Re-hooking system

Abstract

The invention relates to the technical field of trains, in particular to a re-hooking system which comprises an auxiliary moving device, a multi-axis mechanical arm and a re-hooking device, and the multi-axis mechanical arm is installed on the auxiliary moving device; the re-hooking device comprises a first supporting component, a second supporting component, an adapter arm, a hook lifting component, a re-hooking component and a re-hooking spring; one end of the first supporting component is mounted on the multi-axis mechanical arm; one end of the second supporting component is fixedly connected with the first supporting component, the other end of the second supporting component is rotationally connected with one end of the adapter arm, and the lifting hook component is rotationally connected with the other end of the adapter arm; one position of the double-hooking component is connected with one end of the first supporting component through the double-hooking spring, and the other position of the double-hooking component is rotationally connected with the other end of the first supporting component. According to the re-hooking system, complex actions such as hook lifting, hook lifting, re-hooking and positive hooking can be flexibly completed, the operation convenience is improved, and therefore manpower and material resources are saved.

Description

Technical Field

[0001] This application relates to the technical field of trains, and in particular to a double-hook system. Background Art

[0002] During the unloading operation, railway vehicles are unloaded at the dumper. After unloading, the railway vehicles need to be assembled into a train on the railway empty car line and then pulled away by a railway locomotive. However, after the railway vehicles operate in the dumper system and enter the empty car line, the couplers on both sides of the vehicles are in a closed state. When both of the mutually connected couplers are in a closed state, they cannot be mutually connected. Therefore, before the railway vehicles collide, one of the mutually colliding couplers needs to be opened so that automatic coupling can be achieved when the railway vehicles collide. But currently, after the dumper work is completed, the double-hook operation is often carried out manually, with low manual work efficiency, and the working scene has a high labor intensity and high danger. Summary of the Invention

[0003] The purpose of this application is to provide a double-hook system, which to a certain extent solves the technical problems in the prior art that after the dumper work is completed, the double-hook operation is often carried out manually, with low manual work efficiency, and the working scene has a high labor intensity and high danger.

[0004] This application provides a double-hook system, including: an auxiliary moving device, a multi-axis robotic arm, and a double-hook device; wherein, the multi-axis robotic arm is installed on the auxiliary moving device; the double-hook device includes: a first support member, a second support member, a transfer arm, a hook lifting member, a double-hook member, and a double-hook spring; wherein, one end of the first support member is installed on the multi-axis robotic arm; one end of the second support member is fixedly connected to the first support member, the other end of the second support member is rotatably connected to one end of the transfer arm, and the hook lifting member is rotatably connected to the other end of the transfer arm; One position of the double-hook member is connected to one end of the first support member far from the second support member through the double-hook spring, and the other position of the double-hook member is rotatably connected to one end of the first support member close to the second support member; the auxiliary moving device can drive the multi-axis robotic arm together with the double-hook device to move to a preset working position, and the multi-axis robotic arm can drive the double-hook device to rotate and move.

[0005] In the above technical solution, further, the auxiliary moving device includes: a general support member, a moving member, a driving device, a gear, a rack, and a leveling assembly; wherein, the moving member is slidably connected to the general support member; the fixed end of the driving device is fixed to the moving member, and the driving end of the driving device is connected to the gear; The rack is fixed to the total support member, and the gear meshes with the rack; Along a direction perpendicular to the moving direction of the moving member, leveling assemblies are provided on both opposite sides of the total support member, and each side of the total support member is mounted on the ground through the leveling assembly, and the leveling assembly is used to adjust the flatness of the total support member; the multi-axis robotic arm is mounted on the moving member.

[0006] In any of the above technical solutions, further, the leveling assembly includes a first leveling plate, a second leveling plate, a stud and a nut; wherein, the first leveling plate is used for mounting on the ground; the stud is arranged along the vertical direction and fixed to the first leveling plate; along the vertical direction, the second leveling plate is arranged above the first leveling plate, and the second leveling plate is provided with a mounting through hole, the stud passes through the mounting through hole, the nut is threadedly connected to the stud, and along the vertical direction, nuts are provided on both the upper surface and the lower surface of the second leveling plate to lock the second leveling plate; the total support member is arranged on the upper surface of the second leveling plate and the two are connected.

[0007] In any of the above technical solutions, further, the leveling assembly includes a reinforcing bolt, the reinforcing bolt is arranged along the vertical direction, and the reinforcing bolt is threadedly connected to the first leveling plate and the second leveling plate respectively.

[0008] In any of the above technical solutions, further, along a direction perpendicular to the moving direction of the moving member, a plurality of the leveling assemblies are provided on both opposite sides of the total support member, and the plurality of leveling assemblies on each side of the total support member are sequentially arranged at intervals along the moving direction of the moving member.

[0009] In any of the above technical solutions, further, the auxiliary moving device further includes a slide rail, the slide rail is arranged on the total support member, and along the vertical direction, the slide rail is arranged below the moving member; the moving member is provided with a slider, and the slider is slidably connected to the slide rail; there are two slide rails, and they are arranged at intervals along a direction perpendicular to the length direction of the slide rail.

[0010] In any of the above technical solutions, further, the auxiliary moving device further includes a first bellows and a second bellows; wherein, one end of the first bellows is connected to one end of the total support member, and the other end of the first bellows is connected to one end of the moving member; one end of the second bellows is connected to the other end of the total support member, and the other end of the second bellows is connected to the end of the moving member where the first bellows is connected, and an avoidance opening is provided on the first bellows covering the moving member.

[0011] In any of the above technical solutions, further, the auxiliary moving device also includes a lubricating oil tank, a diverter valve and a pressure detection component; wherein, the lubricating oil tank and the diverter valve are both arranged on the moving component, and the lubricating oil tank is connected to the diverter valve through a pipeline, the two outlet ends of the diverter valve are respectively equipped with pipelines, and the two pipelines at the two outlet ends of the diverter valve extend to the two sliders respectively; the pressure detection component is arranged on the pipeline connecting the lubricating oil tank and the diverter valve.

[0012] In any of the above technical solutions, further, the main support member is formed with an escape space located at the side of the slide rail, and the gear is arranged in the escape space.

[0013] In any of the above technical solutions, further, the rack is arranged between the two slide rails.

[0014] In any of the above technical solutions, further, the auxiliary movement device also includes a position sensor, and along the moving direction of the moving member, the position sensor is arranged at one end of the total supporting member.

[0015] In any of the above technical solutions, further, the auxiliary mobile device also includes a bracket and a camera; wherein the bracket is fixed to the main supporting member, and the camera is arranged on the bracket.

[0016] In any of the above technical solutions, further, the auxiliary movement device also includes a reducer, and the reducer is connected between the output end of the driving device and the gear.

[0017] In any of the above technical solutions, further, the re-hook device further includes a connecting member and a spring assembly; wherein the connecting member is fixedly connected to the transfer arm; along the extension direction of the hook lifting member, the spring assembly is disposed on opposite sides of the transfer arm; any of the spring assemblies includes a first mounting member, a second mounting member and a hook lifting spring; The first mounting member is connected to the connecting member; the second mounting member is connected to the first supporting member; one end of the hook spring is connected to the first mounting member, and the other end of the hook spring is connected to the second mounting member.

[0018] In any of the above technical solutions, further, the re-hook device also includes an auxiliary hook lifting component and an auxiliary hook lifting spring; wherein, the auxiliary hook lifting component is arranged on the side of the transfer arm, and one end of the auxiliary hook lifting component is rotatably connected to the transfer arm, and the other end of the auxiliary hook lifting component is rotatably connected to the transfer arm through the auxiliary hook lifting spring.

[0019] In any of the above technical solutions, further, the double hook device further includes a first proximity sensor. The transfer arm is formed with a mounting groove penetrating through its side portion, and the first proximity sensor is disposed in the mounting groove and located on one side portion of the auxiliary hook member.

[0020] In any of the above technical solutions, further, the connecting member is formed with a clamping groove, and the connecting member is clamped to the side portion of the transfer arm through the clamping groove.

[0021] In any of the above technical solutions, further, the transfer arm includes a first extension arm and a second extension arm connected to each other, and the second extension arm is disposed at an obtuse angle to the first extension arm; the first extension arm is rotatably connected to the second support member; the hook member is rotatably connected to the second extension arm.

[0022] In any of the above technical solutions, further, the double hook device further includes a flange seat; wherein, the flange seat is fixed to one end of the first support member away from the double hook member, and the flange seat is used for mounting on a multi-axis robotic arm; one position of the double hook member is connected to the flange seat through the double hook spring, and the other position of the double hook member is rotatably connected to one end of the first support member away from the flange seat.

[0023] In any of the above technical solutions, further, the double hook device further includes a fixed seat, and the fixed seat is fixed to the end of the first support member; the double hook member is rotatably connected to the fixed seat; a positive hook protrusion platform is formed at the top end of the fixed seat away from the first support member.

[0024] In any of the above technical solutions, further, the double hook device further includes a first spring seat, and the first spring seat is connected to the double hook member, and one end of the double hook spring is connected to the first spring seat.

[0025] In any of the above technical solutions, further, the double hook device further includes a second spring seat, a stretching member, a transfer seat and an adjusting nut; wherein, the second spring seat is connected to the flange seat; the second spring seat is formed with a mounting through hole, the stretching member is movably inserted through the mounting through hole, along the moving direction of the stretching member, adjusting nuts are disposed on both opposite sides of the second spring seat, and the adjusting nuts on both sides are threadedly connected to the stretching member for fixing the stretching member to the second spring seat; the other end of the double hook spring is connected to the stretching member through the transfer seat.

[0026] In any of the above technical solutions, further, the first supporting member, the hook member and the multiple hook spring are all arranged along a first preset direction, and the multiple hook member is arranged along a direction perpendicular to the first preset direction.

[0027] In any of the above technical solutions, further, the multiple hook device also includes a distance measuring sensor, and the distance measuring sensor is arranged on the multiple hook component.

[0028] In any of the above technical solutions, further, the multiple hook device also includes a visual camera and a camera cover; wherein the camera cover is installed on the flange seat, and the visual camera is arranged in the camera cover, and the camera cover is formed with a shooting port.

[0029] In any of the above technical solutions, further, the re-hook device also includes a second proximity sensor, and the second proximity sensor is arranged on the transfer arm and close to the second supporting member.

[0030] Compared with the prior art, the beneficial effects of this application are: The double hook system provided in the present application can flexibly complete complex actions such as lifting the hook, lifting the hook, double hooking and straightening the hook, thereby improving the convenience of operation and saving manpower and material resources. In addition, the execution parts of the lifting, lifting and double hooking actions all adopt spring connection methods, which not only ensures the reliability and accuracy of the actions, but also can adjust the size of the work execution force according to actual conditions, effectively ensuring the service life of various components, avoiding hard collisions when working abnormalities, avoiding structural damage to the car and the equipment body, and extending the service life of various components of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 A schematic diagram of the structure of the multiple hook system provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of an auxiliary mobility device provided in an embodiment of the present application; Figure 3 for Figure 2 A schematic diagram of the enlarged structure at A; Figure 4 Another structural schematic diagram of the auxiliary mobility device provided in an embodiment of the present application; Figure 5 For Figure 4 Schematic enlarged structure diagram at B; Figure 6 Schematic side view structure diagram of the auxiliary moving device provided by the embodiment of the present application; Figure 7 For Figure 6 Schematic enlarged structure diagram at C; Figure 8 Another structure diagram of the auxiliary moving device provided by the embodiment of the present application; Figure 9 Structure reference diagram of the auxiliary moving device provided by the embodiment of the present application; Figure 10 Assembly drawing of the double hook device and the six-axis robotic arm provided by the embodiment of the present application; Figure 11 Structure diagram of the double hook device provided by the embodiment of the present application; Figure 12 Another structure diagram of the double hook device provided by the embodiment of the present application; Figure 13 Another structure diagram of the double hook device provided by the embodiment of the present application; Figure 14 Structure diagram of the double hook device provided by the embodiment of the present application; Figure 15 Structure diagram of the auxiliary hook lifting member provided by the embodiment of the present application; Figure 16 Structure reference diagram of the double hook device provided by the embodiment of the present application; Figure 17 Structure diagram of the coupler and the hook shank on the train provided by the embodiment of the present application; Figure 18 Structure diagram of the hook shank on the train provided by the embodiment of the present application.

[0033] Reference signs: 100 - Auxiliary moving device, 101 - Total support member, 10101 - Avoidance space, 102 - Moving member, 103 - Driving device, 104 - Gear, 105 - Rack, 106 - Leveling assembly, 1061 - First leveling plate, 1062 - Second leveling plate, 1063 - Stud, 1064 - Nut, 1065 - Reinforcing bolt, 107 - Slide rail, 108 - Slide block, 1010 - Lubricating oil tank, 1011 - Flow dividing valve, 1012 - Pressure detection member, 1013 - Position sensor, 1014 - Bracket, 1015 - Camera, 1016 - Reducer, 1017 - First bellows cover, 1018 - Second bellows cover; 200-re-hook device, 201-first supporting member, 202-second supporting member, 203-transfer arm, 2031-first extension arm, 2032-second extension arm, 2033-installation groove, 2034-installation portion, 204-hook lifting member, 205-connecting member, 206-spring assembly, 2061-first mounting member, 2062-second mounting member, 2063-hook lifting spring, 207-auxiliary hook lifting member, 2071-block, 20711-auxiliary groove, 2072-extending member Plate, 208-auxiliary hook spring, 209-first proximity sensor, 2010-flange seat, 2011-multiple hook member, 2012-multiple hook spring, 2013-fixed seat, 20131-positive hook protrusion platform, 20132-protrusion, 2014-first spring seat, 2015-second spring seat, 2016-tensile member, 2017-adapter seat, 2018-adjusting nut, 2019-visual camera, 2020-camera cover, 2021-distance sensor, 2022-second proximity sensor; 300-six-axis robotic arm, 400-hook handle, 401-horizontal hook handle portion, 402-vertical hook handle portion, 500-hook ring, 501-groove, 600-hook tongue, a-first preset direction. DETAILED DESCRIPTION

[0034] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0035] The components of the embodiments of the present application generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed, but merely represents the selected embodiments of the present application.

[0036] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of this application.

[0037] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0038] In the description of the present application, it should be noted that, unless otherwise clearly specified and defined, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0039] Reference is now made to Figures 1 to 18 describe a double-hook system according to some embodiments of the present application.

[0040] See Figure 1 、 Figures 10 to 18 As shown, embodiments of the present application provide a double-hook system, including: an auxiliary moving device 100, a multi-axis robotic arm, and a double-hook device 200; wherein, the multi-axis robotic arm is installed on the auxiliary moving device 100; the double-hook device 200 includes: a first support member 201, a second support member 202, a transfer arm 203, a hook lifting member 204, a double-hook member 2011, and a double-hook spring 2012; wherein, one end of the first support member 201 is installed on the multi-axis robotic arm; one end of the second support member 202 is fixedly connected to the first support member 201, the other end of the second support member 202 is rotatably connected to one end of the transfer arm 203, and the hook lifting member 204 is rotatably connected to the other end of the transfer arm 203; One position of the double-hook member 2011 is connected to the end of the first support member 201 far from the second support member 202 through the double-hook spring 2012, and the other position of the double-hook member 2011 is rotatably connected to the end of the first support member 201 close to the second support member 202; the auxiliary moving device 100 can drive the multi-axis robotic arm together with the double-hook device 200 to move to a preset working position, and the multi-axis robotic arm can drive the double-hook device 200 to rotate and move.

[0041] In this embodiment, the general working process of this double-hook system is as follows: The auxiliary moving device 100 first drives the multi-axis robotic arm together with the double-hook device 200 to move to a preset working position, and then the six-axis robotic arm 300 drives this double-hook device 200 to move, such as rotating or moving, etc., so that the hook lifting member 204 is located inside the hook handle 400. Then, the six-axis robotic arm 300 drives this double-hook device 200 to act according to a predetermined trajectory, so that the hook handle 400 rotates counterclockwise, thereby realizing the action of lifting the hook. Then, the six-axis robotic arm 300 drives this double-hook device 200 to move according to a predetermined trajectory, inserts the double-hook member 2011 into the inside of the hook tongue 600, and then the six-axis robotic arm 300 drives the double-hook member 2011 to move, so that the hook tongue 600 opens. When reaching a certain position, the double-hook spring 2012 is pulled open, completing the action of opening the hook tongue.

[0042] It can be seen that the double-hook system provided by the present application can flexibly complete complex operations such as hooking and opening the hook tongue 600, improving the convenience of operation, thereby saving manpower and material resources.

[0043] In an embodiment of the present application, preferably, as Figure 3 and Figure 5 shown, the auxiliary moving device 100 includes: a general support member 101, a moving member 102, a driving device 103, a gear 104, a rack 105, and a leveling assembly 106; wherein, the moving member 102 is slidably connected to the general support member 101; the fixed end of the driving device 103 is fixed to the moving member 102, and the driving end of the driving device 103 is connected to the gear 104; the rack 105 is fixed to the general support member 101, and the gear 104 meshes with the rack 105; Along the direction perpendicular to the moving direction of the moving member 102, leveling assemblies 106 are provided on both opposite sides of the general support member 101, and each side of the general support member 101 is installed on the ground through the leveling assembly 106, and the leveling assembly 106 is used to adjust the flatness of the general support member 101; the multi-axis robotic arm is installed on the moving member 102.

[0044] In this embodiment, the working process of the auxiliary moving device 100 is as follows: First, a plurality of leveling assemblies 106 can be respectively installed on the ground on the opposite sides of the two railway tracks, and then the general support member 101 integrating the moving member 102, the driving device 103, the gear 104, the rack 105, etc. is placed on the plurality of leveling assemblies 106 on the left and right sides. Then, the driving device 103 is used to drive the gear 104 to rotate, so that the gear 104 can move along the rack 105, thereby driving the moving member 102 and the six-axis robotic arm 300 thereon together with the double-hook device 200 to move, so as to reach the designated working position. Of course, the above steps are only examples and can be adjusted arbitrarily according to actual needs.

[0045] It can be seen that by using the present moving device, it is independently arranged from the railway tracks and no longer shares the track with the shunting locomotive, that is, an independent track design is adopted, which is suitable for a variety of application scenarios and occupies a small space.

[0046] Furthermore, preferably, the driving device 103 is a motor, of course, not limited thereto.

[0047] In an embodiment of the present application, preferably, as Figure 2 and Figure 7As shown, the leveling assembly 106 includes a first leveling plate 1061, a second leveling plate 1062, a stud 1063, and a nut 1064. Among them, the first leveling plate 1061 is used to be installed on the ground. The stud 1063 is arranged along the vertical direction and is fixed to the first leveling plate 1061. Along the vertical direction, the second leveling plate 1062 is arranged above the first leveling plate 1061, and the second leveling plate 1062 is provided with an installation through hole. The stud 1063 passes through the installation through hole, and the nut 1064 is threadedly connected to the stud 1063. Along the vertical direction, nuts 1064 are arranged on both the upper surface and the lower surface of the second leveling plate 1062 to lock the second leveling plate 1062. The total support member 101 is arranged on the upper surface of the second leveling plate 1062, and the total support member 101 is connected to the second leveling plate 1062.

[0048] In this embodiment, the first leveling plate 1061 can be fixed to the ground by bolts or the like. The height of the second leveling plate 1062 is adjusted by the two nuts 1064 at the top and bottom of the second leveling plate 1062. Since the total support member 101 is placed on the upper surface of the second leveling plate 1062, the levelness of the second leveling plate 1062 can be adjusted, etc., to ensure the levelness of the total support member 101 and avoid problems such as inclination of the total support member 101. Ultimately, the working accuracy of the six-axis robotic arm 300 and the double hook device 200 installed on the moving member 102 can be ensured.

[0049] Furthermore, preferably, the total support member 101 and the second leveling plate 1062 can be connected by welding. Of course, it is not limited to this, and the connection method can also be selected according to actual needs, such as being connected by bolts, or the total support member 101 is only placed on the second leveling plate 1062 without a connection relationship.

[0050] In an embodiment of the present application, preferably, as Figure 2 and Figure 7 shown, the leveling assembly 106 includes a reinforcing bolt 1065. The reinforcing bolt 1065 is arranged along the vertical direction, and the reinforcing bolt 1065 is threadedly connected to the first leveling plate 1061 and the second leveling plate 1062 respectively.

[0051] In this embodiment, after the adjustment of the second leveling plate 1062 is completed, the two nuts 1064 can be fixed, and the reinforcing bolt 1065 is installed on the first leveling plate 1061 and the second leveling plate 1062 to play a reinforcing role. When the second leveling plate 1062 needs to be readjusted, the reinforcing bolt 1065 can be removed from the first leveling plate 1061 and the second leveling plate 1062, and then the nuts 1064 are adjusted. Of course, this reinforcing bolt 1065 can also not be provided, and it is specifically selected according to actual needs.

[0052] Further, preferably, the number of the reinforcing bolts 1065 may be two, and they are respectively arranged on the opposite sides of the stud 1063. Of course, it is not limited to this. It may also be only one, or the reinforcing bolt 1065 may not be provided, and it is specifically selected according to needs.

[0053] In an embodiment of the present application, preferably, as Figure 2 and Figure 5 shown, the auxiliary moving device 100 further includes a slide rail 107. The slide rail 107 is arranged on the total support member 101 and is along the vertical direction. The slide rail 107 is arranged below the moving member 102; the moving member 102 is provided with a slider 108, and the slider 108 is slidably connected with the slide rail 107; there are two slide rails 107, and they are arranged at intervals along the length direction perpendicular to the slide rail 107.

[0054] In this embodiment, through the cooperation of the slider 108 and the slide rail 107, the sliding connection between the moving member 102 and the total support member 101 is realized, and the structures of the slider 108 and the slide rail 107 are stable and have a longer service life.

[0055] In an embodiment of the present application, preferably, as Figure 9 shown, the auxiliary moving device 100 further includes a first bellows 1017 and a second bellows 1018; wherein, one end of the first bellows 1017 is connected to one end of the total support member 101, and the other end of the first bellows 1017 is connected to one end of the moving member 102; one end of the second bellows 1018 is connected to the other end of the total support member 101, and the other end of the second bellows 1018 is connected to the end of the moving member 102 where the first bellows 1017 is connected, and an avoidance opening is provided on the first bellows 1017 covering the moving member 102.

[0056] In this embodiment, during the process of the moving member 102 moving along the slide rail 107, it will pull the first bellows 1017 to unfold along the slide rail 107, push the second bellows 1018 to contract, or push the first bellows 1017 to contract and pull the second bellows 1018 to unfold along the slide rail 107, so as to cover the slide rail 107 and make the slide rail 107 not exposed, playing a role in protecting the slide rail 107. Of course, the bellows may not be provided, and it is specifically selected according to actual needs.

[0057] In an embodiment of the present application, preferably, as Figure 8As shown, the auxiliary moving device 100 further includes a lubricating oil tank 1010, a flow dividing valve 1011, and a pressure detecting member 1012; wherein, the lubricating oil tank 1010 and the flow dividing valve 1011 are both arranged on the moving member 102, and the lubricating oil tank 1010 is connected to the flow dividing valve 1011 through a pipeline. Two pipelines are respectively arranged at the two outlet ends of the flow dividing valve 1011, and the two pipelines at the two outlet ends of the flow dividing valve 1011 respectively extend to the two sliders 108; the pressure detecting member 1012 is arranged on the pipeline connecting the lubricating oil tank 1010 and the flow dividing valve 1011.

[0058] In this embodiment, the flow dividing valve 1011 is used to distribute the lubricating oil flowing out of the lubricating oil tank 1010 to the two sliders 108, and always lubricates the sliders 108 and the slide rails 107 in contact with the sliders 108, avoiding problems such as jamming. The structure is more reliable, and the pressure detecting member 1012 such as a pressure sensor can be used to monitor the pressure of the oil fluid at all times, making the controllability stronger.

[0059] In an embodiment of the present application, preferably, as Figure 4 and Figure 5 shown, the total support member 101 is formed with an avoidance space 10101 on the side of the slide rail 107, and the gear 104 is arranged in the avoidance space 10101.

[0060] In this embodiment, an avoidance space 10101 is opened on the total support member 101, and then the gear 104 is arranged in this avoidance space 10101, which not only avoids interference but also helps with the integrated design. Of course, it is not limited to this, and other options can be selected according to actual needs.

[0061] In an embodiment of the present application, preferably, as Figure 5 shown, the rack 105 is arranged between the two slide rails 107.

[0062] In this embodiment, the rack 105 is arranged between the two slide rails 107, improving the space utilization rate. Of course, the position of the rack 105 can also be designed according to actual needs.

[0063] In an embodiment of the present application, preferably, as Figure 8 shown, the auxiliary moving device 100 further includes a position sensor 1013, and along the moving direction of the moving member 102, the position sensor 1013 is arranged at one end of the total support member 101.

[0064] In this embodiment, the position sensor 1013 is used to monitor the position of the moving member 102 at all times, that is, to monitor the position of the six-axis robotic arm 300 and the double-hook device 200 on the moving member 102 at all times, so as to achieve precise control. Of course, the position sensor 1013 may not be provided, and manual visual monitoring can be used instead.

[0065] In one embodiment of the present application, preferably, Figure 2 As shown, the auxiliary mobility device 100 further includes a bracket 1014 and a camera 1015 ; wherein the bracket 1014 is fixed to the main supporting member 101 , and the camera 1015 is disposed on the bracket 1014 .

[0066] In this embodiment, the camera 1015 is used to monitor the operation of the entire device to ensure its normal operation.

[0067] In one embodiment of the present application, preferably, Figure 2 As shown, the auxiliary movement device 100 further includes a reducer 1016 , and the reducer 1016 is connected between the output end of the driving device 103 and the gear 104 .

[0068] In this embodiment, the output speed of the driving device 103 can be adjusted by using the reducer 1016, thereby adjusting the rotation speed of the gear 104 and the moving speed of the moving member 102. Of course, the reducer 1016 may not be provided between the driving device 103 and the gear 104, depending on actual needs.

[0069] In one embodiment of the present application, preferably, Figures 12 to 14 As shown, the re-hooking device 200 further includes a connecting member 205 and a spring assembly 206; wherein the connecting member 205 is fixedly connected to the transfer arm 203; along the extension direction of the hook lifting member 204, spring assemblies 206 are disposed on opposite sides of the transfer arm 203; any spring assembly 206 includes a first mounting member 2061, a second mounting member 2062 and a hook lifting spring 2063; The first mounting member 2061 is connected to the connecting member 205 ; the second mounting member 2062 is connected to the first supporting member 201 ; one end of the hook spring 2063 is connected to the first mounting member 2061 , and the other end of the hook spring 2063 is connected to the second mounting member 2062 .

[0070] In this embodiment, the six-axis robot arm 300 drives the double hook device 200 to move, so that the hook lifting component 204 is located on the inner side of the hook handle 400. At this time, the six-axis robot arm 300 drives the double hook device 200 to move according to a predetermined trajectory, so that the hook handle 400 rotates counterclockwise. When it reaches a certain position, the hook lifting spring 2063 is pulled open to complete the hook lifting action. It can be seen that the aforementioned hook lifting spring 2063 is mainly responsible for adjusting the size of the hook lifting force.

[0071] Further, preferably, along the extending direction of the hook member 204, two hook springs 2063 are provided on each of the opposite sides of the adapter arm 203. Of course, this is not the only limitation, and the number of hook springs 2063 can also be selected according to actual needs.

[0072] Further, preferably, hooks are provided at both ends of the hook spring 2063, so that the hooks at both ends of the hook spring 2063 can be hooked in the hanging rings or through holes on the first mounting member 2061 and the second mounting member 2062. Of course, this is not the only limitation.

[0073] Further, preferably, the connecting member 205 is a block, and a card slot is provided on its side. Of course, this is not the only limitation.

[0074] Further, preferably, the first mounting member 2061 includes a screw, a nut, a U-shaped connector, and a T-shaped mounting plate. The handle portion of the T-shaped mounting plate is inserted into the U-shaped connector and can be fixed by bolts. The screw is connected to the U-shaped connector. The screw passes through the through hole provided in the connecting member 205 and is locked by a nut; one end of the hook spring 2063 forms a hook or a hanging ring and is hooked on the plate body of the T-shaped mounting plate.

[0075] Further, preferably, the second mounting member 2062 is a flat plate. Of course, this is not the only limitation.

[0076] Further, preferably, the connecting member 205 is a strip-shaped flat plate. Of course, this is not the only limitation.

[0077] In an embodiment of the present application, preferably, as Figures 11 to 14 shown, the double-hook device 200 further includes an auxiliary hook member 207 and an auxiliary hook spring 208; wherein, the auxiliary hook member 207 is disposed on the side of the adapter arm 203, and one end of the auxiliary hook member 207 is rotatably connected to the adapter arm 203, and the other end of the auxiliary hook member 207 is rotatably connected to the adapter arm 203 through the auxiliary hook spring 208.

[0078] Further, preferably, as Figure 16 shown, the double-hook device 200 further includes a first proximity sensor 209. The adapter arm 203 is formed with a mounting groove 2033 penetrating its side, and the first proximity sensor 209 is disposed in the mounting groove 2033 and is located on one side of the auxiliary hook member 207.

[0079] In this embodiment, when the vision camera 2019 recognizes that the vehicle type is the No. 17 coupler, the six-axis robotic arm 300 drives the double coupler device 200 from the initial vertical state to the horizontal state, that is, the hook lifting member 204 is finally in the horizontal state, and the auxiliary hook lifting member 207 is located above it. Then, the six-axis robotic arm 300 drives the double coupler device 200 to move upward, separating the section plane of the hook handle 400 from the groove 501 of the hook ring 500. When reaching a certain height, the auxiliary hook lifting member 207 moves downward under the action of gravity, triggering the first proximity sensor 209 to complete the hook lifting action.

[0080] Further, preferably, the auxiliary hook lifting member 207 includes a connected block 2071 and an extension plate 2072; wherein, the extension plate 2072 is arranged on one side of the block 2071 and is L-shaped; an auxiliary groove 20711 is formed on the side of the block 2071, and first grooves are arranged on opposite sides of the transfer arm 203, so that an installation part 2034 is formed between the two first grooves, and this installation part 2034 is inserted into the auxiliary groove 20711 of the block 2071 and is rotationally connected through a rotating shaft.

[0081] Further, preferably, the number of the installation grooves 2033 is two, and they are respectively arranged on opposite sides of the transfer arm 203. A solid structure is formed between the two installation grooves 2033. Furthermore, the first proximity sensor 209 is installed on this solid structure, and the installation grooves 2033 mainly play a role of avoidance.

[0082] In an embodiment of the present application, preferably, as Figure 13 and Figure 14 shown, the connecting member 205 forms a clamping groove, and the connecting member 205 is clamped to the side of the transfer arm 203 through the clamping groove.

[0083] In this embodiment, the clamping groove on the connecting member 205 can be clamped to the side of the transfer arm 203, thereby fixing the connecting member 205 on the transfer arm 203. The transfer arm 203 plays a supporting role for the connecting member 205, and this structure is also convenient for later disassembly, improving the operation convenience. Of course, it is not limited to this, and the connecting member 205 can also be connected to the transfer arm 203 through bolts or the like.

[0084] In an embodiment of the present application, preferably, as Figure 12 shown, the transfer arm 203 includes a connected first extension arm 2031 and a second extension arm 2032, and the second extension arm 2032 is arranged at an obtuse angle with the first extension arm 2031; the first extension arm 2031 is rotationally connected to the second support member 202; the hook lifting member 204 is rotationally connected to the second extension arm 2032.

[0085] In this embodiment, the adapter arm 203 is arranged in a structure similar to an L shape, which can avoid interference, and the hook member 204 can also be arranged in the working position to meet the use requirements.

[0086] In an embodiment of the present application, preferably, as Figure 11 shown, the double hook device 200 further includes a flange seat 2010, the flange seat 2010 is fixed to one end of the first support member 201 away from the double hook member 2011, and the flange seat 2010 is used for mounting on a multi-axis robotic arm; a position of the double hook member 2011 is connected to the flange seat 2010 through a double hook spring 2012, and another position of the double hook member 2011 is rotatably connected to one end of the first support member 201 away from the flange seat 2010.

[0087] In this embodiment, the flange seat 2010 can be used to mount the double hook device 200 on the six-axis robotic arm 300, which is convenient for assembly and the structure is more stable after assembly; the double hook member 2011 is responsible for the action of opening the hook tongue; the double hook spring 2012 is mainly responsible for adjusting the magnitude of the opening hook force.

[0088] The action of the hook tongue 600 can be completed by using the double hook member 2011 and the double hook spring 2012, etc. The action of opening the hook tongue refers to that after the hook lifting action is completed, the six-axis robotic arm 300 drives the double hook device 200 to move along a predetermined trajectory, inserts the double hook member 2011 into the inner side of the hook tongue 600, and then the six-axis robotic arm 300 moves to open the hook tongue 600. When reaching a certain position, the double hook spring 2012 is pulled open to complete the action of opening the hook tongue.

[0089] In an embodiment of the present application, preferably, as Figures 11 to 13 shown, the double hook device 200 further includes a fixed seat 2013, and the fixed seat 2013 is fixed to the end of the first support member 201; the double hook member 2011 is rotatably connected to the fixed seat 2013; a positive hook convex platform 20131 is formed at the top of the fixed seat 2013 away from the first support member 201.

[0090] In this embodiment, the fixed seat 2013 is installed between the double hook member 2011 and the first support member 201, playing a role of transfer, facilitating the installation of the double hook member 2011 and improving the assembly efficiency.

[0091] Further, preferably, the aforementioned second mounting member 2062 is installed between the fixing seat 2013 and the transfer arm 203, and the second mounting member 2062 is installed between the transfer arm 203 and the end of the first supporting member 201. It can be seen that along the length direction of the first supporting member 201, that is, the extension direction, the first supporting member 201, one second mounting member 2062, the transfer arm 203, another second mounting member 2062 and the fixing seat 2013 are sequentially arranged and can be fixedly connected together by the same bolt. Of course, it is not limited to the above structure, and can also be designed according to actual needs.

[0092] Further, preferably, a second groove is formed at the end of the multiple hook member 2011, a protrusion 20132 is provided on the side of the fixing seat 2013, and the protrusion 20132 is installed in the second groove and can be rotatably connected via a rotating shaft. Of course, it is not limited to this.

[0093] In one embodiment of the present application, preferably, Figure 11 As shown, the multiple hook device 200 further includes a first spring seat 2014 , and the first spring seat 2014 is connected to the multiple hook component 2011 , and one end of the multiple hook spring 2012 is connected to the first spring seat 2014 .

[0094] In this embodiment, the first spring seat 2014 plays a role in switching and supporting the multiple hook spring 2012, so that the structure of the multiple hook spring 2012 is more stable.

[0095] In one embodiment of the present application, preferably, Figure 11 As shown, the re-hook device 200 also includes a second spring seat 2015, a tensile member 2016, an adapter seat 2017 and an adjusting nut 2018; wherein the second spring seat 2015 is connected to the flange seat 2010; the second spring seat 2015 is formed with a mounting through hole, and the tensile member 2016 is movably inserted into the mounting through hole, and along the moving direction of the tensile member 2016, the second spring seat 2015 is provided with adjusting nuts 2018 on both sides of the opposite sides, and the adjusting nuts 2018 on both sides are threadedly connected to the tensile member 2016, so as to fix the tensile member 2016 on the second spring seat 2015; the other end of the re-hook spring 2012 is connected to the tensile member 2016 through the adapter seat 2017.

[0096] In this embodiment, the second spring seat 2015 plays the role of transferring and supporting the double-hook spring 2012, so that the structure of the double-hook spring 2012 is more stable; by adjusting the connection position between the tensile member 2016 and the second spring seat 2015, the length of the double-hook spring 2012 is adjusted, thereby controlling the size of the double-hook force.

[0097] Further, preferably, a third groove is formed at the end of the stretching member 2016, a part of the structure of the adapter base 2017 is inserted into the third groove, and they are connected by bolts. The hook of the double-hook spring 2012 is hung in the through hole of another part of the structure of the adapter base 2017.

[0098] Further, preferably, the number of the double-hook springs 2012 is multiple, and they are arranged in sequence along the direction perpendicular to the moving direction of the stretching member 2016. Of course, it is not limited thereto, and it can also be designed according to actual needs.

[0099] In an embodiment of the present application, preferably, as Figure 11 shown, the first support member 201, the hook member 204 and the double-hook spring 2012 are all arranged along the first preset direction a, and the double-hook member 2011 is arranged along the direction perpendicular to the first preset direction a. That is to say, the first preset direction a, the length direction of the first support member 201, the length direction of the hook member 204 and the length direction of the double-hook spring 2012 are all the same.

[0100] In this embodiment, the double-hook member 2011, the first support member 201 and the double-hook spring 2012 are all designed according to the above-mentioned orientation, which is convenient for adjusting the orientation of the double-hook member 2011 during work. Of course, it is not limited thereto, and it can also be designed according to actual needs.

[0101] It should be noted that: as the state of the double-hook device 200 changes, such as rotation and other actions, the first preset direction a will change.

[0102] In an embodiment of the present application, preferably, as Figure 11 shown, the double-hook device 200 further includes a ranging sensor 2021. The ranging sensor 2021 is arranged on the double-hook member 2011 and is used to detect whether the hook tongue is fully opened.

[0103] In an embodiment of the present application, preferably, as Figure 11 shown, the double-hook device 200 further includes a vision camera 2019 and a camera cover 2020; wherein, the camera cover 2020 is installed on the flange base 2010, the vision camera 2019 is arranged in the camera cover 2020, and the camera cover 2020 is formed with a shooting port for the vision camera 2019 to shoot.

[0104] In this embodiment, the vision camera 2019 is mainly responsible for the identification of the coupler, the hook handle 400 and the hook ring 500, and the camera cover 2020 is mainly responsible for the protection of the vision camera 2019 and the installation and fixation of the heat dissipation heater.

[0105] In an embodiment of the present application, preferably, as Figure 14 and Figure 16As shown, the double-hook device 200 further includes a second proximity sensor 2022. The second proximity sensor 2022 is disposed on the adapter arm 203 and is close to the second support member 202.

[0106] In this embodiment, when the pulling force is too large, a relative displacement will occur between the adapter arm 203 and the second support member 202. The second proximity sensor 2022 will detect this displacement and then send a signal, indicating that the hook-lifting action is completed at this time.

[0107] In summary, the double-hook device 200 provided by the present application can mainly complete the double-hook action and the positive-hook action. The double-hook action can be mainly decomposed into four actions: identification, hook-lifting, hook-lifting, and hook-tongue opening. The specific working process of the double-hook device 200 is as follows: (1) Identification action: When the confirmation signal of the arrival of the carriage is received, the auxiliary moving device 100 drives the six-axis robotic arm 300 together with the double-hook device 200 to move along the preset direction. The radar on the six-axis robotic arm 300 scans the carriage in real time. After confirming the receipt of the carriage radar signal, the vision camera 2019 is used to identify the hook handle 400 and the coupler. When the coupler model is identified as No. 17 coupler, a hook-lifting action needs to be added before the hook-lifting action. Among them, in the initial state, the hook handle 400 includes a horizontal hook handle portion 401 and a vertical hook handle portion 402. The left side of the hook handle 400 is connected to the coupler. By operating the hook handle 400, the coupler at one end can be operated. This part is the prior art and will not be elaborated here.

[0108] (2) Hook-lifting action: The hook-lifting action is performed on the No. 17 coupler in the unhooked state. Due to the action of gravity, the section of the hook handle 400 will be stuck in the groove 501 of the hook ring 500. At this time, the hook handle 400 cannot rotate. To complete the hook-lifting action, it is necessary to lift the hook handle 400 in advance so that the section of the hook handle 400 is separated from the groove 501 of the hook ring 500. At this time, the hook handle 400 can rotate freely.

[0109] Specifically, when the visual camera 2019 recognizes that the vehicle type is a No. 17 hook, the six-axis robot arm 300 drives the double hook device 200 from the initial vertical state to a horizontal state, that is, the hook lifting member 204 is finally in a horizontal state, and the auxiliary hook lifting member 207 is located above it, and the six-axis robot arm 300 drives the double hook device 200 to move, and moves the auxiliary hook lifting member 207 to the bottom of the horizontal hook handle 401, and abuts against the bottom of the hook handle 400. At this time, the hook lifting member 204 is located on one side of the vertical hook handle 402, and abuts against The vertical hook handle 402, it can be seen that the L-shaped structure formed by the hook lifting member 204 and the auxiliary hook lifting member 207 in the present application is just hooked together with the L-shaped hook handle 400, and then the six-axis robot arm 300 drives the double hook device 200 to move upward, so that the auxiliary hook lifting member 207 pushes the horizontal hook handle 401 to move upward, so that the cross-section of the horizontal hook handle 401 is separated from the groove 501 of the hook ring 500, and when it reaches a certain height, the auxiliary hook lifting member 207 moves downward under the action of gravity, triggering the first proximity sensor 209 to complete the hook lifting action.

[0110] (3) Hook lifting action: The hook lifting action refers to the need to rotate the hook handle 400 again before opening the hook tongue, simulating the action of removing the hook, thereby ensuring that the hook tongue 600 can be opened. The six-axis robot arm 300 drives the re-hook device 200 to move, so that the hook lifting component 204 is located on the inner side of the hook handle 400. At this time, the six-axis robot arm 300 drives the re-hook device 200 to move according to a predetermined trajectory, so that the hook handle 400 rotates counterclockwise. When it reaches a certain position, the hook lifting spring 2063 is pulled open to complete the hook lifting action.

[0111] (4) Opening the hook tongue action: The hook tongue opening action means that after the hook lifting action is completed, the six-axis robot arm 300 drives the re-hook device 200 to move along a predetermined trajectory, inserts the re-hook component 2011 into the inner side of the hook tongue 600, and then the six-axis robot arm 300 moves to open the hook tongue 600. When it reaches a certain position, the re-hook spring 2012 is pulled open to complete the hook tongue opening action.

[0112] (5) Positive hook action: The hook alignment action is that the six-axis robot arm 300 drives the re-hooking device 200 to move the hook head close to the coupler according to a predetermined trajectory, and uses the power of the robot arm to straighten the coupler.

[0113] It can be seen that the present application adopts the double-hook device 200, in cooperation with the six-axis robotic arm 300 and the auxiliary moving device 100, which can flexibly complete complex operations such as lifting the hook, raising the hook, double-hooking, and straightening the hook, improving the convenience of operation, thus saving manpower and material resources. Moreover, the execution parts of the operations of lifting the hook, raising the hook, and double-hooking all adopt spring connection methods, which not only ensure the reliability and accuracy of the operations, but also can adjust the magnitude of the working execution force according to the actual situation, effectively ensuring the service life of each component. When abnormal work occurs, the situation of hard impact is avoided, the structure damage of the carriage and the equipment body is avoided, and the service life of each component of the equipment is prolonged.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A double hook system, characterized in that, Comprising: An auxiliary moving device, a multi-axis robotic arm, and a double hook device; wherein, the multi-axis robotic arm is installed on the auxiliary moving device; the double hook device includes: a first support member, a second support member, a transfer arm, a hook member, a double hook member, and a double hook spring; wherein, one end of the first support member is installed on the multi-axis robotic arm; one end of the second support member is fixedly connected to the first support member, the other end of the second support member is rotatably connected to one end of the transfer arm, and the hook member is rotatably connected to the other end of the transfer arm; One position of the double hook member is connected to one end of the first support member away from the second support member through the double hook spring, and the other position of the double hook member is rotatably connected to one end of the first support member close to the second support member; the auxiliary moving device can drive the multi-axis robotic arm together with the double hook device to move to a preset working position, and the multi-axis robotic arm can drive the double hook device to rotate and move.

2. The double hook system according to claim 1, characterized in that, The auxiliary moving device includes: a general support member, a moving member, a driving device, a gear, a rack, and a leveling assembly; wherein, the moving member is slidably connected to the general support member; the fixed end of the driving device is fixed to the moving member, and the driving end of the driving device is connected to the gear; the rack is fixed to the general support member, and the gear meshes with the rack; Along a direction perpendicular to the moving direction of the moving member, leveling assemblies are provided on both opposite sides of the general support member, and each side of the general support member is installed on the ground through the leveling assembly, and the leveling assembly is used to adjust the flatness of the general support member; the multi-axis robotic arm is installed on the moving member.

3. The double hook system according to claim 2, characterized in that, The leveling assembly includes a first leveling plate, a second leveling plate, a stud, and a nut; wherein, the first leveling plate is used to be installed on the ground; the stud is arranged along the vertical direction and is fixed to the first leveling plate; along the vertical direction, the second leveling plate is arranged above the first leveling plate, and the second leveling plate is provided with an installation through hole, the stud passes through the installation through hole, the nut is threadedly connected to the stud, and along the vertical direction, nuts are provided on both the upper surface and the lower surface of the second leveling plate to lock the second leveling plate; the general support member is arranged on the upper surface of the second leveling plate and the two are connected; The leveling assembly includes a reinforcing bolt, the reinforcing bolt is arranged along the vertical direction, and the reinforcing bolt is threadedly connected to the first leveling plate and the second leveling plate respectively.

4. The double hook system according to claim 2, characterized in that, The auxiliary moving device further includes a slide rail, the slide rail is arranged on the general support member, and along the vertical direction, the slide rail is arranged below the moving member; the moving member is provided with a slider, and the slider is slidably connected to the slide rail; there are two slide rails, and they are arranged at intervals along a direction perpendicular to the length direction of the slide rail.

5. The double hook system according to claim 4, characterized in that, The auxiliary moving device further comprises a first accordion cover and a second accordion cover; wherein one end of the first accordion cover is connected to one end of the general supporting member, and the other end of the first accordion cover is connected to one end of the moving member; one end of the second accordion cover is connected to the other end of the general supporting member, and the other end of the second accordion cover is connected to one end of the moving member connected to the first accordion cover, and the first accordion cover provided on the moving member is provided with an escape opening; The auxiliary moving device further includes a lubricating oil tank, a diverter valve and a pressure detection component; wherein the lubricating oil tank and the diverter valve are both arranged on the moving component, and the lubricating oil tank is connected to the diverter valve through a pipeline, and two outlet ends of the diverter valve are respectively provided with pipelines, and two pipelines at the two outlet ends of the diverter valve extend to the two sliders respectively; the pressure detection component is arranged on the pipeline connecting the lubricating oil tank and the diverter valve; The main support member is formed with an escape space located at the side of the slide rail, and the gear is arranged in the escape space; The rack is arranged between the two slide rails.

6. The double hook system according to claim 2, characterized in that, The auxiliary movement device further comprises a position sensor, and along the moving direction of the moving member, the position sensor is arranged at one end of the total support member; The auxiliary mobile device also includes a bracket and a camera; wherein the bracket is fixed to the general support member, and the camera is arranged on the bracket; The auxiliary moving device further comprises a reducer, and the reducer is connected between the output end of the driving device and the gear; Along a moving direction perpendicular to the moving member, a plurality of leveling assemblies are disposed on opposite sides of the total support member, and the plurality of leveling assemblies on each side of the total support member are sequentially spaced along the moving direction of the moving member.

7. The double hook system according to claim 1, characterized in that, The re-hooking device further comprises a connecting member and a spring assembly; wherein the connecting member is fixedly connected to the transfer arm; along the extension direction of the hook lifting member, the spring assembly is disposed on opposite sides of the transfer arm; any of the spring assemblies comprises a first mounting member, a second mounting member and a hook lifting spring; The first mounting member is connected to the connecting member; the second mounting member is connected to the first supporting member; one end of the hook spring is connected to the first mounting member, and the other end of the hook spring is connected to the second mounting member; The double hook device also includes an auxiliary hook lifting component and an auxiliary hook lifting spring; wherein, the auxiliary hook lifting component is arranged on the side of the transfer arm, and one end of the auxiliary hook lifting component is rotatably connected to the transfer arm, and the other end of the auxiliary hook lifting component is rotatably connected to the transfer arm through the auxiliary hook lifting spring.

8. The double hook system according to claim 7, characterized in that, The re-hooking device further comprises a first proximity sensor, the transfer arm is formed with a mounting groove penetrating the side thereof, and the first proximity sensor is arranged in the mounting groove and is located at one side of the auxiliary hook lifting member; The connecting member is formed with a clamping groove, and the connecting member is clamped to the side of the adapter arm through the clamping groove; The adapter arm includes a first extension arm and a second extension arm connected to each other, and the second extension arm is arranged at an obtuse angle with the first extension arm; the first extension arm is rotatably connected to the second support member; the hook member is rotatably connected to the second extension arm.

9. The double hook system according to claim 1, characterized in that, The double-hook device further includes a flange seat; wherein, the flange seat is fixed to one end of the first support member away from the double-hook member, and the flange seat is used for being installed on a multi-axis robotic arm; one position of the double-hook member is connected to the flange seat through the double-hook spring, and the other position of the double-hook member is rotatably connected to one end of the first support member away from the flange seat; The double-hook device further includes a fixed seat, and the fixed seat is fixed to the end of the first support member; the double-hook member is rotatably connected to the fixed seat; a positive hook protruding platform is formed at the top of the fixed seat away from the first support member; The double-hook device further includes a first spring seat, and the first spring seat is connected to the double-hook member, and one end of the double-hook spring is connected to the first spring seat; The double-hook device further includes a second spring seat, a stretching member, an adapter seat and an adjusting nut; wherein, the second spring seat is connected to the flange seat; the second spring seat is formed with an installation through hole, the stretching member is movably inserted through the installation through hole, along the moving direction of the stretching member, adjusting nuts are arranged on both opposite sides of the second spring seat, and the adjusting nuts on both sides are threadedly connected to the stretching member for fixing the stretching member to the second spring seat; the other end of the double-hook spring is connected to the stretching member through the adapter seat.

10. The double hook system according to claim 9, characterized in that, The first support member, the hook member and the double-hook spring are all arranged along a first preset direction, and the double-hook member is arranged along a direction perpendicular to the first preset direction; The double-hook device further includes a distance measuring sensor, and the distance measuring sensor is arranged on the double-hook member; The double-hook device further includes a vision camera and a camera cover; wherein, the camera cover is installed on the flange seat, and the vision camera is arranged in the camera cover, and the camera cover is formed with a shooting opening.

11. The double hook system according to any one of claims 1 to 10, characterized in that,The double-hook device further includes a second proximity sensor, and the second proximity sensor is arranged on the adapter arm and is arranged close to the second support member.

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