Unmanned full-automatic sanding robot device for locomotive preparation and automatic sanding method

Abstract

The application relates to a kind of unmanned full-automatic sanding robot devices and automatic sanding methods for locomotive preparation, and relates to the technical field of locomotive preparation operation equipment.The device comprises: an execution unit, including a robot capable of moving along the direction of locomotive preparation line;an end sanding operation unit, including a sanding gun capable of being held and taken by the robot, adjusting the posture, inserting the sanding gun into the sanding port of the locomotive sand box or returning to storage, and a sanding gun automatic switch mechanism connected to the robot, the sanding gun automatic switch mechanism is used to control the opening and closing of the sanding state of the sanding gun; a visual perception unit connected to the robot is used to obtain the three-dimensional pose of the sanding port and the visual information of the operation state of the sanding gun; a control unit can receive visual information and can control the action of the robot and the end sanding operation unit to complete unmanned full-automatic sanding.The application realizes the consistency, efficiency and unmanned of sanding operation, reduces the risk of personnel dust operation, improves safety and occupational health.

Description

Technical Field

[0001] This invention relates to the technical field of locomotive preparation equipment, and in particular to an unmanned, fully automated sand-adding robot device and an automatic sand-adding method for locomotive preparation. Background Technology

[0002] During operation, locomotives typically need to replenish sand in their sandboxes to improve wheel-rail adhesion and enhance traction and braking safety, and to complete sand replenishment / sand supplementation operations.

[0003] In locomotive maintenance scenarios, sand-adding operations are mostly carried out manually by holding the sand-adding gun and aiming it at the sand box's sand-adding port, or assisted by semi-automatic equipment.

[0004] The above methods rely heavily on manual operation, and each step depends on the worker's experience, which can easily lead to alignment deviations or incomplete insertion. At the same time, the dusty environment and poor working posture at the work site increase safety and occupational health risks, thereby affecting preparation efficiency and work consistency.

[0005] Therefore, based on years of experience and practice in related industries, the inventor proposes an unmanned, fully automated sand-adding robot device and automatic sand-adding method for locomotive preparation and maintenance, in order to overcome the shortcomings of the prior art. Summary of the Invention

[0006] The purpose of this invention is to provide an unmanned, fully automated sand-adding robot device and method for locomotive preparation and maintenance, overcoming the problems of high reliance on manual labor, poor work consistency, and high occupational disease risk in the existing locomotive preparation and sand-adding process. This invention controls the gun retrieval, alignment and insertion, sand addition, and return to position through a control unit, a vision perception unit, a robot, and an end-point sand-adding operation unit, achieving consistent, efficient, and unmanned sand-adding operations while reducing the risk of dust exposure for personnel and improving safety and occupational health.

[0007] The objective of this invention is achieved as follows: a fully automated, unmanned sand-adding robot device for locomotive maintenance and repair, comprising: The execution unit includes a robot capable of moving along the locomotive maintenance line; The end-of-line sand-adding unit includes a sand-adding gun that can be held by the robot, have its posture adjusted, be inserted into the sand-adding port of the locomotive sand box, or be stored in its original position, and an automatic sand-adding gun switching mechanism connected to the robot. The automatic sand-adding gun switching mechanism is used to control the sand-adding gun's opening and closing sand-adding state. A visual perception unit connected to the robot is used to acquire visual information about the three-dimensional pose of the sand filling port of the locomotive sand box and the working status of the sand filling gun. The control unit can receive the visual information and control the actions of the robot and the end-effector sand-adding unit to complete unmanned fully automatic sand-adding.

[0008] In a preferred embodiment of the present invention, a mobile positioning unit is further included. The mobile positioning unit includes a ground rail assembly arranged along the locomotive maintenance line. The ground rail assembly is provided with a ground rail slide that can reciprocate along the locomotive maintenance line. The robot is connected to the ground rail slide. The mobile positioning unit is communicatively connected to the control unit.

[0009] In a preferred embodiment of the present invention, a positioning / locking structure and a reset structure are provided on the ground rail slide, and a sensor and / or limit switch for position detection are also provided on the ground rail slide, and the sensor and / or limit switch are communicatively connected to the control unit.

[0010] In a preferred embodiment of the present invention, a rotary switch is provided on the sand-adding gun; the automatic switching mechanism of the sand-adding gun includes a linear propulsion mechanism and an arc-shaped rotary actuator, the linear propulsion mechanism is used to drive the arc-shaped rotary actuator to move closer to or away from the rotary switch, and the arc-shaped rotary actuator is used to engage the rotary switch and rotate to open or close the sand-adding gun.

[0011] In a preferred embodiment of the present invention, the circular arc rotation actuator includes a drive motor, a gear transmission assembly, and a switch latching member, wherein the switch latching member is matched with the rotary switch; the linear propulsion mechanism is used to drive the switch latching member to move linearly so that the switch latching member moves forward to latch the rotary switch or moves backward to move away from the rotary switch; the drive motor drives the switch latching member to rotate and twist the rotary switch through the gear transmission assembly.

[0012] In a preferred embodiment of the present invention, the robot is connected to an adapter bracket, on which the automatic switching mechanism of the sand-adding gun, the visual sensing unit, and a sand-adding gun clamp for holding the sand-adding gun are connected.

[0013] In a preferred embodiment of the present invention, the visual sensing unit is an industrial 3D vision camera.

[0014] In a preferred embodiment of the present invention, a train arrival sensor is further included. The train arrival sensor is disposed on both sides of the locomotive maintenance line. The train arrival sensor is used to output a train arrival signal and is communicatively connected to the control unit.

[0015] In a preferred embodiment of the present invention, a sand-adding gun support structure is further provided at the sand-adding station on the locomotive maintenance line, the sand-adding gun support structure being used to support and store the sand-adding gun.

[0016] The objective of this invention can also be achieved by providing an automatic sand-adding method, implemented using a fully automated, unmanned sand-adding robot device with locomotive standby; comprising: The control unit controls the robot of the execution unit to move to the target work station based on the train arrival information. The control unit generates or updates the robot's working posture based on the visual information of the three-dimensional pose of the sand filling port of the locomotive sand box obtained by the vision perception unit. The control unit controls the robot to pick up the sand filling gun and insert it into the sand filling port of the locomotive sand box. The control unit controls the automatic switching mechanism of the sand filling gun to start the sand filling gun to add sand based on the visual information of the working status of the sand filling gun obtained by the vision perception unit. After the sand filling is completed, the control unit controls the automatic switching mechanism of the sand filling gun to stop the sand filling gun based on the visual information of the working status of the sand filling gun obtained by the vision perception unit. The robot returns the sand filling gun to its original position or moves it to the next work station to perform the sand filling operation.

[0017] As described above, the unmanned fully automated sand-adding robot device and automatic sand-adding method for locomotive maintenance of the present invention have the following beneficial effects: (1) High degree of unmanned operation: Through the control unit, vision perception unit, robot, and end sand addition operation unit, the gun picking, alignment and insertion, sand addition and return are controlled to achieve consistency, efficiency and unmanned operation of sand addition operation, while reducing the risk of dust operation for personnel, and realizing that no on-site human intervention is required for the entire sand addition operation process.

[0018] (2) Improved work efficiency and consistency: The robot repeats the work according to the preset trajectory and action chain generated by the control unit, reducing the fluctuations in alignment and opening and closing caused by differences in human experience.

[0019] (3) Improved safety and occupational health: The sand-adding operation does not require on-site manual intervention, reducing personnel's entry into dusty environments and adverse working postures, thus reducing labor intensity and on-site risks.

[0020] (4) Enhanced coverage and adaptability: The robot provides posture adjustment capabilities to adapt to the different sand filling port installation differences of different vehicle models and locomotive sand boxes. Attached Figure Description

[0021] The following figures are intended only to illustrate and explain the present invention and do not limit the scope of the invention. Wherein: Figure 1 This is a schematic diagram of the overall operation of the unmanned fully automatic sand-adding robot device for locomotive maintenance and standby according to the present invention.

[0022] Figure 2 This is a schematic diagram of the structure of the execution unit of the present invention.

[0023] Figure 3 This is a schematic diagram of the overall structure of the automatic switching mechanism for the sand-adding gun of the present invention.

[0024] Figure 4 This is a schematic diagram of the internal structure of the automatic switching mechanism for the sand-adding gun of the present invention.

[0025] In the picture: 1. Motion positioning unit; 11. Ground rail assembly; 12. Ground rail slide table; 2. Execution unit; 21. Robot; 3. End-of-line sand adding unit; 31. Adapter bracket; 32. Sand gun clamp; 33. Sand adding gun; 34. Automatic switching mechanism for sand adding gun; 341. Linear propulsion mechanism; 342. Circular arc rotary actuator; 3421. Drive motor; 3422. Gear transmission assembly; 3423. Switch connector; 4. Visual perception unit; 41. Industrial 3D vision camera; 5. Locomotive sandbox; 6. Sand-adding gun support structure; 7. Sand mixing station; 8. Train arrival sensor. Detailed Implementation

[0026] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0027] The specific embodiments of the present invention described herein are for illustrative purposes only and should not be construed as limiting the invention in any way. Under the teachings of this invention, those skilled in the art can conceive of any possible modifications based on the invention, all of which should be considered within the scope of the invention. It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there may be an intervening element. The terms "mounted," "connected," and "linked" should be interpreted broadly; for example, they can refer to mechanical or electrical connections, or internal communication between two elements, and can be direct or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible embodiments.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0029] like Figures 1 to 4 As shown, the present invention provides an unmanned, fully automated sand-adding robot device for locomotive maintenance, comprising: The execution unit 2 includes a robot 21 capable of moving along the locomotive maintenance line; in a specific embodiment, the robot 21 is a six-axis industrial robot. The end sand adding operation unit 3 includes a sand adding gun 33 that can be held by the robot 21, adjusted in posture, inserted into the sand adding port of the locomotive sand box 5 or returned to its position for storage, and a sand adding gun automatic switching mechanism 34 connected to the robot 21. The sand adding gun automatic switching mechanism 34 is used to control the sand adding state of the sand adding gun 33. The visual perception unit 4 connected to the robot is used to acquire visual information about the three-dimensional pose of the sand filling port of the locomotive sand box 5 and the working status of the sand filling gun 33; the working status of the sand filling gun 33 includes at least one or more of the following: whether the alignment is satisfied, whether the insertion is in place, and whether there is any obstruction or abnormal offset.

[0030] The control unit receives visual information and controls the movements of robot 21 and end-effector sand-adding unit 3 to achieve unmanned, fully automated sand-adding. Based on the visual information acquired by the visual perception unit 4, the control unit generates or updates the working posture of robot 21 and plans the path for robot 21's movement, adjusting the posture of the sand-adding gun 33 to enhance coverage and adaptability. Based on vehicle arrival information and visual positioning information, the control unit controls gun retrieval, alignment, sand addition, and return to its original position, achieving consistent, efficient, and unmanned sand-adding operations while reducing the risk of dust exposure for personnel.

[0031] When not adding sand, the sand-adding gun 33 is in a stored state; the robot 21 and the sand-adding gun automatic switching mechanism 34 connected to it are away from the sand-adding gun 33; when sand needs to be added, the robot 21 picks up the sand-adding gun 33, and according to the visual information of the three-dimensional pose of the sand-adding port of the locomotive sand box 5 obtained by the visual perception unit 4, it aligns and inserts the sand-adding gun 33 into the sand-adding port of the locomotive sand box 5, and according to the visual information of the working status of the sand-adding gun 33 obtained by the visual perception unit 4, it controls the sand-adding gun automatic switching mechanism 34 to open or close the sand-adding gun 33, and start or stop sand-adding.

[0032] The present invention relates to an unmanned, fully automated sand-adding robot device for locomotive maintenance and standby: (1) High degree of unmanned operation: Through the control unit, vision perception unit 4, robot 21, and end sand adding operation unit 3, the sand adding operation can be completed without on-site human intervention.

[0033] (2) Improved work efficiency and consistency: Robot 21 repeats the work according to the preset trajectory and action chain generated by the control unit, reducing the alignment and opening / closing fluctuations caused by differences in human experience.

[0034] (3) Improved safety and occupational health: The sand-adding operation does not require on-site manual intervention, reducing personnel's entry into dusty environments and adverse working postures, thus reducing labor intensity and on-site risks.

[0035] (4) Enhanced coverage and adaptability: Robot 21 provides posture adjustment capability to adapt to the different sand filling port installation differences of different vehicle models and locomotive sand boxes.

[0036] Furthermore, such as Figure 1 , Figure 2 As shown, the unmanned fully automatic sand-adding robot device for locomotive maintenance of the present invention also includes a mobile positioning unit 1. The mobile positioning unit 1 includes a ground rail assembly 11 arranged along the locomotive maintenance line. A ground rail slide 12 that can reciprocate along the locomotive maintenance line is arranged on the ground rail assembly 11. The robot 21 is connected to the ground rail slide 12. The mobile positioning unit 1 is communicatively connected to the control unit.

[0037] Furthermore, the ground rail slide 12 is equipped with a positioning / locking structure and a reset structure. The ground rail slide 12 is also equipped with a sensor and / or limit switch for position detection. The sensor and / or limit switch are all connected to the control unit.

[0038] like Figure 1 As shown, the ground rail assembly 11 is laid along the locomotive maintenance line and fixedly installed on the foundation on both sides of the track to provide long-stroke linear movement guidance. The ground rail slide 12 is mounted on the ground rail assembly 11 and can reciprocate. The ground rail slide 12 can be equipped with a positioning / locking structure to achieve anti-slip stability during robot 21 operation, and can be equipped with a reset structure to allow the ground rail slide 12 to return to its initial position or safe stopping position after operation. The ground rail slide 12 is equipped with a position sensor and / or limit switches to achieve position detection and safety interlocking.

[0039] like Figure 1 , Figure 2 As shown, robot 21 is a six-axis industrial robot. Robot 21 is installed on the ground rail slide table 12. It realizes the spatial position and attitude adjustment of sand gun 33 through multi-degree-of-freedom motion to adapt to the differences in sand filling port position and height of different locomotive models and different locomotive sand boxes 5.

[0040] Furthermore, such as Figure 3 , Figure 4As shown, a rotary switch is provided on the sand-adding gun 33; the automatic switching mechanism 34 of the sand-adding gun includes a linear propulsion mechanism 341 and an arc-shaped rotary actuator 342. The linear propulsion mechanism 341 is used to drive the arc-shaped rotary actuator 342 to approach or move away from the rotary switch, and the arc-shaped rotary actuator 342 is used to engage the rotary switch and rotate to open or close the sand-adding gun 33.

[0041] Furthermore, such as Figure 4 As shown, the circular arc rotary actuator 342 includes a drive motor 3421, a gear transmission assembly 3422, and a switch latching member 3423, which is matched with the rotary switch. A linear propulsion mechanism 341 drives the switch latching member 3423 to move linearly (moving it in the forward-backward direction) so that it moves forward to latch the rotary switch or backward to disengage from it. The drive motor 3421 drives the switch latching member 3423 to rotate and twist the rotary switch via the gear transmission assembly 3422. Specifically, the gear transmission assembly 3422 transmits the output torque of the drive motor 3421 to the switch latching member 3423, forming the required rotation angle and torque. After the switch latching member 3423 latches the rotary switch, the circular arc rotary actuator 342 drives it to rotate in an arc around a predetermined axis, thereby opening or closing the rotary switch.

[0042] Furthermore, such as Figure 2 As shown, the robot 21 is connected to an adapter bracket 31, and the adapter bracket 31 is connected to an automatic sand-adding gun switching mechanism 34, a vision sensing unit 4, and a sand-adding gun clamp 32 for holding the sand-adding gun 33.

[0043] Specifically, the adapter bracket 31 is fixedly connected to the end of the robot 21 (a six-axis industrial robot), and the sand gun clamp 32 is installed on the adapter bracket 31 and used to clamp the sand gun 33; the sand gun 33 is connected to the sand distribution station 7 through the sand supply pipeline to obtain sand supply.

[0044] Furthermore, such as Figure 2 As shown, the visual perception unit 4 is an industrial 3D vision camera 41. The industrial 3D vision camera 41 acquires visual information of the three-dimensional pose of the sand filling port of the locomotive sand box 5. The industrial 3D vision camera 41 can also acquire visual information of the working status of the sand filling gun 33 and judge the working status of the sand filling gun 33. The working status includes at least one or more of the following: whether the alignment is satisfied, whether the insertion is in place, and whether there is occlusion or abnormal offset.

[0045] The industrial 3D vision camera 41 is mounted on the adapter bracket 31. It can acquire the three-dimensional pose visual information of the sand filling port of the locomotive sand box 5 before the sand filling operation, and determine the alignment, insertion, obstruction or abnormal displacement of the sand filling gun 33 during the sand filling operation. The recognition results are sent to the control unit to guide the operation.

[0046] Furthermore, such as Figure 1 As shown, the fully automated sand-adding robot device for unmanned locomotive maintenance and preparation of the present invention also includes a train arrival sensor 8. The train arrival sensor 8 is installed on both sides of the locomotive maintenance line. The train arrival sensor 8 is used to output a train arrival signal. The train arrival sensor 8 is communicatively connected to the control unit and forms a safety interlock with the control unit.

[0047] Furthermore, such as Figure 1 As shown, the fully automated sand-adding robot device for locomotive maintenance and repair of the present invention also includes a sand-adding gun support structure 6 installed at the sand-adding station of the locomotive maintenance line. The sand-adding gun support structure 6 is used to support and store the sand-adding gun 33. Under the control of the control unit, the robot 21 removes the sand-adding gun 33 from the sand-adding gun support structure 6 and puts the sand-adding gun 33 back into the sand-adding gun support structure 6 after sand-adding is completed.

[0048] The sand gun support structure 6 is a sand gun bracket or gun holder. Different sand-adding workstations on the locomotive maintenance line can be equipped with corresponding sand gun support structures 6 so that the robot 21 can pick up and put down the sand gun 33 according to the workstation.

[0049] Furthermore, the control unit includes a central control system, which receives visual information from the visual perception unit 4 (industrial 3D vision camera 41) and vehicle arrival information from the train arrival sensor 8, and controls the ground rail slide 12, robot 21, sand gun clamp 32 and sand gun automatic switch mechanism 34 to coordinate their actions, so as to realize the automatic picking and placing, automatic alignment and insertion, automatic opening and closing of sand addition and automatic return of sand gun 33.

[0050] Specifically, the central control system can work in conjunction with the robot central control system, motion central control system, or PLC to achieve motion programming and safety interlocking.

[0051] In practical use, the central control system generates or updates the sand-adding operation pose of the robot 21 based on the recognition results of the industrial 3D vision camera 41, and performs path planning for the motion performed by the robot 21 and the ground rail slide 12.

[0052] Under the overall control of the control unit (central control system), the various components of this invention work together and move precisely, achieving a high degree of automation, significantly improving operational efficiency and consistency, enhancing safety and occupational health, and increasing coverage and adaptability.

[0053] This invention also provides an automatic sand-adding method, implemented using the unmanned fully automatic sand-adding robot device for locomotive standby of this invention; the method includes: The control unit controls the robot 21 of the execution unit 2 to move to the target work station according to the train arrival information. The control unit generates or updates the working posture of the robot 21 according to the visual information of the three-dimensional pose of the sand filling port of the locomotive sand box 5 obtained by the visual perception unit 4. The control unit controls the robot 21 to pick up the sand filling gun 33 and insert it into the sand filling port of the locomotive sand box 5. The control unit controls the sand filling gun automatic switching mechanism 34 to open the sand filling gun 33 to add sand according to the visual information of the working status of the sand filling gun 33 obtained by the visual perception unit 4. After the sand filling is completed, the control unit controls the sand filling gun automatic switching mechanism 34 to close the sand filling gun 33 according to the visual information of the working status of the sand filling gun 33 obtained by the visual perception unit 4. The robot 21 returns the sand filling gun 33 to its original position or moves it to the next work station to perform sand filling operation.

[0054] The automatic sand-adding method of the present invention specifically includes the following steps: Step S1, Train Arrival Confirmation: After the train enters the preparation position, the train arrival sensor 8 detects the train arrival and outputs an arrival signal (train arrival information). The control unit (central control system) enters the automatic sand adding procedure based on the arrival signal.

[0055] Step S2: Move to the target work station: The control unit (central control system) controls the ground rail slide 12 to move along the ground rail assembly 11 to the vicinity of the target sand-adding work station, and completes locking positioning through the positioning / locking structure. The robot 21 connected to the ground rail slide 12 arrives at the target work station synchronously.

[0056] Step S3, Visual Recognition and Operation Judgment: The visual perception unit 4 (industrial 3D vision camera 41) acquires the point cloud / depth information of the sand filling port of the target locomotive sand box 5 and extracts the sand filling port features, thereby obtaining the three-dimensional pose of the sand filling port of the locomotive sand box 5; the control unit (central control system) generates or updates the sand filling operation pose of the robot 21 according to the recognition results.

[0057] Step S4, Gun Retrieval and Alignment Insertion: Robot 21 moves to the corresponding workstation's sand gun support structure 6 (sand gun bracket / gun holder), and the sand gun clamp 32 clamps the sand gun 33 before removing it; then, based on the working posture, robot 21 aligns the sand gun 33 with the sand filling port of the locomotive sand box 5 and performs the insertion or approach action.

[0058] Step S3 includes performing coordinate transformation between the camera coordinate system of the industrial 3D vision camera 41 and the robot coordinate system of the robot 21, and iteratively correcting the alignment action in step S4 based on the transformation result.

[0059] Step S5: Automatically start sand-adding gun 33: The control unit controls the automatic switching mechanism 34 of the sand-adding gun 33 to start sand-adding gun 33 based on the visual information of the working status of the sand-adding gun 33 obtained by the visual perception unit 4. Specifically, the control unit (central control system) controls the linear propulsion mechanism 341 to move forward so that the switch latch 3423 latches the rotary switch; then controls the arc rotation actuator 342 to rotate to open the rotary switch. That is, the sand-adding gun 33 is started by the combined action of the forward latch of the switch latch 3423 and the arc rotation, and sand-adding begins.

[0060] Step S6, Sand Addition Operation and Operation Judgment: During the sand addition process, the industrial 3D vision camera 41 continuously monitors the alignment and insertion status. The control unit (central control system) determines the sand addition termination conditions based on the sand addition duration, operation status, or sand addition amount in the sand box. If necessary, a safety procedure to stop sand addition and evacuate can be triggered when abnormal offset or obstruction is detected.

[0061] Among them, the sand addition termination conditions include one or more of the following: the sand addition time reaches a threshold, the sand addition gun 33's operating status meets a threshold, and the sand addition amount in the locomotive sand box reaches a threshold.

[0062] Step S7, Automatic Closure and Disengagement: After sand addition is completed, the control unit controls the automatic switching mechanism 34 of the sand addition gun 33 to close the sand addition gun 33 based on the visual information of the working status of the sand addition gun 33 obtained by the visual perception unit 4. Specifically, based on the preset sand addition end conditions, the control unit (central control system) controls the arc rotation actuator 342 to rotate in the opposite direction to close the rotary switch, and then controls the linear propulsion mechanism 341 to move backward so that the switch latch 3423 disengages from the rotary switch, closing the sand addition gun 33. After that, the robot 21 is controlled to exit the sand addition gun 33 from the sand addition port of the locomotive sand box 5.

[0063] Step S8, Sand gun 33 returns to its original position or moves to the next station: Robot 21 puts sand gun 33 back into the sand gun bracket / gun holder and releases sand gun clamp 32; after the ground rail slide 12 is unlocked, it moves to the next sand adding station and repeats the above process. After the operation is completed, the ground rail slide 12 is reset to the initial / safe position.

[0064] The above description is merely an illustrative embodiment of the present invention and is not intended to limit the scope of the invention. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principles of the present invention should fall within the scope of protection of the present invention.

Claims

1. A fully automated, unmanned sand-adding robot device for locomotive maintenance and standby, characterized in that, include: The execution unit includes a robot capable of moving along the locomotive maintenance line; The end-of-line sand-adding unit includes a sand-adding gun that can be held by the robot, have its posture adjusted, be inserted into the sand-adding port of the locomotive sand box, or be stored in its original position, and an automatic sand-adding gun switching mechanism connected to the robot. The automatic sand-adding gun switching mechanism is used to control the sand-adding gun's opening and closing sand-adding state. A visual perception unit connected to the robot is used to acquire visual information about the three-dimensional pose of the sand filling port of the locomotive sand box and the working status of the sand filling gun. The control unit can receive the visual information and control the actions of the robot and the end-effector sand-adding unit to complete unmanned fully automatic sand-adding.

2. The fully automated, unmanned sand-adding robot device for locomotive maintenance and standby as described in claim 1, characterized in that, It also includes a mobile positioning unit, which includes a ground rail assembly arranged along the locomotive maintenance line. The ground rail assembly is provided with a ground rail slide that can reciprocate along the locomotive maintenance line. The robot is connected to the ground rail slide. The mobile positioning unit is communicatively connected to the control unit.

3. The fully automated, unmanned sand-adding robot device for locomotive maintenance and standby as described in claim 2, characterized in that, The ground rail slide is provided with a positioning / locking structure and a reset structure. The ground rail slide is also provided with a sensor and / or limit switch for position detection. The sensor and / or limit switch are all communicatively connected to the control unit.

4. The fully automated, unmanned sand-adding robot device for locomotive maintenance and standby as described in claim 1, characterized in that, A rotary switch is provided on the sand-adding gun; the automatic switching mechanism of the sand-adding gun includes a linear propulsion mechanism and an arc-shaped rotary actuator. The linear propulsion mechanism is used to drive the arc-shaped rotary actuator to move closer to or away from the rotary switch, and the arc-shaped rotary actuator is used to engage the rotary switch and rotate to open or close the sand-adding gun.

5. The fully automated, unmanned sand-adding robot device for locomotive maintenance and standby as described in claim 4, characterized in that, The circular arc rotation actuator includes a drive motor, a gear transmission assembly, and a switch latching component, which is matched with the rotary switch. The linear propulsion mechanism is used to drive the switch latching component to move linearly so that the switch latching component moves forward to latch the rotary switch or moves backward to move away from the rotary switch. The drive motor drives the switch latching component to rotate and twist the rotary switch through the gear transmission assembly.

6. The fully automated, unmanned sand-adding robot device for locomotive maintenance and standby as described in claim 1, characterized in that, The robot is connected to an adapter bracket, which is connected to the automatic switching mechanism of the sand-adding gun, the vision sensing unit, and a sand-adding gun clamp for holding the sand-adding gun.

7. The fully automated, unmanned sand-adding robot device for locomotive maintenance and standby as described in claim 1, characterized in that, The visual perception unit is an industrial 3D vision camera.

8. The fully automated, unmanned sand-adding robot device for locomotive maintenance and standby as described in claim 1, characterized in that, It also includes a train arrival sensor, which is installed on both sides of the locomotive maintenance line. The train arrival sensor is used to output a train arrival signal and is communicatively connected to the control unit.

9. The fully automated, unmanned sand-adding robot device for locomotive maintenance and standby as described in claim 1, characterized in that, It also includes a sand-adding gun support structure set at the sand-adding station on the locomotive maintenance line, the sand-adding gun support structure being used to support and store the sand-adding gun.

10. An automatic sand-adding method, characterized in that, The system is implemented using the fully automated, unmanned sand-adding robot device for locomotive maintenance and standby as described in any one of claims 1 to 9; comprising: The control unit controls the robot of the execution unit to move to the target work station based on the train arrival information. The control unit generates or updates the robot's working posture based on the visual information of the three-dimensional pose of the sand filling port of the locomotive sand box obtained by the vision perception unit. The control unit controls the robot to pick up the sand filling gun and insert it into the sand filling port of the locomotive sand box. The control unit controls the automatic switching mechanism of the sand filling gun to start the sand filling gun to add sand based on the visual information of the working status of the sand filling gun obtained by the vision perception unit. After the sand filling is completed, the control unit controls the automatic switching mechanism of the sand filling gun to stop the sand filling gun based on the visual information of the working status of the sand filling gun obtained by the vision perception unit. The robot returns the sand filling gun to its original position or moves it to the next work station to perform the sand filling operation.

Images