Picking and replacing hook structure and picking and replacing hook robot

Abstract

This invention discloses a hook-and-unhook structure and a hook-and-unhook robot, comprising: a drive assembly housed within a housing, including a motor, a turntable, and a first drive shaft; the motor drives the turntable to reciprocate; the first drive shaft is eccentrically mounted on the turntable and perpendicular to it; the hook-and-unhook assembly includes a transmission kit and a swing arm; the swing arm is located outside the housing; the first drive shaft is connected to the transmission kit, and the first drive shaft drives the swing arm to swing through the transmission kit; a buffer assembly housed within the housing includes two sets of buffer units symmetrically arranged on both sides of the first drive shaft. By swinging the swing arm, the hook is kept loose in advance, improving the efficiency of hook-and-unhook operation and preventing jamming during the process. This prevents the robotic arm from suddenly stopping under force due to jamming, thus avoiding damage to the robotic arm, protecting it, and extending its service life.

Description

Technical Field

[0001] This invention relates to the field of uncoupling and recoupling technology for train carriages, and in particular to an uncoupling and recoupling structure and a robot for doing so. Background Technology

[0002] The coal car uncoupling robot mainly works in conjunction with a six-axis robotic arm and an uncoupling / re-coupling device to achieve automatic separation and repositioning of the coupler. Currently, when the six-axis robotic arm is performing uncoupling / re-coupling, it often stops suddenly due to the coupler lifting rod getting stuck. Under sudden force, the six-axis robotic arm may experience structural deformation, component breakage, or transmission system damage, affecting its service life. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides a hook removal and unhooking structure and a hook removal and unhooking robot, which improves the service life of the robotic arm while increasing the efficiency of hook removal and unhooking.

[0004] According to a first aspect embodiment of the present invention, the hook-and-unhook structure includes: a housing, a drive assembly, a hook-and-unhook assembly, and a buffer assembly; the drive assembly is disposed within the housing and includes a motor, a turntable, and a first transmission shaft, the motor driving the turntable to reciprocate, the first transmission shaft being eccentrically disposed on the turntable and perpendicular to the turntable; the hook-and-unhook assembly includes a transmission kit and a swing arm, the swing arm being disposed outside the housing, the first transmission shaft being connected to the transmission kit, and the first transmission shaft driving the swing arm to swing through the transmission kit; the buffer assembly is disposed within the housing and includes two sets of buffer units, the two sets of buffer units being symmetrically disposed on both sides of the first transmission shaft, the buffer units being used to reduce the movement speed of the first transmission shaft.

[0005] In some embodiments of the present invention, the transmission assembly includes a second transmission shaft and a first connecting rod. The second transmission shaft is rotatably disposed inside the housing and extends outside the housing. The rocker arm is disposed at one end of the second transmission shaft extending outside the housing. The first connecting rod is disposed on the second transmission shaft and is slidably connected to the first transmission shaft.

[0006] In some embodiments of the present invention, the first connecting rod has an elongated through hole, the elongated through hole being matched with the first transmission shaft, and the first transmission shaft passing through the elongated through hole.

[0007] In some embodiments of the present invention, the buffer unit includes a movable plate, a third drive shaft and an elastic sleeve, the third drive shaft is disposed in the housing, the movable plate is hinged to the third drive shaft, the elastic sleeve is connected to the movable plate, and the first drive shaft is capable of abutting against the movable plate.

[0008] In some embodiments of the present invention, a connecting plate is provided between the movable plate and the third transmission shaft, one end of the connecting plate is hinged to the third transmission shaft, and the other end of the connecting plate is connected to the movable plate.

[0009] In some embodiments of the present invention, the elastic kit includes a connecting post and a first spring. The connecting post is provided with a limiting portion. The first spring is sleeved on the connecting post. One end of the first spring abuts against the limiting portion, and the other end of the first spring abuts against the connecting plate.

[0010] In some embodiments of the present invention, the side of the movable plate that abuts against the first transmission shaft is provided with an arc-shaped surface.

[0011] In some embodiments of the present invention, the connecting post is threadedly connected to the housing.

[0012] In some embodiments of the present invention, two second connecting rods are provided between the two sets of buffer units, one end of the two second connecting rods is hinged to each other, the other end of the two second connecting rods is respectively hinged to a movable plate, and a second spring is connected between the two second connecting rods.

[0013] The unhooking robot according to a second aspect of the present invention includes a robotic arm and the unhooking structure according to a first aspect of the present invention, wherein the unhooking structure is disposed at the movable end of the robotic arm.

[0014] Compared with existing technologies, the hook-and-unhook structure and robot of this invention have the following advantages: A reciprocating turntable is driven by a motor to rotate, and a first transmission shaft drives a swing arm to swing through a transmission assembly. The swing arm acts on the coupler, and by swinging the arm, the coupler is kept loose in advance, thereby improving the efficiency of hook-and-unhook operation and preventing jamming during the process. This prevents the robotic arm from suddenly stopping under force due to jamming, thus avoiding damage to the robotic arm, protecting it, and extending its service life. Furthermore, when the first transmission shaft moves to contact the buffer assembly, the buffer assembly slows down the movement speed of the first transmission shaft, preventing excessive force during the reciprocating swing of the coupler lifting rod, which could lead to sudden force damage when jamming occurs. This also relatively reduces wear on the coupler lifting rod, thereby increasing its service life. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the hook structure according to the first aspect of the present invention; Figure 2 This is a schematic diagram of the transmission kit in the hook-and-unhook structure according to the first aspect of the present invention; Figure 3This is a schematic diagram of the motion of the first transmission shaft in the hook-and-unhook structure according to the first aspect of the present invention; Figure 4 This is a schematic diagram of the movement of the movable plate in the hook-and-unhook structure according to the first aspect of the present invention; Figure 5 This is a schematic diagram of the second connecting rod in the hook-and-unhook structure according to the first aspect of the present invention; Figure 6 This is a schematic diagram of a hook-removing robot according to a second aspect embodiment of the present invention.

[0016] Explanation of reference numerals in the attached figures: Housing 100; Drive assembly 200; Motor 211; Turntable 221; First drive shaft 222; Swing rod 311; Transmission kit 320; Second drive shaft 321; First connecting rod 322; Elongated through hole 323; Buffer assembly 400; Connecting post 411; Limiting part 412; First spring 413; Third drive shaft 421; Connecting plate 422; Movable plate 423; Second spring 431; Second connecting rod 432; Robotic arm 500. Detailed Implementation

[0017] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0018] like Figures 1 to 4 As shown, the hook-and-unhook structure of the first aspect of the present invention includes: a housing 100, a drive assembly 200, a hook-and-unhook assembly, and a buffer assembly 400; the drive assembly 200 is disposed inside the housing 100 and includes a motor 211, a turntable 221, and a first drive shaft 222. The motor 211 drives the turntable 221 to reciprocate, and the first drive shaft 222 is eccentrically disposed on the turntable 221, and the first drive shaft 222 is perpendicular to the turntable 221; the hook-and-unhook assembly includes a transmission kit 320 and a swing arm 311. The swing arm 311 is disposed outside the housing 100, and the first drive shaft 222 is connected to the transmission kit 320. The first drive shaft 222 drives the swing arm 311 to swing through the transmission kit 320; the buffer assembly 400 is disposed inside the housing 100 and includes two sets of buffer units. The two sets of buffer units are symmetrically disposed on both sides of the first drive shaft 222, and the buffer units are used to reduce the movement speed of the first drive shaft 222.

[0019] Motor 211 drives turntable 221 to reciprocate. The eccentrically arranged first drive shaft 222 reciprocates under the drive of turntable 221. Through transmission kit 320, it drives the swing arm 311 outside housing 100 to swing. The swing arm 311 acts on the coupler, keeping the coupler loose in advance to improve the efficiency of uncoupling and recoupling, while preventing jamming during uncoupling and recoupling. This prevents the robotic arm 500 from suddenly stopping under force due to jamming, thus avoiding damage to the robotic arm 500 and extending its service life. In addition, when the first drive shaft 222 moves to abut against the buffer assembly 400, the buffer assembly 400 slows down the movement speed of the first drive shaft 222, preventing excessive force during the reciprocating swing of the coupler lifting rod from causing jamming and sudden force that could damage the structure. It also relatively reduces the wear of the coupler lifting rod, thereby improving its service life.

[0020] Understandably, referring to Figure 2 The transmission assembly 320 includes a second transmission shaft 321 and a first connecting rod 322. The second transmission shaft 321 is rotatably mounted inside the housing 100 and extends out of the housing 100. A rocker arm 311 is mounted at one end of the second transmission shaft 321 extending out of the housing 100. The first connecting rod 322 is mounted on the second transmission shaft 321 and is slidably connected to the first transmission shaft 322. The motor 211 drives the turntable 221 to rotate, which in turn drives the first transmission shaft 222 to reciprocate eccentrically in a vertical plane. This reciprocating motion of the first connecting rod 322 causes the second transmission shaft 321 to rotate reciprocally, driving the rocker arm 311 to complete the swinging motion. The eccentric reciprocating motion is converted into rotational or swinging output through a sliding pair structure, ensuring the stability of the transmission.

[0021] Specifically, it can be understood that, referring to Figure 2 and Figure 3 The first connecting rod 322 has an elongated through hole 323, which matches the first drive shaft 222, which passes through the elongated through hole 323. When the first drive shaft 222 moves eccentrically, it drives the first connecting rod 322 to rotate, and during its eccentric rotation, it can slide relative to the elongated through hole 323, realizing the degree of freedom compensation during transmission, effectively alleviating the stress concentration caused by the assembly error of the mechanism, and ensuring the flexibility and durability of the transmission.

[0022] Understandably, referring to Figure 2 and Figure 4The buffer unit includes a movable plate 423, a third drive shaft 421, and an elastic sleeve. The third drive shaft 421 is disposed within the housing 100. The movable plate 423 is hinged to the third drive shaft 421. The elastic sleeve is connected to the movable plate 423. The first drive shaft 222 can abut against the movable plate 423. At the end of its movement, the first drive shaft 222 contacts the movable plate 423, pushing the movable plate 423 to swing around the third drive shaft 421. This causes the elastic sleeve to compress, thereby slowing down the rotational speed of the swing arm 311 and reducing the speed when the coupler lifting arm swings, thus providing a buffering effect. This prevents the coupler lifting arm from suddenly jamming during reciprocating swinging motion, which could lead to structural damage. It also reduces wear on the coupler lifting arm and extends its service life.

[0023] Understandably, referring to Figure 2 A connecting plate 422 is provided between the movable plate 423 and the third drive shaft 421. One end of the connecting plate 422 is hinged to the third drive shaft 421, and the other end of the connecting plate 422 is connected to the movable plate 423. When the movable plate 423 is pushed by the first drive shaft 222, the connecting plate 422 swings accordingly, transmitting torque to the third drive shaft 421. The lever effect of the hinged connecting plate 422 extends the force stroke, making the elastic deformation process more controllable and improving the energy absorption capacity of the buffer system.

[0024] Understandably, referring to Figure 2 and Figure 4 The elastic assembly includes a connecting post 411 and a first spring 413. The connecting post 411 has a limiting part 412. The first spring 413 is sleeved on the connecting post 411, with one end of the first spring 413 abutting against the limiting part 412 and the other end abutting against the connecting plate 422. When the movable plate 423 is pushed, it drives the connecting plate 422 to move, thereby compressing the first spring 413. This cushions the swing of the rocker arm 311, preventing damage caused by forced swinging of the coupler lifting rod when its swing is obstructed, thus protecting the coupler lifting rod. Simultaneously, the spring releases energy during its recovery process to push the structure back to its original position, improving movement efficiency.

[0025] Understandably, referring to Figure 2 and Figure 4 The side of the movable plate 423 that abuts against the first drive shaft 222 is provided with an arc-shaped surface. When the first drive shaft 222 contacts the movable plate 423, the arc-shaped surface provides a smooth transition, making the contact process smooth, reducing frictional resistance and local wear, and extending the service life of the movable plate 423.

[0026] Understandably, referring to Figure 1 and Figure 2 The connecting post 411 is threaded to the housing 100, which makes it easy to remove the connecting post 411 and replace the first spring 413.

[0027] Understandably, referring to Figure 2 and Figure 5 Two second connecting rods 432 are provided between the two sets of buffer units. One end of the two second connecting rods 432 is hinged to each other, and the other end of the two second connecting rods 432 is respectively hinged to two movable plates 423. A second spring 431 is connected between the two second connecting rods 432. When the movable plate 423 is driven and compressed by the first drive shaft 222, the second spring 431 is deformed by the second connecting rods 432. When the first drive shaft 222 returns to its original position, the force generated by the second spring 431 when it recovers its deformation can accelerate the return of the movable plate 423, ensuring that the movable plate 423 can play a buffering role when the first drive shaft 222 contacts the movable plate 423 again.

[0028] Reference Figure 6 The second aspect of the present invention includes a hook-and-unhook robot, comprising a robotic arm 500 and a hook-and-unhook structure according to the first aspect of the present invention. The hook-and-unhook structure is disposed at the movable end of the robotic arm 500. The robotic arm 500 drives the hook-and-unhook structure to move to the coupler lifting rod, and then the coupler is separated by the cooperation between the robotic arm 500 and the hook-and-unhook structure.

[0029] The working process of this invention is as follows: The robotic arm 500 drives the uncoupling and re-coupling structure to move onto the coupler lifting rod. An execution component is installed on the swing arm 311, and the execution component is connected to the coupler lifting rod. Then, the motor 211 starts, driving the turntable 221 to rotate. The turntable 221 drives the first transmission shaft 222 to reciprocate eccentrically. The first transmission shaft 222 drives the second transmission shaft 321 to reciprocate through the first connecting rod 322. The second transmission shaft 321 drives the swing arm 311 to swing, shaking the coupler lifting rod to prevent the coupler lifting rod from getting stuck. Then, the robotic arm 500 drives the uncoupling and re-coupling structure to move, and the swing arm 311 drives the coupler lifting rod to move, thus uncoupling the coupler between the two carriages.

[0030] In summary, the embodiments of the present invention provide a hook-and-unhook structure and a hook-and-unhook robot. By swinging the swing arm 311, the hook is kept loose in advance to improve the efficiency of hook-and-unhook and prevent jamming during the hook-and-unhook process. This prevents the robotic arm 500 from suddenly stopping under force due to jamming, thereby avoiding damage to the robotic arm 500, protecting the robotic arm 500, and extending the service life of the robotic arm 500. In addition, when the first drive shaft 222 moves to abut against the buffer assembly 400, the buffer assembly 400 slows down the movement speed of the first drive shaft 222, reducing the intensity of the hook-and-unhook lifting rod when the swing arm 311 swings back and forth. This avoids structural damage caused by sudden force when the hook is jammed, reduces wear on the hook-and-unhook lifting rod, and improves the service life of the hook-and-unhook lifting rod.

[0031] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A hook-and-loop structure, characterized in that, Including: case; A drive assembly, disposed within the housing, includes a motor, a turntable, and a first drive shaft. The motor drives the turntable to reciprocate. The first drive shaft is eccentrically disposed on the turntable and is perpendicular to the turntable. The hook assembly includes a transmission kit and a swing arm, the swing arm being disposed outside the housing, a first transmission shaft being connected to the transmission kit, and the first transmission shaft driving the swing arm to swing through the transmission kit; A buffer assembly, disposed within the housing, includes two sets of buffer units. The two sets of buffer assemblies are symmetrically arranged on both sides of the first drive shaft. The buffer units are used to slow down the movement speed of the first drive shaft.

2. The hook-and-loop structure according to claim 1, characterized in that, The transmission assembly includes a second transmission shaft and a first connecting rod. The second transmission shaft is rotatably disposed inside the housing and extends out of the housing. The rocker arm is disposed at the end of the second transmission shaft that extends out of the housing. The first connecting rod is disposed on the second transmission shaft and is slidably connected to the first transmission shaft.

3. The hook-and-loop structure according to claim 2, characterized in that, The first connecting rod has an elongated through hole, which matches the first drive shaft, and the first drive shaft passes through the elongated through hole.

4. The hook-and-loop structure according to claim 1, characterized in that, The buffer unit includes a movable plate, a third drive shaft, and an elastic sleeve. The third drive shaft is disposed inside the housing. The movable plate is hinged to the third drive shaft. The elastic sleeve is connected to the movable plate. The first drive shaft can abut against the movable plate.

5. The hook-and-loop structure according to claim 4, characterized in that, A connecting plate is provided between the movable plate and the third transmission shaft. One end of the connecting plate is hinged to the third transmission shaft, and the other end of the connecting plate is connected to the movable plate.

6. The hook-and-loop structure according to claim 5, characterized in that, The elastic kit includes a connecting post and a first spring. The connecting post is provided with a limiting part. The first spring is sleeved on the connecting post. One end of the first spring abuts against the limiting part, and the other end of the first spring abuts against the connecting plate.

7. The hook-and-loop structure according to claim 6, characterized in that, The side of the movable plate that abuts against the first drive shaft has an arc-shaped surface.

8. The hook-and-loop structure according to claim 6, characterized in that, The connecting post is threadedly connected to the housing.

9. The hook-and-loop structure according to claim 4, characterized in that, Two second connecting rods are provided between the two sets of buffer units. One end of the two second connecting rods is hinged to each other, and the other end of the two second connecting rods is respectively hinged to a movable plate. A second spring is connected between the two second connecting rods.

10. A hook-removing robot, characterized in that, It includes a robotic arm and a hook structure as described in any one of claims 1 to 9, wherein the hook structure is disposed at the movable end of the robotic arm.

Images