Adsorption method of adsorption type unhooking robot

Abstract

The invention relates to an adsorption method of an adsorption type unhooking robot, the adsorption type unhooking robot is used for carrying out unhooking operation on a car coupler on a train, the adsorption type unhooking robot comprises a fixing device and an unhooking mechanical arm, and the fixing device comprises a 3-PRS assembly, an adsorption base assembly, a clamping arm assembly, a worm reducer assembly, a controller and a motor lead screw assembly; the 3-PRS assembly is connected to the adsorption base assembly, and the adsorption base assembly is further connected with the worm reducer assembly and the motor lead screw assembly. The clamping arm assembly is connected with the worm reducer assembly, and the motor lead screw assembly is connected with the worm reducer assembly. The adsorption method comprises an adsorption stage and a fixing stage, and in the adsorption stage, the 3-PRS assembly is adsorbed and attached to an adsorbed object on a train under the action of the controller; in the fixing stage, the controller controls the motor lead screw assembly and the worm reducer assembly to act so that the clamping arm assembly can clamp an adsorbed object, the coupler on the train can be removed at the same time, automatic operation can be achieved, and the working efficiency is improved.

Description

An adsorption method for an adsorption-type unhooking robot Technical Field

[0001] This invention belongs to the field of railway robot control technology, specifically relating to an adsorption method for an adsorption-type unhooking robot. Background Technology

[0002] In recent years, with the continuous expansion of railway transportation scale and the continuous improvement of transportation efficiency requirements, the automation level of marshalling yards has become the key to improving railway transportation capacity. The specific situations of existing mobile working type (including ground rail type, overhead rail type and trackless type) and fixed working type are as follows: (1) Mobile working type

[0003] 1) One existing type of automatic train uncoupling robot (ground-rail type) mainly decomposes the uncoupling action into several simple movements, each driven independently by its own drive unit. The uncoupling robot runs on rails laid parallel to the train and can move parallel to the train along a linear axis (X-axis). By analyzing the signals from speed radar and sensors, the approximate position of the coupler to be uncoupled can be calculated in real time, providing the control system with preliminary preparations for uncoupling. The information obtained by the above method cannot guarantee the accuracy of the uncoupling action. To ensure the accuracy of the uncoupling action, a camera needs to be installed on the uncoupling robot to accurately map the precise position of the coupler to be uncoupled using image recognition technology. Finally, through the comprehensive application of various technologies, the precise position of the coupler to be uncoupled is obtained and fed back to the train uncoupling robot to ensure successful uncoupling. Domestic companies have adopted this solution, but its practical effect does not meet the requirements of large marshalling yards.

[0004] A railway uncoupling robot emerged in 2014. This robot features a rotating, six-fingered, disc-shaped gripper as the uncoupling arm's end, enabling automatic hook lifting. A rack and pinion lateral movement mechanism allows the robot arm to move laterally, reaching between carriages to approach the hooking bar and then leaving after uncoupling. A scissor lift provides vertical movement for uncoupling at different heights. A camera is mounted on the robot to use image recognition technology to pinpoint the exact location of the coupler to be uncoupled, facilitating the insertion of the robot arm into the hooking bar. While this mechanical design reasonably addresses the degree of freedom issue of automatic uncoupling robots, the use of a traction rope for vehicle drive, with its significant elasticity, makes control imprecise, overly complex, and impractical for on-site implementation. Furthermore, the design lacks a positioning device for the coupler or coupler handle, and all actuators are open-loop structures, failing to accurately perform tasks such as following the train, locating the coupler, uncoupling, and determining the end of the process.

[0005] 2) An existing automatic train uncoupling device based on a overhead track is positioned above the traveling train and extends downwards with uncoupling devices. These devices are positioned above the train and can move along the direction of travel. When the train is pushed onto the hump for disengagement, the uncoupling device above it inserts downwards into the gap between the train cars at a designated position and couples with the coupler to be uncoupled. Multiple uncoupling devices can be simultaneously deployed on the running track, allowing for the simultaneous uncoupling of multiple couplers. This automatic uncoupling device is controlled by specialized electronic equipment. However, this research only completed Adams simulation experiments and did not produce a physical prototype, making its practicality uncertain.

[0006] 3) A trackless automatic unhooking and rehooking robot for tippers includes a mobile carrier. A first motor is mounted at the top of the mobile carrier, and an electric push rod is mounted at the output end of the first motor. A bracket is mounted at the output end of the electric push rod, and an adjustment assembly is located within the inner cavity of the bracket. A connecting plate is mounted at the top of the adjustment assembly, and a support rod is mounted at the front end of the connecting plate. Reinforcing ribs are mounted on the support rod, which are fixedly connected to the connecting plate. A frame is mounted at the front end of the support rod. While this automatic unhooking robot does not require the laying of corresponding tracks, small tracked vehicles cannot move freely between different tracks, potentially damaging the rail surface during transit and causing unnecessary losses. Furthermore, the unhooking operation requires the device and the vehicle to move at the same speed, which small tracked vehicles cannot meet.

[0007] Both ground-rail and overhead-rail systems require the laying of guide rails and occupy a huge area. Outdoors, they are inconvenient for protection and maintenance, and their power and gas supply systems are prone to malfunctions, making them impractical. While trackless systems eliminate the need for extensive construction, in the complex track environment of marshalling yards, both wheeled and tracked systems face challenges such as difficulty in free movement, potential damage to the rail surface, and inability to synchronize speed with train carriages.

[0008] (2) Fixed-point working type: An existing automatic uncoupling device for railway vehicles is mainly composed of roller rails, rollers, thrust cylinders, U-shaped transmission rods, uncoupling lifting chains, and locking pins. During the uncoupling process, the rollers rise along the roller rails, which lifts the thrust cylinders and U-shaped transmission rods, tightens the uncoupling lifting chain, and loosens the coupler between the front and rear cars at the moment the train stops. At this time, the uncoupling lifting chain lifts the locking pin, thus realizing the automatic uncoupling of the coupler.

[0009] This device is a simple, easy-to-manufacture, and easy-to-maintain automatic unhooking device. It uses a light source, photoelectric controller, and microcomputer controller to operate a positioning electromagnet, which attracts an effective magnetic head mounted on the vehicle, along with a grooved rod, protrusion, and crank arm, driving a rotating shaft that pulls the hook lifting chain and locking pin to achieve unhooking. Its main drawback is that precise alignment between the electromagnet and the soft magnetic head on the vehicle is required for unhooking. However, the alignment range between the electromagnet and the vehicle is limited during operation. Even with photoelectric control, when the electromagnet deviates from the alignment, insufficient attraction or failure to attract often results in unhooking failure. The unhooking operation is unreliable, the control device is complex, the cost is high, and maintenance is difficult.

[0010] An existing automatic vehicle uncoupling device consists of an upper and lower hydraulic cylinder mounted on a linear motor. The upper hydraulic cylinder is connected to an upper robotic arm, which in turn is connected to an upper robotic wrist, which is connected to an upper robotic hand. A compression spring is also present. The lower hydraulic cylinder is composed of a longitudinal and a transverse hydraulic cylinder, which is connected to the lower robotic wrist. The linear motor is also equipped with a light source, a camera, a hydraulic station, a controller, etc., thus constituting the automatic vehicle uncoupling device.

[0011] This automatic vehicle uncoupling device is suitable for the automatic uncoupling of vehicles dismantling and connecting couplers in railway hump yards. The device is simple in structure, easy to manufacture, and inexpensive. However, too few degrees of freedom reduce the device's adaptability, and it may fail to function in special situations. Achieving the corresponding functions also requires the use of machine vision technology, a concept not fully reflected in the patent.

[0012] In summary, current research on automated uncoupling technology in marshalling yards, both domestically and internationally, mainly focuses on two types: mobile operation (ground rail, overhead rail, and trackless) and fixed-point operation. While mobile operation schemes can simulate manual uncoupling actions, they face limitations in practical applications due to the need for additional track laying, stringent environmental requirements, and high maintenance costs, making them unsuitable for large marshalling yards. Furthermore, some mobile operation schemes may damage the tracks during movement, rendering them unsuitable for large-scale marshalling yards. Fixed-point operation schemes are structurally simpler, but their reliability, accuracy, and adaptability still need further improvement. Existing automated uncoupling technologies still face numerous challenges, necessitating further research and development of more reliable, efficient, economical, and adaptable automated uncoupling systems to meet the ever-increasing automation demands of modern railway marshalling yards.

[0013] Current technologies have the following drawbacks: They require track laying: track-based solutions are costly to construct and cannot be applied in hump yard turnout areas. Construction can severely impact marshalling yard operations, causing economic losses, and the uncoupling range is limited to the length of track laid; they have poor dynamic adaptability: the number of cars varies as needed, requiring the uncoupling equipment to have high dynamic adaptability, capable of uncoupling single or multiple cars; they lack compatibility: the coupler lifting rod height (0.7-1.5m) and spacing (30-100mm) vary greatly, and some cars may suffer varying degrees of damage during long-term transport, making existing fixing devices difficult to adapt to; maintenance is difficult: track or high-altitude equipment malfunctions require shutdown for repairs, affecting the marshalling yard's operational continuity; and they have poor processing capacity: uncoupling operations may require simultaneous uncoupling of multiple cars, which a single uncoupling device cannot meet, and existing methods cannot simultaneously remove multiple couplers. Summary of the Invention

[0014] In order to overcome the problems existing in the prior art, the present invention provides an adsorption method for an adsorption-type unhooking robot, which is used to overcome the current defects.

[0015] An adsorption method for an adsorption-type uncoupling robot, the adsorption-type uncoupling robot being used to perform uncoupling operations on train couplers, the adsorption-type uncoupling robot comprising a fixing device and an uncoupling robotic arm, the fixing device (4) comprising a 3-PRS assembly (7), an adsorption base assembly (8), a clamping arm assembly (9), a worm gear reducer assembly (10), a controller, and a motor screw assembly (11), the 3-PRS assembly (7) being connected to the adsorption base assembly (8), the adsorption base assembly (8) also being connected to the worm gear reducer assembly (10) and the motor screw. Component (11); The clamping arm assembly (9) is connected to the worm gear reducer assembly (10), and the motor screw assembly (11) is connected to the worm gear reducer assembly (10); Therefore, the adsorption method includes an adsorption stage and a fixing stage. In the adsorption stage, the 3-PRS assembly (7) is adsorbed and attached to the object on the train under the action of the controller. In the fixing stage, after the adsorption stage is completed, the controller controls the motor screw assembly (11) and the worm gear reducer assembly (10) to move so that the clamping arm assembly (9) clamps the object being adsorbed.

[0016] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the 3-PRS assembly (7) includes a triangular base (13), three identical 3-PRS branches (14) and a moving platform assembly (15), the triangular base (13) being fixed to the adsorption base assembly (8); the three identical 3-PRS branches (14) being connected to the triangular base (13) via an L-shaped bracket (17) and simultaneously connected to the moving platform assembly (15), the L-shaped bracket (17) also having a proportional valve (23) fixed thereon, each of the 3-PRS branches (14) including a sliding joint, a rotating joint and a ball joint, the sliding joint being a cylinder (22) having an electronic ruler and a two-position five-way valve (28) on its surface.

[0017] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the 3-PRS component (7) includes three degrees of freedom: movement along the Z-axis and rotation around the X and Y axes. The adsorption action is completed by the movement of the 3-PRS component (7) along the Z-axis or by the movement of the 3-PRS component (7) along the Z-axis combined with the rotation around the X and Y axes. The positive direction of the Z-axis is the extension direction of the cylinder (22), the positive direction of the X-axis is the direction of the movement of the motor screw assembly (11) toward the unhooking robot arm (6), and the positive direction of the Y-axis is the direction of the gravity of the unhooking robot (3) when it is adsorbed onto the foot pedal (2). The adsorbed object is the foot pedal (2) of the train.

[0018] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the adsorption action is completed by the movement of the 3-PRS component (7) along the Z-axis direction, specifically including: when the fixing device (4) moves to the vicinity of the foot pedal (2), the controller sends an analog signal to the proportional valve (23), the proportional valve (23) controls the air pressure output to the cylinder (22) according to the analog signal, the cylinders (22) on the three 3-PRS branches (14) are simultaneously inflated, the cylinders (22) extend with the same air pressure, the moving platform component (15) performs linear movement in the Z-axis direction, the distance between the electromagnet (30) of the moving platform component (15) and the corresponding surface of the foot pedal (2) is less than the stroke of the moving platform component (15) itself, when the cylinder (22) switches to extension When the robot is not fully extended, the moving platform assembly (15) is compressed. The electronic ruler (25) sends the measured values ​​of the three 3-PRS branches (14) to the controller. The controller sends a switching signal to the relay to control the electromagnet (30) to be energized. After the electromagnet (30) is energized, the controller sends a switching signal to the relay to control the three two-position five-way valves (28) on the three 3-PRS branches (14) to work, so that the cylinder (22) is vented in the opposite direction, and it changes from extension to contraction. At the same time, the controller sends a signal to the external device, which pushes the hook-removing robot (3) towards the pedal (2). The distance returned by the electronic ruler (25) is detected at regular intervals. If the value range is within the preset range, it indicates that the adsorption work is completed.

[0019] In addition to the aspects and any possible implementations described above, a further implementation is provided, which includes: if the measurement value range returned by the electronic ruler (25) is significantly different but still within the preset range, indicating that the moving platform assembly (15) is in an inclined state after contacting the foot pedal (2), then the 3-PRS assembly (7) is adjusted to combine the three degrees of freedom of movement along the Z-axis and rotation around the X and Y axes to complete the adsorption action.

[0020] In addition to the aspects described above and any possible implementation, a further implementation is provided in which the electronic ruler extends in the preset range of 15mm-40mm.

[0021] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the worm gear reducer assembly (10) includes a stepper motor (58), a worm gear reducer (59), a worm gear reducer bracket (60), and an output connection plate (61). The stepper motor (58) is inserted into and fixed in the worm gear reducer (59), and an output connection plate (61) is provided at the front end of the worm gear reducer (59). The worm gear reducer bracket (60) is symmetrically arranged on both sides of the worm gear reducer (59), and the worm gear reducer bracket (60) is connected and fixed to the bearing seat assembly (55) of the clamping arm assembly (9). At the same time, the output shaft of the worm gear reducer (59) is inserted into the bearing seat assembly (55), so that two clamping arm assemblies (9) are symmetrically installed on both sides in a set of worm gear reducer assemblies (10).

[0022] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the motor screw assembly (11) includes a servo motor (62), a trapezoidal screw (63), a screw motor connecting flange (64), a screw nut (65), a screw output connector (66), a screw motor coupling (67), and a double-bearing type bearing mounting bracket (68), wherein the servo motor (62) is fixed to the screw motor connecting flange (64), the output shaft of the servo motor (62) is inserted into one end of the screw motor coupling (67), the other end of the screw motor coupling (67) is inserted into the trapezoidal screw (63), the trapezoidal screw (63) passes through the double-bearing type bearing mounting bracket (68), the screw output connector (66), and the screw nut (65); the screw nut (65) is fixed to the screw output connector (66) by bolts, and the screw output connector (66) is fixed to the output connecting plate (61) by bolts.

[0023] In addition to the aspects and any possible implementations described above, a further implementation is provided, wherein the fixing stage includes: after the adsorption stage ends, the controller controls the stepper motor (58) to move, the stepper motor (58) drives the clamping arm assemblies (9) on both sides to rotate through the worm gear reducer (59), and the rotation of the stepper motor (58) is adjusted by the return value of the ultrasonic ranging sensor (56) on the clamping arm assembly (9), so that when the surface of the contact block (57) of each clamping arm assembly (9) is parallel to the contact surface corresponding to the foot pedal (2), the stepper motor (58) stops working; the controller controls the servo motor (62) in the motor screw assembly (11) to rotate, the servo motor (62) drives the trapezoidal screw (63) to rotate through the screw motor coupling (67), the trapezoidal screw (63) is fixed by the double bearing type bearing fixing seat assembly (68), at this time the screw nut (65) moves in the horizontal direction; the screw output As the lead screw nut (65) moves horizontally, the lead screw output connector (66) is fixed to the output connector plate (61) in the worm gear reducer assembly (10). The entire worm gear reducer assembly (10) and the clamping arm assemblies (9) on both sides are pulled by the lead screw output connector (66) and move towards the central symmetrical plane of the fixing device (4). At this time, the contact block (57) is deformed due to compression, and the fixing device (4) initially completes the fixing and clamping of the pedal (2). The clamping causes the torque sensor (54) in the clamping arm assembly (9) to deflect. The torque sensor (54) sends the measured deflection information to the controller. The controller compares the measured deflection information with the standard value and controls the servo motor (62) to rotate according to the comparison result until the measured deflection information of the four torque sensors (54) meets the requirements. At this time, the servo motor (62) stops working and maintains the clamping state.

[0024] In addition to the aspects described above and any possible implementation, a further implementation is provided in which the normal pressure on the surface of the contact block (57) is calculated by the following formula: Where F is the positive pressure on the contact block (57) and S is the analog voltage received by the Arduino control board (38).

[0025] Beneficial Effects of the Invention The adsorption-type uncoupling robot of the present invention is used to perform uncoupling operations on train couplers. The adsorption-type uncoupling robot includes a fixing device and an uncoupling robotic arm. The fixing device (4) includes a 3-PRS assembly (7), an adsorption base assembly (8), a clamping arm assembly (9), a worm gear reducer assembly (10), a controller, and a motor screw assembly (11). The 3-PRS assembly (7) is connected to the adsorption base assembly (8). The adsorption base assembly (8) is also connected to the worm gear reducer assembly (10) and the motor screw assembly. (11); The clamping arm assembly (9) is connected to the worm gear reducer assembly (10), and the motor screw assembly (11) is connected to the worm gear reducer assembly (10); Therefore, the adsorption method includes an adsorption stage and a fixing stage. In the adsorption stage, the 3-PRS assembly (7) is adsorbed and attached to the adsorbed object on the train under the action of the controller. In the fixing stage, after the adsorption stage is completed, the controller controls the movement of the motor screw assembly (11) and the worm gear reducer assembly (10) so that the clamping arm assembly (9) clamps the adsorbed object. The present invention has the following beneficial effects: 1) The adsorption-type unhooking robot of the present invention is used for railway unhooking operations. The working position of the fixing device (4) is selected as the foot pedal (2) on the freight train. The foot pedal (2) is a standard part and has few types. It is widely used on common car models such as open wagons, boxcars, and flatcars (1). It has the ability to prevent falling off and is not limited by the ground track conditions. Therefore, the fixing device (4) has good applicability. The fixing device (4) has two stages during operation: adsorption and fixing. In the adsorption stage, an electromagnet (30) is used to adsorb the pedal (2), and the traction action is achieved by the cylinder (22) on the 3-PRS assembly (7). In the fixing stage, the worm gear reducer assembly (10), the motor screw assembly (11), and the clamping arm assembly (9) work together to clamp the surface of the pedal (2). Therefore, the whole process has a good adsorption and fixing effect.

[0026] 2) Setting and application of 3-PRS component (7): The present invention adopts an adversarial 3-PRS parallel mechanism to complete the adsorption work. The 3-PRS component (7) has three degrees of freedom: movement in the Z-axis direction and rotation around the X and Y axes. Under normal circumstances, only the movement in the Z-axis direction is used to complete the adsorption traction work. When the pedal (2) is tilted, the three degrees of freedom of movement in the Z-axis direction and rotation around the X and Y axes are required. The state of the 3-PRS component (7) is confirmed according to the force-jaw matrix, and the required air pressure of the cylinder (22) on the three 3-PRS branches (14) is calculated. The pressure on the moving platform component (15) is balanced by adjusting the air pressure in the cylinder (22). Since the 3-PRS component (7) uses the cylinder (22) as the active component, the energy used is clean and environmentally friendly.

[0027] 3) Motor Coordination: The fixing device (4) uses two stepper motors (58) and two servo motors (62). The stepper motor (58) used in the worm gear reducer assembly (10) rotates the clamping arm assembly (9), and the servo motor (62) used in the motor screw assembly (11) moves the clamping arm assembly (9). The four motors are symmetrically distributed on both sides of the fixing device (4) and use the 485 bus communication method to work together to complete the fixing action. The synchronous operation of the motors on both sides allows the four sets of clamping arm assemblies (9) symmetrically distributed on both sides of the fixing device to better achieve the clamping action of the foot pedal (2), which improves the stability of the fixing device, ensures uniform distribution of clamping force, and improves the success rate of adsorption.

[0028] 4) Modular design: The fixing device (4) uses 3-PRS components (7), adsorption base components (8), clamping arm components (9), worm gear reducer components (10) and motor screw components (11). These modules are independent of each other, which facilitates modification and maintenance.

[0029] 5) Lightweight design: The overall structure of the adsorption base assembly (8) in the fixing device (4) can be regarded as a rectangular frame. The frame minimizes the amount of material used and reduces the overall weight of the fixing device (4). At the same time, a lot of hollow design is adopted to reasonably arrange the spatial position of different components and reduce the overall volume of the device.

[0030] 6) Adaptive capability: The fixing device (4) uses an electronic ruler (25) in the 3-PRS assembly (7) to measure the extension length of the cylinder (22), thereby determining the contact state of the launch platform assembly (15) and providing a basis for the selection of the subsequent traction method. The ultrasonic ranging sensor (56) in the clamping arm assembly (9) measures the distance between the contact block (57) and the corresponding contact surface of the foot pedal (2). By detecting whether the return value is within a reasonable range, the stepper motor (58) is controlled to rotate the clamping arm assembly (9) to a reasonable position. The torque sensor (54) is used to measure the clamping force applied by the fixing device (4) to the foot pedal (2). By detecting whether the return value is within a reasonable range, the servo motor (62) is controlled to make the clamping arm assembly (9) continue to clamp the foot pedal (2). By combining with different sensors, the adsorption fixing work can be better realized, the dynamic adaptability of the fixing device (4) is improved, thereby improving the working flexibility of the adsorption unhooking robot, realizing automated operation, and improving work efficiency. Attached Figure Description

[0031] Figure 1 is a schematic diagram of the working scene of the uncoupling robot belonging to the fixed device for railway uncoupling operations according to the present invention; Figure 2 is a schematic diagram of the structure of the uncoupling robot belonging to the fixed device for railway uncoupling operations according to the present invention; Figure 3 is a schematic diagram of the structure of the fixed device for railway uncoupling operations according to the present invention; Figure 4 is a schematic diagram of the structure of the 3-PRS component in the fixed device for railway uncoupling operations according to the present invention; Figure 5 is a schematic diagram of the structure of the 3-PRS branch of the 3-PRS component in the fixed device for railway uncoupling operations according to the present invention; Figure 6 is a schematic diagram of the structure of the moving platform component of the 3-PRS component in the fixed device for railway uncoupling operations according to the present invention; Figure 7 is a schematic diagram of the converter component of the 3-PRS component in the fixed device for railway uncoupling operations according to the present invention. Figure 8 is a front structural schematic diagram of the adsorption base assembly in the fixing device for railway uncoupling operations according to the present invention; Figure 9 is a rear structural schematic diagram of the adsorption base assembly in the fixing device for railway uncoupling operations according to the present invention; Figure 10 is a structural schematic diagram of the clamping arm assembly in the fixing device for railway uncoupling operations according to the present invention; Figure 11 is a structural schematic diagram of the worm gear reducer assembly in the fixing device for railway uncoupling operations according to the present invention; Figure 12 is a structural schematic diagram of the motor screw assembly in the fixing device for railway uncoupling operations according to the present invention; Figure 13 is a structural schematic diagram of the jaw moving part in the fixing device for railway uncoupling operations according to the present invention; Figure 14 is a front structural schematic diagram of the fixing device for railway uncoupling operations according to the present invention. Detailed Implementation

[0032] To better understand the technical solution of this invention, the content of this invention includes, but is not limited to, the specific embodiments described below. Similar technologies and methods should be considered within the scope of protection of this invention. To make the technical problems to be solved, the technical solutions, and advantages of this invention clearer, a detailed description will be provided below in conjunction with the accompanying drawings and specific embodiments.

[0033] It should be understood that the embodiments described in this invention are merely some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0034] The adsorption-type uncoupling robot 3 of this invention adheres to the side of the freight train during operation and needs to be able to prevent detachment. The uncoupling position is flexible and not limited by ground track conditions. Therefore, this invention selects the footrest 2 of the train as the adsorption location, as shown in Figure 1. The selected train type in the figure is a flatbed car 1, and the footrest 2 is located at the end of the flatbed car 1. The adsorption-type uncoupling robot 3 adheres to the footrest 2. The footrest 2 is a standard part, and multiple footrests are provided on the flatbed car 1. They are relatively few in type and roughly the same in shape. Therefore, this structure on the flatbed car 1 is used as the object of adsorption-type uncoupling robot 3. Multiple adsorption-type uncoupling robots 3 can be used simultaneously, i.e., one adsorption-type uncoupling robot 3 is adsorbed at each footrest. Other types of freight trains also have this standard structure, therefore the adsorption-type uncoupling robot of this invention has wide applicability. Further discussion of different types of freight trains will not follow.

[0035] As shown in Figures 2-14, the adsorption-type unhooking robot provided by the present invention includes a fixing device and an unhooking robotic arm. The fixing device 4 includes a 3-PRS assembly 7, an adsorption base assembly 8, a clamping arm assembly 9, a worm gear reducer assembly 10, a controller, and a motor screw assembly 11. The 3-PRS assembly 7 is connected to the adsorption base assembly 8, and the adsorption base assembly 8 is also connected to the worm gear reducer assembly 10 and the motor screw assembly 11. The clamping arm assembly 9 is connected to the worm gear reducer assembly 10, and the motor screw assembly 11 is connected to the worm gear reducer assembly 10. Therefore, the adsorption method includes an adsorption stage and a fixing stage. In the adsorption stage, the 3-PRS assembly 7, under the action of the controller, adsorbs and adheres to the object on the train. In the fixing stage, after the adsorption stage ends, the controller controls the movement of the motor screw assembly 11 and the worm gear reducer assembly 10 so that the clamping arm assembly 9 clamps the adsorbed object.

[0036] The clamping arm assembly 9 is connected to the worm gear reducer assembly 10 and is used to rotate under the drive of the worm gear reducer assembly 10, so that the fixing device clamps the other object; the motor screw assembly 11 is connected to the worm gear reducer assembly 10 and is used to pull the worm gear reducer assembly 10. The other object is the foot pedal of the carriage, where the foot pedal 2 is a standard part, with few types and roughly the same shape, so this structure on the carriage of the flatbed 1 is used as the object to be adsorbed by the unhooking robot 3. Other types of freight trains have this standard structure, so the unhooking robot 3 involved in this invention has wide applicability, and the types of freight trains will not be discussed further. The unhooking robot 3 consists of two parts: a fixing device 4 and an unhooking robotic arm 6, which are fixed by a base connecting to a transition plate 5. This invention focuses on describing the fixing device 4. The unhooking robot arm 6 uses existing components. The function of this fixing device is to support the unhooking robot arm, so that the entire unhooking robot can be attached to the footrest of the carriage and can withstand the force brought by the unhooking operation. It has high adaptability and can ensure that the unhooking robot can achieve automatic unhooking operation efficiently and safely when dealing with various vehicle models and coupler positions.

[0037] Specifically, the fixing device 4 for railway uncoupling operations includes a 3-PRS assembly 7, an adsorption base assembly 8, a clamping arm assembly 9, a worm gear reducer assembly 10, a motor screw assembly 11, and an upper connecting bracket 12. The 3-PRS assembly 7 includes a triangular base 13, 3-PRS branches 14, a moving platform assembly 15, and a converter assembly 16. The triangular base 13 serves as the frame for the entire 3-PRS assembly 7, fixing it to the adsorption base assembly 8. The 3-PRS assembly 7 has three identical 3-PRS branches 14 connected in parallel, each branch having a sliding joint, a rotating joint, and a ball joint. The 3-PRS branches 14 are connected and fixed to the triangular base 13 via an L-shaped bracket 17, which is fixed to a cylinder 22 via countersunk bolts. The cylinder 22 forms the sliding joint of this branch. A metal bearing housing 21 is mounted on the moving end of cylinder 22. A joint spindle 19 is mounted on the metal bearing housing 21, and the joint spindle 19 passes through the metal connecting rod 20. Joint end caps 18 are mounted on both sides of the metal connecting rod 20 to provide axial fixation, thus forming a rotating pair of the branch. Inserting the head end of the metal connecting rod 20 into the hexagonal movable end 29 of the moving platform assembly 15 forms a ball joint of the branch. This branch has one degree of freedom, namely, the cylinder 22 acts as the driving element to control the entire branch. Cylinder 22 has two states: retracted and extended. The air pressure inside cylinder 22 is controlled and switched by a proportional valve 23. The magnitude of the air pressure inside cylinder 22 affects the load-bearing capacity of the entire parallel mechanism. The proportional valve 23 is fixed to the L-shaped bracket 17 by bolts. This invention requires real-time detection of the extension length of cylinder 22. Therefore, an electronic ruler 25 is installed on the side of cylinder 22. The body of the electronic ruler 25 is clamped and fixed to the surface of cylinder 22 by an electronic ruler bracket 24. The output end of the electronic ruler 25 is fixed to an electronic ruler output end bracket 26 by two small nuts, and the electronic ruler output end bracket 26 is fixed to a metal bearing seat 21 by bolts. In this way, when cylinder 22 extends and moves, it drives the output end of electronic ruler 25 to move, thereby measuring the extension distance of cylinder 22. Since cylinder 22 needs to retract quickly during the adsorption process, reverse ventilation of cylinder 22 is required. Since proportional valve 23 cannot achieve reverse ventilation, a sheet metal bracket 27 is fixed to the surface of cylinder 22. A small two-position five-way valve 28 is installed on the sheet metal bracket 27. The two-position five-way valve 28 is controlled by a relay, thereby changing the ventilation direction of cylinder 22. All three branches are fixed to the triangular base 13, and the ends of the metal connecting rods 20 of the three branches are inserted into the hexagonal movable end 29 of the moving platform assembly 15. At this time, the triangular base 13 is the static platform of the 3-PRS parallel mechanism, and the hexagonal movable end 29 is the moving platform of the 3-PRS parallel mechanism, forming a complete parallel mechanism. The moving platform assembly 15 includes the hexagonal movable end 29, an electromagnet 30, an electromagnet extension rod 31, and an extension rod end cap 32.According to Figure 3, since the parallel mechanism needs to use an electromagnet 30 to fix the moving platform to the bottom surface of the pedal 2, an electromagnet extension rod 31 is designed to move the position of the electromagnet 30 to a lower position, making it easier to attach to the pedal 2. The end of the electromagnet extension rod 31 is fixed to the hexagonal movable end 29 through the extension rod end cap 32, and the head of the electromagnet extension rod 31 is bolted to the electromagnet 30. Since the controller of the fixing device 4 is the Arduino control board 38, which can only output 0~100% PWM signals, i.e., digital signals, while the proportional valve 23 changes the output air pressure by accepting different voltages, i.e., the proportional valve 23 only accepts analog signals, the digital signals output by the Arduino control board 38 need to be converted into analog signals by the PWM converter 35. The converter needs to be installed in a suitable position, and since there is still space inside the 3-PRS component 7, a converter assembly 16 is set up to fix the converter. The converter assembly 16 includes a triangular sheet metal 33, a converter fixing sheet metal 34, and a PWM converter 35. Three converter mounting plates 34 are installed at equal intervals on the triangular sheet metal 33, while the PWM converter 35 is installed inside the converter mounting plates 34, corresponding to the proportional valves 23 on the three 3-PRS branches 14 respectively.

[0038] The adsorption base assembly 8 is the frame part of the fixing device 4, and all other components are connected and fixed to the adsorption base assembly 8. The overall shape of the adsorption base assembly 8 is a cuboid frame, which is mainly composed of the upper connecting bracket 12 and the adsorption base base plate 49. The short sides of the adsorption base base plate 49 are fixed to the upper connecting bracket 12 by bolts. At the center of the adsorption base base plate 49, it is fixed to the upper connecting bracket 12 through the base plate connecting flange 44 and the base connecting flange 43. The base connecting flange 43 acts as a support, supporting the entire cuboid frame from the center, while the base plate connecting flange 44 passes through the triangular base 13 in the 3-PRS assembly 7, is fixed to the adsorption base base 49, and contacts the base connecting flange 43. All the connecting wires on the PWM converter 35 pass through the central holes of the base plate connecting flange 44 and the base connecting flange 43, and extend from the bottom of the upper connecting bracket 12, reducing the pressure on the wiring. On one side of the long side of the adsorption base plate 49, a lithium battery L-shaped bracket 41 is installed. Above the lithium battery L-shaped bracket 41, an air tank 42 is installed to charge the proportional valve 23. Below the lithium battery L-shaped bracket 41, a lithium battery bracket 46 is installed to fix the lithium battery 50. A control board bracket 40 is installed on the two lithium battery brackets 46, and an Arduino control board 38 is installed on it, which serves as a controller. On the other side of the long side of the adsorption base plate 49, a lithium battery L-shaped lower bracket 45 is installed. Below the lithium battery L-shaped lower bracket 45, a lithium battery bracket 46 is also installed to fix the lithium battery 50. On both sides of the long side of the adsorption base plate 49, guide rails 48 are installed. Each guide rail 48 has two sliders 47. The worm gear reducer brackets 60 on both sides of the worm gear reducer 59 are fixed to the sliders 47, so that the worm gear reducer assembly 10 can move along the guide rail 48 under the traction of the motor screw assembly 11. Above the base plate 49 of the adsorption base, four transmitters 37 are fixed to the base plate 49 using copper pillars 39. Since the clamping force exerted by the fixing device 4 on both sides of the foot pedal 2 needs to be measured in real time during the adsorption fixing process, a torque sensor 54 is installed in the clamping arm assembly 9. The signal from the torque sensor 54 needs to be converted into an analog quantity acceptable to the Arduino control board 38 through the transmitters 37. Therefore, the transmitters 37 need to be fixed to the base plate 49, with four transmitters 37 corresponding to four clamping arm assemblies 9. Two touch switch mounting plates 36 are symmetrically installed on both sides of the short side of the base plate 49. The touch switch mounting plates 36 are used to fix the double-bearing type bearing fixing seat 68 in the motor screw assembly 11 to the screw motor connecting flange 64, fixing the motor screw assembly 11 to the adsorption base assembly 8. During the adsorption fixing process, the upper surface of the touch switch mounting plates 36 must be in close contact with the foot pedal 2 to reduce the corresponding degrees of freedom.The surface of the adsorption base plate 49 has symmetrical elongated holes to allow the lead screw output connector 66 from the motor lead screw assembly 11 to extend into the rectangular frame, facilitating its fixation with the output connector plate 61 in the worm gear reducer assembly 10. This enables the motor lead screw assembly 11 to traction the worm gear reducer assembly 10. The elongated holes also facilitate the movement of the lead screw output connector 66 along the guide rail 48. The bottom of the upper connecting bracket 12 has two circular slots. The circular slot on the right is for mounting the base connecting transition plate 5, thus connecting the fixing device 4 to the unhooking robotic arm 6. The circular slot on the left is a reserved mounting point for the mother robot to grasp the unhooking robot 3. The above describes the structure of the adsorption base assembly 8.

[0039] The clamping arm assembly 9 is the actuator for the fixing device 4 to achieve adsorption and fixation. The entire fixing device 4 includes four sets of clamping arm assemblies 9, symmetrically distributed on both sides of the device, allowing the fixing device 4 to clamp the pedal 2 from both sides. The clamping arm assemblies 9 on both sides are identical in structure only in the installation direction of the gripper arm 51, and both include: gripper arm 51, output shaft sleeve 52, torque sensor end cover 53, torque sensor 54, bearing seat assembly 55, ultrasonic ranging sensor 56, and contact block 57. The contact block 57 is provided at the first end of the gripper arm 51, and the ultrasonic ranging sensor 56 is inserted into the center of the contact block 57. The torque sensor 54 is installed at the end of the gripper arm 51, and the torque sensor 54 is inserted into the torque sensor end cover 53 and fixed to the gripper arm 51. The bearing seat assembly 55 is connected to the worm gear reducer assembly 10. Specifically, the contact block 57 is installed at the first end of the gripper arm 51, which is the part that directly contacts the pedal 2. An ultrasonic ranging sensor 56 is inserted after a hole is drilled in the center of the contact block 57 and secured with a nut. The ultrasonic ranging sensor 56 is used to detect the distance between the corresponding surfaces of the clamping arm assembly 9 and the foot pedal 2 during clamping, facilitating subsequent adjustment of the clamping force. A torque sensor 54 is installed at the end of the gripper arm 51, with its head inserted into a torque sensor end cap 53 and fixed to the gripper arm 51. An output shaft spacer 52 is installed at the end of the torque sensor 54, and the output shaft spacer 52 is fixed to the bearing housing assembly 55 with bolts. Subsequently, when the clamping arm assembly 9 begins to bear the reaction force from clamping the foot pedal 2, the torque sensor 54 deflects, generating a signal that is sent to the Arduino control board 38 via the transmitter 37. The movement of the motor screw assembly 11 is then adjusted appropriately according to the magnitude of the clamping force.

[0040] The worm gear reducer assembly 10 includes a stepper motor 58, a worm gear reducer 59, a worm gear reducer bracket 60, and an output connecting plate 61. The function of the worm gear reducer assembly 10 is to control the rotation of the clamping arm assembly 9, ensuring that the surface of the contact block 57 in the clamping arm assembly 9 is parallel to the surface of the corresponding foot pedal 2, thereby ensuring a clamping effect. The stepper motor 58 is directly inserted into and fixed to the worm gear reducer 59. An output connecting plate 61 is installed at the front end of the worm gear reducer 59, and the output connecting plate 61 is fixed to the lead screw output connector 66 in the motor lead screw assembly 11 by bolts. Worm gear reducer brackets 60 are symmetrically installed on both sides of the worm gear reducer 59. The worm gear reducer brackets 60 are fixed to the bearing seat assembly 55 in the clamping arm assembly 9 by bolts. Simultaneously, the output shaft of the worm gear reducer 59 is inserted into the bearing seat assembly 55 of the clamping arm assembly 9, thus, in one worm gear reducer assembly 10, clamping arm assemblies 9 are symmetrically installed on both sides. The worm gear reducer bracket 60 is connected to the slider 47 on the guide rail 48, ensuring that the entire worm gear reducer assembly 10, along with the clamping arm assemblies 9 on both sides, can move along the guide rail 48 under the traction of the motor screw assembly 11. The entire fixing device 4 contains two sets of worm gear reducer assemblies 10, symmetrically distributed on both sides of the device. The above is a structural description of the worm gear reducer assembly 10.

[0041] The motor lead screw assembly 11 is used to control the clamping movement of the clamping arm assembly 9. The motor lead screw assemblies 11 on both sides of the fixing device 4 move towards the center plane simultaneously, and the clamping arm assembly 9 presses against both sides of the foot pedal 2, thereby realizing the clamping action. First, the servo motor 62 is fixed to the lead screw motor connecting flange 64 by bolts. After fixing, the output shaft of the servo motor 62 is inserted into one end of the lead screw motor coupling 67. The other end of the lead screw motor coupling 67 is fitted with a trapezoidal lead screw 63. The trapezoidal lead screw 63 passes through the double bearing type bearing fixing seat assembly 68, the lead screw output connector 66, and the lead screw nut 65. The double bearing type bearing fixing seat assembly 68 and the lead screw motor connecting flange 64 are both fixed to the touch switch mounting plate 36, thereby fixing the motor lead screw assembly 11 to the adsorption base assembly 8. The lead screw nut 65 and the lead screw output connector 66 are fixed by bolts. The two move synchronously with the rotation of the trapezoidal lead screw 63, and the lead screw output connector 66 drives the worm gear reducer 59 to move. The above is a structural description of the motor lead screw assembly 11.

[0042] The structure related to the clamping arm movement in the fixing device 4 is formed by two sets of motor lead screw assemblies 11, two sets of worm gear reducer assemblies 10, and four sets of clamping arm assemblies 9. This structure is symmetrically distributed on both sides of the fixing device 4, as shown in Figure 13. The double-bearing type bearing fixing seat 68 in the motor lead screw assembly 11 and the lead screw motor connecting flange 64 are both fixed to the touch switch mounting plate 36 of the adsorption base assembly 8. Then, the worm gear reducer bracket 60 in the worm gear reducer assembly 10 is connected to the slider 47 on the guide rail 48 in the adsorption base assembly 8, thereby fixing the motor lead screw assembly 11 and the worm gear reducer assembly 10 to the adsorption base assembly 8. Then, the base connecting flange 43 passes through the triangular base plate in the 3-PRS assembly 7 and is fixed to the adsorption base base plate 49 in the adsorption base assembly 8 with bolts, thereby fixing the 3-PRS assembly 7 to the adsorption base assembly 8. At this point, the internal structure of all components of the fixing device 4 and the structural relationship between various components have been described.

[0043] The fixing device 4 for railway uncoupling operations of the present invention is installed on an adsorption uncoupling robot. When the adsorption uncoupling robot begins operation, the mother robot lifts the uncoupling robot 3 from the mobile robot by grasping the handle installed on the upper connecting bracket 12, and moves it to the footrest 2 of the moving flatcar 1. The robot 3 is transported at a relatively stationary speed relative to the flatcar 1, ensuring that the fixing device 4 can function normally and complete the adsorption fixing task in a short time. The fixing device 4 of the present invention has good adaptability and stability: it uses electronic devices such as an electronic ruler 25, an ultrasonic distance sensor 56, and a torque sensor 54 to provide real-time feedback on data such as the extension distance of the cylinder 22, the distance between the contact block 57 and the corresponding surface of the footrest 2, and the clamping force applied to the surface of the footrest 2 by the clamping arm assembly 9. This facilitates feedback adjustment of the device and greatly improves its adaptability. The fixing device 4 acts on the footrest 2, a part widely used in various freight trains and a standard component, allowing the fixing device 4 to adapt to various train models. The fixing device 4 divides the work into two parts: adsorption and fixing. It has a reasonable working method that can effectively resist vibration and ensure that the unhooking robot 3 can remain stable even in a moving train.

[0044] This invention has low manufacturing, maintenance, and modification costs: multiple fixing devices 4 can perform adsorption work simultaneously, providing good processing capacity. The fixing device 4 adopts a modular design, with each module independent and easy to disassemble, replace, and repair. Most non-standard parts are metal parts, manufactured through machining, facilitating subsequent reprocessing and providing convenience for modifying components.

[0045] This invention is energy-saving and environmentally friendly: the 3-PRS component 7 in the fixing device 4 is pneumatic, supplied by an air tank 42; the stepper motor 58, servo motor 62, Arduino control board 38, and various sensors are powered by rechargeable batteries. After the adsorption and fixing action is completed, the fixing device 4 moves along with the freight train, consuming less energy and making it more economical and environmentally friendly.

[0046] This invention does not rely on track laying: the fixing device 4 of the adsorption-type uncoupling robot is directly adsorbed and fixed to the footrest 2 of the freight train, eliminating the need for additional track laying. This reduces construction costs, minimizes economic losses, and avoids damage to the track, thus reducing downtime for maintenance. It can operate in complex terrains such as hump yard switch areas and can perform uncoupling operations over a large working range, adapting to various train car numbers.

[0047] In practical use, the adsorption-type unhooking robot of this invention employs two mother robots, one responsible for loading and unloading the unhooking robot at the foot pedals of the truck bed, and the other for attaching several adsorption-type unhooking robots to the foot pedals for direct hooking operations. A mobile robot circulates between the loading and unloading points, transferring the unhooking robots. The workflow of the adsorption-type unhooking robot in this mother-daughter system, consisting of two mother robots, several adsorption-type unhooking robots, and the mobile robot, is as follows: Mother robot 1 loads the adsorption-type unhooking robot onto the moving truck. The adsorption-type unhooking robot can automatically perform the adsorption action on the truck. After adsorption is complete, mother robot 1 releases the adsorption-type unhooking robot, which then performs the unhooking action. After unhooking is completed, mother robot 2 unloads the adsorption-type unhooking robot from the truck and places it on the mobile robot, which replenishes its energy during movement, preparing for the next unhooking operation. This mother-daughter system requires no additional track laying, resulting in lower construction costs and no impact on the daily operation of the marshalling yard. The uncoupling robot can directly perform uncoupling operations in complex areas such as turnouts, unaffected by peak push speed, and is suitable for various types of hump yards, including complex four-push, double-slide hump yards. The system boasts advantages such as high adaptability, low risk, and ease of maintenance. The uncoupling robot can visually identify the coupler position and undertake most uncoupling tasks, with multiple robots operating simultaneously. Through integration with the shunting system, anomalies can be detected and handled promptly, ensuring safe and reliable operation. Compared to traditional track-based solutions, this mother-daughter system offers higher efficiency, stronger adaptability, and lower maintenance costs, effectively overcoming the limitations of existing technologies in complex hump yard scenarios.

[0048] The adsorption process of the adsorption-type uncoupling robot is as follows: At the start of operation, the fixing device 4 of the adsorption-type uncoupling robot, used for railway uncoupling operations, is lifted by the mother robot from the mobile robot by grasping the handle installed on the upper connecting bracket 12. The robot is then moved to the footrest 2 of the moving trolley 1 and transported at a relatively stationary speed relative to the trolley 1, ensuring that the fixing device 4 can function normally and completing the adsorption and fixing task in a short time. The entire adsorption and fixing task can be divided into two stages: the adsorption stage and the fixing stage.

[0049] The 3-PRS component 7 includes three degrees of freedom: movement along the Z-axis and rotation around the X and Y axes. The adsorption action is accomplished either by the 3-PRS component 7 moving only along the Z-axis or by the 3-PRS component 7 moving along the Z-axis and rotating around the X and Y axes. The positive direction of the Z-axis is defined as the extension direction of the cylinder (22), the positive direction of the X-axis is defined as the direction of the movement of the motor screw assembly (11) toward the unhooking robot arm (6), and the positive direction of the Y-axis is defined as the direction of gravity of the unhooking robot (3) when it is adsorbed onto the foot pedal (2).

[0050] The adsorption process is explained using the 3-PRS component 7, which only uses one degree of freedom—movement along the Z-axis—to complete the adsorption action.

[0051] When the 3-PRS component 7 uses only one degree of freedom—movement along the Z-axis—to complete the adsorption phase, it is considered the first case. Its working principle is as follows: The 3-PRS component 7 on the fixed device 4 is the first part of the entire fixed device 4 to contact the foot pedal 2, and the adsorption phase is mainly completed by the 3-PRS component 7. The 3-PRS component 7 has three degrees of freedom: movement along the Z-axis and rotation around the X and Y axes. When the fixed device 4 is grasped by the mother robot and moved near the foot pedal 2, the Arduino control board 38 sends an analog signal to the proportional valve 23 via the PWM converter 35. The proportional valve 23 changes the air pressure output to the cylinder 22 according to the received analog signal. The cylinders 22 on the three 3-PRS branches 14 in the 3-PRS component 7 are simultaneously inflated, and the cylinders 22 extend with the same air pressure, causing the moving platform component 15 to move linearly along the Z-axis. When cylinder 22 is initially in the retracted state, the distance between the electromagnet 30 and the corresponding surface of the foot pedal 2 is less than the stroke of the moving platform assembly 15 itself. Therefore, when cylinder 22 transitions to the extended state, the electromagnet 30 on the moving platform assembly 15 contacts the corresponding surface of the foot pedal 2, causing the moving platform assembly 15 to be compressed. This results in cylinder 22 not fully extending. At this time, the moving end of cylinder 22 is subjected to pressure from the moving platform assembly 15, which balances the pressure formed by the air pressure inside cylinder 22. The electronic ruler 25 is used as a sensor to measure the extension length of the moving end of cylinder 22. When there is a change in the extension length at the output of the electronic ruler 25, the analog voltage returned by the electronic ruler 25 to the Arduino control board 38 also changes. Therefore, the Arduino control board 38 reads the analog voltage and its change value, performs internal calculations, and obtains the extension length of the moving end of cylinder 22 measured by the electronic ruler 25, preparing for subsequent adjustments. The output end of the electronic ruler 25 is fixed to the electronic ruler output end bracket 26 by a nut. The electronic ruler output end bracket 26 is in turn fixed to the movable end of the cylinder 22 by a metal bearing seat 21. Therefore, when the cylinder 22 extends, the output end of the electronic ruler 25 extends along with the movable end of the cylinder 22, while the rest of the electronic ruler 25 is fixed to the surface of the cylinder 22 by the electronic ruler bracket 24 and does not extend along with the movable end of the cylinder 22. Because the output end of the electronic ruler 25 extends, its internal resistance changes, resulting in a returned analog voltage that varies within the range of 0~5V. Because the electronic ruler 25 is quite sensitive, the analog voltage received by the Arduino control board 38 also fluctuates within a certain range.After the experiment was conducted, a reasonable range was pre-planned. Specifically, the length of the cylinder 22's movable end extended when the moving platform assembly 15 was compressed and the 3-PRS assembly 7 maintained balance was considered. If the extended lengths or amounts of the cylinder 22's movable ends on the three 3-PRS branches 14 were approximately the same and within a reasonable range (15mm-40mm as set in this invention), the Arduino control board 38 controlled the electromagnet 30 to be energized by sending a switching signal to the relay. When the cylinder 22 was not fully extended, the electromagnet 30 was already in contact with the corresponding surface of the foot pedal 2. At this time, under energized conditions, the electromagnet 30 was firmly attracted to the corresponding surface of the foot pedal 2 due to magnetic force. The value measured by the electronic ruler 25 reflected the extended length of the cylinder 22's movable end. Since the cylinder 22 is a sliding joint of the three branches, the extended length of the cylinder 22's movable end is the moving length of the three branches' sliding joint. The output end of the electronic ruler 25 was fixed to the movable end of the cylinder 22, and both moved together. Therefore, in this operation, only one degree of freedom—movement along the Z-axis—is needed to complete the action of "pulling" the unhooking robot 3 towards the pedal 2, making control relatively simple. After the electromagnet 30 is firmly attached to the corresponding surface of the pedal 2 due to magnetic force, and after a delay of 1-3 seconds, the Arduino control board 38 sends a switching signal to the relay to control the three two-position five-way valves 28 on the three 3-PRS branches 14 to operate, causing the cylinder 22 to be vented in the opposite direction. At this time, the cylinder 22 changes from extension to retraction. While the electromagnet 30 is in action, the Arduino control board 38 simultaneously sends a signal to the mother robot. The mother robot, based on the original position, pushes the unhooking robot 3 towards the pedal 2. At this time, it can be regarded as the 3-PRS component 7 pulling the entire unhooking robot 3 towards the pedal 2, while ensuring that the upper surfaces of the touch switch mounting plates 36 on both sides of the adsorption base component 8 are in contact with the surface of the pedal 2. After a 3-second delay, that is, after a certain period of time, such as 3 seconds, the distance returned by the electronic ruler 25 is checked again. If the length of the extended end of the cylinder 22 measured by the electronic ruler 25 is 15mm-25mm, which is within the above reasonable range, it means that the cylinder 22 is in a state of incomplete retraction. At this time, the electromagnet 30 is still attracted to the corresponding surface of the foot pedal 2, which proves that the attraction work is completed.

[0052] The following is a detailed description of the working process of the 3-PRS component 7 during the adsorption phase, when it uses only one degree of freedom—movement along the Z-axis—to complete the adsorption action. First, a host computer (such as a PC) connects to the Arduino control board 38 via a USB cable. The PC transmits the Arduino program to the Arduino control board 38 via the USB cable. After the Arduino program is uploaded to the Arduino control board 38, the Arduino control board 38 sends digital signals of 0~255 through PWM output pins 10, 11, and 12. These signals correspond to 0~100% PWM signals. These signals are transmitted to the PWM converter 35 in the converter assembly 16, which proportionally converts the 0~255 digital values ​​into a voltage of 0~5V, i.e., an analog signal. These analog signals are output to the proportional valve 23, which then proportionally converts the 0~5V analog signals into a pressure of 0~0.5MPa. The gas tank 42 continuously supplies 1 MPa of air pressure to the connected proportional valve 23. When the proportional valve 23 receives an analog signal, it outputs the corresponding air pressure to the two-position five-way valve 28, which then transmits the air pressure to the cylinder 22. Upon receiving the air pressure, the internal air pressure of the cylinder 22 increases, lifting the metal bearing seat 21 along with the electronic ruler output end bracket 26. Because the output end of the electronic ruler 25 is fixed to the electronic ruler output end bracket 26, when the electronic ruler output end bracket 26 moves upward, the output end of the electronic ruler 25 also moves upward. The upward movement of the metal bearing seat 21 drives the metal connecting rod 20 to rotate around the joint axis 19. Simultaneously, the metal connecting rods 20 on the three 3-PRS branches 14 rotate around the joint axis 19 while moving upward. The top of the metal connecting rod 20 lifts the hexagonal movable end 29 on the moving platform assembly 15, thereby causing the electromagnet extension rod 31 to move upward along with the electromagnet 30. When the cylinders 22 of the three 3-PRS branches 14 extend upwards to their maximum stroke, the Arduino control board 38 receives the analog voltage value returned by the extended electronic ruler 25 through its analog input interfaces A0, A1, and A2. The electronic ruler 25 acts as a sliding rheostat, its voltage sourced from the Arduino control board 38, and is 5V. Therefore, when the electronic ruler 25 moves within the range of 0~50mm, it returns a corresponding analog signal of 0~5V to the Arduino control board 38. The Arduino control board 38 first converts the 0~5V analog signal returned by the electronic ruler 25 on the three 3-PRS branches 14 into a stroke of 0~50mm, using the following conversion formula:

[0053] Where D represents the stroke, and S represents the 0-5V analog voltage received by the Arduino control board 38 from the electronic ruler 25. After calculating the extension distance of the electronic ruler 25 on the three 3-PRS branches 14, it is determined whether the three data are all within the range of 15mm-40mm. If they are all within this range, it means that the electromagnet 30 at the front end of the moving platform assembly 15 has made contact with the corresponding surface of the foot pedal 2, and the 3-PRS assembly 7 can complete the adsorption action using only the one degree of freedom of movement along the Z-axis. Afterwards, the Arduino control board 38 sets its digital pins 27, 29, 31, and 33 to high level to send switching signals to the four relays. The four relays control the on / off state of the three two-position five-way valves 28 mounted on the surface of the cylinder 22 and the electromagnet 30. First, pin 27 is set to high level. After receiving the switch signal, the 4-way relay energizes the electromagnet 30, which is attracted to the corresponding surface of the foot pedal 2. Then, in a short time, pins 29, 31, and 33 are set to high level in sequence. After receiving the switch signal, the 4-way relay energizes the two-position five-way valves 28 on the three 3-PRS branches 14. All three two-position five-way valves 28 switch the air outlet direction, causing the air inlet and outlet of cylinder 22 to switch positions. The air pressure causes cylinder 22 to contract, and the metal bearing seat 21, along with the electronic ruler output end bracket 26, descends, causing the electronic ruler 25 to contract. After the contraction stops and the Arduino program delays for 1 to 3 seconds, it again receives the analog voltage value returned after the electronic ruler 25 extends via analog interfaces A0, A1, and A2. The calculated extension distance of the electronic ruler 25 on the three 3-PRS branches 14 is then used. If all distances are less than 20mm, it indicates that the upper surface of the touch switch mounting plate 36 on the adsorption base assembly 8 is in close contact with the corresponding surface of the foot pedal 2. Finally, the Arduino control board 38 sends a 0-255 digital signal via PWM output pins 10, 11, and 12 to increase the air pressure output by the proportional valve 23 to the cylinder 22, making the adsorption more secure, and the adsorption process is complete.

[0054] The following explains the working principle of the 3-PRS component 7 when it moves along the Z-axis and rotates around the X and Y axes to complete the adsorption action. If the numerical ranges returned by the electronic ruler 25 on the three 3-PRS branches 14 are significantly different but within a reasonable range of 15mm to 40mm, such as the values ​​returned by the electronic ruler 25 being 26, 27, and 40, these three numbers are not only unequal but also significantly different, yet all within the range of 25mm to 40mm, i.e., within a reasonable range of 15mm to 40mm, it indicates that after the moving platform component 15 contacts the foot pedal 2, it is in an inclined state, and the foot pedal 2 of this section of the cart 1 has been impacted and deformed. The 3-PRS component 7 needs to combine its movement along the Z-axis and its rotation around the X and Y axes to complete the adsorption action. Because the 3-PRS component 7 adopts an adversarial control concept, that is, it affects the posture of the moving platform component 15 by contacting the outside world. The extension distance returned by the electronic ruler 25, combined with the force Jacobian matrix of the 3-PRS parallel mechanism, can clearly indicate the state of the parallel mechanism. Under normal circumstances, the force Jacobian matrix is ​​not needed, but at this time, it is necessary to determine the state of the 3-PRS component 7 based on the force Jacobian matrix, so as to calculate the required air pressure of the cylinders 22 on the three 3-PRS branches 14. The pressure on the moving platform component 15 must be balanced by adjusting the air pressure in the cylinders 22. The force Jacobian matrix used in this invention is a commonly used matrix in mechanics, which will not be elaborated here. If the cylinders 22 on the three 3-PRS branches 14 all use the same air pressure, the moving platform component 15 will also tilt because the foot pedal 2 is in a tilted state, which may cause stress concentration, resulting in wear of the electromagnet 30, thereby affecting the attraction effect of the electromagnet 30. The 3-PRS component 7 achieves different adsorption actions through two scenarios, thereby enhancing the adaptability of the unhooking robot 3 to different working environments. When the Arduino control board 38 determines that the adsorption action is complete, it appropriately increases the air pressure in the cylinder 22 to strengthen the adsorption effect, thus ending the adsorption phase.

[0055] The following is a detailed description of the working process of the 3-PRS component 7 in the adsorption stage, where it combines movement along the Z-axis and rotation around the X and Y axes to complete the adsorption action. The initial working process is the same as the first case (i.e., using only the Z-axis). After calculating the extension distance of the electronic ruler 25 on the three 3-PRS branches 14, if the three data are not all within the range of 15mm to 40mm, it indicates that the electromagnet 30 at the front end of the moving platform component 15 is not in normal contact with the corresponding surface of the foot pedal 2. The 3-PRS component 7 needs to combine movement along the Z-axis and rotation around the X and Y axes to complete the adsorption action. Since the inverse kinematics solution program for the 3-PRS parallel mechanism cannot be directly edited in the Arduino control board 38, the Arduino control board 38 needs to package the necessary data and send it to the host computer. The host computer then calculates and solves for the force required to balance the force on the surface of the electromagnet 30, and converts this into PWM values ​​that the Arduino control board 38 needs to output to the PWM output pins 10, 11, and 12. After sending these values ​​to the Arduino control board 38, the Arduino control board 38 outputs these values ​​to adjust the air pressure output by the proportional valve 23, so that the electromagnet 30 can better conform to the corresponding surface of the pedal 2 and receive uniform force. First, the Arduino control board 38 formats the seven parameters—the running time of the current program cycle, the displacement of the three electronic rulers 25, and the PWM values ​​output to the PWM output pins 10, 11, and 12 during the current cycle—into a data string. The Arduino control board 38 connects to the serial port of the host computer via a USB data cable and sends the string back to the host computer through the serial port. Open the MATLAB program on the computer and receive the data string returned by the Arduino control board 38 in the relevant serial port, saving the seven parameters respectively. First, substitute the displacements of the three electronic rulers 25 into the inverse kinematics equations of the 3-PRS parallel mechanism. Because the 3-PRS parallel mechanism has three degrees of freedom, it has three active members, namely the prismatic joints on the three 3-PRS branches 14. By measuring the extension length of the cylinder 22, which is a prismatic joint, and combining it with the actual dimensions of the 3-PRS assembly 7, the corresponding solution equations are generated. Since this process is a common solution method, it will not be described in detail in this invention. After the inverse kinematics solution, the spatial pose of the moving platform assembly 15 in the 3-PRS assembly 7 can be obtained, that is, the spatial pose of the moving platform assembly 15 relative to the center of the triangular base 13 is described by a three-dimensional vector and rotation matrix. Then, in order to make the pressure on the surface of the electromagnet 30 more uniform, a pressure directly opposite the surface of the electromagnet 30 is simulated based on the solved spatial pose of the moving platform assembly 15. Through stress analysis, this positive pressure is gradually distributed to the three cylinders at point 22.Then, the PWM values ​​returned from the data string obtained at the beginning of the MATLAB program and output to the PWM output pins during the current loop are adjusted according to the ratio between the forces that the three cylinders 22 need to withstand. If the adjusted PWM values ​​are all within a reasonable adjustment range, the MATLAB program packages these calculated PWM values ​​and sends them back to the Arduino control board 38 via serial port. The Arduino control board 38 directly outputs these PWM values ​​to PWM output pins 10, 11, and 12, thereby adjusting the air pressure of the proportional valve 23. The reasonable PWM value adjustment range is given based on experimental experience and is a commonly used adjustment method. After adjusting the force state on the surface of the electromagnet 30, the Arduino control board 38 is used again to set digital pins 27, 29, 31, and 33 to high level to send switching signals to the four relays, controlling the on / off state of the three two-position five-way valves 28 and the electromagnet 30. The order in which the four digital pins are set to high level and the corresponding effects are the same as before and will not be repeated. The Arduino control board model is Arduino Mega 2560. In this version of the Arduino control board, 0~53 are digital I / O pins, of which 2~13 are PWM output pins; A0~A15 are analog input pins; and the four pairs of pins 0~1, 19~18, 17~16, and 15~14 are communication pins, which correspond to serial port 0~3 in sequence.

[0056] The following describes the working principle of the clamping arm assembly 9, worm gear reducer assembly 10, and motor lead screw assembly 11 working together to complete the fixing action during the fixing phase. The fixing phase is mainly completed by the joint operation of the clamping arm assembly 9, worm gear reducer assembly 10, and motor lead screw assembly 11. The stepper motor 58 in the worm gear reducer assembly 10 and the servo motor 62 in the motor lead screw assembly 11 both communicate via RS-485. The communication addresses of all four motors used in the entire fixing device 4 have been modified. In the RS-485 bus, the Arduino control board 38 acts as the master, sending commands, while the four motors act as slaves, receiving commands. This reduces the occupation of serial port pins on the Arduino control board 38 and avoids multiple slave responses at the same address when sending commands. After the adsorption phase ends, the Arduino control board 38 controls the stepper motor 58 in the worm gear reducer assembly 10 to move by sending RS-485 commands. The stepper motor 58 drives the clamping arm assemblies 9 on both sides to rotate via the worm gear reducer 59, with the initial rotation angle being fixed. After the initial rotation is completed, the return value of the ultrasonic ranging sensor 56 on the clamping arm assembly 9 is checked to see if it is within a reasonable range. If any of the four return values ​​are unreasonable, a corresponding 485 command is sent to control the stepper motor 58 to rotate based on the difference between the return value and the standard value, until the return values ​​of the four ultrasonic ranging sensors 56 are all within the 25mm~30mm range, but within the previously specified reasonable range of 15-40mm. Since the stepper motor 58 rotates repeatedly in both directions, the angle shifts with each rotation, so correction is required. The specific correction method is commonly used and will not be described in detail in this invention. When the clamping arm assembly 9 moves to a reasonable position, that is, when the surfaces of the four contact blocks 57 are parallel to the contact surfaces corresponding to the foot pedal 2, the stepper motor 58 in the worm gear reducer assembly 10 stops working but enters an idle locked state, continuously outputting a certain torque but not rotating. The Arduino control board 38 controls the servo motor 62 in the motor lead screw assembly 11 to rotate by sending 485 commands. The servo motor 62 drives the trapezoidal lead screw 63 to rotate through the lead screw motor coupling 67. The trapezoidal lead screw 63 is fixed by the double bearing type bearing fixing seat assembly 68, and only the lead screw nut 65 moves in the horizontal direction. The lead screw output connector 66 moves horizontally with the lead screw nut 65. The lead screw output connector 66 is fixed to the output connecting plate 61 in the worm gear reducer assembly 10. Therefore, the entire worm gear reducer assembly 10 and the clamping arm assemblies 9 on both sides are pulled by the lead screw output connector 66 and assisted by the guide rail 48 and slider 47 on the adsorption base assembly 8, moving towards the central symmetrical plane of the fixing device 4. At this time, the contact block 57 deforms to a certain extent due to compression, and the fixing device 4 initially completes the clamping action on the foot pedal 2. Similar to the stepper motor 58, the servo motor 62 also moves with an initial value. After completing the initial movement, it still needs to be corrected.Due to the reaction force from clamping and the force from the output shaft of the worm gear reducer 59, the torque sensor 54 in the clamping arm assembly 9 deflects. The torque sensor 54 converts the information into an analog signal via the transmitter 37 and returns it to the Arduino control board 38. The Arduino control board 38 compares the return values ​​of the four torque sensors 54 with the standard value and sends a 485 command to control the servo motor 62 to rotate until the return values ​​of the four torque sensors 54 are all within a reasonable range. At this point, the servo motor 62 stops working. The servo motor 62 does not have an idle locking function; the clamping state is maintained by the self-locking characteristic of the lead screw drive.

[0057] The following is a detailed description of the working process during the fixing phase, where the clamping arm assembly 9, worm gear reducer assembly 10, and motor screw assembly 11 work together to complete the fixing action. First, after the adsorption phase ends, the Arduino control board 38 receives and sends TTL commands via dedicated serial port pins 14 and 15. Serial port pins 14 and 15 are connected to a TTL-to-485 conversion module, which in turn is directly connected to the stepper motors 58 in the two worm gear reducer assemblies 10 and the servo motors 62 in the two motor screw assemblies 11, thus forming a 485 communication bus. The Arduino control board 38 acts as the master, while the four motors and the four ultrasonic ranging sensors 56 mounted on the front end of the gripper arm 51 act as slaves. Each of the eight slaves has a different communication address. After the Arduino control board 38 edits the corresponding 485 instructions according to the 485 instruction rules specified by the corresponding motor manufacturer, it sends the instructions from serial port pins 14 and 15. The instructions are converted and sent to the corresponding motors, and the motors respond. The Arduino control board 38 first sends motion instructions to the stepper motors 58 in the two worm gear reducer assemblies 10. After receiving their respective instructions, the two stepper motors 58 start moving. The movement of the stepper motors 58 drives the output shafts on both sides of the worm gear reducer 59 to rotate. The output shafts drive the clamping arm assembly 9 to rotate around the axis via a key. At this time, the contact block 57 in the gripper assembly and the ultrasonic ranging sensor 56 are approximately parallel to the corresponding surface of the foot pedal 2. After the stepper motors 58 on both sides complete the initial rotation, the Arduino control board 38 sends 485 instructions to the four ultrasonic ranging sensors 56, requesting them to return the measured values ​​at this time. The ultrasonic ranging sensor 56 returns values ​​via 485 commands. After receiving the returned command, the Arduino control board 38 needs to convert it, extracting the data portion of the command and converting the data from hexadecimal to decimal. By judging the data measured by the four ultrasonic ranging sensors 56, it can be determined whether the clamping arm assemblies 9 on both sides of the fixing device 4 are symmetrical about the foot pedal 2. If the ultrasonic ranging sensor 56 measurements on the same side are found to be different, it indicates that the entire fixing device 4 is tilted left and right, and the mother robot is instructed to adjust according to the specific values. If the ultrasonic ranging sensor 56 measurements on the same side are found to be the same, but the measurements on both sides of the ultrasonic ranging sensor 56 differ significantly, the Arduino control board 38 needs to send a motion command to the stepper motor 58 on the side with the larger measurement value. This process is repeated until the difference in the measurement values ​​of the ultrasonic ranging sensors 56 on both sides is reduced to a reasonable range.Afterwards, the Arduino control board 38 sends a 485 command to the servo motors 62 in the two motor lead screw assemblies 11. The servo motors 62 operate, driving the trapezoidal lead screw 63 to rotate via the lead screw motor coupling 67. Since the servo motors 62 are fixed to the touch switch mounting plate 36 on the adsorption base assembly 8 via the lead screw motor connecting flange 64, the lead screw nut 65 will move horizontally along the trapezoidal lead screw 63. The lead screw nut 65 is fixed to the lead screw output connector 66, which is in turn fixed to the worm gear reducer assembly 10 via the output connecting plate 61. Therefore, the lead screw nut 65 will drive the entire worm gear reducer assembly 10 to move axially along the trapezoidal lead screw 63. The bearing seat assembly 55 in the clamping arm assembly 9 is fixed to the slider 47, which also moves axially along the trapezoidal lead screw 63 on the guide rail 48, providing support. After the servo motors 62 on both sides complete their initial movement, the Arduino control board 38 begins to receive the values ​​returned by the torque sensor 54 after a 2-second delay. As the contact block 57 contacts and presses against the surface of the pedal 2, a corresponding force is generated, causing the gripper arm 51 in the clamping arm assembly 9 to rotate around the output shaft of the worm gear reducer 59. The top of the torque sensor 54 is fixedly connected to the gripper arm 51 via the torque sensor end cap 53, and the bottom of the torque sensor 54 is fixedly connected to the output shaft of the worm gear reducer 59 via the output shaft spacer 52. The relative rotation between the two is the source of the measured value of the torque sensor 54. The torque sensor 54 thus generates a small analog current, which is amplified by the transmitter 37 in the adsorption base assembly 8 and proportionally converted into an analog voltage of 0~5V. The transmitter 37 sends these analog voltages to the analog interfaces A3~A5 on the Arduino control board 38, respectively. The analog voltage is converted into the torque measured by the torque sensor 54 through calculation. Combined with the actual dimensions of the prototype, the magnitude of the normal pressure on the surface of the contact block 57 is further calculated. The calculation formula is as follows:

[0058] Where F represents the normal force exerted on contact block 57, and S represents the analog current received by Arduino control board 38 from torque sensor 54, converted into a 0-5V analog voltage after processing by transmitter 37. After calculating the normal force, the four normal force values ​​are compared. If the sum of the normal force values ​​on both sides is not significantly different and is within a reasonable range, the fixing stage is complete. If the sum of the normal force values ​​on both sides is not significantly different but is below a reasonable range, Arduino control board 38 continues to send motion commands to the servo motors 62 in the motor lead screw assemblies 11 on both sides. After the servo motors 62 operate, the above steps continue to be repeated until the sum of the normal force values ​​is within a reasonable range, at which point the fixing stage is complete. If the sum of the normal force values ​​on both sides is significantly different, it indicates that the contact block 57 in the clamping arm assemblies 9 on both sides is not parallel to the corresponding surface of the foot pedal 2. The fixing quality is poor at this point, and the servo motor 62 needs to be returned to its original position, the stepper motor 58 needs to be rotated again, and the fixing action needs to be completed. The fixing stage ends here.

[0059] After the fixing device 4 completes the adsorption and fixing actions in sequence, the unhooking robot 3 is completely fixed to the foot pedal 2. Then, the unhooking robotic arm 6 can perform the unhooking action. After the unhooking robotic arm 6 finishes its work, the mother robot grabs the unhooking robot 3 at the appropriate time and sends a 485 signal to the Arduino control board 38. After receiving the signal, the Arduino control board 38 first controls the servo motor 62 to reverse and release the gripper assembly 9, then controls the stepper motor 58 to rotate the gripper assembly 9 to the initial position, and finally controls the relay to de-energize the electromagnet 30 and the two-position five-way valve 28, thereby completely separating the unhooking robot 3 from the foot pedal 2.

[0060] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0061] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as mentioned above, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described in this application, through the foregoing teachings or related technical or knowledge. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. An adsorption method for an adsorption-type unhooking robot, characterized in that, The adsorption-type uncoupling robot is used to perform uncoupling operations on train couplers. The adsorption-type uncoupling robot includes a fixing device and an uncoupling robotic arm. The fixing device (4) includes a 3-PRS assembly (7), an adsorption base assembly (8), a clamping arm assembly (9), a worm gear reducer assembly (10), a controller, and a motor screw assembly (11). The 3-PRS assembly (7) is connected to the adsorption base assembly (8), and the adsorption base assembly (8) is also connected to the worm gear reducer assembly (10) and the motor screw assembly (11). The clamping arm assembly (9) is connected to the worm gear reducer assembly (10), and the motor screw assembly (11) is connected to the worm gear reducer assembly (10). Therefore, the adsorption method includes an adsorption stage and a fixing stage. In the adsorption stage, the 3-PRS assembly (7) is adsorbed and adhered to the object on the train under the action of the controller. In the fixing stage, after the adsorption stage is completed, the controller controls the motor screw assembly (11) and the worm gear reducer assembly (10) to move so that the clamping arm assembly (9) clamps the object being adsorbed.

2. The adsorption method according to claim 1, characterized in that, The 3-PRS assembly (7) includes a triangular base (13), three identical 3-PRS branches (14), and a moving platform assembly (15). The triangular base (13) is fixed on the adsorption base assembly (8). The three identical 3-PRS branches (14) are connected to the triangular base (13) via an L-shaped bracket (17) and simultaneously connected to the moving platform assembly (15). A proportional valve (23) is also fixed on the L-shaped bracket (17). Each 3-PRS branch (14) includes a sliding joint, a rotating joint, and a ball joint. The sliding joint is a cylinder (22), and its surface is provided with an electronic ruler and a two-position five-way valve (28).

3. The adsorption method according to claim 2, characterized in that, The 3-PRS component (7) includes three degrees of freedom: movement along the Z-axis and rotation around the X and Y axes. The adsorption action is completed by the movement of the 3-PRS component (7) along the Z-axis or by the movement of the 3-PRS component (7) along the Z-axis combined with the rotation around the X and Y axes. The positive direction of the Z-axis is the extension direction of the cylinder (22), the positive direction of the X-axis is the direction of the movement of the motor screw assembly (11) toward the unhooking robot arm (6), and the positive direction of the Y-axis is the direction of gravity of the unhooking robot (3) when it is adsorbed onto the foot pedal (2). The adsorbed object is the foot pedal (2) of the train.

4. The adsorption method according to claim 3, characterized in that, The adsorption action is completed by the movement of the 3-PRS component (7) along the Z-axis direction, specifically including: when the fixing device (4) moves to the vicinity of the pedal (2), the controller sends an analog signal to the proportional valve (23), and the proportional valve (23) controls the air pressure output to the cylinder (22) according to the analog signal. The cylinders (22) on the three 3-PRS branches (14) are simultaneously inflated, and the cylinders (22) extend with the same air pressure. The moving platform component (15) moves linearly in the Z-axis direction. The distance between the electromagnet (30) of the moving platform component (15) and the corresponding surface of the pedal (2) is less than the stroke of the moving platform component (15) itself. When the cylinder (22) is converted to the extended state, it is not fully extended. 15) When squeezed, the electronic ruler (25) sends the measured values ​​of the three 3-PRS branches (14) to the controller, and the controller sends a switching signal to the relay to control the electromagnet (30) to be energized; after the electromagnet (30) is energized, the controller sends a switching signal to the relay to control the three two-position five-way valves (28) on the three 3-PRS branches (14) to work, so that the cylinder (22) is vented in the opposite direction, and it changes from extension to contraction; at the same time, the controller sends a signal to the external device, and the external device pushes the hook-removing robot (3) towards the pedal (2); the distance returned by the electronic ruler (25) is detected at certain intervals. If the value range is within the preset range, it indicates that the adsorption work is completed.

5. The adsorption method according to claim 4, characterized in that, It also includes that if the measurement value range returned by the electronic ruler (25) is significantly different but still within the preset range, it indicates that the moving platform component (15) is in an inclined state after contacting the foot pedal (2). In this case, the 3-PRS component (7) is adjusted to combine the three degrees of freedom of movement along the Z-axis and rotation around the X and Y axes to complete the adsorption action.

6. The adsorption method according to claim 5, characterized in that, The pre-set range for the extension of the electronic ruler is 15mm-40mm.

7. The adsorption method according to claim 6, characterized in that, The worm gear reducer assembly (10) includes a stepper motor (58), a worm gear reducer (59), a worm gear reducer bracket (60), and an output connection plate (61). The stepper motor (58) is inserted into and fixed in the worm gear reducer (59). An output connection plate (61) is provided at the front end of the worm gear reducer (59). The worm gear reducer bracket (60) is symmetrically arranged on both sides of the worm gear reducer (59). The worm gear reducer bracket (60) is connected and fixed to the bearing seat assembly (55) of the clamping arm assembly (9). At the same time, the output shaft of the worm gear reducer (59) is inserted into the bearing seat assembly (55). Thus, in a set of worm gear reducer assemblies (10), two clamping arm assemblies (9) are symmetrically installed on both sides.

8. The adsorption method according to claim 7, characterized in that, The motor lead screw assembly (11) includes a servo motor (62), a trapezoidal lead screw (63), a lead screw motor connecting flange (64), a lead screw nut (65), a lead screw output connector (66), a lead screw motor coupling (67), and a double-bearing type bearing fixing seat assembly (68). The servo motor (62) is fixed to the lead screw motor connecting flange (64). The output shaft of the servo motor (62) is inserted into one end of the lead screw motor coupling (67). The other end of the lead screw motor coupling (67) is inserted into the trapezoidal lead screw (63). The trapezoidal lead screw (63) passes through the double-bearing type bearing fixing seat assembly (68), the lead screw output connector (66), and the lead screw nut (65). The lead screw nut (65) is fixed to the lead screw output connector (66) by bolts, and the lead screw output connector (66) is fixed to the output connecting plate (61) by bolts.

9. The adsorption method according to claim 8, characterized in that, The fixing stage includes: after the adsorption stage ends, the controller controls the stepper motor (58) to move, the stepper motor (58) drives the clamping arm assemblies (9) on both sides to rotate through the worm gear reducer (59), and adjusts the rotation of the stepper motor (58) by the return value of the ultrasonic ranging sensor (56) on the clamping arm assembly (9), so that when the surface of the contact block (57) of each clamping arm assembly (9) is parallel to the contact surface corresponding to the foot pedal (2), the stepper motor (58) stops working; the controller controls the servo motor (62) in the motor screw assembly (11) to rotate, the servo motor (62) drives the trapezoidal screw (63) to rotate through the screw motor coupling (67), the trapezoidal screw (63) is fixed by the double bearing type bearing fixing seat assembly (68), at this time the screw nut (65) moves in the horizontal direction; the screw output connector (66) moves with the screw nut ( 65) Horizontal movement, the lead screw output connector (66) is fixed to the output connector plate (61) in the worm gear reducer assembly (10), the entire worm gear reducer assembly (10) and the clamping arm assemblies (9) on both sides are pulled by the lead screw output connector (66) and move towards the central symmetrical plane of the fixing device (4). At this time, the contact block (57) is deformed due to compression, and the fixing device (4) initially completes the fixing and clamping of the pedal (2); the clamping causes the torque sensor (54) in the clamping arm assembly (9) to deflect. The torque sensor (54) sends the measured deflection information to the controller. The controller compares the measured deflection information with the standard value and controls the servo motor (62) to rotate according to the comparison result until the measured deflection information of the four torque sensors (54) meets the requirements. At this time, the servo motor (62) stops working and maintains the clamping state.

10. The adsorption method according to claim 9, characterized in that, The normal pressure on the surface of the contact block (57) is calculated by the following formula: Where F is the positive pressure on the contact block (57) and S is the analog voltage received by the Arduino control board (38).

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