Railway cantilever dismounting manipulator device

Abstract

The present application relates to the technical field of manipulator, particularly relates to a railway wrist arm dismounting manipulator device, which is used to solve the problem of low efficiency of manual positioning and installation of wrist arm; the device comprises a supporting mechanism, a feeding mechanism and a positioning mechanism arranged on the supporting mechanism, the supporting mechanism comprises an L-shaped seat, the feeding mechanism comprises a first channel and a second channel opened on the L-shaped seat, flat wrist arms are conveyed by the first channel, inclined wrist arms are conveyed by the second channel, the outlets of the first channel and the second channel are both pivotally connected with a discharging roller, a groove matched with the wrist arm is opened on the side wall of the discharging roller; the positioning mechanism comprises two clamping jaws, after the rotation of the discharging roller, the two clamping jaws respectively grab the flat wrist arms and the inclined wrist arms, and are transversely moved to the installation position; the device can realize the integrated device of classified conveying, automatic limiting and synchronous grabbing and positioning of two types of wrist arms, so as to reduce the manual dependence, improve the operation efficiency and safety, and guarantee the construction and operation quality of electrified railway catenary.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hands, in particular to a railway wrist arm dismounting mechanical hand device. BACKGROUND

[0002] In the process of electrified railway construction and operation, the installation and dismounting of the catenary wrist arm is a key operation link, and its operation efficiency and precision directly affect the construction progress and operation safety of the railway line. At present, the catenary wrist arm mainly includes two types of components: flat wrist arm and inclined wrist arm. Both of them need to be installed in the specified position of the railway support. The traditional operation mode is still mainly semi-automatic mode with manual assistance of machinery, which has many technical difficulties and safety hazards.

[0003] From the existing operation process, when installing the wrist arm, the flat wrist arm and the inclined wrist arm need to be transferred to the operation area by the operation vehicle, and then the operation personnel need to ascend to the operation height by means of the lifting platform or the scaffold. Since the flat wrist arm and the inclined wrist arm are long strip-shaped metal components, the weight of a single one can reach dozens of kilograms. At least 10 persons need to operate cooperatively during the operation process: on the one hand, the wrist arm needs to be taken out from the transportation device one by one and manually lifted and positioned; on the other hand, a person needs to hold the wrist arm to maintain its stable posture until the connection and fixation with the support are completed. During this process, manual lifting and holding not only have great labor intensity, but also are affected by the differences in physical strength and operation experience of the personnel, so it is difficult to guarantee the positioning accuracy of the wrist arm, and installation deviation is easy to occur, which needs to be repeatedly adjusted, resulting in that the installation time of a single wrist arm usually exceeds 40 minutes, and the operation efficiency is low.

[0004] At the same time, manual operation also has significant safety risks. The operation personnel need to continuously hold the heavy component in the high-altitude environment, and if the physical strength is not enough or sudden shaking occurs, the wrist arm is easy to fall, which can cause equipment damage or personnel casualty accidents; in addition, it is difficult to accurately control the alignment of the wrist arm and the support mounting hole during the manual positioning process, and forced docking can cause deformation of the wrist arm or the support connector, which affects the overall structural stability of the catenary, and lays a safety hazard for long-term operation of the railway. SUMMARY

[0005] The present application provides a railway wrist arm dismounting mechanical hand device to solve the problem of low efficiency of manual positioning and installation of the wrist arm.

[0006] In order to alleviate the above technical problems, the technical scheme provided by the present application is as follows:

[0007] The utility model provides a railway wrist arm dismounting mechanical hand device, including support mechanism and the feeding mechanism and positioning mechanism of setting in the support mechanism, the support mechanism includes L shape seat, the feeding mechanism includes the first passageway and the second passageway of setting up on the L shape seat, the flat wrist arm is transported by the first passageway, the oblique wrist arm is transported by the second passageway, the outlet of first passageway and the second passageway are all fixed axle rotation connection has the material-removing roller, the lateral wall of material-removing roller is seted up with the recess of adapting to wrist arm,

[0008] The positioning mechanism includes two clamping jaws, after the rotation of the material-removing roller, the two clamping jaws respectively grab flat wrist arm and oblique wrist arm, and are transversely moved to the installation position.

[0009] Further, the support mechanism further includes a lifting arm, the lifting arm is hinged to the vertical part of the L-shaped seat, and the arm body of the lifting arm is hinged to the horizontal part of the L-shaped seat with a leveling hydraulic rod.

[0010] Further, the L-shaped seat is fixedly connected with two groups of protection tubes coaxial with the two material-removing rollers, and two groups of the protection tubes are hinged with doors.

[0011] Further, the feeding mechanism further includes a rotating shaft coaxially connected to the material-removing roller, and the rotating shaft is driven to reciprocatingly rotate by a motor.

[0012] Further, the positioning mechanism further includes a support, two ends of the support are respectively connected with a first mounting seat and a second mounting seat, and the clamping jaws include two first clamping plates symmetrically connected to the first mounting seat and two second clamping plates symmetrically connected to the second mounting seat.

[0013] Further, the first mounting seat is slidingly connected with a mounting plate, two first pull ropes are connected to the mounting plate, the two first pull ropes are respectively wound on rotating shafts of the two first clamping plates and penetrate through the first mounting seat, a first spring is connected between the mounting plate and the first mounting seat, when the support drives the first mounting seat to move away from the L-shaped seat, the first spring elastically returns and pushes the mounting plate away from the first mounting seat, so that the first pull ropes pull the two first clamping plates to clamp the flat wrist arm.

[0014] Further, a torsion mechanism for rotating the oblique wrist arm is further included, the torsion mechanism includes a rotating seat rotatably connected to the second mounting seat, and rotating shafts of the two second clamping plates are symmetrically rotatably connected to the rotating seat.

[0015] A limiting rod is fixedly connected to the middle part of the rotating seat, the limiting rod is rotatably connected to the second mounting seat, two second pull ropes are fixedly connected to the rotating seat, and the rotating shafts of the two second clamping plates are respectively wound with the two second pull ropes.

[0016] Further, a second spring is sleeved on the limiting rod, two ends of the second spring are connected to the rotating seat and the second mounting seat respectively.

[0017] When the second mounting seat is away from the L-shaped seat, the second spring elastically returns and pulls the two second clamping plates through the second pull rope to clamp the inclined arm.

[0018] Further, a cylinder is fixedly connected to the L-shaped seat, and an output end of the cylinder is connected to the support.

[0019] Further, the torsion mechanism further comprises an arc-shaped hydraulic rod fixedly connected to the second mounting seat, an output end of the arc-shaped hydraulic rod is magnetically attracted to the rotating seat, a straight hydraulic rod is fixedly connected to the L-shaped seat, an output end of the straight hydraulic rod is fixedly connected to a cross rod, and the straight hydraulic rod communicates with the arc-shaped hydraulic rod through a pipeline.

[0020] A center of a track of the arc-shaped hydraulic rod is concentric with the rotating seat, and after the support is away from the L-shaped seat, the straight hydraulic rod can be pushed to elongate by the cross rod, so that the arc-shaped hydraulic rod is shortened and drives the rotating seat to rotate.

[0021] The beneficial effects of the present application are analyzed as follows:

[0022] The railway arm dismounting mechanical hand device comprises a supporting mechanism, a feeding mechanism and a positioning mechanism arranged on the supporting mechanism, the supporting mechanism comprises an L-shaped seat, the feeding mechanism comprises first and second channels opened on the L-shaped seat, flat arms are conveyed by the first channel, inclined arms are conveyed by the second channel, the first and second channels are both connected with discharge rollers at outlets in a pivotable manner, and grooves matched with the arms are opened on side walls of the discharge rollers; the positioning mechanism comprises two clamping jaws, after the discharge rollers rotate, the two clamping jaws respectively grab the flat arms and the inclined arms and are transversely moved to installation positions.

[0023] The L-shaped seat is installed on the working vehicle. When the wrist arm is installed, the L-shaped seat is controlled to be raised to a suitable position, and then two groups of discharging rollers are controlled to rotate. After the flat wrist arm output in the upper first channel moves, the discharging roller rotates to align the groove on the side wall with the first channel, and then the flat wrist arm in the first channel slides into the groove of the discharging roller, and then the discharging roller continues to rotate, so that the flat wrist arm is transported out of the L-shaped seat. The principle of transporting the inclined wrist arm in the second channel is the same as that of the flat wrist arm. Two groups of discharging rollers transport a flat wrist arm and an inclined wrist arm respectively. After the two discharging rollers rotate one hundred and eighty degrees, two clamps extend to clamp the flat wrist arm and the inclined wrist arm respectively, and then the two clamps are elongated to take the flat wrist arm and the inclined wrist arm from the corresponding discharging rollers. Then the clamps maintain the action of clamping the wrist arm, so as to facilitate subsequent installation, without manual lifting or supporting the wrist arm by personnel, improving the positioning effect of the wrist arm and the installation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the specific embodiments or related art, the drawings needed to be used in the specific embodiments or related art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0025] Figure 1 Structure diagram of the present application for the structure of the inclined wrist arm driven by the transposition;

[0026] Figure 2 Structure diagram of the present application for the overall structure;

[0027] Figure 3 Structure diagram of the present application for the support mechanism;

[0028] Figure 4 Structure diagram of the present application for the structure of the door;

[0029] Figure 5 Structure diagram of the present application for the structure of the discharging roller;

[0030] Figure 6 Structure diagram of the present application for the structure of the bracket;

[0031] Figure 7 Structure diagram of the present application for the structure of the arc-shaped hydraulic rod.

[0032] Icon:

[0033] 100, support mechanism; 110, lifting arm; 120, hinged seat; 130, leveling hydraulic rod; 140, L-shaped seat; 150, casing; 151, door; 160, first channel; 170, second channel; 200, feeding mechanism; 210, discharge roller; 220, rotating shaft; 300, positioning mechanism; 310, air 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, rotating 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, cross bar. DETAILED DESCRIPTION

[0034] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0035] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0036] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0037] Embodiments, such as Figures 1-7As shown, a railway wrist arm dismounting and mounting mechanical hand device includes a supporting mechanism 100, a feeding mechanism 200 and a positioning mechanism 300 arranged on the supporting mechanism 100, the supporting 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, flat wrist arms are transported by the first channel 160, inclined wrist arms are transported by the second channel 170, the outlets of the first channel 160 and the second channel 170 are both pivotally connected with a discharging roller 210, a groove adapted to the wrist arm is opened on the side wall of the discharging roller 210; the positioning mechanism 300 includes two clamping jaws, after the rotation of the discharging roller 210, the two clamping jaws respectively grab the flat wrist arm and the inclined wrist arm and are transversely moved to a mounting position.

[0038] The working mechanism of the railway wrist arm dismounting and mounting mechanical hand device provided by the embodiment is as follows:

[0039] The L-shaped seat 140 is installed on a working vehicle, and personnel can stand on the L-shaped seat 140 to work, when the wrist arm is mounted, the L-shaped seat 140 is controlled to be raised to a suitable position, then two groups of discharging rollers 210 are controlled to rotate, after the flat wrist arm in the upper first channel 160 moves, the discharging roller 210 rotates to align the groove on the side wall with the first channel 160, then a flat wrist arm in the first channel 160 slides into the groove of the discharging roller 210, then the discharging roller 210 continues to rotate, so that the flat wrist arm is transported out of the L-shaped seat 140, the principle of transporting the inclined wrist arm in the second channel 170 is the same as that of transporting the flat wrist arm, two groups of discharging rollers 210 respectively transport a flat wrist arm and an inclined wrist arm, after the two discharging rollers 210 rotate by one hundred and eighty degrees, two clamping jaws extend to respectively clamp the flat wrist arm and the inclined wrist arm, then the two clamping jaws are further extended to take the flat wrist arm and the inclined wrist arm off the corresponding discharging rollers 210, then the clamping jaws maintain the clamping action of the wrist arm, so as to facilitate subsequent installation, without manual lifting or supporting the wrist arm by personnel, the positioning effect and the installation efficiency of the wrist arm are improved.

[0040] In an optional mode of the embodiment, the following is more preferred:

[0041] The supporting mechanism 100 further includes a lifting arm 110, the lifting arm 110 is hinged with the vertical part of the L-shaped seat 140, and an adjusting hydraulic rod 130 is hinged between the arm body of the lifting arm 110 and the horizontal part of the L-shaped seat 140.

[0042] The lifting arm 110 is arranged on a working vehicle, the working vehicle can be an engineering vehicle walking on a track, the lifting arm 110 is driven by a hydraulic pressure to swing up and down, the vertical part of the L-shaped seat 140 is provided with a hinge seat 120, and the end of the lifting arm 110 is hinged on the hinge seat 120, so as to adjust the height of the L-shaped seat 140, during the swinging of the lifting arm 110, the adjusting hydraulic rod 130 simultaneously extends and contracts, so as to ensure that the L-shaped seat 140 can maintain horizontal.

[0043] In an alternative embodiment of the present application, preferably:

[0044] The L-shaped seat 140 is fixedly connected with two groups of protecting tubes 150 coaxial with the two discharge rollers 210, and the two groups of protecting tubes 150 are both hingedly connected with the doors 151.

[0045] The protecting tubes 150 are arranged to limit the wrist arms on the discharge rollers 210 from falling off, and after the discharge rollers 210 rotate 180 degrees, the wrist arms move to the position of the doors 151, at which time the clamping jaws clamp the wrist arms and push the wrist arms out, and the wrist arms push the doors 151 to overcome their weight and swing open.

[0046] In an alternative embodiment of the present application, preferably:

[0047] The feeding mechanism 200 further comprises a rotating shaft 220 coaxially connected with the discharge rollers 210, and the rotating shaft 220 is driven to reciprocatingly rotate by a motor.

[0048] The L-shaped seat 140 is mounted with the motor, the output end of the motor is connected with the rotating shaft 220, and when the motor operates, the discharge rollers 210 are driven to rotate by the rotating shaft 220, so that the wrist arms are transported by the discharge rollers 210, the motor is arranged to reciprocatingly rotate, and can drive the discharge rollers 210 to rotate 180 degrees and then rotate back, once in a cycle, and continuously take out the wrist arms.

[0049] In an alternative embodiment of the present application, preferably:

[0050] The positioning mechanism 300 further comprises a bracket 320, the two ends of the bracket 320 are respectively connected with a first mounting seat 330 and a second mounting seat 450, and the clamping jaws comprise two first clamping plates 331 symmetrically and rotatably connected with the first mounting seat 330 and two second clamping plates 420 symmetrically and rotatably connected with the second mounting seat 450.

[0051] The first clamping plates 331 and the second clamping plates 420 are both arranged in an arc shape, and the length of one of the first clamping plates 331 is shorter than the length of the other first clamping plate 331 in the rotating range of the upper discharge rollers 210 conveying the wrist arms, so that the movement of the wrist arms is not blocked, and at the same time, the wrist arms can still be firmly gripped, and the second clamping plates 420 of the lower clamping jaws are arranged in the same way as the upper first clamping plates 331.

[0052] In addition, the length of the longer first clamping plate 331 and the second clamping plate 420 will not exceed one-half of a circle, so as to ensure that the wrist arms can be smoothly clamped on the wrist arms.

[0053] In an alternative embodiment of the present application, preferably:

[0054] The first mounting base 330 is slidably connected with a mounting plate 360, the mounting plate 360 is connected with two first pull ropes 340, the two first pull ropes 340 are both penetrated through the first mounting base 330 and are wound on the rotating shafts of the two first clamping plates 331 respectively, the first mounting base 330 is connected with the first mounting base 330 through the first spring 350, when the bracket 320 drives the first mounting base 330 to move away from the L-shaped seat 140, the first spring 350 elastically returns and pushes the mounting plate 360 to move away from the first mounting base 330, so that the first pull rope 340 pulls the two first clamping plates 331 to clamp the flat wrist arm.

[0055] When the bracket 320 moves away from the L-shaped seat 140, the first mounting base 330 can be driven to move synchronously, at this time, the pressure applied to the first spring 350 is reduced, so that the first spring 350 pushes the mounting plate 360 to move away from the first mounting base 330, at this time, the mounting plate 360 rotates the rotating shafts of the two first clamping plates 331 through the two first pull ropes 340, so that the two first clamping plates 331 tightly hold the flat wrist arm.

[0056] Regarding the structure of the torsion mechanism 400, specifically:

[0057] The torsion mechanism 400 is used for rotating the inclined wrist arm, the torsion mechanism 400 comprises a rotating seat 410 which is rotatably connected to a second mounting base 450, the rotating shafts of the two second clamping plates 420 are symmetrically rotatably connected to the rotating seat 410; the middle part of the rotating seat 410 is fixedly connected with a limiting rod 411, the limiting rod 411 is rotatably connected to the second mounting base 450, the rotating seat 410 is fixedly connected with two second pull ropes 430, the two second pull ropes 430 are wound on the rotating shafts of the two second clamping plates 420 respectively.

[0058] When the bracket 320 moves away from the L-shaped seat 140, the two second pull ropes 430 synchronously pull the rotating shafts of the second clamping plates 420 to make the two second clamping plates 420 tightly hold the inclined wrist arm;

[0059] When the rotating seat 410 rotates, the two second clamping plates 420 can be synchronously rotated, so that the inclined wrist arm clamped on the two second clamping plates 420 is rotated to the required inclined state, and then the inclined wrist arm can be fixed on the flat wrist arm through buckles or clamps.

[0060] In the optional mode of the embodiment, the more preferred is:

[0061] The limiting rod 411 is sleeved with a second spring 440, the two ends of the second spring 440 are connected to the rotating seat 410 and the second mounting base 450 respectively; when the second mounting base 450 moves 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 wrist arm through the second pull rope 430.

[0062] The second spring 440 elastically returns and pushes the rotating seat 410 to axially slide when the second mounting base 450 is away from the L-shaped seat 140, so that the rotating seat 410 pulls the second clamping plate 420 to clamp the inclined arm through the second pull rope 430;

[0063] When the rotating seat 410 axially moves, the limiting rod 411 axially slides and does not disengage from the second mounting base 450, thereby ensuring that the subsequent rotation of the rotating seat 410 is not interfered.

[0064] In an optional mode of the embodiment, the following is more preferable:

[0065] The L-shaped seat 140 is fixedly connected with the air cylinder 310, and the output end of the air cylinder 310 is connected to the support 320.

[0066] The air cylinder 310 can be extended or retracted to drive the support 320 to approach or be away from the L-shaped seat 140, so as to clamp the arm;

[0067] The electromagnets are installed on the mounting plate 360 and the rotating seat 410, and the torsion springs are connected between the shafts of the first clamping plate 331 and the second clamping plate 420 and the corresponding mounting bases. After the arm is installed, the electromagnets are controlled to be powered on, at which time the mounting plate 360 and the rotating seat 410 are adsorbed on the support 320, so that the first pull rope 340 and the second pull rope 430 are released, at which time the two clamping jaws are loosened to clamp the arm, and then the air cylinder 310 is shortened to reset the support 320, and the electromagnets are powered off.

[0068] The air cylinder 310 and the support 320 can be connected in a sliding mode, so that the support 320 can be radially slid horizontally on the output end of the air cylinder 310, so that the arm can be installed at the desired position by moving the support 320, thereby installing the arm on the support column.

[0069] In an optional mode of the embodiment, the following is more preferable:

[0070] The torsion mechanism 400 further comprises an arc-shaped hydraulic rod 460 fixedly connected to the second mounting base 450, and the output end of the arc-shaped hydraulic rod 460 is magnetically attracted to the rotating seat 410. The L-shaped seat 140 is fixedly connected with a straight hydraulic rod 470, the output end of the straight hydraulic rod 470 is fixedly connected with a cross rod 480, and the straight hydraulic rod 470 is communicated with the arc-shaped hydraulic rod 460 through a pipeline. The center of the track of the arc-shaped hydraulic rod 460 is concentric with the rotating seat 410, and after the support 320 is away from the L-shaped seat 140, the straight hydraulic rod 470 can be pushed to be elongated through the cross rod 480, so that the arc-shaped hydraulic rod 460 is shortened and drives the rotating seat 410 to rotate.

[0071] After the bracket 320 moves away from the L-shaped seat 140, the bracket 320 pushes the straight hydraulic rod 470 to extend by the crossbar 480, at this time, the straight hydraulic rod 470 extracts the hydraulic oil in the arc-shaped hydraulic rod 460 to make the arc-shaped hydraulic rod 460 shorten, so that the rotating seat 410 magnetically attracted at the end of the arc-shaped hydraulic rod 460 can be driven to rotate, thereby making the inclined arm swing to the required angle, and because the arc-shaped hydraulic rod 460 end and the rotating seat 410 are magnetically attracted, the sliding of the rotating seat 410 is not interfered;

[0072] If the arm is to be disassembled, the direct control cylinder 310 is elongated, while maintaining the mounting plate 360 and the rotating seat 410 electromagnet energized state, so that the two clamps are opened, and then the position of the L-shaped seat 140 or the extension length of the cylinder 310 is controlled, so that the two clamps respectively grab the flat arm and the inclined arm, and then the aforementioned electromagnet is de-energized, so that the two clamps grab the arm, and then the arm can be disassembled, avoiding the arm falling;

[0073] The contact part of the arc-shaped hydraulic rod 460 end and the rotating seat 410 can be provided with an electromagnet, 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 enhance the magnetism;

[0074] In addition, the above-mentioned bracket 320 and the clamp are made of insulating material to avoid current transmission to the arm.

[0075] 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 to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A railway cantilever dismounting robot device, characterized by: The utility model provides a kind of arm positioning device, including support mechanism (100) and the feeding mechanism (200) and positioning mechanism (300) arranged in the support mechanism (100), the support mechanism (100) includes L-shaped seat (140), the feeding mechanism (200) includes first passage (160) and second passage (170) opened in the L-shaped seat (140), flat arm is transported by the first passage (160), inclined arm is transported by the second passage (170), the outlet of the first passage (160) and the second passage (170) is rotatably connected with discharge roller (210) in axis, recess is opened in the sidewall of discharge roller (210) with the recess of arm adaptation; The positioning mechanism (300) includes two clamping jaws, after the rotation of the discharge roller (210), the two clamping jaws respectively grab flat arm and inclined arm, and are transversely moved to the mounting position; The positioning mechanism (300) further includes a bracket (320), the two ends of the bracket (320) are respectively connected with a first mounting seat (330) and a second mounting seat (450), the clamping jaw includes two first clamping plates (331) symmetrically rotatably connected to the first mounting seat (330) and two second clamping plates (420) symmetrically rotatably connected to the second mounting seat (450); The first mounting seat (330) is slidably connected with a mounting plate (360), the mounting plate (360) is connected with two first pull ropes (340), the two first pull ropes (340) are both penetrated through the first mounting seat (330) and are respectively wound on 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 seat (330), when the bracket (320) drives the first mounting seat (330) to move away from the L-shaped seat (140), the first spring (350) elastically recovers and pushes the mounting plate (360) away from the first mounting seat (330), so that the first pull rope (340) pulls the two first clamping plates (331) to clamp flat arm; It further includes a torsion mechanism (400) for rotating inclined arm, the torsion mechanism (400) includes a rotating seat (410) rotatably connected to the second mounting seat (450), the rotating shafts of the two second clamping plates (420) are symmetrically rotatably connected to the rotating seat (410); The middle part of the rotating seat (410) is fixedly connected with a limiting rod (411), the limiting rod (411) is rotatably connected to the second mounting seat (450), the rotating seat (410) is fixedly connected with two second pull ropes (430), the two second pull ropes (430) are respectively wound on the rotating shafts of the two second clamping plates (420).

2. The railway boom handler apparatus of claim 1, wherein: The support mechanism (100) further includes a lifting arm (110), the lifting arm (110) is hinged with the vertical part of the L-shaped seat (140), the arm body of the lifting arm (110) is hinged with the leveling hydraulic rod (130) of the horizontal part of the L-shaped seat (140).

3. The railway boom handler apparatus of claim 1, wherein: The L-shaped seat (140) is fixedly connected with two groups of protecting tubes (150) coaxial with the two discharge rollers (210), and the two groups of protecting tubes (150) are both hingedly connected with doors (151).

4. The railway boom handler apparatus of claim 1, wherein: The feeding mechanism (200) further comprises a rotating shaft (220) coaxially connected with the discharge roller (210), and the rotating shaft (220) is driven to rotate reciprocatingly by a motor.

5. The railway boom handler apparatus of claim 1, wherein: The limiting rod (411) is sleeved with a second spring (440), and two ends of the second spring (440) are connected with the rotating seat (410) and the second mounting seat (450) respectively. 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).

6. The railway boom handler apparatus of claim 5, wherein: The L-shaped seat (140) is fixedly connected with a gas cylinder (310), and an output end of the gas cylinder (310) is connected with the support (320).

7. The railway boom handler apparatus of claim 1, wherein: The torsion mechanism (400) further comprises an arc-shaped hydraulic rod (460) fixedly connected with the second mounting seat (450), an output end of the arc-shaped hydraulic rod (460) is magnetically attracted to the rotating seat (410), the L-shaped seat (140) is fixedly connected with a straight hydraulic rod (470), an output end of the straight hydraulic rod (470) is fixedly connected with a cross rod (480), and the straight hydraulic rod (470) is communicated with the arc-shaped hydraulic rod (460) through a pipeline. A track center of the arc-shaped hydraulic rod (460) is concentric with the rotating seat (410), and after the support (320) is away from the L-shaped seat (140), the straight hydraulic rod (470) can be pushed to be elongated through the cross rod (480), so that the arc-shaped hydraulic rod (460) is shortened and drives the rotating seat (410) to rotate.

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