Duct removal and pinning system

Abstract

The present application relates to the field of train technology, and in particular to a system for removing and pinning air ducts, comprising a moving device and an air duct removing and pinning device, wherein the moving device comprises a vehicle chassis and a transverse movement mechanism, the transverse movement mechanism being arranged on the vehicle chassis, and the vehicle chassis drives the transverse movement mechanism to move along a first preset direction; the air duct removing and pinning device comprises a supporting member, a flipping drive device, a flipping arm, a lifting drive device, a lifting transmission mechanism and an operating member; the supporting member is connected to the transverse movement mechanism; the flipping drive device is respectively connected to the supporting member and the flipping arm; the fixed end of the lifting drive device is connected to the flipping arm, and the driving end of the lifting drive device is connected to the operating member via the lifting transmission mechanism. It can be seen that the air duct removing and pinning system provided by the present application can realize the actions of removing the air ducts and pulling out the pins, which can effectively reduce the labor intensity of workers and improve safety.

Description

Technical Field

[0001] The present application relates to the field of train technology, and in particular to a system for removing and unpinning an air duct. Background Art

[0002] ‌Removing the train air duct‌ refers to the process of disconnecting or connecting the connectors of the brake hoses connecting two cars during railway transportation operations. Specifically, removing the air ducts is to remove the air ducts at the disassembly point of the train set to prevent accidental stops due to air pressure problems during the disassembly process, thereby extending the shunting time. Currently, manual removal of the air ducts is mostly done, which is complicated, time-consuming and labor-intensive, and poses a safety hazard. Summary of the Invention

[0003] The purpose of this application is to provide a duct removal and pin removal system, which to a certain extent solves the technical problem in the prior art of urgently needing to develop a new structure that can effectively protect the magnetic levitation power supply rail.

[0004] The present application provides an air duct removing and pinning system, comprising: a moving device and an air duct removing and pinning device; wherein the moving device comprises a vehicle chassis and a transverse movement mechanism, the transverse movement mechanism being arranged on the vehicle chassis, and the vehicle chassis drives the transverse movement mechanism to move along a first preset direction; the air duct removing and pinning device comprises a supporting member, a turning drive device, a turning arm, a lifting drive device, a lifting transmission mechanism and an operating member; the supporting member is connected to the transverse movement mechanism, and the transverse movement mechanism is used to drive the supporting member to move along a second preset direction; the fixed end of the turning drive device is connected to the supporting member, and the driving end of the turning drive device is connected to the turning arm;

[0005] The fixed end of the lifting drive device is connected to the flip arm, and the driving end of the lifting drive device is connected to the operating member through the lifting transmission mechanism, and the operating member is used to connect the parts to be removed on the vehicle body; the flip drive device can drive the operating member to flip within a preset angle range, and the lifting drive device can drive the operating member to rise and fall along a third preset direction to remove the parts to be removed on the vehicle body.

[0006] In the above technical solution, further, the vehicle chassis includes a vehicle body, a first drive device, a transmission mechanism, a driving shaft, a driving wheel, a bearing, a driven shaft, a driven wheel, a first guide wheel, an elastic buffer assembly, and a second guide wheel; wherein the driving shaft is connected to the vehicle body through the bearing so that the driving shaft can rotate relative to the vehicle body; the first drive device is provided on the vehicle body and connected to the driving shaft through the transmission mechanism; the number of the driving wheels is two and they are respectively connected to both ends of the driving shaft along a second preset direction; the first drive device is used to drive the driving shaft and the driving wheels to rotate synchronously so that the vehicle body moves along the first preset direction;

[0007] The driven shaft is rotationally connected to the vehicle body, and there are two driven wheels, which are respectively connected to the two ends of the driven shaft along the second preset direction; there are two first guide wheels, which are rotatably arranged on opposite sides of the vehicle body along the first preset direction; there are two second guide wheels, which are respectively arranged on opposite sides of the vehicle body along the first preset direction, and any second guide wheel is equipped with the elastic buffer component and is rotationally connected to the vehicle body through the corresponding elastic buffer component.

[0008] In any of the above technical solutions, further, the vehicle chassis also includes a mounting frame and a safety anti-collision protection member; wherein, along the first preset direction, the mounting frames are installed on opposite sides of the vehicle body, and the safety anti-collision protection member is installed on any of the mounting frames, and the safety anti-collision protection member extends along the second preset direction.

[0009] In any of the above technical solutions, further, the mobile device also includes a stone sweeper, the driving wheel and the driven wheel are both equipped with the stone sweeper, and the stone sweeper blocks the opposite sides of the driving wheel or the driven wheel along the first preset direction.

[0010] In any of the above technical solutions, further, the elastic buffer assembly includes a support frame, a connecting member, a guide member, a spring and a nut; wherein the second guide wheel is rotatably provided on the support frame, one end of the support frame is connected to the vehicle body, the other end of the support frame is rotatably connected to the connecting member, and the guide member is fixedly connected to the connecting member;

[0011] The vehicle body is formed with a mounting cavity and a mounting through-hole connected to the mounting cavity. The guide member is movably arranged in the mounting through-hole, and the two ends of the guide member are respectively located inside and outside the mounting cavity. The nut is fixedly sleeved on the end of the guide member away from the connecting member and can abut against the inner wall of the mounting cavity; the spring is sleeved on the guide member and is compressed between the vehicle body and the connecting member.

[0012] In any of the above technical solutions, further, the vehicle body includes a quadrilateral frame and an auxiliary bracket; wherein, the number of the auxiliary brackets is two, and they are respectively connected to the opposite sides of the quadrilateral frame along the first preset direction; the first driving device is arranged on one of the auxiliary brackets, and the first guide wheel and the second guide wheel are respectively arranged on the opposite sides along the second preset direction of any of the auxiliary brackets.

[0013] In any of the above technical solutions, further, the transverse movement mechanism includes a second drive device, a transverse movement reducer, a transmission wheel mechanism and a transverse movement chain; wherein, the second drive device, the transverse movement reducer and the transverse movement chain are all arranged on the vehicle body; the second drive device is connected to the transverse movement reducer, and the transverse movement reducer drives the transverse movement chain to move along the waist-shaped trajectory through the transmission wheel mechanism.

[0014] In any of the above technical solutions, further, the moving device also includes a transverse position sensor, and the transverse position sensor is arranged on the vehicle body and close to the transverse chain.

[0015] In any of the above technical solutions, further, the vehicle body is formed with an installation space that passes through the top and bottom ends thereof along the height direction thereof, and the second driving device, the transverse speed reducer, and the transverse chain are all arranged in the installation space;

[0016] The mobile device further includes a protective cover, and the protective cover is arranged at the top opening of the installation space, and the protective cover is formed with an avoidance gap penetrating along the height direction of the installation space.

[0017] In any of the above technical solutions, further, the air duct pin removal device further includes a fixing member and a locking member; wherein the fixing member is arranged on the supporting member and is connected to the transverse movement mechanism through the locking member.

[0018] In any of the above technical solutions, further, the fixing member is a square frame, and the locking member is a connecting pin.

[0019] In any of the above technical solutions, further, the lifting transmission mechanism includes a gear and a rack; wherein the rack is slidably connected to the flip arm; the operating member is fixedly connected to the rack; the gear is fixedly connected to the driving end of the lifting drive device, and the gear is meshed with the rack.

[0020] In any of the above technical solutions, further, the air duct pin removal device also includes a first slide rail and a first slider; wherein, the first slide rail is connected to the rack, the first slider is connected to the flip arm, and the first slider is slidably matched with the first slide rail.

[0021] In any of the above technical solutions, further, the operating component includes a mounting seat and a hook head and a pin pulling head arranged on the mounting seat; wherein, the number of the pin pulling heads is two, and they are arranged on opposite sides of the mounting seat along the first preset direction; the number of the hook head is one, and it is arranged on one side of the mounting seat along the first preset direction.

[0022] In any of the above technical solutions, further, the air duct pin removal device also includes a shooting component and an angle detection component; wherein, the shooting component and the angle detection component are both arranged on the flip arm, the shooting component is used to identify the parts to be removed, and the angle detection component is used to detect the angle of the shooting component relative to the ground.

[0023] In any of the above technical solutions, further, the air duct pin removal device also includes a second slide rail and a second slider; wherein, the second slide rail is used to be fixed at the target location; and the second slider is slidably matched with the second slide rail.

[0024] In any of the above technical solutions, further, the air duct removing and pin pulling device further includes a cable fixing component, and the cable fixing component is arranged on the supporting component.

[0025] In any of the above technical solutions, further, a structure of the support member located below the lifting transmission mechanism is formed with an avoidance gap.

[0026] In any of the above technical solutions, further, the air duct pin removal device also includes a first reducer, and the first reducer is connected between the driving end of the flip drive device and the flip arm.

[0027] In any of the above technical solutions, further, the air duct pin removal device also includes a second reducer, and the second reducer is connected between the driving end of the lifting drive device and the lifting transmission mechanism.

[0028] In any of the above technical solutions, further, the air duct removing and pin pulling device further includes a flip sensor, and the flip sensor is arranged on the supporting member.

[0029] In any of the above technical solutions, further, a structure of the support member located below the lifting transmission mechanism is formed with an avoidance gap.

[0030] In any of the above technical solutions, further, the air duct removing and pinning device also includes two steel rails, and the two steel rails are respectively arranged on the inner sides of the two tracks.

[0031] Compared with the prior art, the present invention has the following advantages:

[0032] The air duct removing and pin pulling system provided in the present application can realize the actions of removing the air duct and pulling out the pins, which can effectively reduce the labor intensity of workers and improve safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. 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 any creative work.

[0034] Figure 1 A schematic diagram of the structure of the air duct removal and pin removal system provided in an embodiment of the present application;

[0035] Figure 2 Another structural diagram of the air duct pin removal system provided in an embodiment of the present application;

[0036] Figure 3 A schematic diagram of the structure of the air duct removal and pin removal system provided in an embodiment of the present application located on a rail;

[0037] Figure 4 A schematic diagram of the structure of the air duct removal and pin removal system provided in an embodiment of the present application, located between two carriages;

[0038] Figure 5 A schematic diagram of the structure of a mobile device provided in an embodiment of the present application;

[0039] Figure 6 Another structural diagram of a mobile device provided in an embodiment of the present application;

[0040] Figure 7 Another structural diagram of a mobile device provided in an embodiment of the present application;

[0041] Figure 8 for Figure 7Schematic diagram of a local enlarged structure;

[0042] Figure 9 for Figure 7 Schematic diagram of a local enlarged structure;

[0043] Figure 10 Another structural diagram of a mobile device provided in an embodiment of the present application;

[0044] Figure 11 for Figure 10 Schematic diagram of the enlarged structure at A;

[0045] Figure 12 A schematic diagram of the structure of the air duct pin removal device provided in an embodiment of the present application;

[0046] Figure 13 Another structural schematic diagram of the air duct pin removal device provided in an embodiment of the present application;

[0047] Figure 14 A schematic diagram of the partial structure of the air duct pin removal device provided in an embodiment of the present application;

[0048] Figure 15 An assembly diagram of the air duct pin removal device, vehicle chassis, and transverse movement equipment provided in an embodiment of the present application;

[0049] Figure 16 for Figure 15 Schematic diagram of the enlarged structure at point A.

[0050] Reference numerals:

[0051] 100-moving device, 1001-chassis, 1002-transverse movement mechanism, 1-vehicle body, 101-quadrilateral frame, 102-auxiliary bracket, 103-installation cavity, 104-installation space, 2-first driving device, 3-transmission mechanism, 4-driving shaft, 5-driving wheel, 7-driven wheel, 8-first guide wheel, 9-elastic buffer assembly, 901-support frame, 9011-body, 9012-first support leg, 9013-second support leg, 902-connecting member, 903-guide member, 904-spring, 905-nut, 10-second guide wheel, 11-mounting frame, 12-safety anti-collision protection member, 13-stone sweeper, 14-second driving device, 15-transverse reduction gear, 17-transverse chain, 18-transverse position sensor, 19-protective cover, 20-reducer, 21-electric control box;

[0052] 200 - Air duct pin removal device, 201 - Support member, 20011 - Avoidance gap, 202 - Flip drive device, 203 - Flip arm, 204 - Lifting drive device, 205 - Lifting transmission mechanism, 2051 - Gear, 2052 - Rack, 206 - Operating member, 2061 - Mounting seat, 2062 - Hook head, 2063 - Pin removal head, 207 - Fixing member, 208 - Locking member, 209 - First slide rail, 2010 - First slider, 2011 - Shooting member, 2012 - Angle detection member, 2013 - Second slide rail, 2014 - Second slider, 2015 - Cable fixing member, 2016 - First reducer, 2017 - Second reducer, 2018 - Flip sensor, 2019 - Fixing seat;

[0053] 300-rail, 400-carriage, 500-anti-jump pin, 600-air duct. DETAILED DESCRIPTION

[0054] 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 the embodiments.

[0055] The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in a variety of 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 claimed application, but merely represents selected embodiments of the present application.

[0056] 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.

[0057] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0058] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0059] Refer to the following Figures 1 to 16 The present invention describes an air duct removal and pin removal system according to some embodiments of the present application.

[0060] See also Figures 1 to 4 、 Figures 12 to 16 As shown, an embodiment of the present application provides an air duct removing and pinning system, comprising: a moving device 100 and an air duct removing and pinning device 200; wherein the moving device 100 comprises a vehicle chassis 1001 and a transverse movement mechanism 1002, the transverse movement mechanism 1002 being arranged on the vehicle chassis 1001, and the vehicle chassis 1001 drives the transverse movement mechanism 1002 to move along a first preset direction a; the air duct removing and pinning device 200 comprises a supporting member 201, a turning drive device 202, a turning arm 203, a lifting drive device 204, a lifting transmission mechanism 205 and an operating member 206; the supporting member 201 is connected to the transverse movement mechanism 1002, and the transverse movement mechanism 1002 is used to drive the supporting member 201 to move along a second preset direction b; the fixed end of the turning drive device 202 is connected to the supporting member 201, and the driving end of the turning drive device 202 is connected to the turning arm 203;

[0061] The fixed end of the lifting drive device 204 is connected to the flip arm 203, and the driving end of the lifting drive device 204 is connected to the operating member 206 through the lifting transmission mechanism 205. The operating member 206 is used to connect the parts to be removed on the vehicle body 1; the flip drive device 202 can drive the operating member 206 to flip within a preset angle range, and the lifting drive device 204 can drive the operating member 206 to rise and fall along the third preset direction c to remove the parts to be removed on the vehicle body 1.

[0062] In this embodiment, the air duct removing and pinning device 200 can be used to remove and pin the air duct:

[0063] (1) The action of removing the air duct

[0064] The moving device 100 drives the duct removing and pinning device 200 to move to the connection between the two carriages 400 along the track, and the transverse movement mechanism 1002 drives the duct removing and pinning device 200 to move horizontally to the bottom of the train duct 600. The flipping drive device 202 drives the flipping arm 203 to flip 90°, rotating from a horizontal state to a vertical state. At this time, the operating component 206, such as the hook head 2062 for removing the duct, is located directly below the joint of the duct 600. The lifting drive device 204 drives the hook head 2062 to move upward. According to the railway unhooking process, when the joint of the duct 600 is lifted, the duct 600 will be gradually removed, thereby completing the action of removing the duct.

[0065] (2) Pin pulling action

[0066] The moving device 100 drives the air duct pinning device 200 to move to the connection between the two carriages 400 along the track, and the transverse movement mechanism 1002 drives the air duct pinning device 200 to move transversely to the bottom of the anti-jump pin 500. The flipping drive device 202 drives the flip arm 203 to flip 90°, rotating from a horizontal state to a vertical state. At this time, the pin pulling head 2063 is located below the anti-jump pin 500, and the horizontal distance from the anti-jump pin 500 is about 50mm. The lifting drive device 204 drives the pin pulling head 2063 to move upward. When it moves to the same height as the pin, the chassis moves forward and performs the pin hanging action. At this time, the pin pulling head 2063 is inserted into the hook ring of the anti-jump pin 500, and the transverse movement mechanism 1002 drives the air duct pinning device 200 to move transversely according to the railway unhooking process. When the transverse movement distance reaches 150mm, the pin pulling action is completed.

[0067] It can be seen that the present application provides a device for assisting in removing the air duct and pulling out the pin, which can effectively reduce the labor intensity of workers and improve safety.

[0068] Furthermore, preferably, both the flip driving device 202 and the lifting driving device 204 are motors. Of course, this is not limited to this, and can also be selected according to actual needs.

[0069] Further, preferably, the first preset direction a may be the length direction of the track, but of course, it is not limited thereto.

[0070] Further, preferably, the second preset direction b may be the width direction between the two rails, or the second preset direction b may be the length direction of the rails. Of course, it is not limited thereto.

[0071] Further, preferably, the third preset direction c is a vertical direction, but of course, it is not limited thereto.

[0072] Furthermore, preferably, the air duct pin removal device 200 further includes two steel rails 300 , and the two steel rails 300 are respectively arranged on the inner sides of two corresponding train tracks, so that the moving device 100 can move along the two steel rails 300 .

[0073] In one embodiment of the present application, preferably, Figure 6 and Figure 8 As shown, the vehicle chassis 1001 includes a vehicle body 1, a first drive device 2, a transmission mechanism 3, a driving shaft 4, a driving wheel 5, a bearing, a driven shaft, a driven wheel 7, a first guide wheel 8, an elastic buffer assembly 9, and a second guide wheel 10. The driving shaft 4 is connected to the vehicle body 1 via a bearing so that the driving shaft 4 can rotate relative to the vehicle body 1. The first drive device 2 is disposed on the vehicle body 1 and connected to the driving shaft 4 via the transmission mechanism 3. There are two driving wheels 5, which are respectively connected to both ends of the driving shaft 4 along the second preset direction b. The first drive device 2 is used to drive the driving shaft 4 and the driving wheels 5 to rotate synchronously, so that the vehicle body 1 moves along the first preset direction a.

[0074] The driven shaft is rotationally connected to the vehicle body 1, and there are two driven wheels 7, which are respectively connected to the two ends of the driven shaft along the second preset direction b; there are two first guide wheels 8, which are rotatably arranged on opposite sides of the vehicle body 1 along the first preset direction a; there are two second guide wheels 10, which are respectively arranged on opposite sides of the vehicle body 1 along the first preset direction a, and any second guide wheel 10 is equipped with an elastic buffer component 9 and is rotationally connected to the vehicle body 1 through the corresponding elastic buffer component 9.

[0075] In this embodiment, the working principle of the mobile device 100 is as follows: the mobile device 100 can be arranged between two steel rails 300, and the entire equipment is located at the bottom of the carriage 400 for operation. The first drive device 2 drives the driving shaft 4 to rotate, thereby driving the driving wheel 5 to rotate, and the driving shaft 4 is connected to the car body 1 through a bearing. At the same time, the car body 1 is supported by the unpowered driven wheel 7, so that the car body 1 moves smoothly along the track, thereby driving the mechanical structure on the car body 1 to move to the specified position to complete the preset operation, such as the operation of removing the air duct, and in the process of movement of the car body 1, the first guide wheel 8 ensures that the right track in contact with it serves as the reference for the movement of the car body 1, and the second guide wheel 10 cooperates with the elastic buffer component 9 to compensate for the parallelism error of the left and right track installation.

[0076] It can be seen that the mobile device 100 provided in the present application can be arranged in the middle of the rails, and the entire equipment is located at the bottom of the carriage 400 for operation, saving on-site space, and can be moved between the two tracks, thereby facilitating simultaneous structural operations on both sides of the train set.

[0077] Furthermore, preferably, the first driving device 2 is a motor.

[0078] Furthermore, preferably, the transmission mechanism 3 may be an existing pulley transmission mechanism 3, which will not be described in detail herein.

[0079] Furthermore, preferably, the mobile device 100 further includes a reduction motor, and the first driving device 2 is connected to the transmission mechanism 3 via a reduction gear 20 .

[0080] In one embodiment of the present application, preferably, Figure 6 and Figure 8 As shown, the vehicle chassis also includes a mounting frame 11 and a safety anti-collision protection member 12; wherein, along the first preset direction a, mounting frames 11 are installed on opposite sides of the vehicle body 1, and a safety anti-collision protection member 12 is installed on any mounting frame 11, and the safety anti-collision protection member 12 extends along the second preset direction b.

[0081] In this embodiment, the two safety anti-collision protection members 12 in front and behind the vehicle body 1 are mainly responsible for the safety anti-collision protection during the movement of the vehicle body 1, and the safety anti-collision protection members 12 extend along the second preset direction b to increase the protection area and improve the protection effect.

[0082] In one embodiment of the present application, preferably, Figure 6 and Figure 8 As shown, the mobile device 100 further includes a stone sweeper 13. Both the driving wheel 5 and the driven wheel 7 are equipped with the stone sweeper 13, and the stone sweeper 13 blocks the opposite sides of the driving wheel 5 or the driven wheel 7 along the first preset direction a.

[0083] In this embodiment, the stone sweeper 13 is mainly responsible for clearing debris on the track and reducing the impact of the external environment on the movement of the vehicle body 1.

[0084] In one embodiment of the present application, preferably, Figure 6 and Figure 8 As shown, the elastic buffer assembly 9 includes a support frame 901, a connecting member 902, a guide member 903, a spring 904 and a nut 905; wherein the second guide wheel 10 is rotatably disposed on the support frame 901, one end of the support frame 901 is connected to the vehicle body 1, the other end of the support frame 901 is rotatably connected to the connecting member 902, and the guide member 903 is fixedly connected to the connecting member 902;

[0085] The vehicle body 1 is formed with an installation cavity 103 and an installation through hole connected to the installation cavity 103. The guide member 903 is movably arranged in the installation through hole, and the two ends of the guide member 903 are respectively located inside and outside the installation cavity 103. The nut 905 is fixedly mounted on the end of the guide member 903 away from the connecting member 902 and can be abutted against the inner wall of the installation cavity 103; the spring 904 is mounted on the guide member 903 and is compressed between the vehicle body 1 and the connecting member 902.

[0086] In this embodiment, under the action of the spring 904 and in conjunction with the movable guide member 903, the second guide wheel 10 can adaptively adjust its position along the first preset direction a, thereby compensating for the parallelism error of the left and right rail installations.

[0087] In one embodiment of the present application, preferably, Figure 8 As shown, the support frame 901 includes a main body 9011, a first support leg 9012 and a second support leg 9013; wherein, the first support leg 9012 and the second support leg 9013 are both connected to the main body 9011, and the two are set at an angle; the first support leg 9012 is rotationally connected to the vehicle body 1; the second support leg 9013 is rotationally connected to the connecting member 902.

[0088] In this embodiment, the body 9011 serves as the main structure supporting the second guide wheel 10 , and the first support leg 9012 and the second support leg 9013 serve as a transfer.

[0089] Further, preferably, the connecting member 902 is a U-shaped head, and the second supporting leg 9013 is inserted into the U-shaped head and is rotationally connected via an axis.

[0090] Furthermore, preferably, the guide member 903 is a round rod, and the rod is connected to the side of the U-shaped head facing away from the outlet, so as to play a guiding role.

[0091] Furthermore, preferably, the main body 9011, the first supporting leg 9012 and the second supporting leg 9013 are an integrated structure. Of course, this is not limited to this, and they may also be a split structure and connected by welding.

[0092] In one embodiment of the present application, preferably, Figure 6 and Figure 8 As shown, the vehicle body 1 includes a quadrilateral frame 101 and an auxiliary bracket 102; wherein, there are two auxiliary brackets 102, and they are respectively connected to the opposite sides of the quadrilateral frame 101 along the first preset direction a; the first driving device 2 is arranged on one of the auxiliary brackets 102, and the first guide wheel 8 and the second guide wheel 10 are respectively arranged on the opposite sides of any auxiliary bracket 102 along the second preset direction b.

[0093] In this embodiment, the vehicle body 1 adopts a frame structure, which is light in overall weight, contributing to lightweight design, and can also utilize the area inside the frame to save space.

[0094] Of course, the structure of the vehicle body 1 is not limited thereto and can also be designed according to actual needs.

[0095] In one embodiment of the present application, preferably, Figure 6 and Figure 8 As shown, the transverse mechanism 1002 includes a second drive device 14, a transverse reducer 15, a transmission wheel mechanism and a transverse chain 17; wherein, the second drive device 14, the transverse reducer 15 and the transverse chain 17 are all arranged on the vehicle body 1; the second drive device 14 is connected to the transverse reducer 15, and the transverse reducer 15 drives the transverse chain 17 to move along the waist-shaped trajectory through the transmission wheel mechanism.

[0096] In this embodiment, the second drive device 14 is interconnected with the transverse reducer 15, driving the transverse chain 17 to move along the waist-shaped trajectory, thereby driving the mechanism connected thereto, such as the air duct pin removal assembly, to move laterally, that is, along the second preset direction b, thereby moving to the designated working position.

[0097] Furthermore, preferably, the second driving device 14 is a motor.

[0098] Furthermore, preferably, the transmission wheel mechanism includes a main sprocket and a driven sprocket, both of which are existing structures and will not be described in detail here.

[0099] In one embodiment of the present application, preferably, Figure 6 and Figure 8 As shown, the moving device 100 further includes a transverse position sensor 18 , which is disposed on the vehicle body 1 and close to the transverse chain 17 .

[0100] In this embodiment, a lateral position sensor 18 is arranged to ensure the accuracy of the lateral position.

[0101] Furthermore, preferably, there are multiple lateral position sensors 18 , which are sequentially spaced apart along the second preset direction b.

[0102] In one embodiment of the present application, preferably, Figure 6 and Figure 8 As shown, the vehicle body 1 is formed with an installation space 104 that passes through the top and bottom ends thereof along its height direction, and the second driving device 14, the transverse speed reducer 15 and the transverse chain 17 are all arranged in the installation space 104;

[0103] The mobile device 100 further includes a protective cover 19 , and the protective cover 19 is disposed at the top opening of the installation space 104 , and the protective cover 19 is formed with an avoidance gap 20011 penetrating along the height direction of the installation space 104 .

[0104] In this embodiment, the second drive unit 14, transverse speed reducer 15, and transverse chain 17 are integrated within the installation space 104, fully utilizing the space while also protecting these components and meeting the requirements of the operating position. Of course, this is not limited to this, and these components can also be located on the top of the vehicle body 1, for example. The protective cover 19 protects the second drive unit 14, transverse speed reducer 15, transverse chain 17, and transverse position sensor 18. The relief notch 20011 in the protective cover 19 provides clearance for mechanisms connected to the transverse chain 17, such as the air duct pin removal assembly.

[0105] In one embodiment of the present application, preferably, Figure 14 As shown, the mobile device 100 further includes an electric control box 21 , which is fixed on the vehicle body 1 .

[0106] In one embodiment of the present application, preferably, Figure 12 and Figure 16 As shown, the air duct pin removal device 200 further includes a fixing member 207 and a locking member 208 ; wherein the fixing member 207 is disposed on the supporting member 201 and is connected to the transverse movement mechanism 1002 via the locking member 208 .

[0107] In this embodiment, the fixing member 207 can be connected to the transverse movement device through the locking member 208, thereby realizing the connection between the air duct pin removal device 200 and the transverse movement device.

[0108] In one embodiment of the present application, preferably, Figure 12 and Figure 16 As shown, the fixing member 207 is a square frame and the locking member 208 is a connecting pin.

[0109] In this embodiment, the middle portion of the transverse chain 17 is disconnected, i.e., an opening is formed. The fixed member 207, i.e., the square frame, is located within the opening. The transverse chain 17 on one side of the opening is connected to one side wall of the square frame via a locking member 208, i.e., a connecting pin. The transverse chain 17 on the other side of the opening is connected to the other side wall of the square frame via a locking member 208, i.e., a connecting pin, thereby achieving a connection between the square frame and the chain. Of course, the structure of the fixed frame and the locking member 208 is not limited to the above and can be designed according to actual needs.

[0110] In one embodiment of the present application, preferably, Figure 14As shown, the lifting transmission mechanism 205 includes a gear 2051 and a rack 2052; wherein, the rack 2052 is slidingly connected to the flip arm 203; the operating member 206 is fixedly connected to the rack 2052; the gear 2051 is fixedly connected to the driving end of the lifting drive device 204, and the gear 2051 is meshed with the rack 2052.

[0111] In this embodiment, the lifting drive device 204 can drive the gear 2051 to rotate, and the gear 2051 in turn drives the rack 2052 to move, thereby driving the operating component 206 to rise or fall, and the transmission structure of the gear 2051 and the rack 2052 is more stable, not easy to damage, and has a longer service life.

[0112] Further, preferably, the rack 2052 is arranged along the vertical direction, and the gear 2051 is arranged on one side of the rack 2052.

[0113] In one embodiment of the present application, preferably, Figure 14 As shown, the air duct pin removal device 200 also includes a first slide rail 209 and a first slider 2010; wherein the first slide rail 209 is connected to the rack 2052, the first slider 2010 is connected to the flip arm 203, and the first slider 2010 and the first slide rail 209 are slidably matched.

[0114] In this embodiment, during the movement of the rack 2052, the first slider 2010 and the first slide rail 209 slide together to play a role in guiding the movement and make the rack 2052 more stable during the movement.

[0115] In one embodiment of the present application, preferably, Figure 14 As shown, the operating member 206 includes a mounting seat 2061 and a hook head 2062 and a pin pulling head 2063 arranged on the mounting seat 2061; wherein, the number of the pin pulling heads 2063 is two, and they are arranged on opposite sides of the mounting seat 2061 along the first preset direction a; the number of the hook head 2062 is one, and it is arranged on one side of the mounting seat 2061 along the first preset direction a.

[0116] In this embodiment, the device has both a hook head 2062 and a pin pulling head 2063, so that it can perform both the operation of removing the air duct and the operation of pulling out the pin, which makes the application range of the device wider. Of course, it is not limited to this. The operating structure can also include only the hook head 2062 or only the pin pulling head 2063, or the operating component 206 can adopt other structures, which can be selected according to actual needs.

[0117] In one embodiment of the present application, preferably, Figure 12As shown, the air duct pin removal device 200 also includes a shooting component 2011 and an angle detection component 2012; wherein, the shooting component 2011 and the angle detection component 2012 are both arranged on the flip arm 203, the shooting component 2011 is used to identify the parts to be removed, and the angle detection component 2012 is used to detect the angle of the shooting component 2011 relative to the ground.

[0118] In this embodiment, the shooting component 2011 can be used as a key component to identify parts to be removed, such as air ducts or pins, and can realize the position identification, positioning and work result detection of air ducts and pins; the angle detection component 2012 can detect the angle of the shooting component 2011 relative to the ground in real time, and compensate for errors in visual recognition due to installation problems.

[0119] Furthermore, preferably, the shooting component 2011 can be a visual camera, and the angle detection component 2012 can be a gyroscope. Of course, it is not limited thereto and can be designed according to actual needs.

[0120] In one embodiment of the present application, preferably, Figure 13 As shown, the support member 201 is provided with an avoidance gap 20011 below the lifting transmission mechanism 205 .

[0121] In this embodiment, an avoidance gap 20011 is provided on the supporting member 201 below the lifting transmission mechanism 205, thereby playing a role of avoidance, avoiding interference, and ensuring the reliability of the operation of the device.

[0122] In one embodiment of the present application, preferably, Figure 12 As shown, the air duct pin removal device 200 further includes a second slide rail 2013 and a second slider 2014 ; wherein the second slide rail 2013 is used to be fixed at a target location; and the second slider 2014 is slidably engaged with the second slide rail 2013 .

[0123] In this embodiment, when the transverse movement device drives the air duct pin removal device 200 to move, the second slider 2014 moves relative to the second slide rail 2013, thereby playing a role of movement guide, making the device more stable during the movement process.

[0124] In one embodiment of the present application, preferably, Figure 14 As shown, the air duct pin removing device 200 further includes a cable fixing component 2015 , and the cable fixing component 2015 is disposed on the supporting component 201 .

[0125] In this embodiment, the cable fixing member 2015 can also be used as a cable fixing bracket for fixing electrical cables.

[0126] Furthermore, preferably, the number of the cable fixing members 2015 can be two, and they are arranged on both sides of the lifting structure. Of course, it is not limited thereto.

[0127] Furthermore, preferably, the cable fixing member 2015 is in the shape of a handle, and its opening is arranged toward the supporting member 201 , but of course, it is not limited thereto.

[0128] In one embodiment of the present application, preferably, Figure 12 As shown, the air duct pin removing device 200 further includes a first reducer 2016 , and the first reducer 2016 is connected between the driving end of the flip driving device 202 and the flip arm 203 .

[0129] In this embodiment, the first reducer 2016 is used to adjust the output speed of the flip drive device 202 to meet different usage requirements. Of course, the first reducer 2016 may not be set between the driving end of the flip drive device 202 and the flip arm 203, and the specific selection is based on actual needs.

[0130] In one embodiment of the present application, preferably, Figure 13 As shown, the air duct pin removing device 200 further includes a second reducer 2017 , and the second reducer 2017 is connected between the driving end of the lifting drive device 204 and the lifting transmission mechanism 205 .

[0131] In this embodiment, the second reducer 2017 is used to adjust the output speed of the lifting drive device 204 to meet different usage requirements. Of course, the second reducer 2017 can also be not set between the driving end of the lifting drive device 204 and the lifting transmission mechanism 205, and the specific selection is based on actual needs.

[0132] In one embodiment of the present application, preferably, Figure 12 As shown, the air duct pin removing device 200 further includes a flip sensor 2018 , and the flip sensor 2018 is disposed on the supporting member 201 .

[0133] In this embodiment, the flip sensor 2018 is used to detect the rotation angle of the flip arm 203, thereby achieving precise control.

[0134] In one embodiment of the present application, preferably, Figure 12 As shown, the air duct pin removal device 200 further includes a fixing seat 2019 , which is fixedly mounted on the supporting member 201 , and a fixed end of the flip driving device 202 is fixed on the fixing seat 2019 .

[0135] In one embodiment of the present application, preferably, Figure 12As shown, the support member 201 can be a flat plate structure with a large support area and a more stable structure. Of course, it is not limited to this and can also be selected according to actual needs.

[0136] In summary, the detailed working steps of the air duct removal and pin removal device 200 provided in this application are as follows:

[0137] (1) The action of removing the air duct

[0138] When the mobile device 100 stops, the visual camera performs a second identification of the joint features of the air duct 600. Based on the identified position results, the mobile device 100 moves to the designated position, and the transverse movement mechanism 1002 drives the air duct removal and pinning device 200 to move horizontally to the bottom of the train air duct 600. The flip drive device 202 drives the flip arm 203 to flip 90°, rotating from a horizontal state to a vertical state. At this time, the operating component 206, such as the hook head 2062 for removing the air duct, is located directly below the joint of the air duct 600. The lifting drive device 204 drives the hook head 2062 to move upward. According to the railway unhooking process, when the air duct 600 joint is lifted, the air duct 600 will be gradually removed, thereby completing the action of removing the air duct.

[0139] (2) Pin pulling action

[0140] When the mobile device 100 stops, the visual camera performs a second recognition of the features of the anti-jump pin 500. Based on the recognized position result, the mobile device 100 moves to the designated position, and the flip drive device 202 drives the flip arm 203 to flip 90°, rotating from a horizontal state to a vertical state. At this time, the pin pulling head 2063 is located below the anti-jump pin 500, and the horizontal distance from the anti-jump pin 500 is about 50mm. The lifting drive device 204 drives the pin pulling head 2063 to move upward. When it moves to the same vertical height as the pin, the mobile device 100 moves forward to perform the pin hanging action. At this time, the pin pulling head 2063 is inserted into the hook ring of the anti-jump pin 500, and the transverse movement mechanism 1002 drives the air duct pin pulling device 200 to move horizontally according to the railway hook removal process. When the transverse movement distance reaches 150mm, the pin pulling action is completed.

[0141] In combination with the above, it can be seen that the air duct removing and pinning device 200 can not only assist in the action of removing the air duct, but also assist in pulling out the pins, which can effectively reduce the labor intensity of workers and improve safety.

[0142] 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A system for removing and unpinning air ducts, characterized in that: include: A moving device and an air duct removing and pinning device; wherein the moving device includes a vehicle chassis and a transverse movement mechanism, the transverse movement mechanism is arranged on the vehicle chassis, and the vehicle chassis drives the transverse movement mechanism to move along a first preset direction; the air duct removing and pinning device includes a supporting member, a turning drive device, a turning arm, a lifting drive device, a lifting transmission mechanism and an operating member; the supporting member is connected to the transverse movement mechanism, and the transverse movement mechanism is used to drive the supporting member to move along a second preset direction; the fixed end of the turning drive device is connected to the supporting member, and the driving end of the turning drive device is connected to the turning arm; The fixed end of the lifting drive device is connected to the flip arm, and the driving end of the lifting drive device is connected to the operating member through the lifting transmission mechanism, and the operating member is used to connect to the part to be removed from the vehicle body; the flip drive device can drive the operating member to flip within a preset angle range, and the lifting drive device can drive the operating member to rise and fall along a third preset direction to remove the part to be removed from the vehicle body; The vehicle chassis includes a vehicle body, a first drive device, a transmission mechanism, a driving shaft, a driving wheel, a bearing, a driven shaft, a driven wheel, a first guide wheel, an elastic buffer assembly, and a second guide wheel; wherein the driving shaft is connected to the vehicle body via the bearing so that the driving shaft can rotate relative to the vehicle body; the first drive device is disposed on the vehicle body and connected to the driving shaft via the transmission mechanism; there are two driving wheels, which are respectively connected to both ends of the driving shaft along a second preset direction; the first drive device is used to drive the driving shaft and the driving wheels to rotate synchronously so that the vehicle body moves along the first preset direction; The driven shaft is rotatably connected to the vehicle body, the driven wheels are two in number and are respectively connected to both ends of the driven shaft along the second preset direction; the first guide wheels are two in number and are rotatably arranged on opposite sides of the vehicle body along the first preset direction; the second guide wheels are two in number and are respectively arranged on opposite sides of the vehicle body along the first preset direction, each of the second guide wheels is equipped with the elastic buffer assembly and is rotatably connected to the vehicle body through the corresponding elastic buffer assembly; The vehicle chassis further includes a mounting frame and a safety anti-collision protection member; wherein, along the first preset direction, the mounting frames are mounted on opposite sides of the vehicle body, and the safety anti-collision protection member is mounted on each of the mounting frames, and the safety anti-collision protection member extends along the second preset direction; The moving device further includes a stone sweeper, and the driving wheel and the driven wheel are both equipped with the stone sweeper, and the stone sweeper blocks the opposite sides of the driving wheel or the driven wheel along the first preset direction; The elastic buffer assembly includes a support frame, a connecting member, a guide member, a spring, and a nut; wherein the second guide wheel is rotatably disposed on the support frame, one end of the support frame is connected to the vehicle body, the other end of the support frame is rotatably connected to the connecting member, and the guide member is fixedly connected to the connecting member; The vehicle body is formed with a mounting cavity and a mounting through-hole communicating with the mounting cavity; the guide member is movably arranged in the mounting through-hole, and the two ends of the guide member are respectively located inside and outside the mounting cavity; the nut is fixedly sleeved on the end of the guide member away from the connecting member and can abut against the inner wall of the mounting cavity; the spring is sleeved on the guide member and is compressed between the vehicle body and the connecting member; The vehicle body includes a quadrilateral frame and an auxiliary bracket; wherein, the number of the auxiliary brackets is two, and they are respectively connected to the opposite sides of the quadrilateral frame along the first preset direction; the first driving device is arranged on one of the auxiliary brackets, and the first guide wheel and the second guide wheel are respectively arranged on the opposite sides along the second preset direction of any of the auxiliary brackets.

2. The air duct pin removal system according to claim 1, characterized in that: The transverse movement mechanism includes a second drive device, a transverse movement reducer, a transmission wheel mechanism and a transverse movement chain; wherein, the second drive device, the transverse movement reducer and the transverse movement chain are all arranged on the vehicle body; the second drive device is connected to the transverse movement reducer, and the transverse movement reducer drives the transverse movement chain to move along a waist-shaped trajectory through the transmission wheel mechanism.

3. The air duct pin removal system according to claim 2, characterized in that: The moving device further includes a transverse position sensor, which is arranged on the vehicle body and close to the transverse chain; The vehicle body is formed with an installation space that passes through the top and bottom ends thereof along the height direction thereof, and the second driving device, the transverse speed reducer and the transverse chain are all arranged in the installation space; The mobile device further includes a protective cover, and the protective cover is arranged at the top opening of the installation space, and the protective cover is formed with an avoidance gap penetrating along the height direction of the installation space.

4. The air duct pin removal system according to claim 1, characterized in that: The air duct pin removal device further includes a fixing member and a locking member; wherein the fixing member is provided on the supporting member and is connected to the transverse movement mechanism via the locking member; The fixing member is a square frame, and the locking member is a connecting pin.

5. The air duct pin removal system according to claim 1, characterized in that: The lifting transmission mechanism includes a gear and a rack; wherein the rack is slidably connected to the flip arm; the operating member is fixedly connected to the rack; the gear is fixedly connected to the driving end of the lifting drive device, and the gear is meshed with the rack; The air duct pin removal device further includes a first slide rail and a first slider; wherein, the first slide rail is connected to the rack, the first slider is connected to the flip arm, and the first slider is slidably engaged with the first slide rail.

6. The air duct pin removal system according to claim 1, characterized in that: The operating member includes a mounting seat and a hook head and a pin pulling head arranged on the mounting seat; wherein, the pin pulling heads are two in number and are arranged on opposite sides of the mounting seat along the first preset direction; the hook head is one in number and is arranged on one side of the mounting seat along the first preset direction.

7. The air duct pin removal system according to claim 1, characterized in that: The air duct pin removal device further includes a photographing component and an angle detection component; wherein the photographing component and the angle detection component are both provided on the flip arm, the photographing component is used to identify the part to be removed, and the angle detection component is used to detect the angle of the photographing component relative to the ground; The air duct pin removal device further includes a second slide rail and a second slider; wherein the second slide rail is used to be fixed at the target location; the second slider is slidably engaged with the second slide rail; The air duct pin removal device further includes a cable fixing member, and the cable fixing member is arranged on the support member; the support member is formed with an avoidance gap in the structure below the lifting transmission mechanism; The air duct pin removal device further includes a first reducer and a second reducer, wherein the first reducer is connected between the driving end of the flip drive device and the flip arm; the second reducer is connected between the driving end of the lifting drive device and the lifting transmission mechanism; The air duct pin removal device further includes a flip sensor, and the flip sensor is arranged on the support member; the support member is located below the lifting transmission mechanism and has an avoidance gap formed therein; The air duct pin removing device further comprises two steel rails, and the two steel rails are respectively arranged on the inner sides of the two tracks.

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