Hook lifting tool of intelligent hook lifting robot of railway marshalling station

Abstract

The invention discloses a hook lifting tool of an intelligent hook lifting robot of a railway marshalling station, and relates to the technical field of railway transportation. The tool comprises a flange installed at the tail end of a robot, a lifting hook operation rod, a lifting hook rod lifting support and a lifting hook rotating clamping piece. Standardized adaptation with an intelligent robot is achieved through a flange, the hook lifting operation rod is adaptive to hook lifting positions of different vehicle types, lifting supporting and rotating clamping pieces transmit hook lifting power, and the rotating clamping pieces are compatible with operation errors through the design of blocking pieces. The hook lifting tool is matched with a track composite intelligent robot, the manual hook lifting action can be simulated, the hook lifting tool is suitable for car couplers of various car types, the intelligent robot does not need to stretch into the compartment connecting position, full automation of hook lifting operation is achieved, and the operation efficiency, safety, adaptability and reliability of a marshalling station are improved.

Description

Technical Field

[0001] This invention relates to the field of railway transportation technology, and specifically to a hook-lifting tool for an intelligent hook-lifting robot in a railway marshalling yard. Background Technology

[0002] Railway marshalling yards are a crucial link in the railway transportation system, responsible for disassembling and reassembling arriving trains. Coupling is a key process in marshalling yard operations, involving opening the locking mechanism of the coupler to separate the cars. Traditionally, coupling is primarily done manually, which presents the following problems: High safety risks: Workers need to walk between moving vehicles, and there is a risk of being hit or crushed by the vehicles; High labor intensity: The lifting hook is usually heavy and requires a lot of strength to operate, which can easily lead to worker fatigue if the operation is prolonged; Low efficiency: Manual operation is slow, which affects the overall operational efficiency of the marshalling yard; Unstable work quality: Due to factors such as personnel skills, physical strength, and attention, the quality of hook lifting varies. Working in harsh environments: Manual work is difficult and dangerous in severe weather conditions such as rain, snow, high temperatures, and extreme cold.

[0003] In railway marshalling yards, the unmarshalling and unmarshalling of train carriages requires coupling operations. Traditional coupling operations are mostly carried out manually or with semi-automated equipment, which has problems such as low work efficiency, high safety risks, and poor adaptability. Existing coupling tools generally have defects such as high work precision requirements, poor coupling action stability, and inability to adapt to the coupling structures of a wide variety of train models (nearly 400 types of train models), making it difficult to meet the high-efficiency operation requirements of intelligent marshalling yards. Summary of the Invention

[0004] (a) Purpose of the invention This invention provides a hook-lifting tool for an intelligent hook-lifting robot in railway marshalling yards, achieving standardized adaptation with the intelligent robot and improving the automation, precision, adaptability, and stability of hook-lifting operations.

[0005] (II) Technical Solution A hook-lifting tool for an intelligent hook-lifting robot in a railway marshalling yard includes: Installed on the robot end flange (21): used to connect with the end of the intelligent robot to realize the standardized assembly of the lifting hook tool and the robot; Lifting hook operation rod (22): The working connection rod from the end of the intelligent lifting hook robot to the train lifting hook area, which is adapted to the lifting hook position of different models and transmits the power to lift and rotate the lifting hook rod; Lifting hook rod support (23): Connected to the lifting hook working rod, used for support and power transmission when the lifting hook rod needs to be lifted during operation; Hook rotating clamp (24): Set on the hook working rod, used to drive the hook rod to rotate for hook lifting operation. The hook rotating clamp is designed with two baffles, and the baffles are spaced a certain distance from the hook rod to accommodate certain operating errors.

[0006] (III) Beneficial Effects Standardized docking with different intelligent robots is achieved by installing flanges; This reduces the requirements for the mobile positioning and perception accuracy of intelligent hook-lifting robots and improves operational reliability; The intelligent hook-lifting robot can simulate the action of manual hook lifting and can be adapted to the hooks of various vehicle types. The collaborative robotic arm does not need to extend into the connection of the truck body, improving the safety of operation. With the assistance of a track-mounted intelligent robot, the hook-lifting operation can be fully automated, improving the efficiency of marshalling yard operations and reducing safety risks. Attached Figure Description

[0007] Figure 1 This is a schematic diagram of an intelligent lifting robot; 11 is a track-based composite intelligent robot, 12 is a lifting tool, and 13 is the operating track of the composite intelligent robot.

[0008] Figure 2 This is a schematic diagram of the hook lifting tool of the present invention; 21 is the flange installed at the end of the robot, 22 is the hook lifting rod, 23 is the hook lifting rod support, and 24 is the hook lifting rotating clamp.

[0009] Figure 3 This is a schematic diagram of the working positions of the hook-lifting tool and the lower hook-lifting rod: 12 is the hook-lifting tool, 31 is the lower hook-lifting rod, and 32 is the support for the lower hook-lifting rod installed on the train car.

[0010] Figure 4 This is a schematic diagram of the working positions of the hook-lifting tool and the upper hook-lifting rod: 12 is the hook-lifting tool, 41 is the upper hook-lifting rod, and 42 is the support for the upper hook-lifting rod installed on the train car. Detailed Implementation

[0011] This lifting tool needs to be used in conjunction with the track-based composite intelligent robot (11) and the track (13) of the composite intelligent robot. The complete workflow is divided into the following steps: First step: Tool docking stage. Mechanical connection is completed by installing the robot end flange (21) and the end of the track composite intelligent robot (11): The flange has a built-in locking mechanism, which can quickly realize the assembly of the tool and the track composite intelligent robot.

[0012] Second step: Operation positioning stage. After the track composite intelligent robot (11) moves along the track (13) to the hook-lifting position corresponding to the target car, based on the multi-sensor fusion intelligent sensing of the upper or lower hook-lifting rod and feature point position information, it guides the end-drive hook-lifting tool of the track composite intelligent robot to adjust its posture and dock the hook-lifting tool (12) with the train hook-lifting rod: The working position of the hook-lifting tool (12) and the lower hook-lifting rod (31) is as follows: Figure 3 The working positions of the lifting tool (12) and the upper lifting rod (41) are as follows: Figure 4 .

[0013] Third step: For the lower hook lifting operation, the lifting tool (12) is lifted by the end of the track composite intelligent robot (11), and the lifting tool (12) lifting hook rod support (23) lifts the lower hook rod (31) in conjunction with the lifting tool (12) (lifting stroke 20mm, lifting force at the end of the track composite intelligent robot (11) is greater than 150N); For the upper hook lifting operation, there is no need to lift the upper hook rod (41); Fourth step: The end of the track composite intelligent robot (11) rotates to drive the hook lifting tool (12) and the hook lifting rotating clamp (24) to move in a 90-degree arc, with a torque greater than 150N, to complete the hook lifting and unlocking action; after unlocking, ensure that the car coupler leaves the mouth and then reset.

[0014] Fifth step: After the hook is lifted, the end of the track-mounted intelligent robot (11) drives the hook lifting tool (12) back to the initial hook lifting position, and according to the preset interference avoidance path, the hook lifting tool (12) is retracted to a safe posture. The track-mounted intelligent robot (11) moves along the track to the next hook lifting station and waits for the next operation instruction.

[0015] Through the above specific embodiments, those skilled in the art can clearly understand the structure, function, and operation process of the present invention, and can accordingly realize intelligent coupling operations in railway marshalling yards, significantly improving operational adaptability and reliability. The present invention has been described above in conjunction with the embodiments, which are merely exemplary and illustrative. Based on this, various substitutions and improvements can be made to the present invention, all of which fall within the protection scope of the present invention.

Claims

1. A hook-lifting tool for an intelligent hook-lifting robot in a railway marshalling yard, characterized in that, include: Installed on the robot end flange (21), it is used to connect with the end of the intelligent robot to realize the standardized assembly of the lifting hook tool and the robot; The lifting rod (22) serves as the working connection rod from the end of the intelligent lifting robot to the train lifting area. It is adapted to the lifting position of different train models and transmits the power to lift and rotate the lifting rod. The lifting hook rod support (23) is connected to the lifting hook working rod (22) and is used to lift the lifting hook rod and transmit power during operation; The hook rotating clamp (24) is set on the hook working rod (22) and is used to drive the hook rod to rotate to complete the hook lifting operation. The hook rotating clamp (24) is provided with two baffles, and there is a gap between the baffles and the hook rod to accommodate the operation error.

2. The lifting hook tool according to claim 1, characterized in that: The locking mechanism installed on the end flange (21) of the robot can quickly complete the standardized assembly with the track-mounted composite intelligent robot (11).

3. The lifting hook tool according to claim 1, characterized in that: The lifting stroke of the lifting hook rod support (23) is 20mm, and the lifting force is above 150N. It is a type of lifting hook rod that needs to be lifted during the hook-up operation.

4. The lifting hook tool according to claim 1, characterized in that: The lifting hook rotating clamp (24) can rotate 90° with the robot end to drive the lower lifting hook rod (31) or the upper lifting hook rod (41) to rotate and lift the hook, with a rotation torque of more than 150N.

5. The lifting hook tool according to claim 1, characterized in that: The hook-lifting rod (22) can be adapted to the working positions of the lower hook-lifting rod (31) and the upper hook-lifting rod (41) of the train for hook-lifting operations.

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