Robot guiding device for train coupler pin pulling and air picking pipe

Abstract

The invention belongs to the technical field of robot guiding, and particularly relates to a robot guiding device for a train coupler pin pulling and air picking pipe, the robot guiding device comprises a guiding mechanism and a plurality of robots of different models, the guiding mechanism comprises a guide rail and a sliding block, and the sliding block is slidably connected to the inner wall of the guide rail; the multiple robots of different models are connected to the guide rail through the same sliding block. The sliding block comprises four brake pads, holes are formed in the upper portions and the lower portions of the front side and the rear side of the sliding block correspondingly, connecting rods are fixed to the inner ends of the four brake pads correspondingly, the connecting rods are slidably connected into the holes, wedge-shaped ejector blocks are fixed to the inner ends of the connecting rods, threaded holes are formed in the left side of the sliding block, and threaded rods are connected into the threaded holes in a threaded mode. The device solves the problems that when a current robot guiding device guides a robot, the stability of the robot after stopping is poor, the robot is affected by inertia, the service life of the robot is affected, and the guiding device is complex in structure and high in manufacturing cost.

Description

Technical Field

[0001] The invention belongs to the technical field of robot guidance, and in particular relates to a robot guidance device for removing train coupler pins and air ducts. Background Art

[0002] Currently, the work of removing train couplers and air ducts is completed fully automatically by robots. Generally, the robot moves to the position through a guide device and then removes the train coupler pins and air ducts. The robot moves quickly, so the inertia generated after stopping is large. Because different robot models have varying weights, they experience varying inertia when they stop after moving through a guide device. Generally, heavier robots experience greater inertia, causing the robot's position to shift, affecting the robot's subsequent motion trajectory and leading to failures in train coupler pin removal and air duct removal. Furthermore, currently available guide devices are complex or have limited functionality, failing to achieve efficient deceleration and buffering. This phenomenon has become a pressing issue for researchers in this field. Summary of the Invention

[0003] The object of the present invention is to provide a robot guide device for removing train coupler pins and air ducts to solve the problems raised in the above-mentioned background technology.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: a robot guide device for removing train coupler pins and air ducts, comprising a guide mechanism and several different models of robots, wherein the guide mechanism comprises a guide rail and a slider, the slider being slidably connected to the inner wall of the guide rail, and the several different models of robots are all connected to the guide rail using the same slider; the slider comprises four brake pads, and holes are formed on the upper and lower sides of the front and rear sides of the slider, the inner ends of the four brake pads are fixed with connecting rods, and the connecting rods are slidably connected in the holes, and the inner ends of the connecting rods are fixed with wedge-shaped top blocks, a threaded hole is formed on the left side of the slider, and a threaded rod is threadedly connected in the threaded hole, two limit blocks are fixed to the outer side of the threaded rod, and a collar is provided between the two limit blocks, a sleeve rod is fixed to the front and rear sides of the sleeve, and a wedge block is fixed to the outer end of the sleeve rod, each wedge block is located between two wedge blocks, when the threaded rod rotates, the wedge block contacts the wedge block, and the brake pad contacts the inner wall of the guide rail, and the right end of the guide rail is inclined.

[0005] The present invention further describes that a through hole is opened on the right side of the slider, and a sleeve is slidably connected in the through hole, a sliding plug is slidably connected to the inner wall of the sleeve, a push-pull rod is connected to the left side of the sliding plug, and the left end of the push-pull rod is spherical; a spring is fixed between the right side of the sliding plug and the right side of the inner wall of the sleeve.

[0006] The present invention further describes that a threaded hole is also provided in the middle of the threaded rod, and a screw is threadedly connected in the threaded hole. The right end of the screw is spherical, and after the sleeve moves, it contacts the left end of the push-pull rod.

[0007] The present invention further describes that each rotation of the threaded rod is a full circle, and the outer diameter of the left end of the sleeve is larger than the outer diameter of other parts of the sleeve, that is, after the sleeve moves to the extreme position to the right, the outer side of its left end is in contact with the inner wall of the slider.

[0008] The present invention further describes that a boss is provided at the right end of the screw, and a groove is provided at the spherical part at the left end of the push-pull rod. After the screw is rotated a quarter of a turn, the boss is embedded in the groove; an arc groove is provided on one side of the sliding plug, and an arc block is provided on the outer side of the right end of the push-pull rod. The sliding plug is made of silicone material.

[0009] The present invention further describes that the interior of the sleeve rod is hollow, and a round block is slidably connected to the inner wall, and the outer end of the round block is fixedly connected to the inner end of the wedge block.

[0010] The present invention further states that a hose is connected between the right end of the sleeve and the interior of the sleeve rod, and a connecting portion at one end of the hose is located on the inner side of the round block.

[0011] The present invention further describes that the wedge-shaped portion of the wedge block is inclined to the right and to the outside.

[0012] Compared with the prior art, the present invention has the following beneficial effects: by controlling the number of turns of the threaded rod, the friction between the brake pad and the inclined portion of the guide rail is controlled, thereby ensuring the stability of the robot when it stops moving, and avoiding the robot from shaking due to large inertia after stopping, which affects the service life of the internal electronic components. Moreover, after multiple train coupler pin removal and air duct removal operations, the brake pad is relatively worn, so the position of the brake pad can be adjusted to keep the robot stably stopped at all times, maximizing the utilization of the brake pad. The slider is universally compatible with all types of robots, and there is no need to replace the guide mechanism due to different robot weights. The guide device adopted in this solution is universally compatible with all types of train coupler pin removal and air duct removal robots. The high buffer strength during braking overcomes the strong inertia generated by high-intensity braking, allowing the robot to stop more stably. The overall structure is simple, and the service life of most internal structures can be maximized, thereby significantly reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the internal structure of the guide rail of the present invention; Figure 3 It is a partial schematic diagram of the internal structure of the slider of the present invention; Figure 4 It is a schematic diagram of the overall internal structure of the slider of the present invention; Figure 5 It is a schematic diagram of the internal structure of the sleeve and the threaded rod of the present invention; Figure 6 It is a partial structural exploded view of the present invention; Figure 7 It is an exploded view of the sleeve structure of the present invention; Figure 8 Schematic diagram of the sleeve movement process of the first and third embodiments of the present invention; Figure 9 is a schematic diagram of a fourth embodiment of the present invention; Figure 10 It is a schematic diagram of the process of the wedge block of the present invention moving to the right; Figure 11 This is a schematic diagram of the process of the wedge-shaped block of the present invention moving outward; Figure 12 is a schematic diagram of a wedge block of the present invention; In the figure: 1. Guide rail; 2. Slider; 21. Brake pad; 22. Wedge-shaped top block; 23. Threaded rod; 231. Limit block; 232. Collar; 233. Sleeve rod; 234. Wedge block; 24. Sleeve; 241. Slider; 242. Push-pull rod; 243. Spring; 244. Arc block; 25. Screw; 26. Round block. DETAILED DESCRIPTION

[0014] The following is a non-limiting detailed description of the technical solutions of the present invention in conjunction with preferred embodiments and the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0015] See also Figures 1-12 The present invention provides a technical solution: a robot guide device for removing train coupler pins and air ducts, comprising a guide mechanism and several different types of robots, wherein the guide mechanism comprises a guide rail 1 and a slider 2, the slider 2 being slidably connected to the inner wall of the guide rail 1, and the several different types of robots all use the same slider 2 to be connected to the guide rail 1; The slider 2 includes four brake pads 21, and holes are provided on the upper and lower sides of the front and rear sides of the slider 2. The inner ends of the four brake pads 21 are fixed with connecting rods, and the connecting rods are slidably connected to the holes. The inner end of the connecting rod is fixed with a wedge-shaped top block 22. A threaded hole is provided on the left side of the slider 2, and a threaded rod 23 is threadedly connected to the threaded hole. Two limit blocks 231 are fixed to the outer side of the threaded rod 23, and a collar 232 is provided between the two limit blocks 231. A sleeve rod 233 is fixed on the front and rear sides of the sleeve rod 232. A wedge block 234 is fixed to the outer end of the sleeve rod 233. Each wedge block 234 is located between the two wedge top blocks 22. After the threaded rod 23 rotates, the wedge block 234 contacts the wedge top block 22, and the brake pads 21 contact the inner wall of the guide rail 1, and the right end of the guide rail 1 is inclined; The robot is mounted on the slider 2, which slides on the guide rail 1 to guide the robot. When the robot moves to the designated position, it performs the work of unpinning the train coupler and removing the air duct. Different models of robots have different weights, and different inertias are generated during the process of stopping. According to the inertia generated by the weight of the robot, the operator can rotate the threaded rod 23 to rotate it through the threaded hole, moving it to the right while rotating. The threaded rod 23 moves the ring 232 back and forth through the limit block 231, and the ring 232 drives the wedge block 234 to move forward through the rod 233. After the wedge block 234 contacts the wedge top block 22, the brake pad 21 is lifted up by the wedge top block 22. Figure 10 As shown, when the robot moves to the right side of the guide rail 1, that is, reaches the designated position, the brake pad 21 contacts and rubs against the inclined portion of the guide rail 1. By controlling the number of turns of the threaded rod 23, the friction between the brake pad 21 and the inclined portion of the guide rail 1 is controlled. This ensures the robot's stability when it stops moving, and prevents the robot from shaking due to large inertia after stopping, which affects the service life of internal electronic components. In addition, after multiple train coupler removal operations and air duct removal operations, the brake pad 21 is relatively worn. Therefore, the position of the brake pad 21 can be adjusted to keep the robot stably stopped at all times, maximizing the utilization of the brake pad 21. The slider 2 can be used with all types of robots, and there is no need to replace the guide mechanism due to different robot weights. The guide device used in this solution can be used with all types of train coupler pin removal and air duct removal robots.

[0016] A through hole is formed on the right side of the slider 2, and a sleeve 24 is slidably connected to the through hole. A sliding plug 241 is slidably connected to the inner wall of the sleeve 24. A push-pull rod 242 is connected to the left side of the sliding plug 241. The left end of the push-pull rod 242 is spherical. A spring 243 is fixed between the right side of the sliding plug 241 and the right side of the inner wall of the sleeve 24;

[0017] In the first embodiment, when the slider 2 moves to the rightmost position of the guide rail 1, that is, the robot reaches the position of pulling out the pin of the train coupler and removing the air duct, the brake pad 21 contacts the inclined part of the guide rail 1 and rubs against each other to perform preliminary deceleration. At the same time, the right end of the sleeve 24 contacts and squeezes the right side of the inner wall of the guide rail 1. The sleeve 24 slides through the through hole, and the left end of the push-pull rod 242 contacts the right side of the threaded rod 23, thereby squeezing each other. The push-pull rod 242 is subjected to force to deform the spring 243, thereby performing force unloading and buffering, further decelerating, which can greatly improve the stability of the robot when it stops after moving to the specified position. Figure 8 The first part is shown.

[0018] A threaded hole is also formed in the middle of the threaded rod 23, and a screw rod 25 is threadedly connected to the threaded hole. The right end of the screw rod 25 is spherical, and after the sleeve 24 moves, it contacts the left end of the push-pull rod 242.

[0019] In the second embodiment, when the threaded rod 23 moves forward and adjusts the lifting height of the wedge-shaped top block 22, the threaded rod 23 moves forward and pushes the sleeve 24 forward through the push-pull rod 242. After the slider 2 moves to the train coupler pin removal and air duct removal position, the sleeve 24 can be further decelerated in advance, and the displacement distance of the sleeve 24 is reduced. When the sleeve 24 contacts the right end of the guide rail 1, the spherical part of the right end of the screw rod 25 applies a force to the push-pull rod 242. At the same time, the right side of the guide rail 1 applies a force to the right end of the sleeve 24, which can make the screw rod 25 contact the push-pull rod 242 faster and make the slide plug 241 strengthen the force of the spring 243, thereby improving the buffering strength. While improving the braking strength, the buffering can be further offset. The influence of inertia on the movement of the robot can be further offset, thereby improving the service life of the robot.

[0020] Each rotation of the threaded rod 23 is a full turn, and the outer diameter of the left end of the sleeve 24 is larger than the outer diameter of the other parts of the sleeve 24. That is, after the sleeve 24 moves to the right to the extreme position, the outer side of its left end is in contact with the inner wall of the slider 2;

[0021] In the third embodiment, after the threaded rod 23 moves to the limit position, the strength of the brake is maximized, and at the same time, the sleeve 24 is pushed to the right to the limit position through the screw rod 25. At this time, the outer side of the left end of the sleeve 24 is in contact with the inner wall of the slider 2, and the deceleration is earlier. When the right end of the sleeve 24 contacts the right side of the guide rail 1, the distance that the slide 241 can move increases, and the force acting on the spring 243 is greater, which further improves the buffering strength during braking, overcomes the strong inertia generated by high-intensity braking, and the robot can stop more stably. The state of the sleeve 24, such as Figure 8 As shown, it changes from the second part to the third part.

[0022] The right end of the screw 25 is provided with a boss, and the left end of the push-pull rod 242 is provided with a groove. After the screw 25 rotates a quarter of a turn, the boss is embedded in the groove. A circular arc groove is provided on one side of the sliding plug 241, and a circular arc block 244 is provided on the outer side of the right end of the push-pull rod 242. The sliding plug 241 is made of silicone material;

[0023] In the fourth embodiment, after the sliding plug 241 has moved back and forth many times, its outer ring is severely worn, resulting in a decrease in friction strength. Or when there is no wear, the screw 25 can be rotated so that the boss of the screw 25 is embedded in the groove of the spherical part of the push-pull rod 242, and the screw 25 is further rotated so that the screw 25 drives the push-pull rod 242 to rotate, and its outer arc block 244 rotates around its center and squeezes the inner wall of the arc groove of the sliding plug 241, pushing the sliding plug 241 outward to expand it, thereby increasing the friction between the sliding plug 241 and the inner wall of the sleeve 24. Figure 9 As shown, on the one hand, the buffer is further enhanced, and on the other hand, the influence of excessive wear of the sliding plug 241 on the subsequent operation is avoided, and the sliding plug 241 is fully utilized to reduce its replacement frequency and reduce costs.

[0024] The interior of the sleeve rod 233 is hollow, and a round block 26 is slidably connected to the inner wall. The outer end of the round block 26 is fixedly connected to the inner end of the wedge block 234.

[0025] The right end of the sleeve 24 is connected to the inside of the sleeve rod 233 by a hose, and one end of the hose connection part is located inside the round block 26; When the sliding plug 241 slides along the inner wall of the sleeve 24, the gas on one side of the sliding plug 241 is squeezed and enters the sleeve rod 233 through the hose. The air pressure pushes the round block 26 to move, and the wedge block 234 moves outward through the round block 26, so that the wedge-shaped top block 22 can be further lifted, the braking strength is higher, and the wedge-shaped top block 22 is fully utilized.

[0026] The wedge-shaped portion of the wedge block 234 is inclined to the right and outward.

[0027] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0028] Finally, it should be noted that the above embodiments are intended only to illustrate the technical solutions of the present invention and are not intended to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will appreciate that modifications may be made to the technical solutions described in the aforementioned embodiments, or that some of the technical features may be replaced with equivalents. Such modifications or replacements do not deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A robot guide device for removing train coupler pins and air ducts, comprising a guide mechanism and several different types of robots, characterized by: The guide mechanism comprises a guide rail (1) and a slider (2), wherein the slider (2) is slidably connected to the inner wall of the guide rail (1), and several robots of different models all use the same slider (2) to be connected to the guide rail (1); The slider (2) includes four brake pads (21), and holes are provided on the upper and lower sides of the front and rear sides of the slider (2). The inner ends of the four brake pads (21) are fixed with connecting rods, and the connecting rods are slidably connected in the holes. The inner ends of the connecting rods are fixed with wedge-shaped top blocks (22). The left side of the slider (2) is provided with a threaded hole, and a threaded rod (23) is threadedly connected in the threaded hole. Two limit blocks (231) are fixed on the outer side of the threaded rod (23), and the two limit blocks ( A collar (232) is provided between the guide rail (231), and sleeve rods (233) are fixed to the front and rear sides of the collar (232), and wedge blocks (234) are fixed to the outer ends of the sleeve rods (233). Each wedge block (234) is located between two wedge-shaped top blocks (22). After the threaded rod (23) rotates, the wedge block (234) contacts the wedge-shaped top block (22), and the brake pad (21) contacts the inner wall of the guide rail (1), and the right end of the guide rail (1) is inclined.

2. The robot guide device for removing train coupler pins and air ducts according to claim 1, characterized in that: A through hole is provided on the right side of the slider (2), and a sleeve (24) is slidably connected in the through hole. A sliding plug (241) is slidably connected to the inner wall of the sleeve (24). A push-pull rod (242) is connected to the left side of the sliding plug (241), and the left end of the push-pull rod (242) is spherical. A spring (243) is fixed between the right side of the sliding plug (241) and the right side of the inner wall of the sleeve (24).

3. The robot guide device for removing train coupler pins and air ducts according to claim 2, characterized in that: A threaded hole is also provided in the middle of the threaded rod (23), and a screw rod (25) is threadedly connected in the threaded hole. The right end of the screw rod (25) is spherical, and the sleeve (24) contacts the left end of the push-pull rod (242) after moving.

4. The robot guide device for removing train coupler pins and air ducts according to claim 3, characterized in that: Each rotation of the threaded rod (23) is a full turn, and the outer diameter of the left end of the sleeve (24) is larger than the outer diameter of the other parts of the sleeve (24), that is, after the sleeve (24) moves to the right to the extreme position, the outer side of the left end fits with the inner wall of the slider (2).

5. The robot guide device for removing train coupler pins and air ducts according to claim 4, characterized in that: The right end of the screw rod (25) is provided with a boss, and the spherical portion of the left end of the push-pull rod (242) is provided with a groove. After the screw rod (25) rotates a quarter of a turn, the boss is embedded in the groove. A circular arc groove is provided on one side of the sliding plug (241), and a circular arc block (244) is provided on the outer side of the right end of the push-pull rod (242). The sliding plug (241) is made of silicone material.

6. The robot guide device for removing train coupler pins and air ducts according to claim 5, characterized in that: The interior of the sleeve rod (233) is hollow, and a round block (26) is slidably connected to the inner wall. The outer end of the round block (26) is fixedly connected to the inner end of the wedge block (234).

7. The robot guide device for removing train coupler pins and air ducts according to claim 6, characterized in that: The right end of the sleeve (24) is connected to the inside of the sleeve rod (233) via a hose, and a connecting portion at one end of the hose is located inside the round block (26).

8. The robot guide device for removing train coupler pins and air ducts according to claim 7, characterized in that: The wedge-shaped portion of the wedge-shaped block (234) is inclined to the right and outward.

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