Railway cantilever dismounting manipulator device

Abstract

The invention relates to the technical field of manipulators, in particular to a railway cantilever dismounting manipulator device which is used for solving the problem of low efficiency of manual positioning and mounting of a cantilever. The device comprises a supporting mechanism, a feeding mechanism and a positioning mechanism, the feeding mechanism and the positioning mechanism are arranged on the supporting mechanism, the supporting mechanism comprises an L-shaped seat, the feeding mechanism comprises a first channel and a second channel which are formed in the L-shaped seat, a flat cantilever is conveyed through the first channel, and an inclined cantilever is conveyed through the second channel. Outlets of the first channel and the second channel are rotationally connected with discharging rollers through fixed shafts, and grooves matched with the cantilevers are formed in the side walls of the discharging rollers; the positioning mechanism comprises two clamping jaws, and after the discharging roller rotates, the two clamping jaws grab the flat cantilever and the inclined cantilever correspondingly and transversely move to the mounting position; according to the device, an integrated device of classified conveying, automatic limiting and synchronous grabbing and positioning of two types of cantilevers can be achieved, so that manual dependence is reduced, the working efficiency and safety are improved, and the construction, operation and maintenance quality of the electrified railway overhead line system is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a robotic arm device for assembling and disassembling railway cantilever arms. Background Technology

[0002] In the construction and operation of electrified railways, the installation and dismantling of the overhead contact line cantilever arms are critical operational steps, and their efficiency and accuracy directly affect the construction progress and operational safety of the railway line. Currently, overhead contact line cantilever arms mainly consist of two types of components: horizontal cantilever arms and inclined cantilever arms. These two types need to be installed together at designated locations on railway supports. Traditional operation methods still rely mainly on semi-automated approaches with manual assistance from machinery, which presents numerous technical challenges and safety hazards. According to the existing work process, the installation of the cantilever arms requires first transporting the horizontal and inclined cantilever arms to the work area using a work vehicle, and then having workers lift them to the working height using a lifting platform or scaffolding. Since both horizontal and inclined cantilever arms are long, strip-shaped metal components, each weighing tens of kilograms, at least 10 people are needed to operate the system: on the one hand, workers must manually remove the cantilever arms one by one from the transport device and manually lift and position them; on the other hand, dedicated personnel must support the cantilever arms to maintain their stable posture until they are connected and fixed to the support column. This manual lifting and support is not only extremely labor-intensive, but also susceptible to variations in worker strength and experience, making it difficult to guarantee the positioning accuracy of the cantilever arms and easily leading to installation deviations. Repeated adjustments are then necessary, resulting in a single cantilever arm installation typically taking more than 40 minutes, leading to low work efficiency.

[0003] Meanwhile, manual operation also poses significant safety risks. Workers must continuously hold heavy components at heights, and if they become physically exhausted or experience sudden swaying, the cantilever arm may fall, causing equipment damage or personal injury. In addition, it is difficult to accurately control the alignment of the cantilever arm with the support mounting hole during manual positioning. Forced connection may cause deformation of the cantilever arm or support connector, affecting the overall structural stability of the overhead contact system and creating potential safety hazards for the long-term operation of the railway. Summary of the Invention

[0004] This invention provides a robotic arm device for assembling and disassembling railway cantilever arms to solve the problem of low efficiency in manual positioning and installation of cantilever arms.

[0005] To alleviate the above-mentioned technical problems, the technical solution provided by the present invention is as follows: A railway cantilever arm assembly and disassembly manipulator includes a support mechanism and a feeding mechanism and a positioning mechanism disposed on the support mechanism. The support mechanism includes an L-shaped seat, and the feeding mechanism includes a first channel and a second channel formed on the L-shaped seat. The flat cantilever arm is conveyed by the first channel, and the inclined cantilever arm is conveyed by the second channel. The outlets of the first channel and the second channel are rotatably connected to a discharge roller with a fixed axis. The side wall of the discharge roller is provided with a groove adapted to the cantilever arm. The positioning mechanism includes two grippers. After the discharge roller rotates, the two grippers respectively grab the flat arm and the inclined arm and move laterally to the installation position.

[0006] Furthermore, the support mechanism also includes a lifting arm, which is hinged to the vertical portion of the L-shaped seat, and the arm of the lifting arm is hinged to the horizontal portion of the L-shaped seat by a leveling hydraulic rod.

[0007] Furthermore, two sets of protective cylinders coaxial with the two discharge rollers are fixedly connected to the L-shaped seat, and each set of protective cylinders is hinged with a stop gate.

[0008] Furthermore, the feeding mechanism also includes a rotating shaft coaxially connected to the discharge roller, the rotating shaft being driven by a motor to reciprocate.

[0009] Furthermore, the positioning mechanism also includes a bracket, with a first mounting base and a second mounting base connected to its two ends respectively. The gripper includes two first clamping plates symmetrically rotatably connected to the first mounting base and two second clamping plates symmetrically rotatably connected to the second mounting base.

[0010] Furthermore, a mounting plate is slidably connected to the first mounting base, and two first pull ropes are connected to the mounting plate. Both first pull ropes pass through the first mounting base and are respectively wound around the rotation shafts of the two first clamping plates. A first spring is connected between the mounting plate and the first mounting base. When the bracket moves the first mounting base away from the L-shaped seat, the first spring elastically returns and pushes the mounting plate away from the first mounting base, thereby the first pull ropes pull the two first clamping plates to clamp the flat wrist arm.

[0011] Furthermore, it also includes a torsion mechanism for rotating the inclined arm, the torsion mechanism including a rotating base rotatably connected to the second mounting base, and the rotation shafts of the two second clamping plates being symmetrically rotatably connected to the rotating base; A limiting rod is fixedly connected to the middle of the rotating base. The limiting rod is rotatably connected to the second mounting base. Two second pull ropes are fixedly connected to the rotating base. The two second pull ropes are respectively wound around the rotating shafts of the two second clamping plates.

[0012] Furthermore, a second spring is sleeved on the limiting rod, and the two ends of the second spring are respectively connected to the rotating base and the second mounting base; When the second mounting base moves away from the L-shaped base, the second spring elastically returns and pulls the two second clamping plates to hold the inclined arm by the second pull rope.

[0013] Furthermore, a cylinder is fixedly connected to the L-shaped seat, and the output end of the cylinder is connected to the bracket.

[0014] Furthermore, the torsion mechanism also includes an arc-shaped hydraulic rod fixedly connected to the second mounting base. The output end of the arc-shaped hydraulic rod is magnetically attracted to the rotating base. A straight hydraulic rod is fixedly connected to the L-shaped base. A crossbar is fixedly connected to the output end of the straight hydraulic rod. The straight hydraulic rod is connected to the arc-shaped hydraulic rod through a pipe. The center of the trajectory of the arc-shaped hydraulic rod is concentric with the rotating seat. After the bracket moves away from the L-shaped seat, it can push the straight hydraulic rod to extend through the crossbar, thereby shortening the arc-shaped hydraulic rod and driving the rotating seat to rotate.

[0015] The beneficial effects of this invention are analyzed as follows: A railway cantilever arm assembly and disassembly manipulator includes a support mechanism and a feeding mechanism and a positioning mechanism disposed on the support mechanism. The support mechanism includes an L-shaped base. The feeding mechanism includes a first channel and a second channel formed on the L-shaped base. The flat cantilever arm is conveyed by the first channel, and the inclined cantilever arm is conveyed by the second channel. The outlets of the first channel and the second channel are rotatably connected to a discharge roller. The side wall of the discharge roller is provided with a groove adapted to the cantilever arm. The positioning mechanism includes two grippers. After the discharge roller rotates, the two grippers respectively grasp the flat cantilever arm and the inclined cantilever arm and move them laterally to the installation position.

[0016] The L-shaped seat is installed on the work vehicle. During the installation of the cantilever arm, the L-shaped seat is raised to a suitable position, and then the two sets of discharge rollers are rotated. After the flat cantilever arm output from the first channel moves, the discharge roller rotates until the groove on its side wall aligns with the first channel. Then, one flat cantilever arm in the first channel slides into the groove of this discharge roller. Then, this discharge roller continues to rotate, so that the flat cantilever arm is transported out of the L-shaped seat. The principle of transporting the oblique cantilever arm in the second channel is the same as the aforementioned transport of the flat cantilever arm. The two sets of discharge rollers transport out one flat cantilever arm and one oblique cantilever arm respectively. After the two discharge rollers rotate 180 degrees, two grippers extend and clamp the flat cantilever arm and the oblique cantilever arm respectively. Then, the two grippers extend again to remove the flat cantilever arm and the oblique cantilever arm from the corresponding discharge roller. Then, the grippers maintain the action of clamping the cantilever arm, which facilitates subsequent installation without the need for personnel to manually lift or support the cantilever arm, thus improving the positioning effect and installation efficiency of the cantilever arm. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of the present invention, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the rotating base driving the inclined wrist arm of the present invention. Figure 2 This is a schematic diagram of the overall structure of the present invention; Figure 3 This is a schematic diagram of the support mechanism of the present invention; Figure 4 This is a schematic diagram of the structure of the door stop in this invention; Figure 5 This is a schematic diagram of the structure of the discharge roller of the present invention; Figure 6 This is a schematic diagram of the structure of the bracket in this invention; Figure 7 This is a schematic diagram of the structure of the arc-shaped hydraulic rod of the present invention.

[0019] icon: 100. Support mechanism; 110. Lifting arm; 120. Hinge seat; 130. Leveling hydraulic rod; 140. L-shaped seat; 150. Protective sleeve; 151. Gate; 160. First channel; 170. Second channel; 200. Feeding mechanism; 210. Discharge roller; 220. Rotating shaft; 300. Positioning mechanism; 310. Cylinder; 320. Bracket; 330. First mounting seat; 331. First clamping plate; 340. First pull rope; 350. First spring; 360. Mounting plate; 400. Torsion mechanism; 410. Rotary seat; 411. Limiting rod; 420. Second clamping plate; 430. Second pull rope; 440. Second spring; 450. Second mounting seat; 460. Arc-shaped hydraulic rod; 470. Straight hydraulic rod; 480. Crossbar. Detailed Implementation

[0020] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0021] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] 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.

[0023] Examples, such as Figures 1-7 As shown, a railway cantilever arm assembly and disassembly manipulator includes a support mechanism 100 and a feeding mechanism 200 and a positioning mechanism 300 disposed on the support mechanism 100. The support mechanism 100 includes an L-shaped seat 140. The feeding mechanism 200 includes a first channel 160 and a second channel 170 opened on the L-shaped seat 140. The flat cantilever arm is conveyed by the first channel 160 and the inclined cantilever arm is conveyed by the second channel 170. The outlets of the first channel 160 and the second channel 170 are rotatably connected to a discharge roller 210 with a fixed axis. The side wall of the discharge roller 210 is provided with a groove adapted to the cantilever arm. The positioning mechanism 300 includes two grippers. After the discharge roller 210 rotates, the two grippers respectively grab the flat cantilever arm and the inclined cantilever arm and move them laterally to the installation position.

[0024] The working mechanism of the railway cantilever assembly / disassembly manipulator device provided in this embodiment is as follows: The L-shaped seat 140 is installed on the work vehicle, allowing personnel to stand on it for operation. During the installation of the cantilever arm, the L-shaped seat 140 is raised to a suitable position, and then the two sets of discharge rollers 210 are rotated. After the flat cantilever arm output from the upper first channel 160 moves, the discharge roller 210 rotates until its sidewall groove aligns with the first channel 160. Then, one flat cantilever arm within the first channel 160 slides into the groove of this discharge roller 210. The discharge roller 210 then continues to rotate, causing the flat cantilever arm to be transported out of the L-shaped seat 140. 0. The principle of transporting the inclined arm in the second channel 170 is the same as that of transporting the flat arm. The two sets of discharge rollers 210 transport out one flat arm and one inclined arm respectively. After the two discharge rollers 210 rotate 180 degrees, the two grippers extend and clamp the flat arm and the inclined arm respectively. Then the two grippers extend again to remove the flat arm and the inclined arm from the corresponding discharge rollers 210. The grippers then maintain the action of clamping the arm, which facilitates subsequent installation. There is no need for personnel to manually lift or support the arm, which improves the positioning effect of the arm and the installation efficiency.

[0025] Among the optional methods in this embodiment, the more preferred one is: The support mechanism 100 also includes a lifting arm 110, which is hinged to the vertical part of the L-shaped seat 140, and the arm of the lifting arm 110 is hinged to the horizontal part of the L-shaped seat 140 by a leveling hydraulic rod 130.

[0026] The lifting arm 110 is mounted on a work vehicle, which can be an engineering vehicle that travels on a track. The lifting arm 110 is hydraulically driven to swing up and down. The vertical part of the L-shaped seat 140 is equipped with a hinge seat 120. The end of the lifting arm 110 is hinged to the hinge seat 120, thereby adjusting the height of the L-shaped seat 140. During the swinging process of the lifting arm 110, the leveling hydraulic rod 130 extends and retracts at the same time, thereby ensuring that the L-shaped seat 140 can maintain a horizontal position.

[0027] Among the optional methods in this embodiment, the more preferred one is: Two sets of protective sleeves 150, coaxial with the two discharge rollers 210, are fixedly connected to the L-shaped seat 140. Each set of protective sleeves 150 is hinged with a stop gate 151.

[0028] The setting of the protective sleeve 150 allows the wrist arm on the discharge roller 210 to be limited and not fall off. After the discharge roller 210 rotates 180 degrees, the wrist arm moves to the position of the stop gate 151. At this time, the gripper clamps the wrist arm and pushes it out. The wrist arm then pushes the stop gate 151 to overcome its weight and swing open.

[0029] Among the optional methods in this embodiment, the more preferred one is: The feeding mechanism 200 also includes a rotating shaft 220 coaxially connected to the discharge roller 210, which is driven by a motor to rotate back and forth.

[0030] A motor is installed on the L-shaped base 140. The output end of the motor is connected to the rotating shaft 220. When the motor is running, it drives the discharge roller 210 to rotate through the rotating shaft 220, thereby the discharge roller 210 conveys the arm. The motor is set to reciprocate, which can drive the discharge roller 210 to rotate 180 degrees and then rotate back. In one cycle, the arm is continuously taken out.

[0031] Among the optional methods in this embodiment, the more preferred one is: The positioning mechanism 300 also includes a bracket 320, with a first mounting base 330 and a second mounting base 450 connected to both ends of the bracket 320 respectively. The gripper includes two first clamping plates 331 symmetrically rotatably connected to the first mounting base 330 and two second clamping plates 420 symmetrically rotatably connected to the second mounting base 450.

[0032] Both the first clamping plate 331 and the second clamping plate 420 are arc-shaped. Within the rotation range of the upper discharge roller 210 of the conveying flat arm, one of the first clamping plates 331 is shorter and the other is longer, so that the movement of the arm is unobstructed, while the arm can still be firmly gripped. The second clamping plate 420 of the lower gripper is set in the same way as the upper first clamping plate 331. In addition, the lengths of the longer first clamp 331 and second clamp 420 will not exceed half a circle, ensuring that the overtime can be smoothly locked onto the wrist arm.

[0033] Among the optional methods in this embodiment, the more preferred one is: A mounting plate 360 ​​is slidably connected to the first mounting base 330. Two first pull ropes 340 are connected to the mounting plate 360. Both first pull ropes 340 pass through the first mounting base 330 and are respectively wound around the rotating shafts of the two first clamping plates 331. A first spring 350 is connected between the mounting plate 360 ​​and the first mounting base 330. When the bracket 320 moves the first mounting base 330 away from the L-shaped seat 140, the first spring 350 elastically returns and pushes the mounting plate 360 ​​away from the first mounting base 330, thereby the first pull ropes 340 pull the two first clamping plates 331 to clamp the flat wrist arm.

[0034] When the bracket 320 moves away from the L-shaped seat 140, it can drive the first mounting seat 330 to move synchronously. At this time, the pressure applied to the first spring 350 decreases, so the first spring 350 pushes the mounting plate 360 ​​to move away from the first mounting seat 330. At this time, the mounting plate 360 ​​pulls the rotating shaft of the two first clamping plates 331 to rotate through the two first pull ropes 340, thereby making the two first clamping plates 331 hug the flat wrist arm.

[0035] Regarding the structure of the torsion mechanism 400, specifically: The torsion mechanism 400 is used to rotate the inclined arm. The torsion mechanism 400 includes a rotating base 410 rotatably connected to the second mounting base 450. The rotation shafts of the two second clamping plates 420 are symmetrically rotatably connected to the rotating base 410. A limit rod 411 is fixedly connected to the middle of the rotating base 410. The limit rod 411 is rotatably connected to the second mounting base 450. Two second pull ropes 430 are fixedly connected to the rotating base 410. The two second pull ropes 430 are respectively wound around the rotation shafts of the two second clamping plates 420.

[0036] As the bracket 320 moves away from the L-shaped seat 140, the two second pull ropes 430 simultaneously pull the rotation axis of the second clamp 420 so that the two second clamps 420 are tightly held on the inclined wrist arm. When the swivel base 410 rotates, it can drive the two second clamping plates 420 to rotate synchronously, so that the inclined arm clamped on the two second clamping plates 420 is rotated into the tilted state required for installation. Then, the inclined arm can be fixed on the flat arm by buckles or clamps.

[0037] Among the optional methods in this embodiment, the more preferred one is: A second spring 440 is sleeved on the limit rod 411. The two ends of the second spring 440 are respectively connected to the rotating seat 410 and the second mounting seat 450. When the second mounting seat 450 is away from the L-shaped seat 140, the second spring 440 elastically returns and pulls the two second clamping plates 420 to clamp the inclined arm through the second pull rope 430.

[0038] When the second mounting base 450 moves away from the L-shaped base 140, the second spring 440 elastically recovers and pushes the rotating base 410 to slide axially, so that the rotating base 410 is pulled by the second pull rope 430 to make the second clamping plate 420 clamp the inclined wrist arm. When the rotary seat 410 moves axially, the limiting rod 411 slides axially with the second mounting seat 450 and the two do not disengage, thereby ensuring that the subsequent rotation of the rotary seat 410 is not interfered with.

[0039] Among the optional methods in this embodiment, the more preferred one is: A cylinder 310 is fixedly connected to the L-shaped seat 140, and the output end of the cylinder 310 is connected to the bracket 320.

[0040] The extension and retraction of cylinder 310 can move bracket 320 closer to or further away from L-shaped seat 140, thereby gripping the wrist arm; Electromagnets are installed on both the mounting plate 360 ​​and the rotating base 410, and torsion springs are connected between the shaft of the second clamping plate 420 of the first clamping plate 331 and the corresponding mounting base. After the wrist arm is installed, the electromagnet is energized. At this time, the mounting plate 360 ​​and the rotating base 410 are attracted to the bracket 320, so that the first pull rope 340 and the second pull rope 430 are released. At this time, the two grippers release the wrist arm they are holding, and then the cylinder 310 shortens, so that the bracket 320 is reset, and the electromagnet is de-energized. The output end of the cylinder 310 and the bracket 320 can be slidably connected, so that the bracket 320 can be moved horizontally and radially to the output end of the cylinder 310. By moving the bracket 320, the cantilever arm can be brought closer to the desired installation position, and the cantilever arm can be installed on the support.

[0041] Among the optional methods in this embodiment, the more preferred one is: The torsion mechanism 400 also includes an arc-shaped hydraulic rod 460 fixedly connected to the second mounting base 450. The output end of the arc-shaped hydraulic rod 460 is magnetically attracted to the rotary base 410. A straight hydraulic rod 470 is fixedly connected to the L-shaped base 140. A crossbar 480 is fixedly connected to the output end of the straight hydraulic rod 470. The straight hydraulic rod 470 is connected to the arc-shaped hydraulic rod 460 through a pipe. The center of the trajectory of the arc-shaped hydraulic rod 460 is concentric with the rotary base 410. After the bracket 320 moves away from the L-shaped base 140, it can push the straight hydraulic rod 470 to extend through the crossbar 480, thereby shortening the arc-shaped hydraulic rod 460 and driving the rotary base 410 to rotate.

[0042] After the bracket 320 moves away from the L-shaped seat 140, the bracket 320 pushes the straight hydraulic rod 470 to extend via the crossbar 480. At this time, the straight hydraulic rod 470 draws hydraulic oil from the arc-shaped hydraulic rod 460, causing the arc-shaped hydraulic rod 460 to shorten. As a result, the rotating seat 410 magnetically attracted at the end of the arc-shaped hydraulic rod 460 can be driven to rotate, thereby causing the inclined arm to swing to the angle required for installation. Furthermore, since the end of the arc-shaped hydraulic rod 460 is magnetically attracted to the rotating seat 410, the sliding of the rotating seat 410 is not interfered with. To disassemble the wrist arm, directly control the extension of cylinder 310 while maintaining the electromagnets on mounting plate 360 ​​and rotary seat 410 energized, causing the two grippers to open. Then control the position of L-shaped seat 140 or the extension length of cylinder 310 so that the two grippers respectively grab the flat wrist arm and the inclined wrist arm. After that, de-energize the aforementioned electromagnets, so that the two grippers can grab the wrist arm and then disassemble the wrist arm to prevent it from falling off. An electromagnet can be installed at the contact point between the end of the arc-shaped hydraulic rod 460 and the rotating seat 410. When the rotating seat 410 needs to slide, the electromagnet is de-energized or the current is reduced to weaken the magnetism. When the rotating seat 410 needs to rotate, the electromagnet is energized and the current is increased to strengthen the magnetism. In addition, the aforementioned bracket 320 and gripper are made of insulating material to prevent current from being transmitted to the wrist arm.

[0043] 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 or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A railway cantilever arm assembly / disassembly manipulator device, characterized in that: The system includes a support mechanism (100) and a feeding mechanism (200) and a positioning mechanism (300) disposed on the support mechanism (100). The support mechanism (100) includes an L-shaped seat (140). The feeding mechanism (200) includes a first channel (160) and a second channel (170) opened on the L-shaped seat (140). The flat arm is conveyed by the first channel (160), and the inclined arm is conveyed by the second channel (170). The outlets of the first channel (160) and the second channel (170) are rotatably connected to a discharge roller (210) on a fixed axis. The side wall of the discharge roller (210) is provided with a groove adapted to the arm. The positioning mechanism (300) includes two grippers. After the discharge roller (210) rotates, the two grippers respectively grab the flat arm and the inclined arm and move laterally to the installation position.

2. The railway cantilever arm assembly and disassembly manipulator device according to claim 1, characterized in that: The support mechanism (100) further includes a lifting arm (110), which is hinged to the vertical part of the L-shaped seat (140), and the arm of the lifting arm (110) is hinged to the horizontal part of the L-shaped seat (140) by a leveling hydraulic rod (130).

3. The railway cantilever arm assembly and disassembly manipulator device according to claim 1, characterized in that: The L-shaped seat (140) is fixedly connected to two sets of protective sleeves (150) coaxial with the two discharge rollers (210), and each set of protective sleeves (150) is hinged with a stop gate (151).

4. The railway cantilever arm assembly and disassembly manipulator device according to claim 1, characterized in that: The feeding mechanism (200) also includes a rotating shaft (220) coaxially connected to the discharge roller (210), and the rotating shaft (220) is driven by a motor to reciprocate.

5. The railway cantilever arm assembly / disassembly manipulator device according to claim 1, characterized in that: The positioning mechanism (300) further includes a bracket (320), with a first mounting base (330) and a second mounting base (450) respectively connected to both ends of the bracket (320). The gripper includes two first clamping plates (331) symmetrically rotatably connected to the first mounting base (330) and two second clamping plates (420) symmetrically rotatably connected to the second mounting base (450).

6. The railway cantilever arm assembly and disassembly manipulator device according to claim 5, characterized in that: A mounting plate (360) is slidably connected to the first mounting base (330). Two first pull ropes (340) are connected to the mounting plate (360). Both first pull ropes (340) pass through the first mounting base (330) and are respectively wound around the rotation shafts of the two first clamping plates (331). A first spring (350) is connected between the mounting plate (360) and the first mounting base (330). When the bracket (320) drives the first mounting base (330) away from the L-shaped seat (140), the first spring (350) elastically returns and pushes the mounting plate (360) away from the first mounting base (330), so that the first pull ropes (340) pull the two first clamping plates (331) to clamp the flat wrist arm.

7. The railway cantilever arm assembly and disassembly manipulator device according to claim 5, characterized in that: It also includes a torsion mechanism (400) for rotating the inclined arm, the torsion mechanism (400) including a rotating base (410) rotatably connected to the second mounting base (450), and the rotation shafts of the two second clamping plates (420) being symmetrically rotatably connected to the rotating base (410); A limiting rod (411) is fixedly connected to the middle of the rotating seat (410). The limiting rod (411) is rotatably connected to the second mounting seat (450). Two second pull ropes (430) are fixedly connected to the rotating seat (410). The two second pull ropes (430) are respectively wound around the rotating shafts of the two second clamps (420).

8. The railway cantilever arm assembly and disassembly manipulator device according to claim 7, characterized in that: A second spring (440) is sleeved on the limiting rod (411), and the two ends of the second spring (440) are respectively connected to the rotating seat (410) and the second mounting seat (450). When the second mounting base (450) moves away from the L-shaped base (140), the second spring (440) elastically returns and pulls the two second clamping plates (420) to hold the inclined arm by the second pull rope (430).

9. The railway cantilever arm assembly and disassembly manipulator device according to claim 8, characterized in that: A cylinder (310) is fixedly connected to the L-shaped seat (140), and the output end of the cylinder (310) is connected to the bracket (320).

10. The railway cantilever arm assembly and disassembly manipulator device according to claim 7, characterized in that: The torsion mechanism (400) further includes an arc-shaped hydraulic rod (460) fixedly connected to the second mounting base (450). The output end of the arc-shaped hydraulic rod (460) is magnetically attracted to the rotating base (410). A straight hydraulic rod (470) is fixedly connected to the L-shaped base (140). A crossbar (480) is fixedly connected to the output end of the straight hydraulic rod (470). The straight hydraulic rod (470) is connected to the arc-shaped hydraulic rod (460) through a pipe. The center of the trajectory of the arc-shaped hydraulic rod (460) is concentric with the rotating seat (410). After the bracket (320) moves away from the L-shaped seat (140), it can push the straight hydraulic rod (470) to extend through the crossbar (480), thereby shortening the arc-shaped hydraulic rod (460) and driving the rotating seat (410) to rotate.

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