A hump operation hooking robot

Abstract

The application provides a hump operation lifting hook robot, and belongs to the technical field of train uncoupling, comprising a composite track and a chassis, the composite track extends along the moving direction of the carriage, and the chassis can move on the composite track; a mechanical arm is further arranged on the chassis, the mechanical arm can be bent at multiple angles, and a mechanical hand is connected to the end of the mechanical arm; when the mechanical arm is bent, the mechanical hand is driven to move, so that the mechanical hand can bypass the obstacles; compared with the prior art, the mechanical arm of the application can be bent at multiple angles, finally driving the mechanical hand to move at multiple angles, so that the mechanical hand can bypass the obstacles, realize the gripping of the mechanical hand on the train hook, be applicable to various types of train hooks, and also be applicable to various types of carriages, and has high applicability.

Description

Technical Field

[0001] This invention belongs to the field of train decoupling technology, specifically relating to a camel hump operation hook-lifting robot. Background Technology

[0002] With the increasing demand for automated operations in railway transportation, automated uncoupling and uncoupling operation schemes are also gradually increasing. Robots that perform uncoupling operations also have various structural forms. Generally, they include a chassis and a track. The chassis moves on the track, while components such as the robotic arm and robotic hand are set on the chassis, and the chassis drives the robotic arm and other components to move.

[0003] In existing technologies, a lifting mechanism is generally installed on the chassis, and the robotic arm is connected to the lifting mechanism. The lifting mechanism drives the robotic arm to move longitudinally along the Z-axis. Then, the robotic arm has a horizontal telescopic structure. The extension and retraction of the robotic arm drives the robotic hand to move laterally along the X-axis, thereby moving the robotic hand toward the coupler.

[0004] During the process of moving the robot arm toward the coupler, the environment in which the coupler is located is greatly restricted. When there are obstacles near the coupler and the obstacles are located on the lateral movement path of the robot arm, the robot arm cannot make contact with the coupler, and thus cannot easily complete the lifting operation. Summary of the Invention

[0005] The purpose of this invention is to provide a hook-lifting robot for hump operations, which enables the robotic arm to move toward the hook and grasp the hook handle after crossing obstacles in multiple directions and at multiple angles.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is a camel hump operation hook lifting robot, comprising a composite rail and a chassis. The composite rail extends along the direction of movement of the carriage, and the chassis is capable of moving on the composite rail. A robotic arm is also provided on the chassis. The robotic arm is capable of bending at multiple angles, and a robotic hand is connected to the end of the robotic arm. When the robotic arm bends, it drives the robotic hand to move, enabling the robotic hand to bypass obstacles.

[0007] Furthermore, the robotic arm includes a one-axis structural arm, a two-axis structural arm, and a three-axis structural arm. The one-axis structural arm is hinged to a fixed base; the two-axis structural arm is hinged to the one-axis structural arm; the three-axis structural arm is hinged to the two-axis structural arm, and the robotic arm is mounted on the three-axis structural arm.

[0008] Furthermore, the chassis is equipped with a rear axle assembly and a front axle assembly. The rear axle assembly is connected to a composite rail for moving the chassis; the front axle assembly is connected to the composite rail and supports the chassis.

[0009] Furthermore, both the front axle assembly and the rear axle assembly include a support travel assembly, which is tightly connected to the composite rail.

[0010] Furthermore, the supporting walking component includes a tension wheel, with the wheel located on the composite rail; the tension wheel, when engaged with the wheel, can clamp the composite rail.

[0011] Furthermore, the supporting walking assembly also includes an axle, a tension wheel frame, and a pressure plate. The axle is connected to the wheel and is used to drive the wheel to rotate. The tension wheel frame is connected to the tension wheel. One end of the pressure plate is coupled to the tension wheel frame and applies a lifting force to the tension wheel frame, so that the tension wheel is in close contact with the composite rail.

[0012] Furthermore, the robotic arm includes a vertical overload protection base, a hook mechanism, a hook plate, and a gripping mechanism. The vertical overload protection base is connected to the end of the robotic arm; the hook mechanism has a telescopic structure and is hinged to the vertical overload protection base; the hook plate is mated to the end of the hook mechanism; and the gripping mechanism is connected to the hook plate for gripping the coupler handle.

[0013] Furthermore, the hook mechanism includes a hook fixed seat and a hook movable seat. The hook fixed seat is hinged to the vertical overload protection base; the hook movable seat is slidably connected to the hook fixed seat, and the hook plate is fixed to the end of the hook movable seat.

[0014] Furthermore, the hook-holding mechanism includes a hook-holding joint, a hook-lifting handle, and a hook-holding claw. The hook-holding joint is hinged to the hook-supporting plate; the hook-lifting handle is mounted on the hook-supporting plate; and the hook-holding claw is hinged to the end of the hook-holding joint.

[0015] During the shortening process of the hook mechanism, the hook joint and the hook claw rotate simultaneously.

[0016] Furthermore, the grip hook joint is connected to a horizontal overload protection mechanism, which is installed on the hook fixing seat. When the hook mechanism is shortened, the horizontal overload protection mechanism applies a force to the grip hook joint.

[0017] Compared with the prior art, the beneficial effects of the present invention are: the robotic arm can bend at angles and in multiple directions, ultimately driving the robotic hand to move at multiple angles, enabling it to bypass obstacles and grasp the coupler. It is applicable to various types of couplers and various types of carriages, and has high applicability. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the composite rail structure of the present invention;

[0020] Figure 3 This is a schematic diagram showing the connection between the chassis and the front axle assembly and the rear axle assembly of the present invention;

[0021] Figure 4 This is a schematic diagram of the chassis structure of the present invention;

[0022] Figure 5 This is a schematic diagram of the rear axle assembly structure of the present invention;

[0023] Figure 6 This is a schematic diagram of the front axle assembly structure of the present invention;

[0024] Figure 7 This is a schematic diagram of the robotic arm structure of the present invention;

[0025] Figure 8 This is a schematic diagram of the robotic arm structure of the present invention;

[0026] Figure 9 This is a schematic diagram showing the connection between the vertical overload protection base and the hook fixing seat in this invention;

[0027] Figure 10 This is a schematic diagram of the hook mechanism in this invention;

[0028] Figure 11 This is a schematic diagram showing the connection between the grip hook joint and the back hook plate in this invention;

[0029] Figure 12 This is a schematic diagram of the horizontal overload protection mechanism in this invention;

[0030] Figure 13 This is a schematic diagram of the structure of the protective device derived in this invention;

[0031] Figure 14 This is a schematic diagram of the current collector arm structure in this invention;

[0032] Figure 15 This is a schematic diagram of the positioning arm structure in this invention;

[0033] Figure 16 This is a schematic diagram showing the connection between the limit identification strip and the composite rail in this invention;

[0034] Figure 17 This is a schematic diagram of a tank truck coupler in the prior art;

[0035] Figure 18 This is a schematic diagram of a hook rod seat and a hook rod with a flat hole in the prior art;

[0036] Among them, 1-composite rail, 101-track, 102-independent foundation, 103-track pad, 104-rail clamp, 105-vertical connecting plate, 106-horizontal connecting plate, 107-reinforcing rib, 108-track stop seat, 109-stop buffer pad, 110-limit identification strip, 111-sliding conductor rail bracket, 112-safety sliding conductor rail, 113-tensioner, 2-chassis, 201-frame body, 202-electrical control cabinet, 203-snowplow, 20 4-Wiper blade, 3-Lifting assembly, 4-Robotic arm, 5-Robotic hand, 6-Rear axle assembly, 601-Reducer, 602-Servo motor, 7-Front axle assembly, 701-Encoder, 702-Encoder positioning seat, 703-Driven wheel, 704-Drive wheel, 705-Synchronous belt, 8-Current collector arm, 801-Arm bracket, 802-Cable trough, 803-Current collector fixing rod, 804-Current collector, 9-Limiting arm, 901-Limiting bracket, 902-Connecting rod 903-Sensor bracket, 904-Walking wheel, 905-Proximity sensor, 906-Limit switch, 001-Bearing housing, 002-Axle shaft, 003-Wheel, 004-Tensioner wheel bracket, 005-Tensioner fixed shaft, 006-Tensioner wheel axle, 007-Tensioner wheel, 008-Wheel bracket pivot, 009-Pressure plate, 0010-Screw, 0011-Rectangular spring, 10-Fixed seat, 11-Drag chain bracket, 4011-Single shaft drive assembly, 4012-Single shaft arm, 4021 - Two-axis drive assembly, 4022- Two-axis arm, 4031- Three-axis drive assembly, 4032- Three-axis mounting base, 4041- Zero-position sensor, 4042- Zero-position probe, 4051- Limit buffer rod, 4052- Stop plate, 501- Vertical overload protection base, 5011- Robot arm fixing base, 5012- First pivot, 5013- First spring bracket, 5014- Lifting hook protection bracket, 50101- Tension adjustment rod, 50102- Spring pressure plate, 50103 - First tension spring, 50104 - Adjusting nut, 502 - Hook mechanism, 5021 - Hook fixing seat, 5022 - Hook movable seat, 5023 - Linear slider, 5024 - Linear guide rail, 5025 - Hook plate, 5026 - Rear tension spring frame, 5027 - Front tension spring frame, 5028 - Second tension spring, 503 - Hook gripping mechanism, 5031 - Hook lifting handle, 5032 - Hook gripping joint, 503201 - Fixed gear, 503202 - Intermediate gear, 5 033-Hook gripper, 504-Second pivot, 505-Third pivot, 506-Horizontal overload protection mechanism, 5061-Reset protection seat, 5062-Reset protection rod, 5063-Reset protection cam, 5064-Spring seat, 5065-Third tension spring, 507-Fifth pivot, 5081-Wire rope fixing seat, 5082-Wire rope, 5083-Wire encoder, 5084-Wire fixing plate, 509-Outgoing protection device, 5091-Outgoing protection seat5092 - Sensor positioning bracket, 5093 - Laser sensor, 5101 - Camera bracket, 5102 - 3D vision camera, 511 - Fourth pivot, 5034 - Trigger plate, 5035 - Torsion spring. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0039] See Figures 1 to 2 As shown, a camel hump handling hook-lifting robot includes a composite rail 1 and a chassis 2. The composite rail 1 extends along the direction of movement of the carriage. The chassis 2 is connected to the composite rail 1 and can move along the length of the composite rail 1. The chassis 2 is equipped with a slide and a lifting assembly 3. A robotic arm 4 is connected to the lifting assembly 3. A drive shaft is connected between the lifting assembly 3 and the robotic arm 4, which enables the robotic arm 4 to rotate. A robotic hand 5 is docked at the end of the robotic arm 4. The height of the robotic arm 4 and the robotic hand 5 can be adjusted by the lifting assembly 3. Then, the chassis 2 moves along the length of the composite rail 1, driving the robotic arm 4 and the robotic hand 5 to move. It should be noted that the robotic hand 5 maintains a basically constant speed with the carriage.

[0040] See Figure 2 and Figure 16As shown, the composite rail 1 includes a track 101 and an electric rail. The electric rail is set on the side of the track 101. A foundation is set every three meters along the laying direction of the composite rail 1. The foundation includes an independent foundation base 102 fixed to the ground, in which anchor bolts are pre-embedded. A track pad 103 is set on the top surface of the independent foundation base 102. The track pad 103 is connected to the anchor bolts. A washer and an adjusting nut 50104 are set between the track pad 103 and the independent foundation base 102. The adjusting nut 50104 is screwed to the anchor bolts and supports the track pad 103. The horizontal height of the track pad 103 can be adjusted by adjusting the horizontal height of the adjusting nut 50104. A rail clamp 104 can also be fixed on the track pad 103 to tightly connect the track 101 and the track pad 103.

[0041] The aforementioned track 101 is made of two H-shaped steel rails, each six meters long. The two H-shaped steel rails are connected by multiple vertical connecting plates 105 and horizontal connecting plates 106. Each H-shaped steel rail has multiple reinforcing ribs 107 welded to the inside of the track 101 to increase rigidity.

[0042] The horizontal connecting plate 106 is clamped by the rail presser 104 and the rail pad 103. Rail stop seats 108 are provided at both ends of the entire composite rail 1. The rail stop seats 108 are provided with stop buffer pads 109 to limit the chassis 2.

[0043] See Figures 3 to 6 As shown, the chassis 2 includes a frame 201, which is located above the composite rail 1. A rear axle assembly 6, a front axle assembly 7, and a common-speed lidar are installed on the frame 201. Both the rear axle assembly 6 and the front axle assembly 7 are connected to the rail 101. The rear axle assembly 6 is used to bear weight and provide walking power, while the front axle assembly 7 is used to bear weight, support the chassis 2, and provide walking position data.

[0044] Both the rear axle assembly 6 and the front axle assembly 7 include a support and travel assembly. The difference between the two is that the rear axle assembly 6 consists of a support and travel assembly and a power drive assembly. The power drive assembly is connected to the support and travel assembly and is used to control the movement of the support and travel assembly.

[0045] The front axle assembly 7 consists of a support walking assembly and an encoder 701. The encoder 701 is connected to the support walking assembly, and the position of the robot on the track 101 can be known through the encoder 701.

[0046] The supporting walking assembly includes two bearing seats 001, both of which are fixed to the frame 201 of the chassis 2. An axle 002 is connected to the two bearing seats 001, meaning that both ends of the axle 002 pass through the corresponding bearing seats 001. Wheels 003 are mounted on the axles 002. A tensioning wheel frame 004 is connected to the bearing seats 001 via a tensioning fixed shaft 005. The tensioning wheel frame 004 is hinged to the bearing seats 001. A [missing information - likely a device or feature] is provided on the tensioning wheel frame 004. The first shaft hole is provided, and a tensioning wheel shaft 006 is installed in the first shaft hole. A tensioning wheel 007 is connected through the tensioning wheel shaft 006, so that the tensioning wheel 007 can rotate. A notch and a wheel frame shaft 008 are provided on the tensioning wheel frame 004. The wheel frame shaft 008 passes through the notch. At the same time, a pressure plate 009 is installed on the bearing seat 001. The pressure plate 009 applies a lifting force to the wheel frame shaft 008, so that the tensioning wheel 007 on the tensioning wheel frame 004 can always be in contact with the track 101.

[0047] The middle position of the pressure plate 009 is connected to the bearing housing 001 via the pressure plate 009 shaft, allowing the pressure plate 009 to swing. The inner end of the pressure plate 009 is located within the notch on the tension wheel frame 004 and below the wheel frame's movable shaft 008. The outer end of the pressure plate 009 has a longitudinal through hole, while the bearing housing 001 has a threaded blind hole. A screw 0010 is screwed into the threaded blind hole. This screw 0010 passes through the longitudinal through hole at the outer end of the pressure plate 009, and the diameter of the screw 0010 is smaller than the diameter of the longitudinal through hole. This constitutes the pressure plate. The 009 swings with space, and a rectangular spring 0011 is fitted on the screw 0010. This rectangular spring 0011 is a helical spring with a rectangular cross-section of spring material. It is located between the pressure plate 009 and the bearing seat 001. By turning the screw 0010, the elastic force of the rectangular spring 0011 can be adjusted. Since the rectangular spring 0011 applies a force to the outer end of the pressure plate 009, the outer end of the pressure plate 009 moves downward. At this time, the inner end of the pressure plate 009 moves upward, thereby applying a lifting force to the wheel frame shaft 008.

[0048] Since the rear axle assembly 6 also includes a power drive assembly, the power drive assembly includes a reducer 601 and a servo motor 602. The reducer 601 is connected to the axle 002 on the support walking assembly, and the output end of the servo motor 602 is connected to the reducer 601, thereby enabling the axle 002 to rotate, which in turn drives the tension wheel 007 to rotate.

[0049] The front axle assembly 7 also includes an encoder positioning seat 702, which is mounted on the bearing seat 001. The encoder 701 is mounted on the encoder positioning seat 702, and the encoder 701 is connected to a driven wheel 703 via a shaft. A driving wheel 704 is connected to the axle shaft 002. The driving wheel 704 and the driven wheel 703 are connected by a synchronous belt 705. That is, when the tension wheel 007 on the front axle assembly 7 rotates, the axle shaft 002 can rotate, thereby driving the driving wheel 704 to rotate, which in turn drives the driven wheel 703 to rotate. Finally, the encoder 701 converts the physical signal into an electrical signal and feeds it back to the electrical control cabinet 202, which is mounted on the frame 201.

[0050] It should be noted that the inner side of the synchronous belt 705 is provided with protrusions, while the circumferential surfaces of the driving pulley 704 and the driven pulley 703 are provided with recesses. When the synchronous belt 705 is connected to the driving pulley 704 and the driven pulley 703, the protrusions on the synchronous belt 705 are located in the recesses, and the transmission can be achieved.

[0051] Through the structural design of the front axle assembly 7 and the rear axle assembly 6 described above, the chassis 2 can maintain relatively stable movement, thereby enabling the robotic arm 5 and the robotic arm 4 to have a certain degree of stability during movement.

[0052] Meanwhile, since the track 101 is composed of H-shaped steel rails, a concave area is provided on the outer side of the track 101. The wheel 003 is located above the track 101, while the tensioning wheel 007 is located within the concave area on the track 101. Through the arrangement of the rectangular spring 0011 and the pressure plate 009, the tensioning wheel 007 can always be in close contact with the track 101, preventing gaps from appearing when the flange of the track 101 becomes thinner, and preventing excessive compression when the flange of the track 101 becomes thicker. At the same time, the pressure plate 009 is hinged to the bearing seat 001, and the diameter of the longitudinal through hole at the outer end of the pressure plate 009 is larger than the diameter of the screw 0010. At this time, the pressure plate 009 has a certain rotation angle. When it exceeds this angle, the rectangular spring 0011 will no longer bear more force, and the pressure plate 009 will directly act on the bearing seat 001, preventing the spring from being overloaded.

[0053] See Figure 1 , Figure 2 and Figure 7 As shown, the robotic arm 4 in this technical solution includes a one-axis structural arm, a two-axis structural arm, and a three-axis structural arm, which are hinged together in sequence. The robotic hand 5 is docked at the free end of the three-axis structural arm, while the free end of the one-axis structural arm is docked with the lifting assembly on the chassis 2 through the fixed seat 10. At this time, the robotic arm 4 can be bent in multiple directions and at multiple angles, thereby driving the robotic hand 5 to move in multiple angles and directions.

[0054] One of the structural arms is mounted on a fixed base 10, which is mounted on a lifting assembly. A cable chain bracket 11 is also fixed to the fixed base 10 for securing the cable cable chain. The one-axis structural arm includes a one-axis drive assembly 4011 and a one-axis arm 4012. The two-axis structural arm includes a two-axis drive assembly 4021 and a two-axis arm 4022. The three-axis structural arm includes a three-axis drive assembly 4031 and a three-axis mounting base 4032. The one-axis drive assembly 4011 is mounted on the fixed base, and the one-axis arm 4012... One end of 12 is connected to a one-axis drive assembly 4011, which can control the movement of the one-axis arm 4012. A two-axis drive assembly 4021 is located at the end of the one-axis arm 4012, which can control the movement of the two-axis arm 4022. A three-axis drive assembly 4031 is located at the end of the two-axis arm 4022, which can control the movement of the three-axis mounting base 4032. The robot arm 5 docks with the three-axis mounting base 4032, thus enabling multi-angle control of the robot arm 5.

[0055] The three drive components 4011, 4021, and 4031 described above have the same structure, all including a drive motor and a reducer.

[0056] A first detection component is provided between the single-axis structural arm and the fixed base 10; a second detection component is provided between the two-axis structural arm and the single-axis structural arm; and a third detection component is provided between the three-axis structural arm and the two-axis structural arm. The three detection components have the same structure, each including a zero-position sensor 4041 and a zero-position probe 4042. The position of the zero-position sensor 4041 remains unchanged, while the zero-position probe 4042 performs circular motion, passing through the detection groove on the zero-position sensor 4041. For example, a zero-position sensor 4041 is mounted on a fixed base, and a zero-position probe 4042 is mounted on a first-axis arm 4012. When the first-axis arm 4012 rotates around the fixed base, it drives the zero-position probe 4042 to move, so that the zero-position probe 4042 passes through the detection of the zero-position sensor 4041. The two components in the subsequent second detection assembly are respectively mounted on the first-axis arm 4012 and the second-axis arm 4022, and the two components in the third detection assembly are respectively mounted on the second-axis arm 4022 and the three-axis mounting base 4032.

[0057] A limit stop component is also provided between the two adjacent shaft structure arms. The limit stop component includes two limit buffer rods 4051 and a stop plate 4052. When the shaft structure arm moves around the shaft joint, it drives the stop plate 4052 to move. At this time, the stop plate 4052 moves in the area between the two limit buffer rods 4051, thereby limiting the movement angle of the shaft structure arm.

[0058] The aforementioned reducer uses a high-precision RV reducer, and the reducer is connected to the robotic arm 4 via a flange. Therefore, the robotic arm 4 has higher precision and better rigidity than existing planetary reducers.

[0059] See Figure 1 , Figure 8 , Figure 9 As shown, the robotic arm 5 in this technical solution includes a vertical overload protection base 501 and a hook mechanism 502. The vertical overload protection base 501 is connected to the robotic arm 4 by screws, while the hook mechanism 502 is connected to the vertical overload protection base 501 through a first pivot 5012, so that the hook mechanism 502 can rotate around the first pivot 5012. A gripping hook mechanism 503 is connected to the front end of the hook mechanism 502. At this time, the robotic arm 4 can drive the gripping hook mechanism 503 to move, and then the gripping hook mechanism 503 forms a connection with the coupler handle. Finally, under the control of the robotic arm 4, the gripping hook mechanism 503 applies a force to the coupler handle, causing the coupler handle to rotate and move.

[0060] See Figures 8 to 9 As shown, the vertical overload protection base 501 includes a robot arm fixing seat 5011, and the hook mechanism 502 includes a hook fixing seat 5021. A first pivot 5012 connects the robot arm fixing seat 5011 and the hook fixing seat 5021. A first spring bracket 5013 is provided on the robot arm fixing seat 5011, and a lifting hook protection bracket 5014 is provided on the hook fixing seat 5021. A tension protection component is also connected between the first spring bracket 5013 and the lifting hook protection bracket 5014. The tension protection component provides a tension force in the opposite direction to the robot arm fixing seat 5011 and the hook fixing seat 5021, so that the robot arm fixing seat 5011 and the hook fixing seat 5021 are in close contact, and the whole maintains a horizontal and straight posture.

[0061] The aforementioned first spring bracket 5013 consists of several cylindrical components. Each first spring bracket 5013 has a connecting hole that extends radially through it. The robot arm mounting base 5011 has several mounting holes. After several first spring brackets 5013 are mounted on the robot arm mounting base 5011, they are arranged in a straight line in the horizontal direction, and adjacent first spring brackets 5013 are parallel to each other.

[0062] A horizontal shaft hole is provided on the lifting hook protection bracket 5014. The tension protection component includes a tension adjusting rod 50101, which is connected to the lifting hook protection bracket 5014 through the horizontal shaft hole. The inner end of the tension adjusting rod 50101 is provided with a notch, and the outer end of the tension adjusting rod 50101 is provided with a threaded area. The tension adjusting rod 50101 is connected to a spring pressure plate 50102 through the notch. This spring pressure plate 50102 is in a long strip state. A protruding portion is provided at the center of the spring pressure plate 50102. This protruding portion is located within the notch of the tension adjustment rod 50101 and is connected to the tension adjustment rod 50101 via a short shaft. This allows the spring pressure plate 50102 to move around the pivot point. In this position, the spring pressure plate 50102 has a T-shaped structure and several circular holes, the number of which is the same as the number of holes in the first spring bracket 5013. A first tension spring 50103 can be connected between the first spring bracket 5013 and the spring pressure plate 50102. When the downward pressure on the hook fixing seat 5021 exceeds the preload of the first tension spring 50103, the hook fixing seat 5021 rotates around the first pivot 5012, applying tension to the first tension spring 50103 and giving it a restoring force. In this case, the first tension spring 50103 can buffer the force acting on the hook fixing seat 5021. An adjusting nut 50104 is screwed onto the tension adjusting rod 50101. Since the tension adjusting rod 50101 passes through the horizontal shaft hole on the lifting hook protection bracket 5014, and the adjusting nut 50104 is located on the outside of the lifting hook protection bracket 5014, the tension adjusting rod 50101 can be moved axially by adjusting the nut 50104, thereby adjusting the preload of the first tension spring 50103 and preventing the tension adjusting rod 50101 from loosening.

[0063] A micro switch 5015 is provided on the aforementioned robotic arm mounting base 5011. A trigger plate is connected to the micro switch 5015. This trigger plate is clamped by the robotic arm mounting base 5011 and the hook mounting base 5021. When the downward pressure on the hook mounting base 5021 exceeds the preload of the first tension spring 50103, the hook mounting base 5021 rotates around the first pivot 5012. At this time, the trigger plate on the micro switch 5015 pops up and sends an overload signal, so that the movement of the robotic arm 5 can be stopped by timely control of the robotic arm 4.

[0064] See Figures 9 to 10As shown, in this technical solution, the hook mechanism 502 also includes a hook movable seat 5022, which is elongated. A channel is provided on the hook fixed seat 5021, which extends along the length of the hook fixed seat 5021, so that the hook movable seat 5022 is located in the channel. A linear slider 5023 is provided in the channel of the hook fixed seat 5021, and a linear guide rail 5024 is provided on the hook movable seat 5022. The linear guide rail 5024 and the linear slider 5023 are connected to each other to form a sliding connection between the hook movable seat 5022 and the hook fixed seat 5021, so that the hook movable seat 5022 can slide in the channel. A hook plate 5025 is connected to the outer end of the hook movable seat 5022, and a hook handle 5031 is provided on the hook plate 5025. When the hook movable seat 5022 slides in the channel, it can drive the hook holding mechanism 503 to move.

[0065] A rear tension spring frame 5026 is fixed on the aforementioned hook movable seat 5022, and a front tension spring frame 5027 is fixed on the hook fixed seat 5021. A second tension spring 5028 is connected between the front tension spring frame 5027 and the rear tension spring frame 5026. When the robot arm 5 is controlled to move forward, if it is obstructed, the hook movable seat 5022 can be moved into the channel. At this time, the second tension spring 5028 is in a stretched state.

[0066] See Figure 11 As shown, the aforementioned gripping mechanism 503 is hinged to the hook plate 5025 via the second pivot 504. The gripping mechanism 503 includes a gripping joint 5032. A side notch is provided on the hook plate 5025. The gripping joint 5032 is located in the side notch and is connected to the second pivot 504. The gripping joint 5032 is connected to a gripping claw 5033 via the third pivot 505. At this time, the gripping claw 5033 and the gripping joint 5032 form a hinged state.

[0067] 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.

[0068] Various unexpected situations may occur during the hook-lifting operation of the robotic arm 5. Therefore, the robotic arm 5 needs to be equipped with corresponding protection mechanisms to cope with damage caused by these unexpected situations. Thus, a horizontal overload protection mechanism 506 is installed on the hook fixing base 5021. (See reference...) Figure 12 As shown, the horizontal overload protection mechanism 506 includes a reset protection seat 5061, which is mounted 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 for guiding purposes. A reset protection rod 5062 is hinged to the reset protection seat 5061 via a fifth pivot 507. A reset protection cam 5063 is mounted at the end of the reset protection rod 5062, located within the cam groove and capable of moving along the cam... The groove slides along its length. 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 the 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.

[0069] Since the reset protection cam 5063 may experience fatigue fracture after long-term use, a structure is still needed to reset the gripper joint 5032 after the reset protection cam 5063 falls off. Therefore, a return mechanism is provided on the hook fixing seat 5021. The return mechanism includes a wire rope fixing seat 5081, which is installed on the reset protection seat 5061. A docking hole is provided on the gripper joint 5032, so that the wire rope fixing seat 5081 is connected to the gripper joint 5032 through the wire rope 5082. Since the gripper joint 5032 is hinged on the hook plate 5025, the wire rope 5082 can apply tension to the gripper joint 5032 during the reset of the hook movable seat 5022. When the reset protection cam 5063 falls off, during the recovery process of the robot arm 5, the wire rope 5082 will drag the gripper joint 5032 to reset the gripper claw 5033 to the initial position to avoid more serious accidents caused by failure to reset.

[0070] A pull-wire encoder 5083 is also provided on the hook fixing seat 5021. The pull-wire movable head of the pull-wire encoder 5083 is fixed on the pull-wire fixing plate 5084, and the pull-wire fixing plate 5084 is fixed on the hook plate 5025. In special circumstances, such as when the hook plate 5025 is scraped off by the carriage during the retraction process, the pull-wire encoder 5083 can retract the rope to retract the hook plate 5025, thus avoiding being run over by the train and causing an accident.

[0071] The aforementioned horizontal overload protection mechanism 506 not only provides overload protection but also allows the hook joint 5032 to rotate. Specifically, when approaching the coupler handle, the hook plate 5025 contacts the coupler handle first. After contact, the manipulator 5 continues to advance, causing the hook fixing seat 5021 to move forward. During this process, the hook fixing seat 5021 and the hook movable seat 5022 move relative to each other, and the distance between the hook plate 5025 and the hook fixing seat 5021 gradually decreases. The kinetic energy is absorbed by the second tension spring 5028, and simultaneously, the reset protection cam 5063 is in the cam groove of the hook mechanism 503. During the internal sliding, the return protection rod 5062 applies force to the hook joint 5032, and the return protection rod 5062 moves, causing the third tension spring 5065 to be in a stretched state. This allows the hook joint 5032 and the hook claw 5033 to gradually grip the coupler handle during the advancement process. Ultimately, the hook claw 5033 and the lifting handle 5031 cooperate to form a limiting area, which can then stop the robot arm 5 from advancing. In this technical solution, the hook joint 5032, the hook claw 5033, and the lifting handle 5031 form a hook gripping mechanism, which enables the gripping of the coupler handle.

[0072] After the force applied to the robotic arm 5 is removed and the hook fixing seat 5021 is moved away from the hook, the distance between the hook plate 5025 and the hook fixing seat 5021 gradually returns to the initial state. At this time, under the restoring force of the third tension spring 5065, the reset protection rod 5062 returns to the initial position, thereby driving the hook joint 5032 to reset through the reset protection cam 5063.

[0073] See Figure 8 and Figure 13 As shown, in this technical solution, an export protection device 509 is also installed on the hook plate 5025. The export protection device 509 includes an export protection seat 5091, which is fixed on the hook plate 5025. A sensor positioning frame 5092 is fixedly installed on the export protection seat 5091, and a laser sensor 5093 is fixed on the sensor positioning frame 5092. 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 carriage to collide and rub against the robot arm 5 or robot arm 4. If the robot arm 5 is moving forward or retracting at this time, the structure of the robot arm 5 will scrape against the protruding part of the carriage, causing damage to the robot arm 5. However, by setting the export protection device 509, the export protection seat 5091 is designed with an arc shape, which can ensure that the robot arm 5 can be smoothly exported even when it is scraped by the carriage while moving forward and backward.

[0074] Additionally, as shown in Figure 8, this technical solution also includes a 3D recognition unit. The 3D recognition unit includes a camera bracket 5101 mounted on a robotic arm mounting base 5011, a 3D vision camera 5102 fixed on the camera bracket 5101, two cooling fans fixed on the camera bracket 5101 and located on both sides of the 3D vision camera 5102, and a heater and heater cover plate installed on the top of the 3D vision camera 5102. The 3D recognition unit can identify the position of the coupler handle and identify the situation near the coupler where the coupler needs to be lifted.

[0075] The specific implementation process of the present invention is described in detail below:

[0076] When the hooking robot passes by the carriage that needs to be hooked, regardless of whether the carriage is in motion, the robot always maintains a basically the same speed as the carriage during the hooking operation. After the 3D vision camera 5102 on the robot arm 5 initially identifies the position of the coupler handle, the robot's lifting component and robotic arm 4 drive the robot arm 5 to move in front of the coupler handle for secondary identification. It judges whether there are obstacles in the movement path and the attitude of the coupler handle, so as to determine whether the robot arm 5 needs to approach and grasp the coupler handle at an inclined angle, thereby avoiding obstacles in the hooking path.

[0077] The following example uses a tanker truck coupler. (The tanker truck coupler is described below.) Figure 17 As shown, the second end face of the hook plate 5025 of the robotic arm 5 first contacts the coupler handle. After contact, the robotic arm 5 continues to advance, and the distance between the hook plate 5025 and the hook fixing seat 5021 decreases. The kinetic energy is absorbed by the second tension spring 5028. Since the reset protection cam 5063 slides in the cam groove of the hook joint 5032, the hook joint 5032 and the hook claw 5033 gradually grip the coupler handle during the advancement. Then, the robotic arm 5 is controlled to stop advancing. The cable encoder 5083 retracts the cable, so that the distance between the hook plate 5025 and the hook fixing seat 5021 remains unchanged. This allows the hook joint 5032 and the hook claw 5033 to cooperate in maintaining a gripping posture on the hook handle. Then, the robotic arm 5 is controlled to move, which can pull out the coupler.

[0078] When the coupler seat has a flat hole (see...) Figure 18 As shown, the flat hole provides a certain degree of self-locking for the coupler. If the flat hole is severely worn, the coupler handle needs to be straightened before it can be smoothly pulled out of the flat hole. At this time, the robotic arm 4 moves the hook lifting handle 5031 on the robotic arm 5, which in turn drives the coupler handle to rotate. The laser sensor 5093 installed on the guide protection seat 5091 emits a detection laser beam through the sensor hole on the hook plate 5025. When the coupler handle rotates to be perpendicular to the ground, the coupler handle will block the laser beam. The laser beam diffusely reflected by the coupler handle is then transmitted back to the laser sensor 5093 through the sensor hole on the hook plate 5025, triggering the hook straightening signal. The robot's lifting component drives the robotic arm 5 on the robotic arm 4 to lift vertically, and then continues to lift the robotic arm 5 a specified distance. The lifting stops when the flat shaft of the coupler handle is pulled out of the flat hole of the coupler base.

[0079] In this technical solution, a trigger plate 5034 is installed on the hook gripper 5033. The trigger plate 5034 is hinged to the hook gripper 5033 via a fourth pivot 511, and a torsion spring 5035 is connected between the trigger plate 5034 and the hook gripper 5033. The trigger plate 5034 is kept in the first flipped and lifted posture by the torsion spring 5035. The trigger plate 5034 is provided with an inclined guide surface. When the crossbar part of the coupler handle presses against the trigger plate 5034, the robot arm continues to be lifted upward, so that the trigger plate 5034 is subjected to the downward pressure of the coupler. The trigger plate rotates around the fourth pivot 511, triggering the proximity switch installed on the hook gripper 5033, sending a hook lifting position signal to prevent hook lifting overload.

[0080] Then, the robotic arm 4 drives the robotic hand 5 to translate, causing the coupler handle to rotate at a certain angle so that it cannot fall back into the flat hole. Finally, the robotic hand 5 drives the coupler handle to move, so that the coupler is pulled out.

[0081] After completing the task, the robotic arm 5 begins to retract. Under the elastic force of the second tension spring 5028, the hook plate 5025 gradually returns to its original position. The cam groove on the hook joint 5032 is activated by the reset protection cam 5063, gradually pulling the hook joint 5032 and the hook gripper 5033 back to their initial positions. The robotic arm 5 continues to retract until it is completely disengaged from the coupler handle, thus completing one hook-lifting action.

[0082] Additionally, see Figure 3 and Figure 14 As shown, a current collector arm 8 is also provided on the chassis 2 in this technical solution. The current collector arm 8 cooperates with the electric rail. The current collector arm 8 includes an arm support 801. The arm support 801 is vertically arranged and its upper end is connected to the frame body 201. A cable groove 802 and a current collector fixing rod 803 are installed on the arm support 801. The current collector 804 is installed on the current collector fixing rod 803. The brush on the current collector 804 is in contact with the electric rail.

[0083] See Figure 2 As shown, the above-mentioned electric rail includes a sliding contact line bracket 111. There are several sliding contact line brackets 111, and the several sliding contact line brackets 111 are arranged at equal intervals along the length direction of the rail 101. The distance between two adjacent sliding contact line brackets 111 is 1 meter. The several sliding contact line brackets 111 are all connected to the rail 101. A safety sliding contact line 112 is connected through the sliding contact line brackets 111. The two ends of the safety sliding contact line 112 are fixed to the ends of the rail 101 by tensioners 113. The safety sliding contact line 112 is in close contact with the brush on the current collector.

[0084] Finally, see 1. Figure 3 , Figures 15 to 16As shown, a limiting positioning arm 9 is also provided on the chassis 2. The limiting positioning arm 9 includes a limiting bracket 901 fixed on the frame 201. The limiting bracket 901 is connected to a sensor bracket 903 through two connecting rods 902. The two connecting rods 902 are parallel to each other, and the two ends of the connecting rods 902 are respectively hinged to the limiting bracket 901 and the sensor bracket 903. At this time, the sensor bracket 903 and the limiting bracket 901 form a parallelogram structure through the two connecting rods 902, and the two diagonal hinge points of the parallelogram are connected by a tension spring. A traveling wheel 904, a proximity sensor 905, and a limit switch 906 are also installed on the sensor bracket 903. At the same time, multiple limit identification strips 110 are installed on the outer facade of the track 101. The multiple limit identification strips 110 are arranged along the length direction of the track 101, and several limit... The horizontal height of the position identification strips 110 increases sequentially. Several limit identification strips 110 are respectively set at the initial, middle and final positions of the track 101. When the chassis 2 moves on the composite track 1, the sensor bracket 903 will pass by the side of the limit identification strips 110. The proximity sensor 905 installed on the limit arm 9 will detect these limit strips. There are also several proximity sensors 905, and they are arranged longitudinally. The limit identification strips 110 at different heights are detected by proximity sensors 905 at different heights. For example, when the chassis 2 passes by the limit identification strip 110 installed at the middle height position on the entire track 101, the proximity sensor 905 installed in the middle of the sensor bracket 903 is triggered. At this time, it can be known that the chassis 2 is located in the middle position of the composite track 1.

[0085] Since the sensor bracket 903 and the limit bracket 901 are connected by the connecting rod 902 to form a parallelogram, when the left and right positions of the chassis 2 on the composite rail 1 change, the guide wheel 904 can always be in contact with the composite rail 1, thereby ensuring that the proximity sensor 905 and the limit switch 906 and the limit recognition strip 110 always maintain a safe and identifiable distance.

[0086] When the hook-lifting robot receives a work instruction, it operates via the rear axle assembly 6, moving the chassis 2 to the side of the carriage to be uncoupled. A common-speed laser radar scans the carriage's position in real time, ensuring the robot maintains the same speed as the carriage. During the robot's movement, the encoder 701 on the front axle assembly 7 tracks the robot's location, ensuring it moves within the planned path.

[0087] Then, by controlling the robotic arm 4, the robotic hand 5 is brought close to the coupler. Depending on the environment around the coupler, the robotic hand 5 can rotate and tilt to enter. Regardless of whether the robotic hand 5 enters at an angle, it can perform the hook gripping operation on the coupler handle. Then, as the robotic hand 5 moves, it can drive the coupler to move.

[0088] During the robot's hook-lifting action, the chassis 2 may be subjected to a large overturning moment. At this time, under the lifting force of the pressure plate 009, the tensioning frame ensures that the tensioning wheel 007 is always in close contact with the upper flange surface of the track 101. The tensioning wheel 007, together with the wheel 003, tightly clamps the upper flange of the track 101, increasing the stability of the chassis 2. Furthermore, the wheel 003 has a certain degree of elasticity, thereby enabling the wheel 003 to obtain the necessary grip.

[0089] See Figure 4 As shown, a snowplow 203 is installed on the frame 201. The snowplow 203 has a certain tilt angle. When the chassis 2 moves in rainy or snowy weather, the snowplow 203 can push the snow to both sides of the track 101. A wiper 204 is installed on the snowplow 203. The wiper 204 is made of rubber and fits tightly against the upper surface of the upper flange of the track 101. It can wipe the water on the track 101 to the side of the track 101 and prevent the chassis 2 from slipping when it moves on the track 101.

[0090] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A camel hump lifting robot, characterized in that, include: Composite rail (1) extends along the direction of carriage movement; The chassis (2) is capable of moving on the composite rail (1); The robotic arm (4) is mounted on the chassis (2) and can be bent at multiple angles; The robotic arm (5) is docked at the end of the robotic arm (4). When the robotic arm (4) bends, it drives the robotic arm (5) to move, so that the robotic arm (5) can bypass obstacles. The robotic arm (5) includes: A vertical overload protection base (501) is connected to the end of the robotic arm (4); The hook mechanism (502) has a telescopic structure and is hinged to the vertical overload protection base (501); The hook plate (5025) is connected to the end of the hook mechanism (502); The hook gripping mechanism (503) is connected to the hook plate (5025) and is used to grip the coupler handle; The hook mechanism (502) includes: The hook fixing base (5021) is hinged to the vertical overload protection base (501); The movable hook seat (5022) is slidably connected to the fixed hook seat (5021), and the hook plate (5025) is fixed to the end of the movable hook seat (5022); The hook-holding mechanism (503) includes: The gripping hook joint (5032) is hinged to the hook plate (5025); The hook handle (5031) is mounted on the hook plate (5025); The gripper (5033) is hinged to the end of the gripper joint (5032); During the shortening process of the hook mechanism (502), the hook joint (5032) and the hook claw (5033) rotate synchronously, so that the hook claw (5033) and the hook handle (5031) cooperate to form a closed limiting area. The grip hook joint (5032) is connected to a horizontal overload protection mechanism (506), which is installed on the hook fixing seat (5021). When the hook mechanism (502) is shortened, the horizontal overload protection mechanism (506) applies a force to the grip hook joint (5032).

2. The camel hump lifting robot according to claim 1, characterized in that, The robotic arm (4) includes: A single-axis structural arm is hinged to a fixed seat (10). The two-axis structural arm is hinged to the one-axis structural arm; The three-axis structural arm is hinged to the two-axis structural arm, and the robot (5) is mounted on the three-axis structural arm.

3. The camel hump lifting robot according to claim 1, characterized in that, The chassis (2) is equipped with: The rear axle assembly (6) is connected to the composite rail (1) for moving the chassis (2); The front axle assembly (7) is connected to the composite rail (1) and supports the chassis (2).

4. The camel hump lifting robot according to claim 3, characterized in that, Both the front axle assembly (7) and the rear axle assembly (6) include a support and travel assembly, which is tightly connected to the composite rail (1).

5. The camel hump lifting robot according to claim 4, characterized in that, The walking support component includes: Wheel (003) is located on composite rail (1); The tensioning wheel (007), when in conjunction with the wheel (003), can clamp the composite rail (1).

6. The camel hump lifting robot according to claim 5, characterized in that, The walking support component also includes: The axle (002) is connected to the wheel (003) and is used to drive the wheel (003) to rotate; The tensioning wheel bracket (004) is connected to the tensioning wheel (007); The pressure plate (009) is coupled at one end to the tension wheel (007) frame and applies a lifting force to the tension wheel (007) frame, so that the tension wheel (007) is in close contact with the composite rail (1).

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