A mechanical hook hand

Abstract

The present application provides a kind of hook manipulator, belong to manipulator field, specifically including hooking mechanism, hooking plate, grip hook mechanism and horizontal overload protection mechanism, hooking mechanism has telescopic structure;Hooking plate is set in the end of hooking mechanism;Grip hook mechanism is connected on hooking plate, for gripping car hook handle;Horizontal overload protection mechanism two ends are connected with hooking mechanism and grip hook mechanism respectively;When the hooking mechanism shortens, exert force on grip hook mechanism by horizontal overload protection mechanism, make grip hook mechanism enclose limit area, and make car hook handle be located in limit area;Compared with prior art, the present application can cooperate with special mechanical arm, can realize more manipulator action, because of the structure design of manipulator, there are multiple angles and paths in the process that manipulator moves to car hook, even if there is obstacle near car hook, can also stably grip car hook, successfully take down car hook, greatly improve the success rate of hook.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of mechanical hands, in particular to a hook lifting mechanical hand. BACKGROUND

[0002] With the increasing demand of railway transportation for automation operation, the automatic unloading and loading operation scheme gradually increases, and the robot for performing the hook lifting operation also has various structural forms, but generally includes a mechanical arm and a mechanical hand, which first controls the mechanical hand to contact the coupler, and then controls the mechanical hand to move the coupler, and finally realizes the hook lifting operation.

[0003] Although the mechanical hand in the prior art can complete the programmed hook lifting action, it cannot grip the handle when lifting the hook, and it is difficult to use normally in actual application when facing various unexpected complex situations, for example, when there are other obstacles around the coupler, the extension angle of the mechanical hand is affected, and the existing mechanical hand cannot apply force to the handle, for example, when there is a baffle behind the coupler of a tank car, the existing mechanical hand cannot move to the coupler to apply force thereto. SUMMARY

[0004] The purpose of the present application is to provide a hook lifting mechanical hand which can grip the coupler at multiple angles and is beneficial to the hook lifting operation.

[0005] To achieve the above purpose, the technical solution adopted by the present application is a hook lifting mechanical hand, which comprises a hook leaning mechanism, a hook leaning plate, a handle gripping mechanism and a horizontal overload protection mechanism, the hook leaning mechanism has a telescopic structure; the hook leaning plate is arranged at the end of the hook leaning mechanism; the handle gripping mechanism is connected to the hook leaning plate and used for gripping the handle of the coupler; the horizontal overload protection mechanism is connected to the hook leaning mechanism and the handle gripping mechanism at both ends; when the hook leaning mechanism is shortened, the horizontal overload protection mechanism applies force to the handle gripping mechanism, so that the handle gripping mechanism encloses a limiting area and the handle of the coupler is located in the limiting area.

[0006] Further, the hook leaning mechanism comprises a hook leaning fixed seat and a hook leaning movable seat, the hook leaning movable seat is slidingly connected to the hook leaning fixed seat, and the end hook leaning plate is fixed, when the hook leaning movable seat slides, the distance between the hook leaning plate and the hook leaning fixed seat changes.

[0007] Further, the hook leaning mechanism further comprises a second tension spring, which is connected to the hook leaning fixed seat and the hook leaning movable seat at both ends, when the distance between the hook leaning plate and the hook leaning fixed seat decreases, the second tension spring is in a tension state.

[0008] Further, the handle gripping mechanism comprises a hook handle, a handle joint and a handle claw, the hook handle is arranged on the hook leaning plate; the handle joint is hinged to the hook leaning plate; the handle claw is hinged to the handle joint.

[0009] In the process of reducing the distance between the hook plate and the hook fixing seat, the hook joint and the hook claw are turned over at the same time.

[0010] Further, the horizontal overload protection mechanism comprises a reset protection seat, a reset protection rod, a reset protection cam and a spring seat, the reset protection seat is installed on the hook fixing seat; the reset protection rod is connected with the reset protection seat; the reset protection cam is connected on the reset protection rod; the spring seat is arranged on the reset protection seat; and the third extension spring is connected with the spring seat and the reset protection rod respectively.

[0011] Further, the reset protection cam is connected with the hook joint, and a cam groove is arranged on the hook joint, so that the reset protection cam is located in the cam groove and can move in the cam groove.

[0012] Further, the trigger pressing plate is hinged on the hook claw, and the trigger pressing plate can be turned over after being pressed.

[0013] Further, a fixed gear and an intermediate gear are arranged in the hook joint, a boss is arranged on the fixed gear, and the plane of the boss is abutted with the plane of the hook plate.

[0014] The number of the intermediate gears is two, and the intermediate gears are engaged with the fixed gear and the hook claw respectively.

[0015] Further, the vertical overload protection base and the tension protection assembly are further arranged, the vertical overload protection base is hinged with the hook mechanism, so that the hook mechanism can be turned over; and the tension protection assembly is connected with the vertical overload protection base and the hook mechanism respectively.

[0016] Further, the tension protection assembly comprises a first extension spring, a spring pressing plate and a tension adjusting rod, one end of the first extension spring is connected with the vertical overload protection base; the spring pressing plate is connected with the other end of the first extension spring; and the tension adjusting rod is used for connecting the spring pressing plate with the hook mechanism.

[0017] Compared with the prior art, the beneficial effects of the present application are that, cooperating with the special mechanical arm, more mechanical hand actions can be realized, due to the structural design of the mechanical hand, there are multiple angles and paths in the process that the mechanical hand moves to the hook, even if there are obstacles near the hook, the hook can also be stably gripped and smoothly taken down, and the success rate of taking the hook is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0019] Figure 2 It is a schematic diagram of the connection between the vertical overload protection base and the hook fixing seat of the present application;

[0020] Figure 3Structure diagram of the hook mechanism of the present application;

[0021] Figure 4 Structure diagram of the hook mechanism of the present application;

[0022] Figure 5 Structure diagram of the horizontal overload protection mechanism of the present application;

[0023] Figure 6 Structure diagram of the guide-out protection device of the present application;

[0024] Figure 7 Structure diagram of the tank truck hook in the prior art;

[0025] Figure 8 Structure diagram of the hook rod seat with a flat hole and the hook rod in the prior art.

[0026] Wherein 501 is a vertical overload protection base, 5011 is a mechanical hand fixing seat, 5012 is a first pivot, 5013 is a first spring support, 5014 is a hook lifting protection support, 50101 is a tension adjusting rod, 50102 is a spring pressing plate, 50103 is a first tension spring, 50104 is an adjusting nut, 502 is a hook mechanism, 5021 is a hook fixing seat, 5022 is a hook movable seat, 5023 is a linear sliding block, 5024 is a linear guide rail, 5025 is a hook plate, 5026 is a rear tension spring support, 5027 is a front tension spring support, 5028 is a second tension spring, 503 is a hook mechanism, 5031 is a hook handle, 5032 is a hook joint, 503201 is a fixed gear, 503202 is an intermediate gear, 5033 is a hook claw, 504 is a second pivot, 505 is a third pivot, 506 is a horizontal overload protection mechanism, 5061 is a reset protection seat, 5062 is a reset protection rod, 5063 is a reset protection cam, 5064 is a spring seat, 5065 is a third tension spring, 507 is a fifth pivot, 5081 is a steel wire rope fixing seat, 5082 is a steel wire rope, 5083 is a pull wire encoder, 5084 is a pull wire fixing plate, 509 is a guide-out protection device, 5091 is a guide-out protection seat, 5092 is a sensor positioning frame, 5093 is a laser sensor, 5101 is a camera support, 5102 is a 3D visual camera, 511 is a fourth pivot, 5034 is a trigger pressing plate, and 5035 is a torsional spring. DETAILED DESCRIPTION

[0027] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of the present application.

[0028] In the description of the present application, it should be noted that unless specifically defined and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through an intermediate medium, or internal communication of two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0029] Referring to Figure 1 As shown in FIG. 1, a hook mechanical arm includes a vertical overload protection base 501 and a hook leaning mechanism 502, the vertical overload protection base 501 is connected with a mechanical arm through a screw, and the hook leaning mechanism 502 is connected with the vertical overload protection base 501 through a first pivot 5012, so that the hook leaning mechanism 502 can be flipped around the first pivot 5012, and a hook holding mechanism 503 is connected with the front end of the hook leaning mechanism 502, at this time, the hook holding mechanism 503 can be moved by the mechanical arm, then the hook holding mechanism 503 is connected with a handle of a car hook, and finally, the handle of the car hook is flipped and moved by the hook holding mechanism 503 under the control of the mechanical arm.

[0030] Referring to Figure 1 and Figure 2 As shown in FIG. 2, the vertical overload protection base 501 includes a mechanical arm fixing base 5011, and the hook leaning mechanism 502 includes a hook leaning fixing base 5021, the first pivot 5012 connects the mechanical arm fixing base 5011 and the hook leaning fixing base 5021, a first spring support 5013 is arranged on the mechanical arm fixing base 5011, a hook lifting protection support 5014 is arranged on the hook leaning fixing base 5021, and a tension protection assembly is further connected between the first spring support 5013 and the hook lifting protection support 5014, the tension protection assembly provides a relative direction tension to the mechanical arm fixing base 5011 and the hook leaning fixing base 5021, so that the mechanical arm fixing base 5011 and the hook leaning fixing base 5021 are in close contact, at this time, the whole maintains a horizontal and straight posture;

[0031] The first spring support 5013 is in plurality and in cylindrical shape, and a connecting hole is arranged on the first spring support 5013, the connecting hole extends along the radial direction of the first spring support 5013 and penetrates the first spring support 5013, and meanwhile, a plurality of mounting holes are arranged on the manipulator fixing seat 5011, after the plurality of first spring supports 5013 are mounted on the manipulator fixing seat 5011, the plurality of first spring supports 5013 are arranged in a straight line in the horizontal direction, and at this time, the two adjacent first spring supports 5013 are parallel to each other;

[0032] And a horizontal shaft hole is arranged on the lifting hook protection support 5014, wherein the tension protection assembly comprises a tension adjusting rod 50101, the tension adjusting rod 50101 is connected with the lifting hook protection support 5014 through the horizontal shaft hole, an opening slot is arranged at the inner end of the tension adjusting rod 50101, a threaded area is arranged at the outer end of the tension adjusting rod 50101, the tension adjusting rod 50101 is connected with a spring pressing plate 50102 through the opening slot, the spring pressing plate 50102 is in a long strip state, a protruding part is arranged at the center position of the spring pressing plate 50102, the protruding part is located in the opening slot of the tension adjusting rod 50101 and is connected with the tension adjusting rod 50101 through a short shaft, that is, the spring pressing plate 50102 can move around the shaft joint position, at this time, the spring pressing plate 50102 is in T-shaped structure, a plurality of round holes are arranged on the spring pressing plate 50102, the number of the round holes is the same as that of the first spring support 5013, and a first tensile spring 50103 can be connected between the first spring support 5013 and the spring pressing plate 50102, so that when the downward pressure borne by the lifting hook fixing seat 5021 exceeds the pre-tension of the first tensile spring 50103, the lifting hook fixing seat 5021 is turned around the first pivot 5012, the tension adjusting rod 50101 can be moved axially by rotating the adjusting nut 50104 on the tension adjusting rod 50101, so as to adjust the pre-tension of the first tensile spring 50103, and the tension adjusting rod 50101 is prevented from loosening.

[0033] The micro switch 5015 is provided on the mechanical arm fixing base 5011, and a trigger piece is connected to the micro switch 5015. The trigger piece is clamped by the mechanical arm fixing base 5011 and the leaning hook fixing base 5021. When the downward pressure borne by the leaning hook fixing base 5021 exceeds the pre-tension of the first tension spring 50103, the leaning hook fixing base 5021 is flipped around the first pivot 5012. At this time, the trigger piece on the micro switch 5015 is popped up, and an overload signal is sent, so that the movement of the mechanical arm can be stopped in time by controlling the mechanical arm.

[0034] Referring to Figures 1 to 3 In the technical solution, the leaning hook mechanism 502 further comprises a leaning hook movable base 5022. The leaning hook movable base 5022 is in a strip shape. A channel is provided on the leaning hook fixing base 5021 and extends along the length direction of the leaning hook fixing base 5021, so that the leaning hook movable base 5022 is located in the channel. A linear sliding block 5023 is arranged in the channel of the leaning hook fixing base 5021. A linear guide rail 5024 is arranged on the leaning hook movable base 5022 and is connected to the linear sliding block 5023 in a matched mode, so as to form a sliding connection between the leaning hook movable base 5022 and the leaning hook fixing base 5021. The leaning hook movable base 5022 can slide in the channel. A leaning hook plate 5025 is butted to the outer end of the leaning hook movable base 5022. When the leaning hook movable base 5022 slides in the channel, the hook holding mechanism 503 can be moved.

[0035] The rear tension spring frame 5026 is fixed on the leaning hook movable base 5022, and the front tension spring frame 5027 is fixed on the leaning hook fixing base 5021. The second tension spring 5028 is connected between the front tension spring frame 5027 and the rear tension spring frame 5026. When the mechanical arm is hindered during forward movement, the leaning hook movable base 5022 can be moved into the channel. At this time, the second tension spring 5028 is in a tensioned state.

[0036] Referring to Figure 1 , Figures 3 to 4 The hook holding mechanism 503 is hinged to the leaning hook plate 5025 through a second pivot 504. The hook holding mechanism 503 comprises a hook joint 5032. A side edge notch is arranged on the leaning hook plate 5025. The hook joint 5032 is located in the side edge notch and is connected to the second pivot 504. The hook joint 5032 is connected to a hook claw 5033 through a third pivot 505, so that the hook claw 5033 is hinged to the hook joint 5032.

[0037] The gripping hook joint 5032 is composed of an upper joint cover and a lower joint cover. A transmission space is located within the gripping hook joint 5032, and a transmission gear set is installed within this space. The transmission gear set includes one fixed gear 503201 and two intermediate gears 503202. The fixed gear 503201 is mounted on the second pivot 504 and has a boss. The plane of the boss abuts against the plane of the hook plate 5025, preventing the fixed gear 503201 from rotating. The inner end of the gripping hook pawl 5033 is located within the transmission space, and a tooth is provided at the inner end of the gripping hook pawl 5033. The two intermediate gears 503202 mesh with each other, and the two intermediate gears 503201... 2 also meshes with the inner ends of the fixed gear 503201 and the hook pawl 5033 respectively. The teeth on the fixed gear 503201, the intermediate gear 503202, and the hook pawl 5033 have the same module and pitch circle. Due to the meshing of the gears, when the hook joint 5032 rotates, the hook pawl 5033 will rotate synchronously relative to the hook joint 5032. When the hook joint 5032 rotates 90 degrees relative to the hook plate 5025, the hook pawl 5033 also rotates 90 degrees relative to the hook joint 5032. At this time, the hook pawl 5033 has rotated 180 degrees relative to the hook plate 5025, and cooperates with the hook handle 5031 to form a relatively closed limiting area, thereby completing the hook gripping action.

[0038] See Figure 1 , Figures 5 to 6 As shown, various unexpected situations may occur during the hook-lifting operation of the robotic arm. Therefore, the robotic arm needs a corresponding protection mechanism to cope with damage caused by these unexpected situations. Thus, a horizontal overload protection mechanism 506 is installed on the hook fixing seat 5021. The horizontal overload protection mechanism 506 includes a reset protection seat 5061, which is installed on the hook fixing seat 5021. A cam groove is provided on the hook joint 5032, extending along the length of the hook joint 5032 to provide guidance. A reset protection rod 5062 is hinged to the reset protection seat 5061 via a fifth pivot 507. The end of the guard rod 5062 is equipped with a reset protection cam 5063. The reset protection cam 5063 is located in the cam groove and can slide along the length of the cam groove. A spring seat 5064 is connected to the reset protection seat 5061. The spring seat 5064 is connected to the reset protection rod 5062 through a third tension spring 5065. During the hook lifting process, if the locomotive suddenly accelerates, due to the limited response speed of the robot, it cannot maintain absolute speed in time. The resulting speed difference may cause the hook to collide with the hook joint 5032. At this time, the cam groove of the hook joint 5032 transmits the collision force to the reset protection cam 5063. Finally, the collision energy is absorbed by the third tension spring 5065.

[0039] Since the reset protection cam 5063 may be broken due to fatigue after long-term use, when the reset protection cam 5063 is detached, the structure capable of resetting the hook joint 5032 is still needed, so the reset mechanism is arranged on the hook fixing seat 5021, the reset mechanism comprises a steel wire rope fixing seat 5081, the steel wire rope fixing seat 5081 is installed on the reset protection seat 5061, the hook joint 5032 is provided with a butt joint hole, so that the steel wire rope fixing seat 5081 is connected with the hook joint 5032 through a steel wire rope 5082, since the hook joint 5032 is hinged on the hook plate 5025, during the resetting process of the hook movable seat 5022, the steel wire rope 5082 can exert a pulling force on the hook joint 5032, when the reset protection cam 5063 is detached, the steel wire rope 5082 will drag the hook joint 5032 to reset the hook claw 5033 to the initial position during the recovery process of the mechanical hand, so as to avoid more serious accidents caused by the failure to reset;

[0040] The pull wire encoder 5083 is further arranged on the hook fixing seat 5021, the pull wire movable head of the pull wire encoder 5083 is fixed on a pull wire fixing plate 5084, the pull wire fixing plate 5084 is fixed on the hook plate 5025, in special cases, for example, the hook plate 5025 is scraped off by the carriage during the recovery process, the pull wire encoder 5083 can be used for recovering the wire rope to recover the hook plate 5025, so as to avoid accidents caused by being rolled by the train;

[0041] The horizontal overload protection mechanism 506 not only has the function of overload protection, but also can be used to overturn the hook joint 5032, specifically, when approaching the drawbar handle, the hook plate 5025 first contacts the drawbar handle, after the contact, the mechanical hand is continuously pushed forward, so that the hook fixing seat 5021 moves forward, during the process, the hook fixing seat 5021 and the hook movable seat 5022 move relatively, the distance between the hook plate 5025 and the hook fixing seat 5021 gradually decreases, the kinetic energy is absorbed by the second tensile spring 5028, at the same time, the reset protection cam 5063 slides in the cam groove of the hook mechanism 503, at this time, the reset protection rod 5062 exerts a force on the hook joint 5032, and the reset protection rod 5062 moves, so that the third tensile spring 5065 is in a tensile state, so that the hook joint 5032 and the hook claw 5033 gradually grip the drawbar handle during the pushing process, finally, the hook claw 5033 cooperates with the drawbar handle 5031 to enclose a limiting area, then the mechanical hand can stop pushing, the hook joint 5032, the hook claw 5033 and the drawbar handle 5031 in the technical solution form a hook mechanism, and the hook mechanism is used for gripping the drawbar handle;

[0042] After the force applied to the mechanical hand is cancelled and the hook fixing seat 5021 is moved away from the vehicle hook, the distance between the hook plate 5025 and the hook fixing seat 5021 gradually returns to the initial state, and the reset protection rod 5062 returns to the initial position under the restoring force of the third extension spring 5065, so that the hook joint 5032 is reset through the reset protection cam 5063.

[0043] In the technical solution, the guide-out protection device 509 is further arranged on the hook plate 5025, the guide-out protection device 509 comprises a guide-out protection seat 5091 fixed on the hook plate 5025, a sensor positioning frame 5092 fixedly arranged on the guide-out protection seat 5091, and a laser sensor 5093 fixed on the sensor positioning frame 5092. In the process of lifting the hook, if the locomotive suddenly accelerates, the speed difference caused by the limited response speed of the robot cannot keep the absolute common speed in time, which may cause the collision and friction between the vehicle compartment and the mechanical hand or the mechanical arm. At this time, if the mechanical hand is advancing or retracting, the structure of the mechanical hand will be scratched on the protruding part of the vehicle compartment, causing damage to the mechanical hand. Through the arrangement of the guide-out protection device 509, the guide-out protection seat 5091 is designed in an arc shape, which can ensure that the mechanical hand can be smoothly guided out when advancing and retracting at the same time even if it is scratched by the vehicle compartment.

[0044] In addition, in the technical solution, a 3D recognition part is further arranged, the 3D recognition part comprises a camera support 5101 arranged on the mechanical hand fixing seat 5011, a 3D vision camera 5102 fixed on the camera support 5101, and two cooling fans fixed on the camera support 5101 and located at two sides of the 3D vision camera 5102, respectively, and a heater and a heater cover plate are further arranged on the top of the 3D vision camera 5102. The position of the hook handle can be recognized by the 3D recognition part, and the situation near the hook to be lifted can be recognized.

[0045] The specific implementation process of the present application will be described in detail below.

[0046] When the hook lifting robot passes through the vehicle compartment to be lifted, whether the vehicle compartment is in motion or not, the robot always keeps the common speed with the vehicle compartment in the lifting process. After the position of the hook handle is recognized by the 3D vision camera 5102 on the mechanical hand for the first time, the lifting assembly and the mechanical arm of the robot drive the mechanical hand to move in front of the hook handle for the second time to identify whether there is an obstacle on the motion path and the posture of the hook handle, so as to determine whether the mechanical hand needs to approach and grasp the hook handle at an inclined angle, thereby avoiding the interference with the obstacle on the hook lifting path.

[0047] The following takes the tank car hook as an example. The tank car hook is as shown in the following figure. Figure 7As shown, the second end surface of the hooking plate 5025 of the manipulator first contacts the hook handle, after the contact occurs, the manipulator continues to advance, the distance between the hooking plate 5025 and the hooking fixed seat 5021 becomes smaller, and the kinetic energy is absorbed by the second tension spring 5028. Due to the sliding of the reset protection cam 5063 in the cam groove of the hook joint 5032, the hook joint 5032 and the hook claw 5033 gradually grip the hook handle during the advancing process. Then the control of the manipulator stops advancing, the distance between the hooking plate 5025 and the hooking fixed seat 5021 is unchanged through the retraction of the wire rope by the wire rope encoder 5083, so that the hook joint 5032 and the hook claw 5033 cooperate to keep the grip posture on the hook handle, and then the control of the manipulator moves to pull out the hook.

[0048] When the hook seat has a flat hole (see Figure 8 As shown, the flat hole has a certain self-locking effect on the hook. If the flat hole is seriously worn, the hook handle needs to be righted before it can be smoothly pulled out of the flat hole. At this time, the manipulator moves the hook handle 5031 on the manipulator, and then rotates the hook handle. The laser sensor 5093 installed on the guide protection seat 5091 emits a probe laser through the sensor hole on the hooking plate 5025. When the hook handle is rotated to be perpendicular to the ground, the hook handle will block the laser beam. The laser reflected by the hook handle is transmitted back to the laser sensor 5093 through the sensor hole on the hooking plate 5025, triggering the hooking signal. The lifting assembly of the robot vertically lifts the manipulator on the manipulator, and then continues to lift the manipulator by a specified distance. When the flat shaft of the hook handle is pulled out of the flat hole of the hook base, the lifting is stopped.

[0049] The trigger pressing plate 5034 is installed on the hook claw 5033 in the technical solution, the trigger pressing plate 5034 is hinged with the hook claw 5033 through the fourth pivot 511, and the torsional spring 5035 is connected between the trigger pressing plate 5034 and the hook claw 5033. The trigger pressing plate 5034 is kept in the first posture of turning up by the torsional spring 5035. The trigger pressing plate 5034 is provided with an inclined guide surface. When the horizontal rod part of the hook handle presses the trigger pressing plate 5034, the trigger pressing plate 5034 is pressed by the hook handle, the trigger plate rotates around the fourth pivot 511, triggers the proximity switch installed on the hook claw 5033, and sends the lifting hook in place signal to prevent the lifting hook from being overloaded.

[0050] Then the manipulator drives the manipulator to translate to rotate the hook handle by a certain angle, so that it cannot fall back into the flat hole. Finally, the manipulator drives the hook handle to move, so that the hook is pulled out.

[0051] After the work is completed, the manipulator starts to retract, the hook plate 5025 is gradually reset under the elastic force of the second extension spring 5028, the cam groove on the hook joint 5032 is affected by the reset protection cam 5063, and the hook joint 5032 and the hook claw 5033 are gradually pulled back to the initial position. The manipulator continues to retract until it is completely separated from the car hook handle, at which time the hook lifting action is completed.

[0052] The device embodiments described above are only illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place or distributed to multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0053] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A hooking robot characterized by, The utility model relates to a vehicle hook handle protection device, including: Hook mechanism (502) with telescopic structure, the hook mechanism (502) includes hook fixed seat (5021) and hook movable seat (5022), and hook movable seat (5022) is connected with hook fixed seat (5021) slidingly, Hook plate (5025) is arranged at the end of hook mechanism (502), Hook mechanism (503) is connected on hook plate (5025), is used for gripping vehicle hook handle, the hook mechanism (503) includes hook joint (5032) and hook claw (5033), and hook joint (5032) is hinged with hook plate (5025), and hook claw (5033) is hinged with hook joint (5032), Horizontal overload protection mechanism (506) is connected with hook mechanism (502) and hook mechanism (503) respectively at both ends, The horizontal overload protection mechanism (506) includes: Reset protection seat (5061) is installed on hook fixed seat (5021), Reset protection rod (5062) is hinged with reset protection seat (5061), Reset protection cam (5063) is connected on reset protection rod (5062), Spring seat (5064) is arranged on reset protection seat (5061), Third stretch spring (5065) is connected with spring seat (5064) and reset protection rod (5062) respectively at both ends, The reset protection cam (5063) is connected with hook joint (5032), and cam groove is arranged on hook joint (5032), so that the reset protection cam (5063) is located in the cam groove and can move in the cam groove, When the hook mechanism (502) is shortened, the horizontal overload protection mechanism (506) exerts force on the hook mechanism (503), so that the hook mechanism (503) encloses the limiting area, and the vehicle hook handle is located in the limiting area.

2. The hook manipulator according to claim 1, wherein The hook mechanism (502) further includes: Second stretch spring (5028) is connected with hook fixed seat (5021) and hook movable seat (5022) respectively at both ends, and when the distance between hook plate (5025) and hook fixed seat (5021) becomes small, the second stretch spring (5028) is in a stretched state.

3. The hook manipulator according to claim 1, wherein Further including: Triggering pressure plate (5034) is hinged on hook claw (5033), and the triggering pressure plate (5034) can be turned over after being pressed.

4. The hook manipulator according to claim 1, wherein The hook joint (5032) is provided with: Fixed gear (503201), the fixed gear (503201) is provided with a boss, and the plane of the boss abuts against the plane of the hook plate (5025); Intermediate gear (503202), the number is two and is engaged with the fixed gear (503201) and the hook claw (5033) respectively.

5. The hook manipulator according to claim 1, wherein Further including: Vertical overload protection base (501) is hinged with hook mechanism (502), so that the hook mechanism (502) can be turned over, Tension protection assembly is connected with vertical overload protection base (501) and hook mechanism (502) respectively at both ends.

6. The hook manipulator according to claim 5, wherein The tension protection assembly includes: First stretch spring (50103) is connected with vertical overload protection base (501) at one end, A spring pressing plate (50102) is connected with the other end of the first tension spring (50103); A tension adjusting rod (50101) is used for connecting the spring pressing plate (50102) with the hooking mechanism (502).

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