Carriage hanging mechanical claw, coal conveying open wagon unhooking robot and operation method of coal conveying open wagon unhooking robot

Abstract

The invention discloses a carriage hanging mechanical claw, a coal conveying open wagon unhooking robot and an operation method of the coal conveying open wagon unhooking robot, and relates to the technical field of unhooking robotics.The robot comprises a walking chassis, a double-unhooking assembly, a car coupler identification visual probe and the carriage hanging mechanical claw; an electromagnetic clutch is arranged in the walking chassis, an active walking mode and a passive follow-up mode can be switched, and the double-unhooking assembly comprises a special mechanical claw which is matched with C60 and C70 vehicle models respectively; the carriage hanging mechanical claw is stably hung and connected with the electromagnet through the positioning laser, and the visual probe completes vehicle type identification and coordinate positioning. During operation, the robot automatically positions and hitches the open wagon, drives the corresponding mechanical arm to complete coaxial calibration and follow-up unhooking after identifying the type of the open wagon, and finally resets the open wagon, the robot replaces manual operation in an ultra-narrow space, safety and health risks are avoided, the unhooking efficiency is greatly improved, the requirement for an ultra-narrow channel and the large traffic volume is met, and a guarantee is provided for unmanned operation of a car dumper system.

Description

Technical Field

[0001] This invention relates to the field of unhooking robot technology, specifically to a mechanical claw for trailers, an unhooking robot for coal conveying open wagons, and its operating method. Background Technology

[0002] The automatic uncoupling technology for coal open wagons is an important innovation in the railway transportation field. Its development is mainly due to the many problems existing in the traditional manual uncoupling operation.

[0003] In the transportation of bulk materials such as coal and ore, tippler systems have been largely automated, but the uncoupling of the wagons has long relied on manual operation, which has become the only bottleneck affecting unattended operation.

[0004] Uncoupling operations must be carried out in the narrow, compact space between two wagons, often accompanied by the low-speed operation of open wagons, posing significant safety risks. The harsh environment at the tipper site, including dust and noise, severely damages the health of operators, exacerbated by the high temperatures of summer and the low temperatures of winter. Uncoupling work requires three shifts, resulting in high labor intensity and low efficiency. When dealing with large coal volumes and numerous open wagons, this low-automation uncoupling method severely hinders the tipper's efficiency. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of the embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] Therefore, the purpose of this invention is to provide a mechanical gripper for trailers, a robot for uncoupling coal open wagons, and its operating method, which can achieve automatic uncoupling of C60 and C70 wagons and is suitable for uncoupling operations in ultra-narrow passages. The mechanical gripper for trailers allows the robot to move with the wagon, achieving humanoid follow-up uncoupling operations. The uncoupling action time of the coal open wagons is short, and the efficiency of the tipper operation is effectively guaranteed.

[0007] To address the aforementioned technical problems, according to one aspect of the present invention, the present invention provides the following technical solution: A trailer mechanical gripper includes a trailer body, an electromagnet, a left trailer wheel, a right trailer wheel, a left positioning laser, a right positioning laser, and a rotary drive assembly mounted on a second support column to drive the trailer body to rotate relative to the second support column. The trailer body is mounted on the second support column via a rotating hinge. The rotating drive assembly drives the trailer body to rotate. The electromagnet is embedded in the middle of the trailer body. The left positioning laser and the right positioning laser are mounted on the inner side of the left and right trailer wheels and the outer side of the electromagnet, respectively.

[0008] As a preferred embodiment of the trailer mechanical gripper described in this invention, the rotary drive assembly includes a rotary drive motor embedded in the second support column, a first connecting rod with one end fixed to the output end of the rotary drive motor, and a second connecting rod with one end hinged to the other end of the first connecting rod and the other end hinged to the back of the trailer body.

[0009] As a preferred embodiment of the trailer mechanical claw described in this invention, the trailer body is either a solid plate or a spring type. The spring type body has a spring in the middle, is normally flat, and becomes folded when hooked up.

[0010] A coal conveying open wagon uncoupling robot, comprising: The walking chassis, mounted on double rails, is used for robot walking and towing, and has a first support column on top; The first unhooking assembly includes a first six-axis robotic arm mounted on the top of the first support column and a first unhooking mechanical claw mounted at the end of the first six-axis robotic arm. The second unhooking assembly includes a second six-axis robotic arm mounted on the top of the walking chassis and located below the first unhooking assembly, and a second unhooking robotic claw mounted at the end of the second six-axis robotic arm. A coupler identification vision probe is installed on the side of the first support column to identify the coupler type and position parameters. The trailer mechanical claw is installed on the side of the walking chassis and is used to attach the open wagon trailer prism and drive the robot to move with the trailer.

[0011] As a preferred embodiment of the coal conveying open wagon unhooking robot described in this invention, the walking chassis further includes a walking component for driving the walking chassis; The walking assembly includes an active clamping wheel and a driven clamping wheel arranged on a double rail. The active clamping wheel is connected to an electromagnetic clutch, the electromagnetic clutch is connected to a speed reducer, and the speed reducer is connected to a main servo motor. The electromagnetic clutch, reducer, and main servo motor are all built into the walking chassis. When the electromagnetic clutch is energized, the walking chassis is driven to move by the main servo motor. When the electromagnetic clutch is de-energized, the robot passively follows the open wagon by engaging the trailer's mechanical claw, thus completing the uncoupling operation.

[0012] As a preferred embodiment of the coal conveying open wagon unhooking robot of the present invention, the first unhooking mechanical claw includes a first mechanical arm docking flange, a first folding arm, a curved L-frame, a round rod type U-shaped hook head and a U-shaped hook groove; the first folding arm is vertically installed at the center of the flange, the curved L-frame is welded vertically to the end of the first folding arm in the normal direction, and forms a first U-shaped hook with the first U-shaped groove.

[0013] As a preferred embodiment of the coal conveying open wagon unhooking robot described in this invention, the second unhooking mechanical claw includes a second mechanical arm docking flange, a second folding arm, a plate-type hook, and a semi-arc lifting column. The semi-circular bottom of the semi-circular lifting column, the center of the second mechanical arm docking flange, and the centerline of the top crossbar of the second folding arm are collinear. The top crossbar of the second folding arm is perpendicular to the normal of the plate hook. The end of the plate hook forms a U-shaped hook head and forms a second U-shaped hook with the first U-shaped groove.

[0014] As a preferred embodiment of the coal conveying open wagon uncoupling robot described in this invention, the coupler identification vision probe includes a support rod vertically installed on the side wall of the first support column and an image acquisition device installed on the support rod.

[0015] As a preferred embodiment of the coal conveying open wagon unhooking robot described in this invention, the walking chassis is equipped with a lithium battery and a controller, and the communication is via a Wi-Fi CPE, which is wirelessly connected to the Wi-Fi AP of the line.

[0016] A method for operating a coal conveying open wagon uncoupling robot, the specific operating steps are as follows: S1. The robot moves to the initial position and calibrates the distance between itself and the open wagon prism using the left and right positioning lasers of the trailer mechanical claw. The measurement deviation is ≤10mm as the judgment standard. During the calibration process, the robot slowly moves forward and backward to adjust the position. Since the distance between the left and right trailer wheels is 5mm wider than the open wagon prism, the positioning deviation adaptation range is ±30mm. After positioning is completed, the electromagnetic clutch is disengaged, and the rotary drive component drives the trailer mechanical claw to rotate and hook onto the open wagon prism and connect the electromagnet. S2. Start the coupler identification vision probe to identify the coupler type and determine whether it is a C60 or C70 model. S3. Match the first or second uncoupling mechanical claw to the vehicle model, adjust the first or second six-axis mechanical arm to the working position, hook the coupler handle after it is close to the open wagon body, and complete the coaxial position adjustment. S4. Once the open wagon is towed to the uncoupling position, control the corresponding first or second uncoupling mechanical claw to rotate a preset angle to complete the uncoupling. After triggering the uncoupling signal, disconnect the electromagnet and reset the trailer mechanical claw. S5. After confirming that the open wagon has disengaged, the first or second uncoupling assembly returns to its original position, the electromagnetic clutch is energized, and the robot returns to its initial position and stops running.

[0017] Compared with the prior art, the beneficial effects of the present invention are: This invention completely replaces the traditional manual operation in the ultra-narrow space between two wagons, avoiding the collision risk of open wagons operating at low speeds. It also isolates the wagon tipper from the harsh environment of dust, high noise, and extreme temperature differences between winter and summer, eliminating the high-intensity labor load caused by long-term three-shift work. It fundamentally eliminates the safety hazards and health damage of manual uncoupling, providing an unmanned and safe solution for coal conveying open wagon uncoupling operations.

[0018] Through the core design of the electromagnetic clutch, the robot can flexibly switch between active walking and passive following. The uncoupling operation is completed synchronously during the traction of the open wagon, with no action delay. With dual six-axis robotic arms and dedicated uncoupling robotic claws adapted to C60 and C70 models respectively, the uncoupling can be completed quickly without complicated adjustments simply by identifying the C70 model through a vision probe. This significantly shortens the uncoupling time of coal conveying open wagons, effectively overcomes the limitation of manual uncoupling on the efficiency of the tippler system, and adapts to the operation requirements of large-capacity and multi-model operations.

[0019] The trailer's mechanical claw achieves a positioning deviation of ±30mm through dual-position laser calibration and the spacing design of the left and right trailer wheels. The unhooking mechanical claw has excellent robustness against shaft deviation through structural optimization of a semi-arc lifting column and a round rod U-shaped hook head, and can be compatible with the installation deviation of different trailers. Both mechanical arms adopt lightweight collaborative mechanical arms, which can be adapted to 400mm ultra-narrow passage operation. The overall structure is compact and can be directly deployed into the existing dual-rail system without large-scale on-site modification. It has strong versatility and flexible deployment. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a schematic diagram of the overall structure of a coal conveying open wagon unhooking robot in the first direction according to the present invention; Figure 2 This is a schematic diagram of the overall structure of a coal conveying open wagon unhooking robot in the second direction according to the present invention; Figure 3 This is a schematic diagram of the walking components of a coal conveying open wagon unhooking robot of the present invention arranged on a double track; Figure 4This is a schematic diagram of the structure of the first unhooking mechanical claw of a coal conveying open wagon unhooking robot according to the present invention; Figure 5 This is a schematic diagram of the structure of the second unhooking mechanical claw of a coal conveying open wagon unhooking robot according to the present invention. Detailed Implementation

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0022] Figures 1-5 A schematic diagram of one embodiment of the coal conveying open wagon uncoupling robot of the present invention is shown. Please refer to [link / reference]. Figures 1-5 This embodiment of a coal conveying open wagon uncoupling robot includes a walking chassis 100, a first uncoupling assembly 200, a second uncoupling assembly 300, a coupler identification vision probe 400, and a trailer mechanical claw 500.

[0023] The walking chassis 100 is the core load-bearing and walking unit of the robot, mounted on a double-rail H. Its overall size is adapted to the needs of ultra-narrow passage operations. A first support column 110 is vertically fixed to its top, and a second support column 130 is vertically mounted on its side wall. Internally, it integrates power supply, control, and communication modules, such as a lithium battery, controller, and WIFI CPE. It wirelessly connects to the on-line WIFI AP via the WIFI CPE, ensuring stable signal transmission during operation. The lithium battery provides continuous power support for the entire machine. The walking chassis 100 also houses the walking component 120, the structure of which is as follows... Figure 3 As shown, the system includes an active clamping wheel 120a, a driven clamping wheel 120b, an electromagnetic clutch 120c, a reducer 120d, and a main servo motor 120e. The main servo motor 120e is a 1.6KW, 48V DC motor. Its output torque is amplified by the reducer 120d with a transmission ratio of 1:50 and then transmitted to the active clamping wheel 120a through the coaxially connected electromagnetic clutch 120c. Both ends of the fixed shafts of the active clamping wheel 120a and the driven clamping wheel 120b are supported on the housing of the walking chassis 100. The two are symmetrically arranged on both sides of the double rail H to achieve stable walking and towing of the chassis. The electromagnetic clutch 120c is the core control component. When energized, the main servo motor 120e drives the active clamping wheel 120a to rotate, driving the robot to walk actively. When de-energized, the active clamping wheel 120a is disconnected from the motor transmission chain, and the robot passively follows the open wagon through the mechanical claw 500 of the trailer, providing a basis for uncoupling operations.

[0024] The first unhooking assembly 200 is a dedicated unhooking unit for the C70 model, installed on the top of the first support column 110, including a first six-axis robotic arm 210 and a first unhooking robotic claw 220, with the structure as follows: Figure 4As shown, the first six-axis robotic arm 210 is a collaborative robotic arm with a 5KG load and a 950mm working range, weighing only 25KG. Its compact structure is suitable for operation in ultra-narrow spaces and can achieve multi-dimensional flexible movements. The first unhooking robotic claw 220 is fixed to the end of the first six-axis robotic arm 210 through the first robotic arm docking flange 220a. Its main body includes a first folding arm 220b, a curved L-frame 220c, a round rod U-shaped hook head 220d, and a U-shaped hook groove 220c-1. The first folding arm 220b is vertically installed at the center of the docking flange, and the curved L-frame 220c is welded vertically to the end of the first folding arm 220b in the normal direction. Together with the U-shaped hook groove 220c-1, it forms the first U-shaped hook. The round rod structure design can improve the adaptability to different axis deviations of the coupler shank and ensure the stability and reliability of the rotation unhooking process.

[0025] The second unhooking assembly 300 is a dedicated unhooking unit for the C60 model. It is installed on top of the chassis 100 and below the first unhooking assembly 200. It includes a second six-axis robotic arm 310 and a second unhooking robotic claw 320, with the structure as follows: Figure 5 As shown, the parameters of the second six-axis robotic arm 310 are consistent with those of the first six-axis robotic arm 210, ensuring the consistency and interchangeability of the two components' actions. The second hook-removing mechanical claw 320 includes a second robotic arm docking flange 320a, a second folding arm 320b, a plate-type hook 320c, and a semi-circular lifting column 320d. The semi-circular bottom of the semi-circular lifting column 320d, the center of the second robotic arm docking flange 320a, and the centerline of the top crossbar 320b-1 of the second folding arm 320b are collinear, which allows the hook bar to be lifted from the bottom to the top ring, and the rotation center of the hook-removing mechanical claw to be coaxial with the hook handle. The top crossbar 320b-1 of the second folding arm 320b is perpendicular to the normal of the plate-type hook 320c. The end of the plate-type hook 320c forms a U-shaped hook head 320c-1, which, together with the U-shaped hook groove 320c-2, forms a second U-shaped hook. The width of the U-shaped hook groove can accommodate a certain degree of deviation between different axes.

[0026] The coupler identification vision probe 400 is vertically mounted on the support rod 410 on the side wall of the first support column 110. Its core component is the image acquisition unit 420, which is used to accurately identify the coupler type and position parameters. The identification logic is as follows: Taking the coupler handle and fixing lug as the C70 coupler template, the query area of ​​this template only occupies 1 / 10 of the imaging area of ​​the image acquisition unit 420. Combined with the characteristics of the open wagon body length deviation of 500mm and the prism interval error ≤100mm, the identification can be completed quickly. If the C70 coupler template is identified, the horizontal action coordinate X is taken as the average value of the X coordinates of all pixels of the template, and the height coordinate Z is taken as the maximum Z coordinate of the template pixels. The actual action coordinates are obtained by linear translation of the image and the plane coordinates. If the template is not identified, it is determined to be a C60 model, whose coupler handle is installed close to the wagon body with a deviation of ≤±25mm. No additional coordinate calculation is required, and the action can be performed according to the preset path.

[0027] The trailer mechanical gripper 500 is mounted on the second support column 130 to achieve stable attachment and follow-up between the robot and the open wagon. The structure is as follows: Figure 2 As shown, the trailer body includes a trailer body 510, an electromagnet 520, a left trailer wheel 530, a right trailer wheel 540, a left positioning laser 550, a right positioning laser 560, and a rotary drive assembly 570. The trailer body 510 comes in two types: the first is a single-plate type, eliminating the electromagnet 520 and resulting in a simpler structure; the second is a spring type, with a built-in spring in the middle. Normally flat, it folds under stress during coupling, working in conjunction with the electromagnet 520 to attract the open wagon's prisms, thus buffering the force during the movement. The left trailer wheel 530 and right trailer wheel 540 protrude from the trailer body 510, with a distance between them 5mm wider than the width of the open wagon's prisms. The wheel diameter is 100mm, allowing for a tolerance of ±30mm. The positioning deviation is corrected by installing the left positioning laser 550 and the right positioning laser 560 on the inside of the trailer wheel and the outside of the electromagnet 520 to calibrate the distance to the open wagon prism. The rotary drive assembly 570 includes a rotary drive motor 570a, a first connecting rod 570b and a second connecting rod 570c. The rotary drive motor 570a is embedded in the second support column 130, and the output end is fixed to the first connecting rod 570b. The other end of the first connecting rod 570b is hinged to the second connecting rod 570c, and the other end of the second connecting rod 570c is hinged to the back of the trailer body 510. Through the motor drive of the connecting rod, the trailer body 510 is rotated around the rotary hinge to complete the attachment and reset actions.

[0028] Combination Figures 1-5 The specific operating steps of the coal conveying open wagon uncoupling robot of this embodiment are as follows: S1, Robot Positioning and Hooking of Open Wagons In the initial state of the robot, the electromagnetic clutch 120c is energized, and the main servo motor 120e drives the walking chassis 100 to move along the double track H to the initial position (calibrated according to the preset work start point on site). The left positioning laser 550 and the right positioning laser 560 are activated to measure the distance to the open wagon prism in real time. If the deviation is >10mm, the robot adjusts according to the current direction of movement (if it was moving backward before stopping, it moves forward slowly; if it was moving forward before stopping, it moves backward slowly) until the measurement deviation is ≤10mm, and the positioning is completed. Disengage the electromagnetic clutch 120c, and the walking assembly 120 is disengaged from the motor transmission chain; start the rotary drive assembly 570, and the rotary drive motor 570a drives the first link 570b and the second link 570c to drive the trailer body 510 to rotate to the attachment position. The left attachment wheel 530 and the right attachment wheel 540 are attached to the two sides of the open wagon prism. The electromagnet 520 is energized to attract the prism, thus realizing the fixed attachment of the robot and the open wagon.

[0029] S2. Coupler type identification The image acquisition unit 420 of the coupler identification vision probe 400 is activated, and the C70 coupler template (coupler handle and fixing lug) is searched within the preset image area. If the template is found, the horizontal motion coordinate X (average X coordinate of template pixel points) and the height coordinate Z (maximum Z coordinate of template pixel points) are calculated, and the model is determined to be C70. If the template is not found, the model is determined to be C60, and no additional coordinate calculation is required. The preset motion path is directly called.

[0030] S3. Adjustment of the hook assembly and coaxial calibration The corresponding unhooking component is matched according to the vehicle model to complete the robotic arm movement and coaxial calibration. When it is a C60 model, the second unhooking component 300 is adapted. The second six-axis robotic arm 310 drives the second unhooking robotic claw 320 to move to the working position. At this time, the robotic arm body is 300mm away from the side of the open wagon at the X coordinate. The Y coordinate of the U-shaped hook head 320c-1 exceeds the edge of the hook handle, which is convenient for subsequent hooking. The robotic arm drives the second unhooking robotic claw 320 to come into contact with the open wagon. The U-shaped hook head 320c-1 is 30mm away from the side of the wagon at the X coordinate. The second unhooking robotic claw 320 retracts along the Y axis. The U-shaped hook head 320c-1 hooks the edge of the hook handle. The second unhooking robotic claw 320 moves up 100mm along the Z axis and then moves away from the wagon along the X axis to 100mm away from the wagon at the X coordinate, completing the rotational coaxial position adjustment.

[0031] When it is the C70 model, the first unhooking assembly 200 is adapted, and the first six-axis robotic arm 210 drives the first unhooking robotic claw 220 to move to the working position, ensuring that the robotic arm is within the horizontal motion coordinate X deviation range, and the U-shaped hook head 220d exceeds the horizontal motion coordinate X deviation by 100mm. The robotic arm drives the first unhooking robotic claw 220 to approach the open wagon car body. The U-shaped hook head 220d hooks the edge of the hook shank. The first unhooking robotic claw 220 shifts along the X direction to the target horizontal coordinate X, and then moves up along the Z axis to the action height coordinate Z. The J6 axis of the first unhooking robotic claw 220 deflects to 60 degrees, and is in the state of waiting to unhook.

[0032] S4. Follow-up disengagement and re-engagement reset The heavy-duty tractor pulls the open wagon. The robot passively follows the connection between the trailer mechanical claw 500 and the open wagon until the open wagon reaches the preset uncoupling position. Then, it controls the corresponding uncoupling mechanical claw to rotate 90 degrees. For the C60 model, the second uncoupling mechanical claw 320 rotates, and for the C70 model, the first uncoupling mechanical claw 220 rotates to complete the uncoupling operation. When the unhooking mechanical claw rotates to 90 degrees, it triggers a disengaged signal, de-energizes the electromagnet 520, releases its attraction to the open wagon's prism, and causes the rotation drive assembly 570 to reverse drive, causing the trailer body 510 to rotate and reset to its initial state.

[0033] S5, Robot Reset Once it is confirmed that the open wagon has been towed away from the work area by the tractor and there is no risk of interference, the first six-axis robotic arm 210 or the second six-axis robotic arm 310 drives the corresponding unhooking robotic claw to retract to the initial position. The electromagnetic clutch 120c is energized, and the main servo motor 120e drives the walking chassis 100 to retract along the double rail H to the initial position. The whole machine stops running and waits for the next work instruction.

[0034] Although the present invention has been described above with reference to embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, as long as there is no structural conflict, the features in the disclosed embodiments can be combined with each other in any manner. The lack of an exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A mechanical gripper (500) for trailer bodies, characterized in that, It includes a trailer body (510), an electromagnet (520), a left trailer wheel (530), a right trailer wheel (540), a left positioning laser (550), a right positioning laser (560), and a rotary drive assembly (570) mounted on a second support column (130) to drive the trailer body (510) to rotate relative to the second support column (130). The trailer body (510) is mounted on the second support column (130) via a rotating hinge. The rotating drive assembly (570) drives the trailer body (510) to rotate. The electromagnet (520) is embedded in the middle of the trailer body (510). The left positioning laser (550) and the right positioning laser (560) are mounted on the inner side of the left trailer wheel (530) and the right trailer wheel (540) and the outer side of the electromagnet (520).

2. The trailer mechanical gripper (500) according to claim 1, characterized in that, The rotary drive assembly (570) includes a rotary drive motor (570a) embedded in the second support column (130), a first link (570b) with one end fixed to the output end of the rotary drive motor (570a), and a second link (570c) with one end hinged to the other end of the first link (570b) and the other end hinged to the back of the trailer body (510).

3. The trailer box mechanical gripper (500) according to claim 1, characterized in that, The trailer body (510) is either a single plate or a spring type. The spring type has a spring in the middle, which is normally flat and becomes folded when attached.

4. A coal conveying open wagon uncoupling robot, characterized in that, include: A walking chassis (100) is mounted on a double rail (H) for robot walking and towing, and has a first support column (110) on top. The first unhooking assembly (200) includes a first six-axis robotic arm (210) mounted on the top of the first support column (110) and a first unhooking robotic claw (220) mounted at the end of the first six-axis robotic arm (210). The second unhooking assembly (300) includes a second six-axis robotic arm (310) mounted on top of the walking chassis (100) and located below the first unhooking assembly (200) and a second unhooking robotic claw (320) mounted at the end of the second six-axis robotic arm (310). A coupler identification vision probe (400) is installed on the side of the first support column (110) to identify the coupler type and position parameters. The trailer mechanical claw (500) as described in any one of claims 1-3 is installed on the side of the walking chassis (100) for attaching the open wagon trailer prism and driving the robot to move with the trailer.

5. The uncoupling robot for coal conveying open wagons according to claim 4, characterized in that, The walking chassis (100) also includes a walking assembly (120) for driving the walking chassis (100). The walking assembly (120) includes an active clamping wheel (120a) and a driven clamping wheel (120b) arranged on a double rail (H). The active clamping wheel (120a) is connected to an electromagnetic clutch (120c), the electromagnetic clutch (120c) is connected to a reducer (120d), and the reducer (120d) is connected to a main servo motor (120e). The electromagnetic clutch (120c), reducer (120d), and main servo motor (120e) are all built into the walking chassis (100). When the electromagnetic clutch (120c) is energized, the main servo motor (120e) drives the walking chassis (100) to move. When the electromagnetic clutch (120c) is de-energized, the robot passively follows the open wagon by engaging the mechanical claw of the trailer, thus completing the uncoupling operation.

6. The uncoupling robot for coal conveying open wagons according to claim 4, characterized in that, The first unhooking mechanical claw (220) includes a first mechanical arm docking flange (220a), a first folding arm (220b), a curved L-frame (220c), a round rod type U-shaped hook head (220d), and a U-shaped hook groove (220c-1); the first folding arm (220b) is vertically installed at the center of the flange, and the curved L-frame (220c) is vertically welded to the end of the first folding arm (220b) in the normal direction, and together with the first U-shaped groove (220c-1) forms the first U-shaped hook.

7. The uncoupling robot for coal conveying open wagons according to claim 4, characterized in that, The second unhooking mechanical claw (320) includes a second mechanical arm docking flange (320a), a second folding arm (320b), a plate-type hook (320c), and a semi-arc lifting column (320d); The semi-circular bottom of the semi-circular lifting column (320d), the center of the second robotic arm docking flange (320a), and the centerline of the top crossbar (320b-1) of the second folding arm (320b) are collinear. The top crossbar (320b-1) of the second folding arm (320b) is perpendicular to the normal of the plate hook (320c). The end of the plate hook (320c) forms a U-shaped hook head (320c-1), which together with the first U-shaped groove (320c-2) forms a second U-shaped hook.

8. The uncoupling robot for coal conveying open wagons according to claim 4, characterized in that, The coupler identification vision probe (400) includes a support rod (410) vertically mounted on the side wall of the first support column (110) and an image acquisition device (420) mounted on the support rod (410).

9. A coal conveying open wagon uncoupling robot according to claim 4, characterized in that, The walking chassis (100) houses a lithium battery and a controller, and the communication is via a Wi-Fi CPE, which wirelessly connects to the Wi-Fi AP of the line.

10. A method for operating a coal conveying open wagon uncoupling robot as described in any one of claims 4-9, characterized in that, The specific operating steps are as follows: S1. The robot moves to the initial position and calibrates the distance to the open wagon prism using the left positioning laser (550) and right positioning laser (560) of the wagon mechanical claw (500). The measurement deviation is ≤10mm as the judgment standard. During the calibration process, the robot slowly moves forward and backward to adjust the position. Since the distance between the left and right wheels (530 and 540) is 5mm wider than the open wagon prism, the positioning deviation adaptation range is ±30mm. After positioning is completed, the electromagnetic clutch (120c) is disconnected, and the rotary drive assembly (570) drives the wagon mechanical claw (500) to rotate and attach to the open wagon prism and connect the electromagnet (520). S2. Start the coupler identification vision probe (400) to identify the coupler type and determine whether it is a C60 or C70 model; S3. Match the first unhooking mechanical claw (220) or the second unhooking mechanical claw (320) to the vehicle model, adjust the first six-axis mechanical arm (210) or the second six-axis mechanical arm (320) to the working position, hook the coupler handle after it is close to the open car body, and complete the coaxial position adjustment. S4. Once the open wagon is towed to the uncoupling position, control the corresponding first uncoupling mechanical claw (220) or second uncoupling mechanical claw (320) to rotate at a preset angle to complete the uncoupling. After triggering the uncoupling signal, disconnect the electromagnet (520) and reset the trailer mechanical claw (500). S5. After confirming that the open wagon has disengaged, the first unhooking assembly (200) or the second unhooking assembly (300) returns to its original position, the electromagnetic clutch (120c) is energized, and the robot returns to its initial position and stops running.

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