Detachable unhooking and rehooking robot mechanism for carriage

Abstract

The invention belongs to the field of unhooking and rehooking robots, and particularly relates to a detachable unhooking and rehooking robot mechanism for a carriage. The bottom of the connecting flange is fixedly connected with a first clamp base body, and the side face of the first clamp base body is fixedly connected with a second clamp base body. The threaded connecting ring is driven to move through the stud, the transmission efficiency and precision of the first reinforcement clamping rod and the second reinforcement clamping rod are improved, the reinforcement clamping jaws are driven to rotate, the reinforcement clamping jaws can clamp an object and can also be used as a hook at the same time, a cutter is arranged, when the cutter is subjected to large impact and rotates in the unhooking process, a safety belt is slightly cut off, and the safety belt is prevented from being damaged. The situation that the second hook body is not cut off due to insufficient impact force is prevented, the mechanical arm is protected against damage, after the cutter is lowered, the second hook body needs to bear large impact force to cut off the safety pin during rotation, and the degree of the impact force borne by the second hook body during unhooking can be changed.

Description

Technical Field

[0001] The invention relates to the field of robots for removing and reattaching hooks, in particular to a robot mechanism for a detachable reattaching hook for a carriage. Background Art

[0002] In the energy industry, trains are often used to transport coal. Train cars are securely connected by James-type couplers. When unloading coal using a car dumper, the air ducts of the front and rear cars must be disconnected from the couplers. After the dumper has unloaded the coal, the disconnected cars must be reconnected. This involves uncoupling and reconnecting the couplers between the two cars, as well as removing the air ducts. This process is referred to in the industry as "uncoupling and reconnecting" the train cars.

[0003] The structural characteristics of a Zhan-type coupler are that it consists of a head, a shank, and a tail. The thick front portion of the coupler is called the head, which houses the hook tongue, hook tongue pin, locking pin, tongue pusher, and hook lock. The rear portion of the coupler, called the tail, features a vertical, flat locking hole for connection to the tail frame. To connect or disconnect vehicles, the coupler has three positions: the locked position, in which the hook tongue is prevented from swinging outward by the hook lock. This position is used when coupling two vehicles. The unlocked position, in which the hook lock is raised, allows the hook tongue to swing outward as soon as tension is applied. During uncoupling, as long as one of the couplers is in the unlocked position, the two vehicles can be separated. Depending on how the hook iron is raised, the coupler is classified as either top-acting or bottom-acting. The upper-action coupler is opened by the lifting mechanism on the upper part of the coupler head (most trucks use this method); the lower-action coupler is opened by the action of the push-up lever on the lower part of the coupler head (used on passenger cars and some trucks). The fully open position is the position where the coupler tongue has been fully rotated outward. When two vehicles need to be connected, as long as one of the couplers is in the fully open position, it can be connected after colliding with the other coupler. Problems in the technical background: The current clamp of the hook-picking robot does not provide sufficient protection for the robotic arm. When dealing with the situation of the vehicle slipping, a safety pin is usually added to the side of the hook rotation. While limiting the hook position, it can also break the safety pin when the vehicle slips or a large impact occurs, thereby protecting the robotic arm. However, relying solely on the force of the hook rotation to cut off the safety pin may result in the safety pin not being completely cut off, causing damage to the robotic arm. Therefore, in order to solve the above problems, a robot mechanism for a detachable unhooking hook of a carriage is proposed. Summary of the Invention

[0004] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0005] The cam is connected to the second end of the first support frame, and the cam is connected to the first support frame by the second end of the first support frame, and the cam is connected to the first support frame by the second end of the first support frame. The side surface of the second clamp base is rotatably connected to the first hook body, the bottom of the first hook body is provided with a rotating groove, the inner side of the rotating groove is rotatably connected to the second hook body, the side surface of the first hook body is fixedly connected to a fixing ring, the inner side of the fixing ring is rotatably connected to a safety pin, the side surface of the second hook body is provided with a second groove, the inner side of the second groove is fixedly connected to the first electric push rod, the output end of the first electric push rod is fixedly connected to a cutter, the cutter is slidably connected to the second groove, the side surface of the second clamp base is fixedly connected to a reset spring, one end of the reset spring is fixedly connected to the rotating groove; connect the connecting flange to the six-axis machine tool The sixth axis of the robotic arm forms a fixed connection; this step drives the threaded connection ring to move through the stud, thereby increasing the transmission efficiency and accuracy of the first force-boosting clamping rod and the second force-boosting clamping rod, and driving the force-boosting clamping claw to rotate, so that it can clamp the object and be used as a hook at the same time. By setting a cutter, when a large impact occurs during the hook removal process and the hook rotates, the safety pin can be cut off to prevent the second hook body from being subjected to insufficient impact force and thus failing to cut off the safety pin, thereby protecting the robotic arm from damage. When the cutter is lowered, the second hook body needs to withstand a large impact force in order to cut off the safety pin during rotation, which can change the degree to which the second hook body withstands the impact force when removing the hook.

[0006] Preferably, a protective shell is provided on the side of the first hook body, a first mounting groove is opened on the side of the first hook body, and a first connecting block is fixedly connected to the top of the protective shell, and the first connecting block is connected to the first mounting groove by a bolt; in this step, the protective shell can protect the safety pin when it breaks, preventing the safety pin from being scattered to key parts of the machine after breaking, and the protective shell can be disassembled and assembled by rotating the bolts inside the first connecting block, which facilitates the replacement of the protective shell.

[0007] Preferably, a connecting plate is fixedly connected to the side of the first hook body, a limiting groove is provided inside the connecting plate, and an insertion rod is fixedly connected to the inside of the protective shell; in this step, the insertion rod can be limited by the limiting groove, thereby increasing the stability of the protective shell at the edge after installation.

[0008] Preferably, a baffle is fixedly connected to the side of the second clamp base, a damping rod is fixedly connected to the side of the baffle, and the side of the damping rod passes through the baffle and is fixedly connected to a buffer pad; this step can absorb the vibration generated by the main body of the first hook when it is reset through the buffer pad and the damping rod, thereby reducing the frequency of vibration of the first hook.

[0009] Preferably, a second electric push rod is fixedly connected to the side of the second clamp base, the output end of the second electric push rod is fixedly connected to the first limit block, the side of the first hook body is fixedly connected to the second limit block, and the first limit block is slidably connected to the second limit block; in this step, the position of the first limit block is adjusted by the second electric push rod to limit the reset first hook body, thereby increasing the stability of the first hook body after reset.

[0010] Preferably, a protective plate is slidably connected to the inner side of the first groove, a second connecting groove is opened on the side of the first groove, a second connecting block is fixedly connected to the side of the protective plate, and the second connecting groove is connected to the second connecting block by bolts; in this step, the protective plate can protect the motor and prevent oil and dirt in the air from entering the interior of the first groove. The protective plate can be removed by rotating the bolts inside the second connecting block, which is convenient for cleaning the protective plate and repairing the motor.

[0011] Preferably, the bottom of the second booster clamp rod is fixedly connected to a third connecting block, the side of the booster clamp is provided with a third connecting groove, and the third connecting block is connected to the third connecting groove by a bolt; this step facilitates the disassembly and assembly of the booster clamp when the booster clamp needs to be replaced by setting the third connecting block and the third connecting groove.

[0012] Preferably, the protective shell is made of a transparent material, a through opening is provided at the bottom of the protective shell, and the insertion rod is made of a magnetic material; in this step, the fracture of the internal safety pin can be observed through the protective shell, and the through opening can be provided to prevent the cutter from contacting the protective shell when rotating, and the insertion rod of the magnetic material can magnetically absorb and collect the metal debris of the broken safety pin, thereby reducing the debris falling out of the through opening.

[0013] Preferably, a card block is fixedly connected to the top of the second hook body, and the top of the card block is in contact with the protective shell; in this step, the card block can block the gap between the second hook body and the bottom of the protective shell to prevent objects from entering the gap between the bottom of the protective shell and the second hook body and getting stuck when the hook is removed.

[0014] Preferably, a limiting ring is fixedly connected to the inner side of the first clamp base, and the limiting ring is rotatably connected to the stud; this step can increase the stability of the stud during rotation through the limiting ring, and at the same time limit the moving distance of the threaded connection ring.

[0015] The present invention is beneficial in that: 1. The robot mechanism for a detachable hook removal and re-hook for a carriage described in the present invention drives the threaded connection ring to move through a stud, thereby increasing the transmission efficiency and accuracy of the first force-boosting clamping rod and the second force-boosting clamping rod, and driving the force-boosting clamping claw to rotate, so that it can clamp the object and be used as a hook at the same time. By setting a cutter, when the hook is removed and encounters a large impact and rotates, the safety pin can be cut off to prevent the second hook from being subjected to insufficient impact force and thus failing to cut off the safety pin, thereby protecting the robot arm from damage. When the cutter is lowered, the second hook needs to withstand a large impact force in order to cut off the safety pin during rotation, which can change the degree to which the second hook withstands the impact force when removing the hook.

[0016] 2. The robot mechanism for a detachable re-hooking device for a carriage described in the present invention can protect the safety pin when it breaks through a protective shell to prevent fragments from scattering to key mechanical parts after the safety pin breaks, and the protective shell can be disassembled and assembled by rotating the bolts inside the first connecting block, making it easy to replace the protective shell. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a schematic diagram of the main body of the present invention; Figure 2 It is a schematic diagram of the structure of the present invention from a side view; Figure 3 Schematic diagram of the structure of the first clamp base in the present invention; Figure 4 Schematic diagram of the structure of the second clamp base in the present invention; Figure 5 This is a schematic structural diagram of a side view of the second clamp base in the present invention; Figure 6 Schematic diagram of the structure of the first hook body in the present invention; Figure 7 Schematic diagram of the structure of the second hook body in the present invention; Figure 8 It is a structural schematic diagram of the protective shell in the present invention.

[0019] In the figure: 1. Connecting flange; 12. First clamp base; 2. Second clamp base; 3. Sensor assembly; 13. First groove; 14. Motor; 15. Stud; 16. Threaded connection ring; 17. First booster rod; 18. Second booster rod; 19. Booster jaw; 110. Clamping groove; 21. First hook; 22. Rotating groove; 23. Second hook; 24. Fixing ring; 25. Safety pin; 26. Second groove; 27. First electric push rod; 28. Cutter; 29. ​​Return spring; 201. Protective shell; 202. First mounting slot; 203. First connecting block; 301. Connecting plate; 302. Limiting slot; 303. Insert rod; 41. Baffle; 42. Damping rod; 43. Buffer pad; 51. Second electric push rod; 52. First limiting block; 53. Second limiting block; 61. Protective plate; 62. Second connecting slot; 63. Second connecting block; 71. Third connecting block; 72. Third connecting slot. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] Specific examples are given below.

[0022] See also Figures 1 to 8 As shown, a robot mechanism for a detachable re-hooking hook of a carriage according to an embodiment of the present invention comprises a connecting flange 1; a first clamp base 12 is fixedly connected to the bottom of the connecting flange 1, a second clamp base 2 is fixedly connected to the side of the first clamp base 12, a sensor component 3 is provided on the side of the first clamp base 12, a first groove 13 is opened inside the first clamp base 12, a motor 14 is fixedly connected to the inside of the first groove 13, a stud 15 is fixedly connected to the output end of the motor 14, and the stud 15 is fixedly connected to the output end of the motor 14. The first clamp base 12 is rotatably connected, and the surface of the stud 15 is threadedly connected to a threaded connecting ring 16, which is slidably connected to the first clamp base 12. The surface of the threaded connecting ring 16 is rotatably connected to a first force-boosting clamping rod 17, and the other end of the first force-boosting clamping rod 17 is rotatably connected to a second force-boosting clamping rod 18, which is rotatably connected to the first clamp base 12. The bottom of the second force-boosting clamping rod 18 is slidably connected to a force-boosting clamping claw 19, and a clamping groove 110 is formed on the inner side of the force-boosting clamping claw 19; The side of the second clamp base 2 is rotatably connected to the first hook body 21, and the bottom of the first hook body 21 is provided with a rotating groove 22, and the inner side of the rotating groove 22 is rotatably connected to the second hook body 23. The side of the first hook body 21 is fixedly connected to a fixing ring 24, and the inner side of the fixing ring 24 is rotatably connected to a safety pin 25. The side of the second hook body 23 is provided with a second groove 26, and the inner side of the second groove 26 is fixedly connected to a first electric push rod 27. The output end of the first electric push rod 27 is fixedly connected to a cutter 28, and the cutter 28 is slidably connected to the second groove 26. The side of the second clamp base 2 is fixedly connected to a reset spring 29, and one end of the reset spring 29 is fixedly connected to the rotating groove 22; connect the connecting flange 1 to the first The six axes are fixedly connected. When working, the motor 14 drives the stud 15 to rotate, and the stud 15 drives the threaded connection ring 16 to move upward, and the threaded connection ring 16 drives the first force-boosting clamping rod 17 to rotate, and the other end of the first force-boosting clamping rod 17 drives the second force-boosting clamping rod 18 to rotate, and the second force-boosting clamping rod 18 drives the force-boosting clamping claw 19 to rotate, so that the clamping groove 110 inside the force-boosting clamping claw 19 opens, and then drives the threaded connection ring 16 to move downward, so that the force-boosting clamping claw 19 clamps the object, and the force-boosting clamping claw 19 is L-shaped, which can be used as a hook while clamping the object, driving the first hook body 21 to rotate, and the second hook body 23 to move through the first hook body 21. When the second hook body 23 moves, The second hook body 23 drives the first electric push rod 27 inside to move, and the cutter 28 can be pushed up and down by the first electric push rod 27. When the second hook body 23 encounters slipping or a large impact during the hook removal process, causing the second hook body 23 to rotate, the second hook body 23 drives the first electric push rod 27 and the cutter 28 to rotate, so that the cutter 28 contacts the safety pin 25, and the safety pin 25 is cut off through the large impact. The first electric push rod 27 can drive the cutter 28 to move up and down. When the cutter 28 moves down, the cutter 28 will not contact the safety pin 25 when the second hook body 23 rotates. At this time, the second hook body 23 needs to withstand a large impact force to cut off the safety pin 25 during rotation. When the hook is removed, the reset spring 29 pulls The first hook body 21 resets it. This step drives the threaded connecting ring 16 to move through the stud 15, thereby increasing the transmission efficiency and accuracy of the first force-boosting clamping rod 17 and the second force-boosting clamping rod 18, and driving the force-boosting clamping claw 19 to rotate, so that it can clamp the object and be used as a hook at the same time. By setting the cutter 28, when encountering a large impact and rotating during the unhooking process, the safety bit 25 can be cut off to prevent the second hook body 23 from being subjected to insufficient impact force and failing to cut off the safety bit 25, thereby protecting the robotic arm from damage. After the cutter 28 is down, the second hook body 23 needs to withstand a large impact force to cut off the safety bit 25 during rotation, which can change the degree to which the second hook body 23 withstands the impact force when unhooking.

[0023] See also Figure 1 、 Figure 5 and Figure 6As shown, a protective shell 201 is provided on the side of the first hook body 21, and a first mounting groove 202 is opened on the side of the first hook body 21. The top of the protective shell 201 is fixedly connected to a first connecting block 203, and the first connecting block 203 is connected to the first mounting groove 202 by a bolt; during operation, when the safety pin 25 is cut off, the protective shell 201 protects the broken safety pin 25, and the bolt inside the first connecting block 203 is rotated to separate it from the first mounting groove 202. The protective shell 201 is driven to separate from the first hook body 21 by the first connecting block 203, and then the safety pin 25 can be disassembled and replaced. In this step, the protective shell 201 can protect the broken safety pin 25 to prevent the safety pin 25 from being scattered to the key parts of the machine after it is broken, and the bolt inside the first connecting block 203 can be rotated to disassemble and assemble the protective shell 201, which is convenient for replacing the protective shell 201.

[0024] See also Figure 6 and Figure 8 As shown, a connecting plate 301 is fixedly connected to the side of the first hook body 21, a limiting groove 302 is provided inside the connecting plate 301, and an insertion rod 303 is fixedly connected to the inside of the protective shell 201; when working, the connecting plate 301 limits the insertion rod 303 through the limiting groove 302, and pulling the protective shell 201 can drive the insertion rod 303 to separate from the limiting groove 302. In this step, the insertion rod 303 can be limited by the limiting groove 302, thereby increasing the stability of the protective shell 201 at the edge after installation.

[0025] See also Figure 1 、 Figure 5 、 Figure 6 and Figure 8 As shown, a baffle 41 is fixedly connected to the side of the second clamp base 2, and a damping rod 42 is fixedly connected to the side of the baffle 41. The side of the damping rod 42 passes through the baffle 41 and is fixedly connected to a buffer pad 43. During operation, the baffle 41 is used to limit the rotation angle of the first hook body 21. When the first hook body 21 is reset, the first hook body 21 is pulled by the reset spring 29, and the first hook body 21 may vibrate after being reset. When the first hook body 21 is reset, the side of the first hook body 21 contacts the buffer pad 43, pushing the buffer pad 43 to vibrate, and the moving end of the damping rod 42 is pushed to move by the buffer pad 43, and the vibration of the buffer pad 43 is reduced by the damping rod 42. The vibration of the first hook body 21 is reduced by the buffer pad 43. This step can absorb the vibration generated by the main body of the first hook body 21 when it is reset through the buffer pad 43 and the damping rod 42, thereby reducing the frequency of vibration of the first hook body 21.

[0026] See also Figure 5 and Figure 6As shown, the side of the second clamp base 2 is fixedly connected to the second electric push rod 51, the output end of the second electric push rod 51 is fixedly connected to the first limit block 52, and the side of the first hook body 21 is fixedly connected to the second limit block 53, and the first limit block 52 is slidably connected to the second limit block 53; during operation, the first hook body 21 rotates and drives the second limit block 53 to rotate. When the first hook body 21 is reset, the second limit block 53 is perpendicular to the bottom of the first limit block 52, and the second electric push rod 51 pushes the first limit block 52 to move, inserts the first limit block 52 into the inner side of the second limit block 53, limits the second limit block 53, and limits the first hook body 21 by the second limit block 53. In this step, the position of the first limit block 52 is adjusted by the second electric push rod 51 to limit the reset first hook body 21, thereby increasing the stability of the first hook body 21 after reset.

[0027] See also Figure 1 and Figure 3 As shown, a protective plate 61 is slidably connected to the inner side of the first groove 13, a second connecting groove 62 is opened on the side of the first groove 13, and a second connecting block 63 is fixedly connected to the side of the protective plate 61, and the second connecting groove 62 is connected to the second connecting block 63 by bolts; when working, a protective net is provided on the inner side of the protective plate 61, and the bolts inside the second connecting block 63 are rotated to separate it from the second connecting groove 62, and the protective plate 61 is disassembled and assembled. In this step, the protective plate 61 can protect the motor 14 and prevent oil and dirt in the air from entering the interior of the first groove 13. The protective plate 61 can be removed by rotating the bolts inside the second connecting block 63, which is convenient for cleaning the protective plate 61 and repairing the motor 14.

[0028] See also Figure 3 As shown, the bottom of the second booster clamping rod 18 is fixedly connected to a third connecting block 71, and a third connecting groove 72 is provided on the side of the booster clamping jaw 19, and the third connecting block 71 is connected to the third connecting groove 72 by bolts; during operation, when the booster clamping jaw 19 needs to be replaced, the bolts inside the third connecting block 71 are rotated to separate it from the third connecting groove 72, and the booster clamping jaw 19 is disassembled and assembled. This step is facilitated by the provision of the third connecting block 71 and the third connecting groove 72, when the booster clamping jaw 19 needs to be replaced, and the booster clamping jaw 19 can be disassembled and assembled.

[0029] See also Figures 5 to 8As shown, the protective shell 201 is made of a transparent material, a through opening is provided at the bottom of the protective shell 201, and the insertion rod 303 is made of a magnetic material; during operation, when the second hook 23 drives the cutter 28 to rotate and cuts off the safety pin 25, the cutter 28 can move in the through opening, and the broken safety pin 25 is magnetically absorbed and collected by the insertion rod 303. In this step, the fracture of the internal safety pin 25 can be observed through the protective shell 201. By setting the through opening, the cutter 28 can be prevented from contacting the protective shell 201 when rotating. The insertion rod 303 made of magnetic material can magnetically absorb and collect metal debris of the broken safety pin 25, thereby reducing debris falling out of the through opening.

[0030] See also Figure 5 and Figure 6 As shown, a card block is fixedly connected to the top of the second hook body 23, and the top of the card block is in contact with the protective shell 201. During operation, when the second hook body 23 rotates, the card block is driven to rotate at the same time. In this step, the card block can block the gap between the second hook body 23 and the bottom of the protective shell 201 to prevent objects from entering the gap between the bottom of the protective shell 201 and the second hook body 23 and getting stuck when the hook is removed.

[0031] See also Figure 3 As shown, a limiting ring is fixedly connected to the inner side of the first clamp base 12, and the limiting ring is rotatably connected to the stud 15; during operation, the bottom of the stud 15 rotates inside the limiting ring, and when the threaded connection ring 16 moves down to contact with the limiting ring, the threaded connection ring 16 stops moving. This step can increase the stability of the stud 15 during rotation through the limiting ring, and at the same time limit the moving distance of the threaded connection ring 16.

[0032] Working principle: The motor 14 drives the stud 15 to rotate, and the stud 15 drives the threaded connecting ring 16 to move upward, and the threaded connecting ring 16 drives the first force-boosting clamping rod 17 to rotate, and the other end of the first force-boosting clamping rod 17 drives the second force-boosting clamping rod 18 to rotate, and the second force-boosting clamping rod 18 drives the force-boosting clamping claw 19 to rotate, so that the clamping groove 110 inside the force-boosting clamping claw 19 opens, and then drives the threaded connecting ring 16 to move downward, so that the force-boosting clamping claw 19 clamps the object, and the force-boosting clamping claw 19 is L-shaped, which can be used as a hook while clamping the object, driving the first hook body 21 to rotate, and the second hook body 23 to move through the first hook body 21. When the second hook body 23 moves, the second hook body 23 drives the first electric push rod 27 inside The first electric push rod 27 can push the cutter 28 to move up and down. When the second hook body 23 encounters slipping or a large impact during the hook removal process, causing the second hook body 23 to rotate, the second hook body 23 drives the first electric push rod 27 and the cutter 28 to rotate, so that the cutter 28 contacts the safety pin 25, and the safety pin 25 is cut off through a large impact. The first electric push rod 27 can drive the cutter 28 to move up and down. When the cutter 28 is down, the cutter 28 will not contact the safety pin 25 when the second hook body 23 rotates. At this time, the second hook body 23 needs to withstand a large impact force to cut off the safety pin 25 during rotation. When the hook is removed, the reset spring 29 pulls the first hook body 21 to reset it; when the safety pin 25 is cut off, the protective shell 201 To protect the broken safety pin 25, rotate the bolt inside the first connecting block 203 to separate it from the first mounting slot 202, and drive the protective shell 201 to separate from the first hook body 21 through the first connecting block 203, and then the safety pin 25 can be disassembled and replaced; the connecting plate 301 limits the insertion rod 303 through the limiting slot 302, and pulling the protective shell 201 can drive the insertion rod 303 to separate from the limiting slot 302; the baffle 41 is used to limit the rotation angle of the first hook body 21. When the first hook body 21 is reset, the first hook body 21 is pulled by the reset spring 29, and the first hook body 21 may vibrate after being reset. When the first hook body 21 is reset, the side of the first hook body 21 contacts the buffer pad 43, pushing the buffer pad 43 Vibration, the moving end of the damping rod 42 is pushed to move by the buffer pad 43, the vibration of the buffer pad 43 is reduced by the damping rod 42, and the vibration of the first hook body 21 is reduced by the buffer pad 43; when the first hook body 21 rotates, the second limit block 53 is driven to rotate. When the first hook body 21 is reset, the second limit block 53 is perpendicular to the bottom of the first limit block 52, and the second electric push rod 51 pushes the first limit block 52 to move, inserting the first limit block 52 into the inner side of the second limit block 53, limiting the second limit block 53, and limiting the first hook body 21 by the second limit block 53; a protective net is provided on the inner side of the protective plate 61, and the bolt inside the second connecting block 63 is rotated to separate it from the second connecting groove 62, so that the protective plate 61 can be disassembled and assembled;When the booster clamp 19 needs to be replaced, the bolt inside the third connecting block 71 is rotated to separate it from the third connecting groove 72, and the booster clamp 19 is disassembled and assembled.

[0033] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the invention as claimed.

Claims

1. A robot mechanism for a detachable hook for a carriage, comprising a connecting flange (1); characterized in that: The bottom of the connecting flange (1) is fixedly connected to a first clamp base (12), the side of the first clamp base (12) is fixedly connected to a second clamp base (2), the side of the first clamp base (12) is provided with a sensor component (3), the interior of the first clamp base (12) is provided with a first groove (13), the interior of the first groove (13) is fixedly connected to a motor (14), the output end of the motor (14) is fixedly connected to a stud (15), the stud (15) is rotatably connected to the first clamp base (12), and the stud (15) is rotatably connected to the first clamp base (12). 5) is threadedly connected to a threaded connection ring (16), the threaded connection ring (16) is slidably connected to the first clamp base (12), the surface of the threaded connection ring (16) is rotatably connected to a first force-enhancing clamping rod (17), the other end of the first force-enhancing clamping rod (17) is rotatably connected to a second force-enhancing clamping rod (18), the second force-enhancing clamping rod (18) is rotatably connected to the first clamp base (12), the bottom of the second force-enhancing clamping rod (18) is slidably connected to a force-enhancing clamping claw (19), and a clamping groove (110) is provided on the inner side of the force-enhancing clamping claw (19); The side surface of the second clamp base (2) is rotatably connected to a first hook body (21), a rotation groove (22) is provided at the bottom of the first hook body (21), and a second hook body (23) is rotatably connected to the inner side of the rotation groove (22), a fixing ring (24) is fixedly connected to the side surface of the first hook body (21), and a safety pin (25) is rotatably connected inside the fixing ring (24), a second groove (26) is provided on the side surface of the second hook body (23), and a first electric push rod (27) is fixedly connected inside the second groove (26), and a cutter (28) is fixedly connected to the output end of the first electric push rod (27), and the cutter (28) is slidably connected to the second groove (26), and a reset spring (29) is fixedly connected to the side surface of the second clamp base (2), and one end of the reset spring (29) is fixedly connected to the rotation groove (22).

2. A robot mechanism for a detachable hook for a carriage according to claim 1, characterized in that: A protective shell (201) is provided on the side of the first hook body (21), a first mounting groove (202) is opened on the side of the first hook body (21), a first connecting block (203) is fixedly connected to the top of the protective shell (201), and the first connecting block (203) is connected to the first mounting groove (202) by bolts.

3. The robot mechanism for a detachable hook for a carriage according to claim 2, characterized in that: A connecting plate (301) is fixedly connected to the side of the first hook body (21), a limiting groove (302) is provided inside the connecting plate (301), and an inserting rod (303) is fixedly connected inside the protective shell (201).

4. The robot mechanism for a detachable hook for a carriage according to claim 3, characterized in that: A baffle (41) is fixedly connected to the side of the second clamp base (2), a damping rod (42) is fixedly connected to the side of the baffle (41), and a side of the damping rod (42) passes through the baffle (41) and is fixedly connected to a buffer pad (43).

5. The robot mechanism for a detachable hook for a carriage according to claim 4, characterized in that: A second electric push rod (51) is fixedly connected to the side of the second clamp base (2), an output end of the second electric push rod (51) is fixedly connected to a first limit block (52), a second limit block (53) is fixedly connected to the side of the first hook body (21), and the first limit block (52) is slidably connected to the second limit block (53).

6. The robot mechanism for a detachable hook for a carriage according to claim 5, characterized in that: A protective plate (61) is slidably connected to the inner side of the first groove (13), a second connecting groove (62) is provided on the side of the first groove (13), a second connecting block (63) is fixedly connected to the side of the protective plate (61), and the second connecting groove (62) is connected to the second connecting block (63) via bolts.

7. The robot mechanism for a detachable hook for a carriage according to claim 6, characterized in that: A third connecting block (71) is fixedly connected to the bottom of the second booster clamping rod (18), a third connecting slot (72) is provided on the side of the booster clamping jaw (19), and the third connecting block (71) is connected to the third connecting slot (72) via a bolt.

8. The robot mechanism for a detachable hook for a carriage according to claim 7, characterized in that: The protective shell (201) is made of a transparent material, a through opening is provided at the bottom of the protective shell (201), and the insertion rod (303) is made of a magnetic material.

9. The robot mechanism for a detachable hook for a carriage according to claim 8, characterized in that: A clamping block is fixedly connected to the top of the second hook body (23), and the top of the clamping block is in contact with the protective shell (201).

10. The robot mechanism for a detachable hook for a carriage according to claim 9, characterized in that: A limiting ring is fixedly connected to the inner side of the first clamp base (12), and the limiting ring is rotatably connected to the stud (15).

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