the trapezoidal grooves at the ends of the two claws (34) are closed to clamp the hook lifting rod, and the mechanical arm drives the lifting rod to rotate to lift the lock pin; the second mode is that the mechanical arm positions the lever (31) to the left side of the hook lifting rod, and the joint motor (30) drives the lever (31) to rotate to drive the lifting rod to rotate to lift the lock pin; The pipe picking operation mode is that the slide rod (32) moves forward to open the claws (34), the mechanical arm positions the claws (34) to clamp the inner side pipe, and the lever (31) rotates to touch the outer side pipe, the mechanical arm (5) lifts the pipe joint, and then the lever (31) turns down to pick the pipe; The angle door opening and closing operation mode is that the slide rod (32) moves forward to open the claws (34), the two claw (34) end trapezoidal grooves are closed to clamp the door handle after the claws (34) are moved to the above of the handle, and the mechanical arm (5) lifts and rotates the door to the target position; The wind rod pulling operation mode is that the slide rod (32) moves forward to open the claws (34), the two claw (34) end trapezoidal grooves are closed to clamp the wind rod after the claws (34) are moved to the wind rod grabbing position, and then the mechanical arm pulls the wind rod linearly.

6. A multifunctional train uncoupling robot cooperative control method, characterized in that, A multifunctional train hook picking robot system is provided, comprising the following steps: Obtaining the relative position and speed information of the vehicle body and the train through the laser radar (6); Obtaining the image information of the train connection through the depth camera (7), and identifying the target operation component; According to the identification result, one of the hooking, pipe picking, angle door opening and closing, and wind rod pulling operation modes is selected, and the corresponding target pose parameters are generated; Controlling the six degree of freedom mechanical arm (5) to move the multifunctional integrated claw hand (8) to the target pose; According to the selected operation mode, the lead screw stepper motor (29) and the joint motor (30) are cooperatively controlled: When performing the operations of uncoupling the car hook, opening or closing the angle plug door, or pulling the wind lever, the lead screw stepper motor (29) is mainly controlled to drive the clamping jaw (34) to achieve clamping and operation on the car hook lifting rod, the door handle, or the wind lever; When performing the operations of uncoupling the car hook or uncoupling the wind pipe, the joint motor (30) is controlled to drive the lever (31) to achieve the operation of uncoupling the car hook lifting rod or the outer wind pipe, and cooperate with the clamping action of the clamping jaw (34).

7. The multi-functional train uncoupling robot system of claim 1, wherein, The system is designed in a reciprocating manner to improve work efficiency and ensure efficient work progress during train travel. Specifically, the uncoupling robot is configured on both sides of the track at the hump, which can work synchronously or alternately. Through the double-sided configuration, the work can be continuously and efficiently completed in the train travel route. The uncoupling robot system has multiple uncoupling options and finds the fastest solution to avoid efficiency decline caused by the work limitation of a single robot. The double-sided configuration of the uncoupling robot system also has a redundant effect. When one side of the robot system fails, the other side of the robot continues to work independently to ensure that the uncoupling work is not affected, improve the reliability and stability of the entire system, greatly reduce the single-point failure risk of the system, effectively improve the continuity and safety of the train uncoupling operation, and at the same time, ensure that the train travel speed is not affected.

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