Mechanical arm special for unattended train unhooking robot

Abstract

The invention belongs to the technical field of unhooking robots, particularly relates to a mechanical arm special for an unattended train unhooking robot, and aims to solve the problems that when an existing mechanical arm special for an unhooking robot is not powered, unhooking but unseparated couplers on a carriage still have high probability of reconnection, and the unhooking robot cannot be unhooked. According to the scheme, the unhooking and separating device comprises a mounting plate. According to the mechanical arm special for the unattended train unhooking robot, after the mechanical arm body completes unhooking operation, the front train frame and the rear train frame are pushed when the couplers on the front train frame and the rear train frame are still in contact with each other, so that the couplers on the front train frame and the rear train frame are separated from each other; the situation that the front vehicle frame and the rear vehicle frame are reconnected after unhooking is effectively avoided, the unhooking success rate is guaranteed, and the unhooking efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of hook - removing robots, and in particular to a special robotic arm for unattended train hook - removing robots. Background Art

[0002] A dumper is a large - scale and efficient mechanized car - unloading device. Its car - unloading operation has a high degree of mechanization and large production capacity, and is widely used. At present, the dumper coal - unloading system has basically achieved automation. However, the hook - removing of the open - top wagon before and after coal unloading is still completed manually. The development of an automatic hook - removing device can reduce the on - site operation risk of workers and realize unattended hook - removing, which has important auxiliary significance for realizing unattended coal unloading.

[0003] After the existing special robotic arm of the hook - removing robot performs a hook - removing operation on the coupler connecting the carriages, it needs the power assistance of the powered carriage to ensure that the front and rear carriages are completely decoupled. When there is no power assistance, there is still a high probability that the couplers on the carriages that have been unhooked but not separated will reconnect, bringing great inconvenience to the hook - removing and separating operation. Summary of the Invention

[0004] The present invention discloses a special robotic arm for unattended train hook - removing robots, aiming to solve the technical problem that the existing special robotic arm of the hook - removing robot in the background art cannot ensure that the carriages can be separated from each other after unhooking.

[0005] A special robotic arm for unattended train hook - removing robots proposed by the present invention includes a mounting plate. Below the mounting plate, there are a front - car frame and a rear - car frame. And four symmetric support frames are arranged at the bottom of the mounting plate. Among them, the outer sides of the two support frames close to the front - car frame are in contact with the upper side of the front - car frame. Two symmetric column pins are fixedly connected to the upper sides of both the front - car frame and the rear - car frame. And a two - way fixing module is arranged on each support frame. A circular opening is formed on the upper side of the mounting plate. A steering seat is movably connected in the circular opening. A robotic arm body is arranged at the bottom of the steering seat. A steering motor is fixedly connected to the upper side of the mounting plate. The output end of the steering motor is connected to the upper side of the steering seat through a coupling. Two symmetric hook - removing and separating modules are arranged on the mounting plate, and the hook - removing and separating modules are located between the front - car frame and the rear - car frame.

[0006] By providing the mounting plate, the front - car frame, the rear - car frame, the column pins, the support frames, the steering motor, the steering seat, the hook - removing and separating modules, the two - way fixing module and the robotic arm body, the device can use the hook - removing and separating modules to push the front - car frame and the rear - car frame when the couplers on the front - car frame and the rear - car frame are still in contact after the robotic arm body has completed the hook - removing operation, so that the couplers on the front - car frame and the rear - car frame are separated from each other, effectively avoiding the situation that the front - car frame and the rear - car frame are re - connected after unhooking, ensuring the success rate of unhooking and improving the unhooking efficiency.

[0007] In a preferred solution, the decoupling and separation module includes two symmetrical rotating shaft seats. There are two symmetrical circular notches formed on the mounting plate. The inner walls of the two circular notches are respectively movably connected to the exteriors of the two rotating shaft seats. At the bottoms of the rotating shaft seats, two symmetrical connecting frames are fixedly connected respectively. At one end of the two connecting frames on the same side, which is far away from the rotating shaft seat, the same fixed plate is fixedly connected. At the bottoms of the fixed plates, sleeves are fixedly connected respectively. And on the exteriors of the rotating shaft seats, external toothed rings are fixedly connected. On the exteriors of the external toothed rings, locking rings are arranged. The bottoms of the locking rings are slidably connected to the upper side of the mounting plate. On the exteriors of the locking rings, limiting cards are slidably connected. The bottoms of the limiting cards are fixedly connected to the upper side of the mounting plate. And on the inner walls of the locking rings, arc-shaped racks are fixedly connected respectively. The arc-shaped racks are respectively engaged with the external toothed rings on the same side. On one side of the limiting card, which is far away from the rotating shaft seat, a first spring is fixedly connected respectively. The ends of the first springs, which are far away from the limiting cards, are fixedly connected to the inner walls of the locking rings on the same side. On the upper sides of the rotating shaft seats, two symmetrical mounting seats are fixedly connected. On the mounting seats, shaft rods are movably connected respectively. On the exteriors of the shaft rods, blocking rods are fixedly connected respectively. At the ends of the blocking rods, which are far away from the mounting seats, blocking iron blocks are engaged respectively. The sides of the blocking iron blocks, which are opposite to the mounting plate, are fixedly connected. And on the exteriors of the shaft rods, first coil springs are fixedly connected respectively. The ends of the first coil springs, which are far away from the shaft rods, are fixedly connected to the exteriors of the mounting seats on the same side. On the inner walls of the sleeves, partition plates are fixedly connected respectively. On the sides of the partition plates, which are far away from the rear vehicle frame, driving motors are fixedly connected. The output ends of the driving motors are respectively connected to threaded rods through couplings. On the exteriors of the threaded rods, first support plates are movably connected. The exteriors of the first support plates are fixedly connected to the inner walls of the sleeves. And on the exteriors of the threaded rods, support columns are arranged. The exteriors of the support columns are slidably connected to the inner walls of the sleeves on the same side. The ends of the support columns, which are far away from the sleeves, are in contact with the side of the front vehicle frame that clamps the mounting plate. On the sides of the partition plates, which are far away from the front vehicle frame, air pumps are fixedly connected. On the inner walls of the sleeves, second support plates are fixedly connected. On the sides of the second support plates, which are far away from the partition plates, air bags are fixedly connected. The output ends of the air pumps respectively pass through the second support plates on the same side and are connected to the exteriors of the air bags through conduits. The exteriors of the air bags are slidably connected to the inner walls of the sleeves on the same side. On the sides of the air bags, which are far away from the sleeves, contact plates are fixedly connected. On the exteriors of the sleeves, two symmetrical convex platforms are fixedly connected. On the convex platforms, guide rods are slidably connected. The ends of the guide rods, which are far away from the sleeves, are fixedly connected to the exteriors of the contact plates of the packages.

[0008] By providing a decoupling and separation module, the decoupling and separation module can use the system formed after the support column contacts the front vehicle frame as the force-bearing basis by means of the support column and the airbag. The airbag that continuously expands can quickly and stably push the rear vehicle frame away from the front vehicle frame, effectively ensuring the hook-unhooking success rate of the device. By using the locking ring and the arc-shaped rack, the device can switch the direction when selecting the force-bearing basis, so that the force-bearing basis where the support column is located can be selected on the carriage with a larger self-weight, making it easier for the device to push away the lighter carriage and improving the convenience.

[0009] In a preferred solution, the bidirectional fixing module includes four symmetric vertical shafts. Four symmetric orifices are provided on the mounting plate. The inner walls of the orifices are all movably connected to the outer parts of the vertical shafts. Steering wheels are fixedly connected to the outer parts of the vertical shafts. The steering wheels are all located below the mounting plate. The outer parts of the steering wheels are all fixedly connected to the outer parts of the support frames on the same side. And positioning pins are provided on the outer parts of the vertical shafts. Two symmetric arc-shaped card slots are provided outside the orifices. The arc-shaped card slots are all located on the mounting plate. The outer parts of the positioning pins are all slidably connected to the inner walls of the arc-shaped card slots. Notches are provided on the outer parts of the steering wheels. The inner walls of the notches are all clamped to the outer parts of the positioning pins on the same side; Accommodation grooves are provided on the support frames. Bases are slidably connected in the accommodation grooves. Moving frames are fixedly connected to the outer parts of the bases. And narrow slots are provided on the support frames. The inner walls of the narrow slots are all slidably connected to the outer parts of the moving frames on the same side. A plurality of symmetric circular holes are provided on the support frames. Two symmetric narrow holes are provided on the moving frames. Fixing pins are inserted into the narrow holes. The outer parts of the fixing pins are all inserted into the circular holes on the support frames; Cutting grooves are provided on the upper sides of the bases. Movable parts are slidably connected in the cutting grooves. Annular grooves are provided on the column pins. The outer parts of the two column pins on the front vehicle frame are respectively slidably connected to the inner walls of the two bases. The outer parts of the movable parts on the two bases close to the front vehicle frame are all clamped to the inner walls of the annular grooves on the same side. And short shafts are fixedly connected to the upper sides of the movable parts; Rotating frames are movably connected to the upper sides of the bases. Curved surface grooves are provided on the rotating frames. The inner walls of the curved surface grooves are all slidably connected to the outer parts of the short shafts. And torsion springs two are fixedly connected to the inner walls of the rotating frames. The ends of the torsion springs two far away from the rotating frames are all fixedly connected to the upper sides of the bases on the same side.

[0010] By providing a bidirectional fixing module, the bidirectional fixing module can freely select the fixed carriage when the device is connected to the carriage by using the positioning pin and the steering wheel, improving the applicability of the device. The rotatable steering wheel makes it more convenient for the device to be folded, stored, fixed and installed. The movable part that is rotationally unlocked not only ensures the connection stability between the device and the column pin, but also makes it more convenient for the device to be disassembled, reducing the workload of the workers.

[0011] As can be seen from the above, a special robotic arm for unattended train uncoupling provided by the present invention can push the front car frame and the rear car frame when the couplers on the front car frame and the rear car frame are still in contact after the uncoupling operation is completed on the robotic arm body, so that the couplers on the front car frame and the rear car frame are separated from each other, effectively avoiding the situation that the front car frame and the rear car frame are reconnected after uncoupling, ensuring the success rate of uncoupling and improving the uncoupling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 FIG. is a schematic diagram of the overall structure of a special robotic arm for an unattended train uncoupling robot proposed by the present invention; Figure 2 FIG. is a front view structural schematic diagram of a special robotic arm for an unattended train uncoupling robot proposed by the present invention; Figure 3 FIG. is a structural schematic diagram of a decoupling separation module of a special robotic arm for an unattended train uncoupling robot proposed by the present invention; Figure 4 FIG. is a structural schematic diagram of a locking ring of a special robotic arm for an unattended train uncoupling robot proposed by the present invention; Figure 5 FIG. is a structural schematic diagram of a sleeve of a special robotic arm for an unattended train uncoupling robot proposed by the present invention; Figure 6 FIG. is a structural schematic diagram of a two-way fixing module of a special robotic arm for an unattended train uncoupling robot proposed by the present invention; Figure 7 FIG. is a structural schematic diagram of a support frame of a special robotic arm for an unattended train uncoupling robot proposed by the present invention; Figure 8 FIG. is a structural schematic diagram of a base of a special robotic arm for an unattended train uncoupling robot proposed by the present invention.

[0013] In the figure: 1. mounting plate; 2. front vehicle frame; 3. rear vehicle frame; 4. column pin; 5. support frame; 6. steering motor; 7. steering seat; 8. hook detachment and separation module; 801. rotating shaft seat; 802. connecting frame; 803. fixing plate; 804. sleeve; 805. external tooth ring; 806. locking ring; 807. limiting card; 808. arc rack; 809. first spring; 810. mounting seat; 811. shaft rod; 812. position blocking rod; 813. first coil spring; 814. blocking iron block; 815. dividing plate; 816. first support plate; 817. threaded rod; 818. driving motor; 819. support column; 820. second support plate; 821. air pump; 822. airbag; 823. contact plate; 824. guide rod; 9. two-way fixing module; 901. vertical shaft; 902. steering wheel; 903. notch; 904. arc-shaped card slot; 905. directional pin; 906. movable plate; 907. second spring; 908. receiving groove; 909. base; 910. moving frame; 911. narrow slot; 912. round hole; 913. fixing pin; 914. cutting slot; 915. movable part; 916. short shaft; 917. annular groove; 918. rotating frame; 919. curved surface slot; 920. second coil spring; 10. robotic arm body. Detailed implementation manners

[0014] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0015] A special robotic arm for an unattended train uncoupling robot disclosed by the present invention is mainly applied to scenarios where the existing special robotic arm for an uncoupling robot cannot ensure the mutual separation of carriages after uncoupling.

[0016] Referring to Figure 1-8 , a special robotic arm for an unattended train uncoupling robot includes a mounting plate 1. A front vehicle frame 2 and a rear vehicle frame 3 are arranged below the mounting plate 1. Four symmetric support frames 5 are arranged at the bottom of the mounting plate 1. The outer sides of the two support frames 5 close to the front vehicle frame 2 are in contact with the upper side of the front vehicle frame 2. Two symmetric column pins 4 are connected to the upper sides of the front vehicle frame 2 and the rear vehicle frame 3 by bolts. Two-way fixing modules 9 are arranged on the support frames 5. A round opening is formed in the upper side of the mounting plate 1. A steering seat 7 is rotatably connected in the round opening through a bearing. A robotic arm body 10 is arranged at the bottom of the steering seat 7. A steering motor 6 is connected to the upper side of the mounting plate 1 by bolts. The output end of the steering motor 6 is connected to the upper side of the steering seat 7 through a coupling. Two symmetric hook detachment and separation modules 8 are arranged on the mounting plate 1, and the hook detachment and separation modules 8 are located between the front vehicle frame 2 and the rear vehicle frame 3.

[0017] Specifically, before the unhooking operation, rotate the two support frames 5 on the mounting plate 1 close to the front vehicle frame 2 to fit against the upper side of the front vehicle frame 2, and then use the two-way fixing module 9 to fix the support frames 5 outside the column pin 4 connected to the front vehicle frame 2, so that the mounting plate 1 can be fixed on the front vehicle frame 2. Start the steering motor 6, and the steering motor 6 drives the robotic arm body 10 connected to the steering seat 7 to turn towards the coupler on the front vehicle frame 2, enabling the robotic arm body 10 to perform the unhooking operation. After unhooking, use the decoupling and separation module 8 to push the disconnected front vehicle frame 2 and rear vehicle frame 3 away from each other, so that the couplers on the front vehicle frame 2 and rear vehicle frame 3 are no longer in contact. After the robotic arm body 10 has completed the unhooking operation and the couplers on the front vehicle frame 2 and rear vehicle frame 3 are still in contact, the device uses the decoupling and separation module 8 to push the front vehicle frame 2 and rear vehicle frame 3, causing the couplers on the front vehicle frame 2 and rear vehicle frame 3 to separate from each other, effectively avoiding the situation where the front vehicle frame 2 and rear vehicle frame 3 are reconnected after unhooking, ensuring the success rate of unhooking and improving the unhooking efficiency.

[0018] Refer to Figure 3 , Figure 4 and Figure 5, in a preferred embodiment, the decoupling and separation module 8 includes two symmetric rotating shaft seats 801. Two symmetric circular notches are formed on the mounting plate 1. The inner walls of the two circular notches are respectively rotationally connected to the outsides of the two rotating shaft seats 801 through bearings. At the bottoms of the rotating shaft seats 801, two symmetric connecting frames 802 are bolted. At the ends of the two connecting frames 802 on the same side away from the rotating shaft seats 801, the same fixing plate 803 is bolted. At the bottoms of the fixing plates 803, sleeves 804 are bolted, and external toothed rings 805 are bolted to the outsides of the rotating shaft seats 801; outside the external toothed rings 805, locking rings 806 are arranged. The bottoms of the locking rings 806 are slidably connected to the upper side of the mounting plate 1. Restricting cards 807 are slidably connected to the outsides of the locking rings 806. The bottoms of the restricting cards 807 are bolted to the upper side of the mounting plate 1, and arc-shaped racks 808 are bolted to the inner walls of the locking rings 806. The arc-shaped racks 808 are respectively engaged with the external toothed rings 805 on the same side; on the sides of the restricting cards 807 away from the rotating shaft seats 801, first springs 809 are bolted. The ends of the first springs 809 away from the restricting cards 807 are bolted to the inner walls of the locking rings 806 on the same side. On the upper sides of the rotating shaft seats 801, two symmetric mounting seats 810 are bolted. Shaft rods 811 are rotationally connected to the mounting seats 810 through bearings. Blocking rods 812 are bolted to the outsides of the shaft rods 811. At the ends of the blocking rods 812 away from the mounting seats 810, blocking iron blocks 814 are engaged. The sides of the blocking iron blocks 814 opposite to the mounting plate 1 are bolted, and torsion springs 813 are bolted to the outsides of the shaft rods 811. The ends of the torsion springs 813 away from the shaft rods 811 are bolted to the outsides of the mounting seats 810 on the same side; partition plates 815 are bolted to the inner walls of the sleeves 804. On the sides of the partition plates 815 away from the rear vehicle frame 3, driving motors 818 are bolted. The output ends of the driving motors 818 are connected to threaded rods 817 through couplings. The outsides of the threaded rods 817 are rotationally connected to first support plates 816 through bearings. The outsides of the first support plates 816 are bolted to the inner walls of the sleeves 804, and support columns 819 are arranged on the outsides of the threaded rods 817. The outsides of the support columns 819 are slidably connected to the inner walls of the sleeves 804 on the same side. The ends of the support columns 819 away from the sleeves 804 are in contact with the side of the front vehicle frame 2 that clamps the mounting plate 1;On one side of the partition plate 815 away from the front vehicle frame 2, an air pump 821 is connected by bolts. On the inner wall of the sleeve 804, a second support plate 820 is connected by bolts. On one side of the second support plate 820 away from the partition plate 815, an airbag 822 is connected by bolts. The output ends of the air pumps 821 all pass through the second support plate 820 on the same side and are connected to the outside of the airbag 822 through a conduit. The outside of the airbag 822 is slidably connected to the inner wall of the sleeve 804 on the same side. On one side of the airbag 822 away from the sleeve 804, a contact plate 823 is connected by bolts. On the outside of the sleeve 804, two symmetric bosses are connected by bolts. A guide rod 824 is slidably connected to the bosses. One end of the guide rod 824 away from the sleeve 804 is connected to the outside of the contact plate 823 of the package by bolts.;

[0019] Specifically, after fixing the mounting plate 1 on the column pin 4 of the front vehicle frame 2, overcome the torsion of the first coil spring 813 and pull up the blocking rod 812 from the clamping of the blocking iron block 814, push the locking ring 806, so that the locking ring 806 slides on the limiting clamp 807 in the direction of the blocking rod 812 against the thrust of the first spring 809, so that the arc-shaped rack 808 releases the clamping of the external tooth ring 805, rotate the rotary shaft seat 801, so that the rotary shaft seat 801 drives the sleeve 804 connected to the connecting frame 802 and the fixing plate 803 to rotate, so that the support column 819 in the sleeve 804 faces the front vehicle frame 2, release the locking ring 806, under the push of the first spring 809, the locking ring 806 resets, and the arc-shaped rack 808 re-clamps with the external tooth ring 805, and the rotary shaft seat 801 stops rotating, release the blocking rod 812, the blocking rod 812 re-clamps with the blocking iron block 814 and the first spring 809 stops moving, start the drive motor 818, the drive motor 818 drives the threaded rod 817 to rotate, so that the threaded rod 817 pushes the support column 819 to rotate out of the sleeve 804 until it contacts the outside of the front vehicle frame 2, turn off the drive motor 818, start the air pump 821, the air pump 821 pumps air into the airbag 822, so that the airbag 822 expands and extends out of the sleeve 804, after the airbag 822 pushes the contact plate 823 to contact the outside of the rear vehicle frame 3, as the airbag 822 continues to expand, the airbag 822 will push the front vehicle frame 2 and the rear vehicle frame 3 away, so that the unlatched couplers on the front vehicle frame 2 and the rear vehicle frame 3 are completely separated.

[0020] In a specific application scenario, the decoupling and separation module 8 is mainly applicable to the decoupling and separation link during the decoupling and separation process, that is, the decoupling and separation module 8 can use the system formed by the contact of the support column 819 and the front vehicle frame 2 as the force-bearing basis, and quickly and stably push the rear vehicle frame 3 away from the front vehicle frame 2 through the continuously expanding airbag 822, effectively ensuring the decoupling success rate of the device.

[0021] It should be noted that the locking ring 806 and the arc rack 808 can be used to switch the direction when the device selects the force-bearing basis, so that the force-bearing basis where the support column 819 is located can be selected on the carriage with a larger self-weight, making it easier for the device to push the lighter carriage away and improving the convenience.

[0022] Referring to Figure 6 、 Figure 7 and Figure 8 In a preferred embodiment, the bidirectional fixing module 9 includes four symmetric vertical shafts 901. Four symmetric orifices are formed on the mounting plate 1. The inner walls of the orifices are rotatably connected to the exteriors of the vertical shafts 901 through bearings. Steering wheels 902 are connected to the exteriors of the vertical shafts 901 through bolts. The steering wheels 902 are all located below the mounting plate 1. The exteriors of the steering wheels 902 are connected to the exteriors of the support frames 5 on the same side through bolts. And orientation pins 905 are arranged on the exteriors of the vertical shafts 901. Two symmetric arc-shaped slots 904 are arranged on the exteriors of the orifices. The arc-shaped slots 904 are all located on the mounting plate 1. The exteriors of the orientation pins 905 are slidably connected to the inner walls of the arc-shaped slots 904. Notches 903 are formed on the exteriors of the steering wheels 902. The inner walls of the notches 903 are clamped to the exteriors of the orientation pins 905 on the same side; receiving grooves 908 are formed on the support frames 5. Bases 909 are slidably connected in the receiving grooves 908. Moving frames 910 are connected to the exteriors of the bases 909 through bolts. And narrow slots 911 are formed on the support frames 5. The inner walls of the narrow slots 911 are slidably connected to the exteriors of the moving frames 910 on the same side. A plurality of symmetric round holes 912 are formed on the support frames 5. Two symmetric narrow holes are formed on the moving frames 910. Fixing pins 913 are inserted into the narrow holes. The exteriors of the fixing pins 913 are inserted into the round holes 912 on the support frames 5; cutting grooves 914 are formed on the upper sides of the bases 909. Movable members 915 are slidably connected in the cutting grooves 914. Annular grooves 917 are formed on the column pins 4. The exteriors of the two column pins 4 on the front vehicle frame 2 are respectively slidably connected to the inner walls of the two bases 909. The exteriors of the movable members 915 on the two bases 909 close to the front vehicle frame 2 are clamped to the inner walls of the annular grooves 917 on the same side. And short shafts 916 are connected to the upper sides of the movable members 915 through bolts; the upper sides of the bases 909 are rotatably connected to rotating frames 918 through bearings. Curved surface grooves 919 are formed on the rotating frames 918. The inner walls of the curved surface grooves 919 are slidably connected to the exteriors of the short shafts 916. And torsion springs two 920 are connected to the inner walls of the rotating frames 918 through bolts. The ends of the torsion springs two 920 away from the rotating frames 918 are connected to the upper sides of the bases 909 on the same side through bolts.

[0023] Specifically, overcome the thrust of the second spring 907 to lift the arc-shaped card slot 904 out of the arc-shaped card slot 904, so that the directional pin 905 releases the lock on the notch 903 on the steering wheel 902. Rotate the steering wheel 902, so that the steering wheel 902 drives the support frame 5 to rotate, so that the two support frames 5 close to the front vehicle frame 2 rotate above the column pin 4 on the front vehicle frame 2. Release the directional pin 905, so that the directional pin 905 is re-engaged with the notch 903, and the support frame 5 stops rotating. Pull out the fixing pin 913 on the support frame 5, so that the moving frame 910 slides in the narrow slot 911, so that the base 909 on the moving frame 910 is directly above the column pin 4. Insert the fixing pin 913 into the moving frame 910 and make the fixing pin 913 simultaneously inserted into the round hole 912, so that the moving frame 910 is fixed on the narrow slot 911 and no longer moves. Align the base 909 with the column pin 4 and insert it. Rotate the rotating frame 918. The rotating frame 918 rotates against the torsion of the second coil spring 920 and makes the curved surface groove 919 push the short shaft 916 to move the movable member 915 outward from the center of the base 909, so that the column pin 4 can be completely inserted into the base 909. Release the rotating frame 918. Under the torsion of the second coil spring 920, the movable member 915 quickly resets, so that the movable member 915 is engaged and fixed with the annular groove 917 on the column pin 4, so that the mounting plate 1 is fixed on the front vehicle frame 2, and the two support frames 5 close to the rear vehicle frame 3 are not operated.

[0024] In a specific application scenario, the bidirectional fixing module 9 is mainly applicable to the bidirectional fixing link in the bidirectional fixing process, that is, the bidirectional fixing module 9 can use the directional pin 905 and the steering wheel 902 to freely select the fixed carriage when the device is connected to the carriage, improving the applicability of the device. The rotatable steering wheel 902 makes it more convenient for the device to be folded, stored, and fixedly installed. The rotatable unlocking movable member 915 not only ensures the connection stability between the device and the column pin 4 but also makes it more convenient to remove the device, reducing the workload of workers.

[0025] Working principle: Overcome the thrust of spring two 907 to lift the arc-shaped card slot 904 out of the arc-shaped card slot 904, so that the directional pin 905 releases the lock on the notch 903 on the steering wheel 902. Rotate the steering wheel 902, so that the steering wheel 902 drives the support frame 5 to rotate, thereby rotating the two support frames 5 close to the front vehicle frame 2 above the column pin 4 on the front vehicle frame 2. Release the directional pin 905, so that the directional pin 905 is re-engaged with the notch 903, and the support frame 5 stops rotating. Pull out the fixing pin 913 on the support frame 5, so that the moving frame 910 slides in the narrow slot 911, so that the base 909 on the moving frame 910 is directly above the column pin 4. Insert the fixing pin 913 into the moving frame 910 and make the fixing pin 913 simultaneously inserted into the round hole 912, so that the moving frame 910 is fixed on the narrow slot 911 and no longer moves. Align the base 909 with the column pin 4 and insert it. Rotate the rotating frame 918. The rotating frame 918 rotates against the torsion of the spring two 920 and makes the curved surface groove 919 push the short shaft 916 to move the movable part 915 outward from the center of the base 909, so that the column pin 4 can be completely inserted into the base 909. Release the rotating frame 918. Under the torsion of the spring two 920, the movable part 915 quickly resets, so that the movable part 915 is engaged and fixed with the annular groove 917 on the column pin 4, so that the mounting plate 1 is fixed on the front vehicle frame 2. The two support frames 5 close to the rear vehicle frame 3 are not operated. After the mounting plate 1 is fixed to the column pin 4 on the front vehicle frame 2, lift the blocking rod 812 from the engagement with the blocking iron block 814 against the torsion of the spring one 813, push the locking ring 806, so that the locking ring 806 slides on the limiting card 807 against the thrust of the spring one 809 in the direction of the blocking rod 812, so that the arc-shaped rack 808 releases the engagement with the external gear ring 805. Rotate the rotating shaft seat 801, so that the rotating shaft seat 801 drives the sleeve 804 connected to the connecting frame 802 and the fixing plate 803 to rotate, so that the support column 819 in the sleeve 804 faces the front vehicle frame 2. Release the locking ring 806. Under the push of the spring one 809, the locking ring 806 resets, and the arc-shaped rack 808 is re-engaged with the external gear ring 805, and the rotating shaft seat 801 stops rotating. Release the blocking rod 812, and the blocking rod 812 is re-engaged with the blocking iron block 814 and the spring one 809 no longer moves. Start the drive motor 818. The drive motor 818 drives the threaded rod 817 to rotate, so that the threaded rod 817 pushes the support column 819 out of the sleeve 804 until it contacts the outside of the front vehicle frame 2. Turn off the drive motor 818. Start the air pump 821. The air pump 821 pumps air into the airbag 822, so that the airbag 822 expands and extends out of the sleeve 804. After the airbag 822 pushes the contact plate 823 to contact the outside of the rear vehicle frame 3, as the airbag 822 continues to expand, the airbag 822 will push the front vehicle frame 2 and the rear vehicle frame 3 apart, so that the unlocked couplers on the front vehicle frame 2 and the rear vehicle frame 3 are completely separated.

[0026] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes should be covered within the protection scope of the present invention.

Claims

1. A special mechanical arm for an unmanned train unhooking robot, comprising a mounting plate (1), characterized in that: A front vehicle frame (2) and a rear vehicle frame (3) are arranged below the mounting plate (1), and four symmetrical support frames (5) are arranged at the bottom of the mounting plate (1), wherein the exteriors of the two support frames (5) close to the front vehicle frame (2) are in contact with the upper side of the front vehicle frame (2), the upper sides of the front vehicle frame (2) and the rear vehicle frame (3) are both fixedly connected with two symmetrical columnar pins (4), and the support frames (5) are each provided with a bidirectional fixing module (9), and the mounting plate ( A circular opening is provided on the upper side of the mounting plate (1), a steering seat (7) is movably connected in the circular opening, a mechanical arm body (10) is arranged at the bottom of the steering seat (7), a steering motor (6) is fixedly connected to the upper side of the mounting plate (1), an output end of the steering motor (6) is connected to the upper side of the steering seat (7) via a coupling, two symmetrical decoupling and separation modules (8) are arranged on the mounting plate (1), and the decoupling and separation modules (8) are located between the front vehicle frame (2) and the rear vehicle frame (3).

2. The dedicated mechanical arm for an unmanned train unhooking robot according to claim 1, characterized in that: The decoupling and separation module (8) comprises two symmetrical rotating shaft seats (801), two symmetrical circular notches are provided on the mounting plate (1), the inner walls of the two circular notches are respectively movably connected to the outside of the two rotating shaft seats (801), the bottom of the rotating shaft seats (801) are fixedly connected to two symmetrical connecting frames (802), the two connecting frames (802) on the same side are fixedly connected to the same fixing plate (803) at one end away from the rotating shaft seats (801), the bottom of the fixing plate (803) are fixedly connected to the sleeve (804), and the outside of the rotating shaft seats (801) are fixedly connected to the outer gear ring (805).

3. The dedicated mechanical arm for an unmanned train unhooking robot according to claim 2, characterized in that: The outer part of the outer toothed ring (805) is provided with a locking ring (806), the bottom of the locking ring (806) is slidably connected to the upper side of the mounting plate (1), the outer part of the locking ring (806) is slidably connected to a limiting card (807), the bottom of the limiting card (807) is fixedly connected to the upper side of the mounting plate (1), and the inner wall of the locking ring (806) is fixedly connected to an arc-shaped rack (808), and the arc-shaped rack (808) is clamped to the outer toothed ring (805) on the same side.

4. The unmanned train unhooking robot dedicated mechanical arm according to claim 3, characterized in that: The limiting card (807) is fixedly connected to a spring 1 (809) on one side away from the rotating shaft seat (801); one end of the spring 1 (809) away from the limiting card (807) is fixedly connected to the inner wall of the locking ring (806) on the same side; two symmetrical mounting seats (810) are fixedly connected to the upper side of the rotating shaft seat (801); a shaft rod (811) is movably connected to the mounting seats (810); a blocking rod (812) is fixedly connected to the outside of the shaft rod (811); an end of the blocking rod (812) away from the mounting seat (810) is clamped with a blocking iron block (814); the side of the blocking iron block (814) opposite to the mounting plate (1) is fixedly connected; and a coil spring 1 (813) is fixedly connected to the outside of the shaft rod (811); one end of the coil spring 1 (813) away from the shaft rod (811) is fixedly connected to the outside of the mounting seat (810) on the same side.

5. The dedicated mechanical arm for an unmanned train unhooking robot according to claim 4, characterized in that: The inner wall of the sleeve (804) is fixedly connected to a partition plate (815), and the side of the partition plate (815) away from the rear vehicle frame (3) is fixedly connected to a drive motor (818). The output end of the drive motor (818) is connected to a threaded rod (817) via a coupling. The outside of the threaded rod (817) is movably connected to a support plate 1 (816). The outside of the support plate 1 (816) is fixedly connected to the inner wall of the sleeve (804), and the outside of the threaded rod (817) is provided with a support column (819). The outside of the support column (819) is slidably connected to the inner wall of the sleeve (804) on the same side, and the end of the support column (819) away from the sleeve (804) is in contact with one side of the clamping mounting plate (1) of the front vehicle frame (2).

6. The unmanned train unhooking robot dedicated mechanical arm according to claim 5, characterized in that: The side of the partition plate (815) away from the front vehicle frame (2) is fixedly connected to an air pump (821), the inner wall of the sleeve (804) is fixedly connected to a second support plate (820), the side of the second support plate (820) away from the partition plate (815) is fixedly connected to an air bag (822), the output end of the air pump (821) passes through the second support plate (820) on the same side and is connected to the outside of the air bag (822) through a conduit, the outside of the air bag (822) is slidably connected to the inner wall of the sleeve (804) on the same side, the side of the air bag (822) away from the sleeve (804) is fixedly connected to a contact plate (823), the outside of the sleeve (804) is fixedly connected to two symmetrical bosses, the bosses are slidably connected to guide rods (824), and the ends of the guide rods (824) away from the sleeve (804) are fixedly connected to the outside of the contact plate (823) of the set.

7. The unmanned train unhooking robot dedicated mechanical arm according to claim 1, characterized in that: The bidirectional fixing module (9) comprises four symmetrical vertical shafts (901), the mounting plate (1) is provided with four symmetrical openings, the inner walls of the openings are movably connected to the outside of the vertical shafts (901), the outside of the vertical shafts (901) are fixedly connected to steering wheels (902), the steering wheels (902) are located below the mounting plate (1), the outside of the steering wheels (902) are fixedly connected to the outside of the support frame (5) on the same side, and the outside of the vertical shafts (901) are provided with directional latches (905), the outside of the openings are provided with two symmetrical arc-shaped slots (904), the arc-shaped slots (904) are located on the mounting plate (1), the outside of the directional latches (905) are slidably connected to the inner walls of the arc-shaped slots (904), and the outside of the steering wheels (902) are provided with notches (903), the inner walls of the notches (903) are engaged with the outside of the directional latches (905) on the same side.

8. The unmanned train unhooking robot dedicated mechanical arm according to claim 7, characterized in that: The support frames (5) are provided with a receiving groove (908), the receiving groove (908) is slidably connected to a base (909), the outside of the base (909) is fixedly connected to a moving frame (910), and the support frames (5) are provided with a narrow groove (911), the inner wall of the narrow groove (911) is slidably connected to the outside of the moving frame (910) on the same side, and the support frames (5) are provided with a plurality of mutually symmetrical circular holes (912), and the moving frame (910) is provided with two symmetrical narrow openings, the narrow holes are plugged with fixing pins (913), and the outside of the fixing pins (913) is plugged into the circular holes (912) on the support frame (5).

9. The unmanned train unhooking robot dedicated mechanical arm according to claim 7, characterized in that: The upper side of the base (909) is provided with a slot (914), and a movable part (915) is slidably connected in the slot (914). The columnar pin (4) is provided with an annular groove (917). The exteriors of the two columnar pins (4) on the front vehicle frame (2) are respectively slidably connected to the inner walls of the two bases (909). The exteriors of the movable parts (915) on the two bases (909) close to the front vehicle frame (2) are clamped to the inner wall of the annular groove (917) on the same side, and the upper side of the movable parts (915) is fixedly connected to a short shaft (916).

10. The unmanned train unhooking robot dedicated mechanical arm according to claim 9, characterized in that: The upper side of the base (909) is movably connected to a rotating frame (918), and the rotating frame (918) is provided with a curved groove (919). The inner wall of the curved groove (919) is slidably connected to the outside of the short shaft (916), and the inner wall of the rotating frame (918) is fixedly connected to a second coil spring (920), and one end of the second coil spring (920) away from the rotating frame (918) is fixedly connected to the upper side of the base (909) on the same side.

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