Railway wagon intelligent automatic hook lifting robot system and operation method

Abstract

The invention discloses an intelligent automatic hook lifting robot system for a railway wagon and an operation method. The intelligent automatic hook lifting robot system comprises an information system, a monitoring system, an unhooking robot trolley and an early warning system. The information system is used for collecting truck information, confirming the unhooking robot trolley needing unhooking operation according to the plan list, and calculating the time required by the truck to move from the unhooking position to the position of the corresponding unhooking robot trolley; the monitoring system is used for monitoring the action of the unhooking robot trolley and judging whether unhooking operation and unhooking conditions of the unhooking robot trolley are abnormal or not; the unhooking robot trolley is used for autonomously driving, autonomously judging an unhooking position, performing unhooking operation, autonomously returning, monitoring and sending state information of the unhooking robot trolley, receiving a control instruction and adjusting the state of the unhooking robot trolley according to the state information of the unhooking robot trolley or the control instruction; the early warning system is used for receiving and feeding back unhooking operation abnormal information and unhooking condition abnormal information of the unhooking robot trolley.

Description

Technical Field

[0001] The present invention relates to the technical field of uncoupling execution equipment for railway freight cars, and specifically refers to an intelligent automatic hook-lifting robot system and operation method for railway freight cars. Background Art

[0002] In the current railway transportation operation system, the uncoupling operation of freight cars is a frequent and crucial operation link. All along, the uncoupling work of railway freight cars mainly relies on manual labor with tools such as hook-lifting forks and uncoupling rods. In the scenario of the breakdown operation of freight cars, workers such as the coupling man need to pick up the hook-lifting fork to accurately catch the hook pin, and then pull it out forcefully to release the hook pin, so as to achieve the separation of the vehicles. In large marshalling yards such as Jiangcun Station, the coupling man has to perform a large number of breakdown tasks every day, and the work intensity is extremely high.

[0003] This manual uncoupling operation method exposes many drawbacks. From the safety aspect, when uncoupling manually, the worker needs to be in close contact with the freight car coupler, and the operation space is very narrow. Once the uncoupling operation is carried out when the freight car is not completely stopped, the worker is extremely easy to be tripped or even involved in the running equipment, posing a great risk of personal injury or death. Also, in some areas of car dumper coal unloading, the on-site environment is harsh, with coal dust everywhere. Working in such an environment for a long time seriously damages the physical health of the workers. From the efficiency aspect, the manual uncoupling process is cumbersome, and the work efficiency is easily affected by the worker's own state. For example, at night, after working for a long time, the worker's energy is exhausted, and the uncoupling efficiency will be greatly reduced. At the same time, manual uncoupling is also prone to problems such as hook dropping, hook biting, and dead hook due to operation errors. Once these problems occur, they will not only increase the workload of the shunting department, but also affect the on-time departure of freight cars, thus interfering with the efficient operation of the entire railway transportation.

[0004] In view of the problems of great potential safety hazards and low efficiency existing in the current manual uncoupling operation of railway freight cars, it is urgent to develop a new railway freight car uncoupling system. This system should have the characteristics of automation and intelligence, be able to accurately identify the state of the coupler and complete the uncoupling action, so as to effectively reduce the manual labor intensity, improve the operation safety, and ensure the efficient and stable progress of railway transportation operations. Summary of the Invention

[0005] The purpose of the present invention is to solve the deficiencies of the above background art, and provide an intelligent automatic hook-lifting robot system and operation method for railway freight cars that can automatically and accurately identify the state of the freight car coupler and complete the uncoupling operation, effectively reducing the manual labor intensity and improving the operation safety.

[0006] To achieve this purpose, the intelligent automatic hook - unhooking robot system for railway freight cars designed by the present invention includes an information system, a monitoring system, a hook - unhooking robot trolley, and a warning system; the information system is used to collect freight car information, confirm the hook - unhooking robot trolley that needs to perform hook - unhooking operations according to the work order, calculate the time required for the freight car to move from the hook - unhooking position to the position of its corresponding hook - unhooking robot trolley, and transmit this time and the freight car driving speed to the corresponding hook - unhooking robot trolley; the monitoring system is used to monitor the actions of the hook - unhooking robot trolley, judge whether there are abnormalities in the hook - unhooking operations and hook - unhooking conditions of the hook - unhooking robot trolley, and if so, feedback to the warning system; the hook - unhooking robot trolley is used to autonomously drive according to the time required for the freight car to move from the hook - unhooking position to the position of its corresponding hook - unhooking robot trolley and the freight car driving speed, autonomously judge the hook - unhooking position and perform hook - unhooking operations, autonomously return to its original position, monitor and send the status information of the hook - unhooking robot trolley, receive control instructions, and adjust the status of the hook - unhooking robot trolley according to the status information or control instructions of the hook - unhooking robot trolley; the warning system is used to receive and feedback the abnormal information of the hook - unhooking operations and hook - unhooking conditions of the hook - unhooking robot trolley.

[0007] Furthermore, the information system includes an information collection station, and inside the information collection station, there are a vehicle speed collection module, a vehicle number collection module, a work order information processing module, and an information sending module; the vehicle speed collection module is used to collect the freight car driving speed; the vehicle number collection module is used to collect the freight car number; the work order information processing module is used to confirm the hook - unhooking robot trolley that needs to perform hook - unhooking operations according to the freight car number that needs to perform hook - unhooking operations and the freight car driving speed, and calculate the time required for the freight car to move from the hook - unhooking position to the position of its corresponding hook - unhooking robot trolley; the information sending module is used to transmit the time required for the freight car to move from the hook - unhooking position to the position of its corresponding hook - unhooking robot trolley and the freight car driving speed to the corresponding hook - unhooking robot trolley.

[0008] Furthermore, the monitoring system includes a lighting device, a lidar device, a camera device, a hook - unhooking abnormality judgment module, and a data sending module; the hook - unhooking abnormality judgment module is used to judge whether there are abnormalities in the hook - unhooking operations and hook - unhooking conditions of the hook - unhooking robot trolley; the data sending module is used to send the signal that there are abnormalities in the hook - unhooking operations and hook - unhooking conditions of the hook - unhooking robot trolley to the warning system.

[0009] Furthermore, judging whether there are abnormalities in the hook - unhooking operations of the hook - unhooking robot trolley includes judging whether the hook - unhooking robot trolley does not move or whether it has abnormal driving; judging whether there are abnormalities in the hook - unhooking conditions includes judging whether there are foreign objects invading the working area of the hook - unhooking robot trolley.

[0010] Further, the hook-unhooking robot trolley includes a traveling platform, a hook-unhooking device, a speed synchronization device, and a state data generation, acquisition, processing, and transmission device; the traveling platform includes a wheel assembly and a platform main frame connected above the wheel assembly, and the hook-unhooking device, the speed synchronization device, and the state data generation, acquisition, processing, and transmission device are all arranged on the platform main frame.

[0011] Further, the hook-unhooking device includes a hook-unhooking robotic arm and a hook-unhooking clamp fixedly connected to the power output end of the hook-unhooking robotic arm; the speed synchronization device includes a speed supply swing arm and a fitting plate fixed to the power output end of the speed supply swing arm; the state data generation, acquisition, processing, and transmission device includes a positioning mechanism for positioning the position of the hook-unhooking robot trolley; a vision mechanism for collecting and processing data on the shape and position of an object and analyzing the state change of the object through real-time data collection; a scanning mechanism for calculating the position coordinates of the hook-lifting rod by scanning the hook-lifting rod area; a data transmission mechanism for real-time monitoring and transmitting all state data of the hook-unhooking robot trolley and receiving control instructions, and for performing travel planning, correction, and deviation alarm on the hook-unhooking robot trolley according to the positioning data of the positioning mechanism; an abnormal alarm for judging whether the truck has completed unhooking or not according to the truck unhooking state collected by the vision mechanism; judging the hook-lifting point and calculating the movement trajectory of the hook-lifting point according to the hook-lifting position scanned by the scanning mechanism; controlling the action of the hook-unhooking robotic arm according to the hook-lifting point and the movement trajectory of the hook-lifting point; judging whether the hook-unhooking operation is successful according to the force feedback of the hook-unhooking clamp and giving feedback on whether the hook-unhooking is successful or not; performing speed synchronization analysis and judgment on the traveling speed of the hook-unhooking robot trolley and the traveling speed of the truck and giving feedback on whether the speed synchronization is satisfied or not; an intelligent control mechanism for adjusting the state of the hook-unhooking robot trolley according to the state information or control instructions of the hook-unhooking robot trolley.

[0012] Further, the hook-unhooking clamp includes a clamp bracket connected to the power output end of the hook-unhooking robotic arm; two hook-lifting rod clamping blocks hingedly connected inside the clamp bracket and capable of clamping the hook-lifting rod through relative movement or loosening it through opposite movement, and the two hook-lifting rod clamping blocks are connected with a clamping block driving mechanism for driving their relative movement or opposite movement.

[0013] Furthermore, an operation method based on the above railway freight car intelligent automatic uncoupling robot system includes collecting freight car information, confirming the uncoupling robot trolley that needs to perform uncoupling operation according to the work order, calculating the time required for the freight car to move from the uncoupling position to the position of its corresponding uncoupling robot trolley, and transmitting this time and the freight car driving speed to the corresponding uncoupling robot trolley; monitoring the actions of the uncoupling robot trolley that needs to perform uncoupling operation, judging whether there are abnormalities in the uncoupling operation and uncoupling conditions of the uncoupling robot trolley, and if so, issuing an alarm and sending a control instruction to the uncoupling robot trolley; the uncoupling robot trolley that needs to perform uncoupling operation autonomously travels according to the time required for the freight car to move from the uncoupling position to its position and the freight car driving speed, autonomously judges the uncoupling position and performs uncoupling operation, autonomously returns to its original position, monitors and sends the state information of the uncoupling robot trolley or receives a control instruction, and adjusts the state of the uncoupling robot trolley according to the state information or control instruction of the uncoupling robot trolley.

[0014] Further, the autonomous traveling, autonomous judging of the uncoupling position and performing uncoupling operation, and autonomous returning to the original position according to the time required for the freight car to move from the uncoupling position to the position of its corresponding uncoupling robot trolley and the freight car driving speed include: when the uncoupling robot trolley reaches a specified distance from the freight car that needs to perform uncoupling operation, the uncoupling robot trolley starts. When the uncoupling robot trolley is at the uncoupling position, the uncoupling robot trolley fits with the freight car that needs to perform uncoupling operation at the same speed, the uncoupling robot trolley shuts off the engine and travels following the freight car that needs to perform uncoupling operation; the uncoupling robot trolley performs uncoupling operation; the uncoupling robot trolley starts to travel in front of the freight car that needs to perform uncoupling operation at a speed greater than the driving speed of the freight car. When the distance between the uncoupling robot trolley and the freight car that needs to perform uncoupling operation reaches a set value, the uncoupling robot trolley disengages from the freight car that needs to perform uncoupling operation and returns to its original position.

[0015] Still further, the monitoring and sending of the state information of the uncoupling robot trolley and adjusting the state of the uncoupling robot trolley according to the state information of the uncoupling robot trolley include: judging whether the uncoupling robot trolley is in an abnormal state according to the monitored and sent state information of the uncoupling robot trolley. If so, the uncoupling robot trolley stops working, releases the hook lifting rod, waits for the freight car to stop, the uncoupling robot trolley starts, and the uncoupling robot trolley travels forward a set distance to disengage from the freight car that needs to perform uncoupling operation.

[0016] The beneficial effects of the present invention are:

[0017] Significant improvement in safety performance: The system completely replaces the manual operation of uncoupling freight car couplers at close range, avoiding exposing workers to dangerous scenarios such as when the freight car is not stationary and in a narrow working space, eliminating the risk of personal injuries such as being tripped and involved in operating equipment from the root cause. At the same time, in harsh environment areas with coal dust, etc., there is no need for personnel to work for a long time, effectively protecting the health of workers and significantly reducing the risk of occupational health damage.

[0018] Substantial improvement in operation efficiency: The system accurately calculates the movement time and speed from the uncoupling position of the freight car to the uncoupling robot trolley through the information system, and combines the functions of autonomous driving, precise positioning, and rapid uncoupling of the uncoupling robot trolley to achieve efficient automated operation. Compared with manual uncoupling, it is not affected by the worker's own state such as energy and fatigue, avoids the problem of reduced operation efficiency at night, and can also eliminate situations such as hook dropping, hook biting, and dead hooks caused by manual operation errors, reducing the additional workload of the shunting department, ensuring the on-time departure of freight cars, and effectively guaranteeing the efficient operation of the railway transportation system.

[0019] High degree of intelligence and automation: The information system, monitoring system, uncoupling robot trolley, and early warning system cooperate to form a closed-loop intelligent control system. The information system automatically collects freight car information and plans the operation process; the monitoring system monitors the uncoupling operation and conditions in real time and promptly feedbacks abnormalities; the uncoupling robot trolley integrates a variety of advanced mechanisms and can independently complete the entire process operations such as driving, positioning, speed synchronization, uncoupling, and returning; the early warning system quickly responds to abnormal information to achieve automated early warning and control. This intelligent operation mode not only reduces the manual labor intensity but also improves the operation accuracy and stability.

[0020] Strong fault handling and emergency response capabilities: The system has a perfect state monitoring and abnormal handling mechanism, and monitors the state of the uncoupling robot trolley in real time through the state data generation, collection, processing, and transmission device. Once abnormal situations such as the trolley not moving, abnormal driving, or foreign objects invading the operation area are detected, it can quickly judge and execute corresponding handling strategies, such as stopping the operation, releasing the hook lifting rod, and disengaging from the freight car, to ensure operation safety and reduce the impact of faults on railway transportation.

[0021] Multi-functional integration and precise control: The uncoupling robot trolley integrates multiple functional modules such as a driving platform, an uncoupling device, and a speed synchronization device. Through the cooperation of the positioning mechanism, vision mechanism, scanning mechanism, and intelligent control mechanism, it realizes precise positioning, trajectory planning, and motion control. For example, the scanning mechanism can accurately calculate the position coordinates of the hook lifting rod, and the intelligent control mechanism plans the motion trajectory of the uncoupling robotic arm based on this data, and combines the force feedback of the uncoupling fixture to judge whether the uncoupling operation is successful, ensuring the efficient and accurate completion of the uncoupling operation. Description of the Drawings

[0022] Figure 1Stereogram of the intelligent automatic hook - lifting robot system for railway freight cars designed by the present invention;

[0023] Figure 2 Stereogram of the hook - removing robot trolley and the freight car moving at the same speed in the present invention;

[0024] Figure 3 Stereogram of the hook - removing robot trolley performing the hook - removing operation in the present invention;

[0025] Figure 4 Stereogram of the hook - removing robot trolley in the present invention;

[0026] Figure 5 Stereogram of the hook - removing fixture in the present invention;

[0027] Figure 6 Stereogram of the connection between the push rod of the hook - removing fixture and the hook - lifting rod clamp block in the present invention;

[0028] Among them, 1 - information system, 2 - monitoring system (2.1 - lighting device, 2.2 - monitoring integration device), 3 - hook - removing robot trolley (3.1 - traveling platform, 3.2 - hook - removing device, 3.3 - same - speed device, 3.4 - state data generation, acquisition, processing and transmission device), 4 - wheel assembly, 5 - platform main frame, 6 - hook - removing robotic arm, 7 - hook - removing fixture (7.1 - fixture bracket, 7.2 - hook - lifting rod clamp block, 7.3 - clamp block drive mechanism), 8 - speed - supply swing arm, 9 - fitting plate, 10 - positioning mechanism, 11 - vision mechanism, 12 - scanning mechanism, 13 - data transmission mechanism, 14 - intelligent control mechanism, 15 - hook - lifting rod, 16 - pushing slope, 17 - anti - collision radar, 18 - trolley track, 19 - push rod, 20 - omnidirectional coupling, 21 - clamp block connection seat, 22 - track wheel, 23 - freight car, 24 - freight car track, 25 - wheel, 26 - tension - compression sensor, 27 - servo motor. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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 should not be construed as a limitation of the present invention.

[0030] In some embodiments, such as Figure 1The shown intelligent automatic hook - uncoupling robot system for railway freight cars includes an information system 1, a monitoring system 2, a hook - uncoupling robot trolley 3 (a plurality of hook - uncoupling robots 3 are arranged at intervals along a trolley track 18 parallel to the freight car track 24), and an early - warning system (not shown in the figure).

[0031] The information system 1 is used to collect freight car information, confirm the hook - uncoupling robot trolley 3 that needs to perform hook - uncoupling operations according to the work order, calculate the time required for the freight car to move from the hook - uncoupling position to the position of its corresponding hook - uncoupling robot trolley 3, and transmit this time and the freight car driving speed to the corresponding hook - uncoupling robot trolley 3.

[0032] The monitoring system 2 is used to monitor the actions of the hook - uncoupling robot trolley 3, judge whether there are abnormalities in the hook - uncoupling operations and hook - uncoupling conditions of the hook - uncoupling robot trolley 3, and if so, feedback to the early - warning system.

[0033] The hook - uncoupling robot trolley 3 is used to autonomously drive according to the time required for the freight car to move from the hook - uncoupling position to the position of its corresponding hook - uncoupling robot trolley 3 and the freight car driving speed, autonomously judge the hook - uncoupling position and perform hook - uncoupling operations, autonomously return to its original position, monitor and send the state information of the hook - uncoupling robot trolley, receive control instructions, and adjust the state of the hook - uncoupling robot trolley according to the state information or control instructions of the hook - uncoupling robot trolley.

[0034] The early - warning system is used to receive and feedback the abnormal information of the hook - uncoupling operations and the abnormal information of the hook - uncoupling conditions of the hook - uncoupling robot trolley.

[0035] Embodiment 1

[0036] Provide a specific embodiment of the information system 1:

[0037] As Figure 1 shown, the information system 1 includes an information collection station, and in the information collection station, there are a vehicle speed collection module, a vehicle number collection module, a work order information processing module, and an information sending module. The vehicle speed collection module is used to collect the driving speed of the freight car. The vehicle number collection module is used to collect the vehicle number of the freight car. The work order information processing module is used to confirm the hook - uncoupling robot trolley 3 that needs to perform hook - uncoupling operations according to the vehicle number of the freight car that needs to perform hook - uncoupling operations and the driving speed of the freight car, and calculate the time required for the freight car to move from the hook - uncoupling position to the position of its corresponding hook - uncoupling robot trolley 3. The information sending module is used to transmit the time required for the freight car to move from the hook - uncoupling position to the position of its corresponding hook - uncoupling robot trolley 3 and the freight car driving speed to the corresponding hook - uncoupling robot trolley 3.

[0038] Embodiment 2

[0039] Provide a specific embodiment of the monitoring system 2:

[0040] As Figure 2As shown, the monitoring system 2 includes a lighting device 2.1 and a monitoring integration device 2.2. The monitoring integration device 2.2 includes a lidar device, a camera device, a hook unhooking abnormality judgment module, and a data sending module. The lighting device 2.1 is used for lighting. The lidar device and the camera device are used to monitor the actions of the hook unhooking robot trolley 3. The hook unhooking abnormality judgment module is used to judge whether there are abnormalities in the hook unhooking operation and hook unhooking conditions of the hook unhooking robot trolley 3. The data sending module is used to send a signal indicating that there are abnormalities in the hook unhooking operation and hook unhooking conditions of the hook unhooking robot trolley 3 to the warning system.

[0041] Among them, judging whether there is an abnormality in the hook unhooking operation of the hook unhooking robot trolley 3 includes judging whether the hook unhooking robot trolley does not move and whether it travels abnormally; judging whether there is an abnormality in the hook unhooking condition includes judging whether there is a foreign object invading the working area of the hook unhooking robot trolley 3.

[0042] Embodiment III

[0043] Provide a specific embodiment of the hook unhooking robot trolley 3:

[0044] As Figure 3 shown in FIG. 4, the hook unhooking robot trolley 3 includes a traveling platform 3.1, a hook unhooking device 3.2, a speed synchronization device 3.3, and a state data generation, acquisition, processing, and transmission device 3.4.

[0045] Among them, the traveling platform 3.1 includes a wheel assembly 4 and a platform main frame 5 connected above the wheel assembly 4. The hook unhooking device 3.2, the speed synchronization device 3.3, and the state data generation, acquisition, processing, and transmission device 3.4 are all arranged on the platform main frame 5. The wheel assembly 4 includes a trolley track 18 (arranged parallel to the freight car track 24), a plurality of track wheels 17 arranged on the trolley track 18 and connected to the lower part of the platform main frame 5 through suspension (the track wheels 17 are side track guiding wheels, which can prevent the vehicle body from tipping over. At the same time, the track wheels 17 have a suspension damping function, which can avoid excessive bumps on the rail surface and does not affect the working accuracy of other components) and a driving transmission device (not shown in the figure, including a motor, a reducer, etc.) for driving the plurality of track wheels 17 to rotate synchronously. In addition to the track type structure, the hook unhooking robot trolley 3 can also use a wheel type structure. Different from the track type structure: the wheel assembly 4 includes a plurality of wheels 25 connected to the lower part of the platform main frame 5 through suspension and a driving transmission device for driving the plurality of wheels 25 to rotate. When adopting the wheel type structure, the wheel assembly 4 is an all-terrain suspension wheel assembly with a suspension damping function to avoid excessive ground bumps affecting the working accuracy of other components.

[0046] The unhooking device 3.2 includes an unhooking robotic arm 6 and an unhooking fixture 7 fixedly connected to the power output end of the unhooking robotic arm 6. The unhooking robotic arm 6 is a six-axis robotic arm, and the structure combined with the unhooking fixture 7 can be used to grasp, lift, and flip the hook lifting rod 15, and can sense the magnitude of the applied force to ensure the reliable operation of the robot.

[0047] The speed synchronization device 3.3 includes a speed synchronization swing arm 8 and a fitting plate 9 fixedly connected to the power output end of the speed synchronization swing arm 8. The speed synchronization swing arm 8 can be driven by a power mechanism (including but not limited to a motor and a reducer) to rotate one end thereof, so that the fitting plate 9 is used to effectively fit with the end face of the freight car, and the unhooking robot trolley 3 runs at the same speed as the freight car under the push of the freight car.

[0048] The state data generation, acquisition, processing and transmission device 3.4 includes a positioning mechanism 10 for positioning the position of the hook-unhooking robot trolley (composed of a GPS positioning system, which can position the moving trolley in real time and generate positioning data); a vision mechanism 11 for collecting and processing data on the shape and position of an object, and analyzing the state change of the object through real-time data collection (composed of a 3D camera and a 2D camera, which can collect and process data on the shape and distance of the object, and analyze the state change of the object through real-time data collection); a scanning mechanism 12 for calculating the position coordinates of the hook rod 15 by scanning the hook rod area (the scanning mechanism 12 includes, but is not limited to, a radar, and is composed of a laser emission and reception device, an optical system, a scanning control system, a ranging algorithm, a data processing and output system, which can calculate the position coordinates of the hook rod by scanning the hook rod area and feedback them to the intelligent control system 14); a data transmission mechanism 13 for real-time monitoring and transmitting all state data of the hook-unhooking robot trolley 3 and receiving control instructions (composed of a wireless transmission module, which transmits all data of the hook-unhooking robot trolley 3 to the control center and monitors the data transmission status in real time to ensure the integrity of data transmission) and for performing travel planning, correction and deviation alarm on the hook-unhooking robot trolley according to the positioning data of the positioning mechanism 10 (if the hook-unhooking robot trolley 3 adopts an orbital structure, there is no need for deviation correction); judging whether the truck has completed unhooking and giving an abnormal alarm for non-unhooking according to the truck unhooking state collected by the vision mechanism 11; judging the hook point according to the hook position scanned by the scanning mechanism 12 and calculating the movement trajectory of the hook point; controlling the action of the hook-unhooking robotic arm 6 according to the hook point and the movement trajectory of the hook point; judging whether the hook-unhooking operation is successful according to the force feedback of the hook-unhooking fixture 7 and giving feedback on whether the hook-unhooking is successful or not; performing co-speed analysis and judgment on the traveling speed of the hook-unhooking robot trolley 3 and the traveling speed of the truck and giving feedback on whether the co-speed is satisfied or not; an intelligent control mechanism 14 for adjusting the state of the hook-unhooking robot trolley 3 according to the state information or control instructions of the hook-unhooking robot trolley (composed of an embedded microcontroller, a high-performance data processor, an intelligent decision-making algorithm, a communication device, etc., which can analyze and control the state of the trolley through the data transmitted back by the sensing elements configured in each component of the trolley. It includes planning correction and deviation alarm for the route after processing the positioning data; judging the truck unhooking state after processing the vision system data and giving an abnormal alarm for whether the unhooking is completed and non-unhooking; giving a hook point position judgment and calculating the movement trajectory of the hook point for the hook position after processing the lidar system data and controlling the movement of the hook-unhooking robotic arm; judging whether the hook-unhooking is successful after processing the force feedback data of the hook-unhooking fixture and giving an abnormal alarm for confirming whether the hook-unhooking is successful or not; analyzing and judging the co-speed state after processing the traveling speed data of the moving trolley and giving an abnormal alarm for confirming whether the co-speed is satisfied or not co-speed, etc.).

[0049] Such as Figure 5As shown in FIGS. 6, a specific embodiment of the hook-unhooking fixture 7 is provided:

[0050] The hook-unhooking fixture 7 includes a fixture support 7.1 connected to the power output end of the hook-unhooking robotic arm 6 (connected through an omnidirectional coupling 20 and a tension-compression sensor 26 fixed to the top of the fixture support 7.1); two clamp block connectors 21 respectively hinged to the left and right inner sides of the fixture support 7.1, two hook rod clamps 7.2 respectively hinged to the middle parts of the two clamp block connectors 21, and a push rod 19 located between the two hook rod clamps 7.2. The rear end of the push rod 19 is connected with a servo motor 27 that drives its forward and backward movement (the push rod 19 and the servo motor 27 together form a clamp block driving mechanism 7.3). When the servo motor 27 pushes the push rod 19 forward, the protrusions on the left and right sides in the middle of the push rod 19 push the hook rod clamps 7.2, and the front ends of the two hook rod clamps 7.2 open, releasing the hook rod 15. When the servo motor 27 pulls the push rod 19 backward, the protrusions on the left and right sides in the front middle of the push rod 19 push the two hook rod clamps 7.2 backward, and the front ends of the two hook rod clamps 7.2 clamp the hook rod 15.

[0051] The structure of the hook-unhooking fixture 7 is relatively complex. The above structure is only a specific embodiment of the present invention, and other fixture structures with similar structures and the same functions are also within the protection scope of the present invention, such as the hook rod clamp 7.2 driven by a lead screw-nut structure or the hook rod clamp 7.2 driven by a gear-rack structure, etc.

[0052] Embodiment 4

[0053] Based on the above railway freight car intelligent automatic hook-unhooking robot system, an operation method of the railway freight car intelligent automatic hook-unhooking robot system is provided:

[0054] Step 1: The marshaled freight cars drive into the pushing slope 16 of the hump hook-unhooking yard from the information collection station. The information collection station collects the speed parameters and freight car numbers of the marshaled freight cars, confirms the hook-unhooking robot trolley 3 that needs to perform the hook-unhooking operation according to the planned order information, and sends the speed parameters, freight car numbers, the distance and time from the hook-unhooking position to the corresponding hook-unhooking robot trolley 3 to the corresponding hook-unhooking robot trolley 3.

[0055] Step 2: The hook-unhooking robot trolley 3 that needs to perform the hook-unhooking operation waits at the prepared position. The monitoring system 2 monitors the running state of the hook-unhooking robot trolley 3 in real time through a lidar or a vision system. If situations such as the hook-unhooking robot trolley 3 not moving, abnormal driving, or foreign objects invading the operation area occur, the monitoring system 2 will trigger the warning system. After the warning system is triggered, it will first notify the marshaled freight car pushing operator to stop pushing, and then send an instruction to control the hook-unhooking robot trolley 3 to withdraw from the hook-unhooking operation state according to the real-time state of the hook-unhooking robot trolley 3 judged by the monitoring system 2, and wait for manual handling.

[0056] Step 3: When the numbered freight car to be unhooked reaches the set value from the unhooking robot trolley 3 that needs to perform the unhooking operation, the unhooking robot trolley 3 starts and maintains a reasonable speed with the freight car through the system algorithm. When the freight car and the unhooking robot trolley 3 are in the correct co-speed position relationship, the unhooking robot trolley 3 extends the speed supply swing arm 8 to fit the end of the freight car to be unhooked through the fitting plate 9.

[0057] Step 4: The driving system of the unhooking robot trolley 3 itself is automatically released, and the wheels 25 or the track wheels 22 are in a follow-up state. The freight car pushes the unhooking robot trolley 3 to travel in parallel and at the same speed through the speed supply swing arm 8. During the parallel co-speed driving stage, the 3D vision system and lidar on the unhooking robot trolley 3 scan the hook lifting rod area of the freight car to generate hook lifting position information and send it to the unhooking robotic arm 6. Through the system algorithm, the grasping position and movement trajectory of the unhooking robotic arm 6 are calculated, the unhooking robotic arm 6 is controlled to act, and the hook lifting rod 15 is clamped through the unhooking fixture 7. When the unhooking robotic arm 6 acts, force feedback data is returned to the unhooking robot trolley 3. At the same time, the vision system monitors the connection state of the coupler position. If the force feedback data exceeds the system default value, or no coupler separation phenomenon is found within the distance calculated by the system, the unhooking robot trolley 3 will stop the operation and send an alarm to the early warning system. Then the unhooking fixture 7 releases the hook lifting rod 15, retracts the unhooking robotic arm 6. After the freight car stops, the driving transmission system of the unhooking robot trolley 3 is started, so that the unhooking robot trolley 3 moves forward a distance to separate from the freight car, and then the speed supply swing arm 8 is retracted. If it is monitored that the coupler shows a separation phenomenon, the unhooking operation is confirmed through the system algorithm. After confirmation, the unhooking fixture 7 releases the hook lifting rod 15, and the hook lifting rod 15 falls back by its own weight, and the unhooking robotic arm 6 retracts to a safe position.

[0058] Step 5: After the unhooking robotic arm 6 is completely retracted, algorithm calculation is performed according to the speed feedback from the wheel assembly 4, and then the driving transmission system of the unhooking robot trolley 3 is started at a reasonable speed, so that the unhooking robot trolley 3 moves forward to separate from the freight car. When it is judged that the distance between the unhooking robot trolley 3 and the freight car reaches the set distance, the speed supply swing arm 8 retracts, and the entire unhooking operation is completed.

[0059] Step 6: The unhooking robot trolley 3 drives back to its original initial position and waits for the next unhooking instruction.

[0060] In summary, the intelligent automatic coupler unhooking robot system for railway freight cars designed by the present invention realizes automatic coupler unhooking, avoids manual close contact with the train coupler, prevents personnel from working beside a train that has not come to a complete stop, reduces the risk of being tripped and involved in equipment, and at the same time keeps the staff away from harsh environments such as coal dust, ensuring the life, health and safety of personnel. The coupler unhooking robot trolley 3 can travel autonomously, accurately position and quickly complete the coupler unhooking operation, without being affected by factors such as personnel fatigue and energy. Compared with manual coupler unhooking, it can maintain high efficiency during night or high-intensity operations, reduce human errors such as dropping the coupler and biting the coupler, reduce the repetitive workload of the shunting department, improve the train breakup efficiency, and ensure the timeliness of railway transportation. The system works in coordination with multiple sensors and the intelligent control mechanism 14 to achieve automatic control and intelligent decision-making throughout the coupler unhooking process, including autonomous path planning, coupler state recognition, trajectory calculation, operation verification, etc., reducing manual intervention, lowering the labor intensity, and improving the accuracy and stability of operations. The monitoring system monitors the running state of the trolley in real time, the early warning system responds to abnormal information in a timely manner, and the intelligent control mechanism 14 adjusts the state of the trolley according to the feedback data to ensure that in the event of equipment failures, foreign object intrusion, etc., the system can take timely measures to avoid transportation delays or safety accidents and ensure the reliable operation of railway transportation. The track-type and wheel-type structures of the coupler unhooking robot trolley 3, as well as the modular design, enable it to adapt to different track conditions and operation scenarios, and are convenient for equipment installation, maintenance and function upgrade. It can quickly adapt to different vehicle types and coupler types, improving the versatility and scenario adaptability of the system.

[0061] Here, it should be noted that the description of the above technical solutions is exemplary. This specification can be embodied in different forms and should not be construed as limited to the technical solutions described herein. On the contrary, providing these descriptions will make the disclosure of the present invention thorough and complete, and will fully convey the scope disclosed in this specification to those skilled in the art. In addition, the technical solutions of the present invention are only limited by the scope of the claims. When using "including", "having" and "comprising" described in this specification, there may also be another part or other parts. The terms used can usually be singular but can also represent plural forms. Finally, it should be pointed out that the above embodiments are only relatively representative examples of the present invention. Obviously, the present invention is not limited to the above embodiments and there can be many variations. Any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention should be considered as belonging to the protection scope of the present invention.

Claims

1. An intelligent automatic hook - lifting robot system for railway freight cars, characterized in that: It includes an information system (1), a monitoring system (2), a hook - unhooking robot trolley (3), and an early - warning system; The information system (1) is used to collect truck information, confirm the hook - unhooking robot trolley (3) that needs to perform hook - unhooking operations according to the work order, calculate the time required for the truck to move from the hook - unhooking position to the position of its corresponding hook - unhooking robot trolley (3), and transmit this time and the truck driving speed to the corresponding hook - unhooking robot trolley (3); The monitoring system (2) is used to monitor the actions of the hook - unhooking robot trolley (3), judge whether there are abnormalities in the hook - unhooking operation and hook - unhooking conditions of the hook - unhooking robot trolley (3), and if so, feedback to the early - warning system; The hook - unhooking robot trolley (3) is used to autonomously drive according to the time required for the truck to move from the hook - unhooking position to the position of its corresponding hook - unhooking robot trolley (3) and the truck driving speed, autonomously judge the hook - unhooking position and perform hook - unhooking operations, autonomously return to its original position, monitor and send the state information of the hook - unhooking robot trolley, receive control instructions, and adjust the state of the hook - unhooking robot trolley according to the state information or control instructions of the hook - unhooking robot trolley; The early - warning system is used to receive and feedback the abnormal information of the hook - unhooking operation and the abnormal information of the hook - unhooking conditions of the hook - unhooking robot trolley.

2. The intelligent automatic coupler lifting robot system for railway freight cars according to claim 1, wherein: The information system (1) includes an information collection station, and in the information collection station, there are a vehicle speed collection module, a vehicle number collection module, a work order information processing module, and an information sending module; The vehicle speed collection module is used to collect the truck driving speed; The vehicle number collection module is used to collect the truck number; The work order information processing module is used to confirm the hook - unhooking robot trolley (3) that needs to perform hook - unhooking operations according to the truck number of the truck that needs to perform hook - unhooking operations and the truck driving speed, and calculate the time required for the truck to move from the hook - unhooking position to the position of its corresponding hook - unhooking robot trolley (3); The information sending module is used to transmit the time required for the truck to move from the hook - unhooking position to the position of its corresponding hook - unhooking robot trolley (3) and the truck driving speed to the corresponding hook - unhooking robot trolley (3).

3. The intelligent automatic coupler lifting robot system for railway freight cars according to claim 1, characterized in that: The monitoring system (2) includes a lighting device (2.1), a lidar device, a camera device, a hook - unhooking abnormality judgment module, and a data sending module; The hook - unhooking abnormality judgment module is used to judge whether there are abnormalities in the hook - unhooking operation and hook - unhooking conditions of the hook - unhooking robot trolley (3); The data sending module is used to send the signal that there are abnormalities in the hook - unhooking operation and hook - unhooking conditions of the hook - unhooking robot trolley (3) to the early - warning system.

4. The intelligent automatic coupler lifting robot system for railway freight cars according to claim 3, wherein: Judging whether there are abnormalities in the hook - unhooking operation of the hook - unhooking robot trolley (3) includes judging whether the hook - unhooking robot trolley does not move or whether it moves abnormally; judging whether there are abnormalities in the hook - unhooking conditions includes judging whether there are foreign objects invading the working area of the hook - unhooking robot trolley (3).

5. The intelligent automatic coupler lifting robot system for railway freight cars according to claim 1, wherein: The hook - unhooking robot trolley (3) includes a driving platform (3.1), a hook - unhooking device (3.2), a speed - matching device (3.3), and a device for generating, collecting, processing, and transmitting state data (3.4); The traveling platform (3.1) includes a wheel assembly (4) and a platform main frame (5) connected above the wheel assembly (4). The hook detaching device (3.2), the speed synchronization device (3.3), and the state data generation, collection, processing, and transmission device (3.4) are all arranged on the platform main frame (5).

6. The intelligent automatic coupler lifting robot system for railway freight cars according to claim 5, wherein: The hook detaching device (3.2) includes a hook detaching robotic arm (6) and a hook detaching clamp (7) fixedly connected to the power output end of the hook detaching robotic arm (6). The speed synchronization device (3.3) includes a speed supply swing arm (8) and a fitting plate (9) fixed to the power output end of the speed supply swing arm (8). The state data generation, collection, processing, and transmission device (3.4) includes a positioning mechanism (10) for positioning the position of the hook detaching robot trolley; a vision mechanism (11) for collecting and processing data on the shape and position of an object and analyzing the state change of the object through real-time data collection; a scanning mechanism (12) for calculating the position coordinates of the hook lifting rod (15) by scanning the hook lifting rod area; a data transmission mechanism (13) for real-time monitoring and transmitting all state data of the hook detaching robot trolley (3) and receiving control instructions; and an intelligent control mechanism (14) for performing travel planning, correction, and deviation alarm on the hook detaching robot trolley according to the positioning data of the positioning mechanism (10); judging whether the truck has completed hook detachment or not based on the hook detachment state of the truck collected by the vision mechanism (11) and giving an abnormal alarm; judging the hook lifting point according to the hook lifting position scanned by the scanning mechanism (12) and calculating the motion trajectory of the hook lifting point; controlling the action of the hook detaching robotic arm (6) according to the hook lifting point and the motion trajectory of the hook lifting point; judging whether the hook detaching operation is successful based on the force feedback of the hook detaching clamp (7) and giving feedback on whether the hook detaching is successful or not; performing speed synchronization analysis and judgment on the traveling speed of the hook detaching robot trolley (3) and the traveling speed of the truck and giving feedback on whether the speed synchronization is satisfied or not; and adjusting the state of the hook detaching robot trolley (3) according to the state information or control instructions of the hook detaching robot trolley.

7. The intelligent automatic coupler unhooking robot system for railway freight cars according to claim 6, characterized in that: The hook detaching clamp (7) includes a clamp bracket (7.1) connected to the power output end of the hook detaching robotic arm (6); two hook lifting rod clamping blocks (7.2) hingedly connected inside the clamp bracket (7.1) and capable of clamping the hook lifting rod (15) through relative movement or loosening it through opposite movement. The two hook lifting rod clamping blocks (7.2) are connected with a clamping block driving mechanism (7.3) for driving their relative movement or opposite movement.

8. An operating method of the intelligent automatic coupler lifting robot system for railway freight cars according to any one of claims 1 to 7 above, characterized in that: It includes a hook detaching robot trolley (3) that collects truck information and confirms the need for hook detaching operation according to the work order, calculates the time required for the truck to move to the position of its corresponding hook detaching robot trolley (3) at the hook detaching position, and transmits this time and the truck traveling speed to the corresponding hook detaching robot trolley (3). Monitor the actions of the hook detaching robot trolley (3) that needs to perform hook detaching operation, judge whether there are abnormalities in the hook detaching operation and hook detaching conditions of the hook detaching robot trolley (3). If so, issue an alarm and send a control instruction to the hook detaching robot trolley (3). The uncoupling robot trolley (3) that needs to perform the uncoupling operation autonomously travels, autonomously determines the uncoupling position and performs the uncoupling operation, autonomously returns to its original position, monitors and sends the state information of the uncoupling robot trolley, or receives control instructions, and adjusts the state of the uncoupling robot trolley according to the state information or control instructions of the uncoupling robot trolley, based on the time required for the uncoupling robot trolley to move to the position of the truck's uncoupling position and the driving speed of the truck.

9. The operation method of the intelligent automatic coupler lifting robot system for railway freight cars according to claim 8, characterized in that: The autonomous driving, autonomous determination of the uncoupling position and performance of the uncoupling operation, and autonomous return to the original position according to the time required for the uncoupling robot trolley to move to its corresponding position based on the truck's uncoupling position and the driving speed of the truck include: When the uncoupling robot trolley (3) reaches a specified distance from the truck that needs to perform the uncoupling operation, the uncoupling robot trolley (3) starts. When the uncoupling robot trolley (3) is in the uncoupling position, the uncoupling robot trolley (3) moves at the same speed as and adheres to the truck that needs to perform the uncoupling operation, and the uncoupling robot trolley (3) shuts off and travels following the truck that needs to perform the uncoupling operation; the uncoupling robot trolley (3) performs the uncoupling operation; the uncoupling robot trolley (3) starts and travels in front of the truck that needs to perform the uncoupling operation at a speed greater than the driving speed of the truck. When the distance between the uncoupling robot trolley (3) and the truck that needs to perform the uncoupling operation reaches a set value, the uncoupling robot trolley (3) disengages from the truck that needs to perform the uncoupling operation and returns to its original position.

10. The operation method of the intelligent automatic coupler lifting robot system for railway freight cars according to claim 8, characterized in that: The monitoring and sending of the state information of the uncoupling robot trolley and the adjustment of the state of the uncoupling robot trolley (3) according to the state information of the uncoupling robot trolley include: judging whether the uncoupling robot trolley (3) is in an abnormal state according to the monitored and sent state information of the uncoupling robot trolley. If so, the uncoupling robot trolley (3) stops working, releases the hook lifting rod, waits for the truck to stop, the uncoupling robot trolley (3) starts, and the uncoupling robot trolley (3) travels forward a set distance and disengages from the truck that needs to perform the uncoupling operation.

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