Railway shunting and uncoupling robot system based on radar-visual fusion and force feedback coordination

Abstract

This invention relates to the field of uncoupling robot technology, specifically to a railway shunting uncoupling robot system based on radar-visual fusion and force feedback collaboration. The system includes a main moving base, a secondary moving base mounted on a slide rail on the upper side of the main moving base, a robotic arm mounted on the upper side of the secondary moving base, a first servo motor mounted on the free end of the robotic arm, a lever mounted on the output shaft of the first servo motor, a detection plate mounted on the edge of the first servo motor end, an adjustment cavity within the detection plate, and a slotted hole communicating with the adjustment cavity on the lower side of the detection plate. A slider is slidably mounted in the middle of the adjustment cavity, and the slider abuts against both ends of the adjustment cavity via two first springs. Distance sensors are mounted at both ends of the adjustment cavity. A first clamping block and a second clamping block, connected to the slider, are positioned opposite each other on the lower side of the detection plate. This invention solves the problem in existing technologies where, during uncoupling operations when the carriage is running at low speed, the uncoupling robot is prone to collisions with the carriage, resulting in damage.

Description

Technical Field

[0001] This invention relates to the field of uncoupling robot technology, specifically to a railway shunting uncoupling robot system based on radar-visual fusion and force feedback collaboration. Background Technology

[0002] In railway systems, couplers are components that connect two carriages. Based on their opening method, existing couplers are generally divided into top-acting and bottom-acting types. Top-acting couplers are typically opened by a lifting mechanism located at the top of the coupler head and are more common in freight cars, while bottom-acting couplers are typically opened by a cone-shaped mechanism located at the bottom of the coupler head and are more common in passenger cars. The Jan coupler is a relatively common automatic coupler that connects two carriages without human intervention. To uncouple (i.e., unlock or decouple), the coupler tongue is manually lifted.

[0003] Existing couplers, whether top-operated or bottom-operated, are typically equipped with a hook lifting rod (or hook-lifting lever) for manual uncoupling (uncoupling). This rod is usually horizontally mounted on the end beam of the car body, and one end is typically connected to the unlocking mechanism (such as a locking pin device) within the coupler. To uncouple, rotating the hook lifting rod lifts or pushes up the unlocking mechanism, allowing the cars to separate. In existing technology, the hook lifting rod typically includes a straight section and a drooping section, which usually form an L-shape, as shown in the attached diagram. Figure 1 As shown, the ends of the carriages are usually equipped with hook-lifting rod seats that accommodate the hook-lifting rod. These seats typically have constraint holes adapted to the hook-lifting rod. The straight section of the hook-lifting rod passes through these constraint holes, and the hook-lifting rod seats provide support. Some constraint holes do not restrict the rotation of the hook-lifting rod, while others have flat slots that limit its rotation. For example, as shown in Figure 1, the constraint hole includes a flat slot and a rotation groove connected to the upper end of the flat slot. The portion of the straight section corresponding to the flat slot is typically constructed with a flat structure, preventing the hook-lifting rod from rotating within the flat slot. The rotation groove, however, is constructed to fit the flat structure, allowing the hook-lifting rod to rotate within it, thus locking the hook-lifting rod. Before uncoupling, when adjacent carriages are connected by the coupler, the drooping section of the hook-lifting rod is typically in a drooping state, constrained within the rotation groove by its own weight. Therefore, for the constraint hole of this structure, when using the unhooking device to unhook, it is necessary to first lift the hook rod upward into the rotating groove to unlock the hook rod, and then apply external force to the lower section of the hook rod to drive the lower section of the hook rod to rotate relative to the straight section. When it rotates to a certain angle, the hook rod unlocks the coupler and completes the unhooking, so that the two carriages can be separated from each other. Specifically, as disclosed in Chinese Patent CN118810854A, an unhooking device can realize automated unhooking operation.

[0004] In existing technologies, manual uncoupling and some uncoupling robots are mainly used in static uncoupling situations where the carriages are stationary. In the hump yard shunting operation, the carriages are running at low speeds, and the uncoupling operation area is limited. Uncoupling operations need to be completed within the limited uncoupling operation area, which puts higher demands on the uncoupling device. Existing uncoupling devices used in this situation often cause the hooking components to collide with the carriage due to untimely uncoupling, and sometimes the carriage even carries the entire uncoupling device away, causing damage to the uncoupling device. Summary of the Invention

[0005] The purpose of this invention is to provide a railway shunting uncoupling robot system based on radar-visual fusion and force feedback collaboration, which solves the problem in the prior art that when uncoupling operations are performed in a low-speed running state of the carriage, the uncoupling robot and the carriage are prone to collision and damage.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A railway shunting uncoupling robot system based on radar-visual fusion and force feedback collaboration includes a track parallel to the railway, a main moving seat mounted on the track, which moves along the track via a main drive assembly, a slide rail parallel to the track above the main moving seat, a secondary moving seat mounted on the slide rail, which moves along the slide rail via a secondary drive assembly, a robotic arm mounted on the upper side of the secondary moving seat, a first servo motor mounted on the free end of the robotic arm, an "L"-shaped lever mounted on the output shaft of the first servo motor, and a mounting rod located near the edge of the end of the first servo motor, the mounting rod being positioned away from the first servo motor. A detection plate is installed at one end of the motor. An adjustment cavity is set inside the detection plate. A slotted hole connected to the adjustment cavity is set on the lower side of the detection plate. A slider is slidably set in the middle of the adjustment cavity. The two sides of the slider perpendicular to the direction of the mounting rod are respectively abutted against the two ends of the adjustment cavity by two first springs. Distance sensors facing the slider are installed at both ends of the adjustment cavity. A first clamping block and a second clamping block are arranged opposite each other on the lower side of the detection plate. A connecting rod is slidably set in the slotted hole. The two ends of the connecting rod are respectively connected to the slider and the first clamping block. The first clamping block is connected to the second clamping block through a first electric telescopic rod. The first clamping block and the second clamping block are both recessed on opposite sides to form an arc-shaped notch.

[0008] A further technical solution is that the auxiliary drive assembly includes an auxiliary motor, the upper side of the main moving seat is recessed with a mounting groove, the slide rail is located at the bottom of the mounting groove, the lower side of the auxiliary moving seat is provided with a sliding groove that is slidably connected to the slide rail, the auxiliary moving seat is provided with a threaded hole parallel to the slide rail, a ball screw is threadedly connected to the threaded hole, the two ends of the ball screw are respectively rotatably mounted on the groove walls on opposite sides of the mounting groove, and the output shaft of the auxiliary motor is coaxially connected to one end of the ball screw.

[0009] A further technical solution involves a brake strip parallel to the slide rail at the bottom of the mounting groove. A brake groove is located on the lower side of the auxiliary moving seat at the position corresponding to the brake strip. A fixed rod perpendicular to the brake strip is located above the brake strip within the brake groove. Movable rods are connected to both sides of the fixed rod via rotating shafts. A brake block is installed on the lower end of the movable rod facing the brake strip. Two aligned sliding sleeves are spaced apart between the two movable rods on the upper side of the fixed rod. Each sliding sleeve contains a push rod, with the ends of the two push rods abutting against the upper ends of the two movable rods. A second electric telescopic rod is vertically mounted downwards at the bottom of the brake groove. A triangular block is installed at the output shaft end of the second electric telescopic rod, positioned between the two push rods. Each push rod has a pushing inclined surface matching the inclined surface of the triangular block at its opposite end.

[0010] A further technical solution is that the brake block has an elastic groove recessed on the side facing the brake strip, and a push rod is slidably arranged in the elastic groove. One end of the push rod protrudes from the elastic groove and abuts against the brake strip, while the other end abuts against the bottom of the elastic groove through a second spring.

[0011] A further technical solution involves installing a monitoring block at the output shaft end of the first servo motor. The monitoring block contains a rotating cavity, and within the rotating cavity is a rotating tube coaxial with the first servo motor. The rotating tube extends to the outer side of the monitoring block away from the first servo motor. One end of a toggle lever is rotatably positioned within the rotating tube. The rotating tube has a through-hole within the rotating cavity, extending in a long, narrow shape along the circumference of the rotating tube. A traction plate is positioned on the toggle lever at the location corresponding to the traction hole. The traction plate passes through the traction hole and is positioned within the rotating cavity. The traction plate extends away from the toggle lever... A traction belt is provided at one end. The end of the traction belt away from the actuating rod is connected to the cavity wall of the rotating cavity on the side away from the displacement hole. A monitoring tube is installed on the cavity wall of the rotating cavity at the position corresponding to the middle of the traction belt. A first monitoring rod is slidably arranged inside the monitoring tube. A top rod is installed at the end of the monitoring tube away from the first monitoring rod. A first pressure sensor is installed at the end of the top rod placed inside the monitoring tube. The first monitoring rod is connected to the first pressure sensor through a third spring. A top wheel is installed at the end of the first monitoring rod facing the traction belt. The top wheel abuts against the traction belt to make the traction belt be in a curved state.

[0012] A further technical solution is to connect the outer wall of the push rod to the inner wall of the monitoring tube via a threaded connection.

[0013] A further technical solution is that a monitoring cavity is provided inside the slider, and a connecting hole communicating with the monitoring cavity is provided on the lower side of the slider. A second monitoring rod is slidably installed in the connecting hole. The lower end of the second monitoring rod is connected to the upper end of the connecting rod. The upper end of the second monitoring rod is connected to a top plate inside the monitoring cavity. A fourth spring is sleeved on the outer wall of the second monitoring rod inside the monitoring cavity. The upper end of the fourth spring abuts against the lower side of the top plate, and the lower end of the fourth spring abuts against the lower cavity wall of the monitoring cavity. A second pressure sensor is installed on the top of the monitoring cavity, and the upper side of the top plate abuts against the second pressure sensor.

[0014] A further technical solution is that a radar sensor module is mounted on the upper side of the first servo motor via a support frame.

[0015] Compared with the prior art, the beneficial effects of this invention are as follows: During uncoupling, the robotic arm controls the first and second clamping blocks to clamp the hook lifting rod, and then lifts the hook lifting rod upward, moving it from the flat groove at the bottom of the constraint hole to the upper rotatable position. Then, the fifth servo motor drives the actuating rod to rotate, thereby causing the actuating rod to rotate the lower section of the hook lifting rod, thus rotating the hook lifting rod and completing the unlocking of the coupler. During the entire unlocking process, the carriage may experience small speed changes due to other reasons during its sliding. These sudden speed changes can cause the hook lifting rod to collide with the first and second clamping blocks. During the collision, the slider will move within the adjustment cavity. During this movement, the distance detected by the two distance sensors will change, indicating a speed difference between the carriage and the main moving seat. To avoid subsequent collisions caused by relative displacement due to the speed difference, the electric auxiliary moving seat of the auxiliary drive component moves on the slide rail to adjust the displacement caused by the speed difference, ensuring that the robotic arm and the carriage maintain the same moving speed and avoiding collisions. While the auxiliary moving seat compensates for the displacement difference caused by the speed difference, the main moving seat adjusts its speed to keep it consistent with the speed of the carriage, which facilitates smooth uncoupling operations. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the hook lifting rod and restraint holes of this carriage.

[0017] Figure 2 This is a schematic cross-sectional view of the main moving base and the auxiliary moving base of the present invention. Figure 1 .

[0018] Figure 3 For this Figure 2 A magnified view of the area marked A in the middle.

[0019] Figure 4 This is a schematic cross-sectional view of the main moving base and the auxiliary moving base of the present invention. Figure 2 .

[0020] Figure 5 This is a front view of the first servo motor of the present invention.

[0021] Figure 6 This is a top view schematic diagram of the first servo motor of the present invention.

[0022] Figure 7 This is a schematic cross-section of the detection plate of the present invention. Figure 1 .

[0023] Figure 8 This is a schematic cross-section of the detection block of the present invention. Figure 1 .

[0024] Figure 9 This is a schematic cross-section of the detection block of the present invention. Figure 2 .

[0025] Figure 10 This is a schematic cross-section of the detection plate of the present invention. Figure 2 .

[0026] Icons: 1-Railway, 2-Main Moving Seat, 3-Slide Rail, 4-Secondary Moving Seat, 5-Robotic Arm, 6-First Servo Motor, 7-Actuating Lever, 8-Mounting Lever, 9-Detection Plate, 10-Adjusting Cavity, 11-Strip Hole, 12-Slider, 13-First Spring, 14-Distance Sensor, 15-First Clamping Block, 16-Second Clamping Block, 17-Connecting Rod, 18-First Electric Telescopic Rod, 19-Arc-Shaped Notch, 20-Secondary Motor, 21-Mounting Groove, 22-Sliding Groove, 23-Thread Hole, 24-Ball Screw, 25-Brake Bar, 26-Brake Groove, 27-Fixed Rod, 28-Moving Rod, 29-Brake Block, 30-Sliding Sleeve, 31-Push Rod, 32-Second Electric Telescopic Rod, 33-Triangular Block, 34 - Pushing inclined plane, 35- Elastic groove, 36- Top rod, 37- Second spring, 38- Monitoring block, 39- Rotating cavity, 40- Rotating tube, 41- Displacement hole, 42- Traction plate, 43- Traction belt, 44- Monitoring tube, 45- First monitoring rod, 46- Adjusting rod, 47- First pressure sensor, 48- Third spring, 49- Top wheel, 50- Monitoring cavity, 51- Connecting hole, 52- Second monitoring rod, 53- Top plate, 54- Fourth spring, 55- Second pressure sensor, 56- Support frame, 57- Radar sensor module, 58- First arm, 59- Second arm, 60- Third arm, 61- Hook lifting rod, 62- Drooping section, 63- Constraint hole, 64- Flat groove, 65- Carriage, 66- Rotating shaft. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0028] Figures 1 to 10 The image shows an embodiment of the present invention.

[0029] Example:

[0030] A railway shunting uncoupling robot system based on radar-visual fusion and force feedback collaboration includes a track 1 parallel to the railway. A main moving seat 2 is mounted on the track 1 and moves along the track 1 via a main drive assembly. A slide rail 3 parallel to the track 1 is provided on the upper side of the main moving seat 2. A secondary moving seat 4 is mounted on the slide rail 3 and moves along the slide rail 3 via a secondary drive assembly. A robotic arm 5 is mounted on the upper side of the secondary moving seat 4. A first servo motor 6 is mounted on the free end of the robotic arm 5. An "L"-shaped actuating lever 7 is mounted on the output shaft of the first servo motor 6. A mounting rod 8 is provided near the edge of the end of the first servo motor 6. A detection plate 9 is mounted on the end of the mounting rod 8 away from the first servo motor 6. An adjustment cavity 10 is provided inside the detection plate 9. A slot 11 communicating with the adjustment cavity 10 is provided on the lower side of the detection plate 9. A slider 12 is slidably provided in the middle of the adjustment cavity 10. The two sides of the slider 12 perpendicular to the direction of the mounting rod 8 are respectively connected to the two ends of the adjustment cavity 10 by two first springs 13. Distance sensors 14 facing the slider 12 are installed at both ends of the adjustment cavity 10. A first clamping block 15 and a second clamping block 16 are arranged opposite each other on the lower side of the detection plate 9. A connecting rod 17 is slidably provided in the slot 11. The two ends of the connecting rod 17 are respectively connected to the slider 12 and the first clamping block 15. The first clamping block 15 is connected to the second clamping block 16 through a first electric telescopic rod 18. An arc-shaped notch 19 is formed on the opposite side of the first clamping block 15 and the second clamping block 16. When unhooking, the robotic arm 5 controls the first clamping block 15 and the second clamping block 16 to clamp the hook lifting rod 61, and then lifts the hook lifting rod 61 upward, so that the hook lifting rod 61 moves from the flat groove 64 at the bottom of the constraint hole 63 to the upper rotatable position. Then, the fifth servo motor drives the actuating rod 7 to rotate, so that the actuating rod 7 drives the lower section 62 of the hook lifting rod 61 to rotate, thereby driving the hook lifting rod 61 to rotate, thus completing the unlocking of the car coupler. During the entire unlocking process, the carriage 65 may experience small speed changes due to various reasons during its sliding. These sudden speed changes can cause the hook lifting rod 61 to collide sideways with the first clamping block 15 and the second clamping block 16. Upon collision, the slider 12 will move within the adjustment cavity 10. During this movement, the distances detected by the two distance sensors 14 will change, indicating a speed and displacement difference between the carriage 65 and the main moving seat 2. To avoid subsequent collisions caused by relative displacement due to the speed difference, the auxiliary moving seat 4 is moved on the slide rail 3 by the auxiliary drive assembly to adjust the displacement caused by the speed difference, ensuring that the robotic arm 5 and the carriage 65 maintain the same moving speed and avoid collision. While the auxiliary moving seat 4 compensates for the displacement difference caused by the speed difference, the main moving seat 2 adjusts its speed to match the speed of the carriage 65, facilitating smooth unhooking operations. Figure 2The robotic arm 5 shown includes a first arm 58, a second arm 59, and a third arm 60. A second servo motor is mounted on the upper side of the auxiliary moving base 4, with its output shaft facing upwards and connected to the lower end of the first arm 58. A third servo motor is mounted on the upper side of the first arm 58, with its output shaft connected to the lower side of the second arm 59. A fourth servo motor is mounted on the upper side of the second arm 59, with its output shaft connected to the lower side of the third arm 60. A fifth servo motor is mounted on the upper side of the third arm 60, with a connecting block mounted on its output shaft. A first servo motor 6 is mounted on the side of the connecting block. The diameter of the circular hole formed by the merging of the two arc-shaped notches 19 of the first clamping block 15 and the second clamping block 16 is slightly larger than the diameter of the hook lifting rod 61. This ensures that the hook lifting rod 61 can be satisfied without affecting its rotation. The main drive assembly adopts the same drive assembly used in existing hump unhooking robots or other track unhooking robots, and its specific structure will not be described in detail in this application.

[0031] The auxiliary drive assembly includes an auxiliary motor 20. The upper side of the main moving seat 2 has a recessed mounting groove 21, and a slide rail 3 is located at the bottom of the mounting groove 21. The lower side of the auxiliary moving seat 4 has a sliding groove 22 that slidably connects to the slide rail 3. The auxiliary moving seat 4 has a threaded hole 23 parallel to the slide rail 3, and a ball screw 24 is threadedly connected to the threaded hole 23. The two ends of the ball screw 24 are rotatably mounted on opposite sides of the groove wall of the mounting groove 21. The output shaft of the auxiliary motor 20 is coaxially connected to one end of the ball screw 24. With this configuration, when the auxiliary moving seat 4 needs to be moved, the auxiliary motor 20 is activated to drive the ball screw 24 to rotate. The slide rail 3 then restricts the auxiliary moving seat 4 to rotate along with the ball screw 24, thereby moving the auxiliary moving seat 4 along the slide rail 3 to compensate for the displacement difference between the robotic arm 5 and the carriage 65.

[0032] The bottom of the mounting groove 21 is provided with a brake strip 25 parallel to the slide rail 3. A brake groove 26 is provided on the lower side of the auxiliary moving seat 4 at the position corresponding to the brake strip 25. A fixed rod 27 perpendicular to the brake strip 25 is provided above the brake strip 25 within the brake groove 26. Movable rods 28 are connected to both sides of the fixed rod 27 via rotating shafts 66. A brake block 29 is installed on the lower end of the movable rod 28 facing the brake strip 25. The upper side of the fixed rod 27 is located between the two movable rods 28. Two aligned sliding sleeves 30 are spaced apart, each containing a push rod 31. The ends of the push rods 31 that are far apart from each other abut against the upper ends of two movable rods 28. A second electric telescopic rod 32 is vertically mounted on the bottom of the brake groove 26. A triangular block 33 is mounted on the output shaft end of the second electric telescopic rod 32, positioned between the two push rods 31. Each push rod 31 has a pushing inclined surface 34 that matches the inclined surface of the triangular block 33 at its opposite end. By setting a brake strip 25 and a brake block 29, the brake strip 25 can be clamped by the brake block 29 after the auxiliary moving seat 4 has moved or is in its final position, ensuring that there is no movement between the auxiliary moving seat 4 and the main moving seat 2. During braking, the extension of the second electric telescopic rod 32 causes the triangular block 33 to move downwards, thus engaging with the pushing inclined surface 34 of the two push rods 31. This causes the two push rods 31 to move away from each other, pushing the upper ends of the two movable rods 28 away from each other. Then, the rotating shaft 66 brings the lower ends of the two movable rods 28 closer together, causing the two brake blocks 29 to clamp the brake strip 25. When it is necessary to move the auxiliary moving seat 4, the extension of the second electric telescopic rod 32 causes the triangular block 33 to move upwards, allowing the two push rods 31 to move closer together, preventing the two brake blocks 29 from clamping the brake strip 25. The second electric telescopic rod 32 and the auxiliary motor 20 are controlled synchronously. When the second electric telescopic rod 32 extends, the auxiliary motor 20 stops. When the auxiliary motor 20 starts, the second electric telescopic rod 32 shortens.

[0033] The brake block 29 has a recessed elastic groove 35 on the side facing the brake strip 25. A push rod 36 is slidably disposed within the elastic groove 35. One end of the push rod 36 protrudes from the elastic groove 35 and abuts against the brake strip 25, while the other end abuts against the bottom of the elastic groove 35 via a second spring 37. By providing the elastic groove 35, the second spring 37, and the push rod 36, when the second electric telescopic rod 32 is shortened, the push rod 36, pushed by the second spring 37, can push the two brake blocks 29 away from the brake strip 25.

[0034] A monitoring block 38 is installed at the output shaft end of the first servo motor 6. A rotating cavity 39 is provided inside the monitoring block 38. A rotating tube 40 coaxial with the first servo motor 6 is provided inside the rotating cavity 39. The rotating tube 40 extends to the outer side of the monitoring block 38 away from the first servo motor 6. One end of the toggle lever 7 is rotatably placed inside the rotating tube 40. The rotating tube 40 has a displacement hole 41 that runs through the inside and outside of the rotating cavity 39. The displacement hole 41 is elongated along the circumference of the rotating tube 40. A traction plate 42 is provided on the toggle lever 7 at the position corresponding to the displacement hole 41. The traction plate 42 passes through the displacement hole 41 and is placed inside the rotating cavity 39. A traction belt 43 is provided on the end of the traction plate 42 away from the toggle lever 7. The end of the traction belt 43 away from the actuating lever 7 is connected to the cavity wall of the rotating cavity 39 on the side away from the displacement hole 41. A monitoring tube 44 is installed on the cavity wall of the rotating cavity 39 at the position corresponding to the middle of the traction belt 43. A first monitoring rod 45 is slidably arranged inside the monitoring tube 44. An adjusting rod 46 is installed at the end of the monitoring tube 44 away from the first monitoring rod 45. A first pressure sensor 47 is installed at the end of the adjusting rod 46 placed inside the monitoring tube 44. The first monitoring rod 45 is connected to the first pressure sensor 47 through a third spring 48. A top wheel 49 is installed at the end of the first monitoring rod 45 facing the traction belt 43. The top wheel 49 abuts against the traction belt 43 to make the traction belt 43 be in a curved state. During long-term use, the hook lifting rod 61 may experience various malfunctions, such as jamming or failing to drive the chain during rotation to lift the unlocking mechanism in the hook for unlocking. Forcible pulling may damage the robotic arm 5 or the unlocking mechanism. Therefore, it is necessary to monitor whether unlocking is achieved with appropriate force throughout the unlocking process. If unlocking is achieved with excessive force, it indicates a malfunction in the unlocking mechanism, requiring repair. If unlocking exceeds a certain threshold, it must be stopped to prevent damage to the robotic arm 5 or the unlocking mechanism. Specifically, for example... Figure 8 and Figure 9 As shown, during unlocking, the lower section 62 of the hook lifting rod 61 is moved by the toggle lever 7. During rotation, when the lower section 62 encounters resistance and cannot rotate, the output shaft of the first servo motor 6 continues to rotate, but the toggle lever 7 cannot continue to rotate. At this time, the output shaft of the first servo motor 6 will drive the monitoring block 38 and the rotating tube 40 inside the monitoring block 38 to continue rotating, as shown. Figure 9 As shown, the rotating block rotates clockwise while the actuating lever 7 remains stationary. This causes the end of the traction plate 42 connected to the traction belt 43 to move away from the other end of the traction belt 43, gradually straightening the traction belt 43. During the straightening process, the first detection rod is pushed to compress the third spring 48, which increases the pressure detected by the first pressure sensor 47. When the pressure increases beyond the maintenance threshold, maintenance is required. When the pressure increases to the damage threshold, it means that the unlocking structure cannot be unlocked, and unlocking needs to be stopped and subsequent maintenance needs to be carried out.

[0035] The outer wall of the adjusting rod 46 is connected to the inner wall of the monitoring tube 44 via a threaded connection. By setting the threaded connection between the adjusting rod 46 and the monitoring tube 44, the initial pressure value can be controlled by controlling the screw depth of the adjusting rod 46.

[0036] A monitoring cavity 50 is provided inside the slider 12. A connecting hole 51 communicating with the monitoring cavity 50 is provided on the lower side of the slider 12. A second monitoring rod 52 is slidably arranged in the connecting hole 51. The lower end of the second monitoring rod 52 is connected to the upper end of the connecting rod 17. The upper end of the second monitoring rod 52 is connected to a top plate 53 inside the monitoring cavity 50. A fourth spring 54 is sleeved on the outer wall of the second monitoring rod 52 inside the monitoring cavity 50. The upper end of the fourth spring 54 abuts against the lower side of the top plate 53, and the lower end of the fourth spring 54 abuts against the lower cavity wall of the monitoring cavity 50. A second pressure sensor 55 is installed on the top of the monitoring cavity 50, and the upper side of the top plate 53 abuts against the second pressure sensor 55. When unlocking, the hook lifting rod 61 needs to be lifted a certain distance so that the hook lifting rod 61 moves from the flat groove 64 at the lower part of the constraint hole 63 to the upper rotatable position. If the hook lifting rod 61 gets stuck in the flat groove 64 and cannot be lifted, forcibly lifting it by the robotic arm 5 would damage the robotic arm 5. Therefore, the lifting force is monitored throughout the lifting process. Specifically, during the lifting process, the first clamping block 15 and the second clamping block 16 will wrap around the outer wall of the hook lifting rod 61, thereby lifting the hook lifting rod 61. During the entire lifting process, the resistance generated by the hook lifting rod 61 against the first clamping block 15 and the second clamping block 16 will be transmitted to the second monitoring rod 52 through the connecting rod 17. When the second monitoring rod 52 is subjected to a downward force, it will compress the fourth spring 54 through the top plate 53. During compression, the pressure on the second pressure sensor 55 will decrease, thereby monitoring the force on the first clamping block 15 and the second clamping block 16. When the hook lifting rod 61 is stuck and cannot be lifted, the pressure on the second pressure sensor 55 from the top plate 53 will decrease to more than a certain threshold or 0. At this time, it means that the hook lifting rod 61 is stuck, the lifting of the hook lifting rod 61 will stop, and subsequent maintenance will be carried out.

[0037] A laser-guided sensor module 57 is mounted on the upper side of the first servo motor 6 via a support frame 56. By using the laser-guided sensor module 57, the movement of the robotic arm 5 is controlled through the cooperation of the vision sensor integrated on the module and the laser radar. This allows the robotic arm 5 to correctly and directly lift the hook lever 61 and perform unlocking actions. Other radars with the same or similar functions can also be used as the laser radar.

[0038] Although the invention has been described herein with reference to several illustrative embodiments, it should be understood that many other modifications and implementations can be devised by those skilled in the art, which will fall within the scope and spirit of the principles disclosed herein. More specifically, various variations and modifications can be made to the components and / or layout of the subject matter arrangement within the scope of the disclosure, drawings, and claims. Besides variations and modifications to the components and / or layout, other uses will be apparent to those skilled in the art.

Claims

1. A railway shunting uncoupling robot system based on radar-visual fusion and force feedback collaboration, characterized in that, The system includes a track (1) parallel to the railway, on which a main moving seat (2) is mounted. The main moving seat (2) moves on the track (1) driven by a main drive assembly. A slide rail (3) parallel to the track (1) is provided on the upper side of the main moving seat (2). A secondary moving seat (4) is mounted on the slide rail (3). The secondary moving seat (4) moves on the slide rail (3) driven by a secondary drive assembly. A robotic arm (5) is mounted on the upper side of the secondary moving seat (4). A first servo motor (6) is mounted on the free end of the robotic arm (5). An "L"-shaped lever (7) is mounted on the output shaft of the first servo motor (6). An installation rod (8) is provided near the edge of the end of the first servo motor (6). A detection plate (9) is mounted on the end of the installation rod (8) away from the first servo motor (6). An adjustment cavity (10) is provided inside the detection plate (9). (9) has a slot (11) on its lower side that communicates with the adjustment cavity (10). A slider (12) is slidably disposed in the middle of the adjustment cavity (10). The slider (12) is perpendicular to the direction of the mounting rod (8) and abuts against the two ends of the adjustment cavity (10) through two first springs (13). Distance sensors (14) facing the slider (12) are installed at both ends of the adjustment cavity (10). A first clamping block (15) and a second clamping block (16) are disposed opposite to each other on the lower side of the detection plate (9). A connecting rod (17) is slidably disposed in the slot (11). The two ends of the connecting rod (17) are connected to the slider (12) and the first clamping block (15) respectively. The first clamping block (15) is connected to the second clamping block (16) through a first electric telescopic rod (18). The first clamping block (15) and the second clamping block (16) are recessed on opposite sides to form an arc-shaped notch (19).

2. The railway shunting uncoupling robot system based on radar-visual fusion and force feedback coordination according to claim 1, characterized in that: The auxiliary drive assembly includes an auxiliary motor (20). The upper side of the main moving seat (2) is recessed with a mounting groove (21). The slide rail (3) is located at the bottom of the mounting groove (21). The lower side of the auxiliary moving seat (4) is provided with a sliding groove (22) that is slidably connected to the slide rail (3). The auxiliary moving seat (4) is provided with a threaded hole (23) parallel to the slide rail (3). A ball screw (24) is threadedly connected to the threaded hole (23). The two ends of the ball screw (24) are respectively rotatably mounted on the groove walls on opposite sides of the mounting groove (21). The output shaft of the auxiliary motor (20) is coaxially connected to one end of the ball screw (24).

3. The railway shunting uncoupling robot system based on radar-visual fusion and force feedback coordination according to claim 2, characterized in that: The bottom of the mounting groove (21) is provided with a brake strip (25) parallel to the slide rail (3). The lower side of the auxiliary moving seat (4) is provided with a brake groove (26) at the position corresponding to the brake strip (25). A fixed rod (27) perpendicular to the brake strip (25) is provided in the brake groove (26) above the brake strip (25). The fixed rod (27) is connected to movable rods (28) on both sides of the brake strip (25) through a rotating shaft (66). A brake block (29) is installed on the side of the lower end of the movable rod (28) facing the brake strip (25). The upper side of the fixed rod (27) is provided with two movable rods. Two aligned sliding sleeves (30) are spaced apart between (28). Each of the two sliding sleeves (30) is provided with a push rod (31). The ends of the two push rods (31) that are far apart from each other are respectively abutted against the upper ends of the two movable rods (28). The bottom of the brake groove (26) is vertically mounted with a second electric telescopic rod (32). The output shaft end of the second electric telescopic rod (32) is mounted with a triangular block (33). The triangular block (33) is placed between the two push rods (31). Each of the two push rods (31) has a pushing inclined surface (34) that matches the inclined surface of the triangular block (33) at one end opposite to the other.

4. The railway shunting uncoupling robot system based on radar-visual fusion and force feedback coordination according to claim 3, characterized in that: The brake block (29) has an elastic groove (35) recessed on the side facing the brake strip (25). A push rod (36) is slidably disposed in the elastic groove (35). One end of the push rod (36) protrudes from the elastic groove (35) and abuts against the brake strip (25), while the other end abuts against the bottom of the elastic groove (35) through a second spring (37).

5. A railway shunting uncoupling robot system based on radar-visual fusion and force feedback coordination according to claim 1, characterized in that: A monitoring block (38) is installed at the output shaft end of the first servo motor (6). A rotating cavity (39) is provided inside the monitoring block (38). A rotating tube (40) coaxial with the first servo motor (6) is provided inside the rotating cavity (39). The rotating tube (40) extends to the outside of the monitoring block (38) away from the first servo motor (6). One end of the actuating rod (7) is rotatably placed inside the rotating tube (40). The rotating tube (40) is provided with a displacement hole (41) that runs through the inside and outside of the rotating cavity (39). The displacement hole (41) is elongated along the circumference of the rotating tube (40). A traction plate (42) is provided at the position corresponding to the displacement hole (41) of the actuating rod (7). The traction plate (42) passes through the displacement hole (41) and is placed inside the rotating cavity (39). A traction belt is provided at the end of the traction plate (42) away from the actuating rod (7). 43), the end of the traction belt (43) away from the actuating rod (7) is connected to the cavity wall of the rotating cavity (39) on the side away from the displacement hole (41). A monitoring tube (44) is installed on the cavity wall of the rotating cavity (39) at the position corresponding to the middle of the traction belt (43). A first monitoring rod (45) is slidably arranged in the monitoring tube (44). An adjusting rod (46) is installed on the end of the monitoring tube (44) away from the first monitoring rod (45). A first pressure sensor (47) is installed on the end of the adjusting rod (46) placed in the monitoring tube (44). The first monitoring rod (45) is connected to the first pressure sensor (47) through a third spring (48). A top wheel (49) is installed on the end of the first monitoring rod (45) facing the traction belt (43). The top wheel (49) abuts against the traction belt (43) so that the traction belt (43) is in a curved state.

6. A railway shunting uncoupling robot system based on radar-visual fusion and force feedback coordination as described in claim 5, characterized in that: The outer wall of the adjusting rod (46) is connected to the inner wall of the monitoring tube (44) by means of a threaded connection.

7. The railway shunting uncoupling robot system based on radar-visual fusion and force feedback coordination according to claim 1, characterized in that: The slider (12) is provided with a monitoring cavity (50). The lower side of the slider (12) is provided with a connecting hole (51) that communicates with the monitoring cavity (50). A second monitoring rod (52) is slidably arranged in the connecting hole (51). The lower end of the second monitoring rod (52) is connected to the upper end of the connecting rod (17). The upper end of the second monitoring rod (52) is connected to a top plate (53) in the monitoring cavity (50). The outer wall of the second monitoring rod (52) is fitted with a fourth spring (54) in the monitoring cavity (50). The upper end of the fourth spring (54) abuts against the lower side of the top plate (53). The lower end of the fourth spring (54) abuts against the lower cavity wall of the monitoring cavity (50). A second pressure sensor (55) is installed on the top of the monitoring cavity (50). The upper side of the top plate (53) abuts against the second pressure sensor (55).

8. A railway shunting uncoupling robot system based on radar-visual fusion and force feedback coordination according to claim 1, characterized in that: A radar sensor module (57) is mounted on the upper side of the first servo motor (6) via a support frame (56).

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