Intelligent mechanical hand based on railway freight transportation loading and unloading

Abstract

The application discloses an intelligent manipulator based on railway freight transportation loading and unloading, and relates to the technical field of manipulators.The intelligent manipulator comprises a rotary base, a large-arm unit is assembled above the rotary base, a small-arm unit is assembled at the tail end of the large-arm unit, a connecting gripper assembly is arranged at the tail end of the small-arm unit, a dynamic buffer mechanism is arranged at the end of the small-arm unit away from the large-arm unit, and the dynamic buffer mechanism comprises a connecting arm cylinder assembled between the small-arm unit and the gripper assembly.A translation driving assembly is arranged in the connecting arm cylinder, and the translation driving assembly comprises a driving cylinder, a fixed disc spring part and a moving disc spring part.The moving disc spring part is axially displaced synchronously with the cylinder driving shaft, the buffer position and the buffer matching degree can be adjusted in real time according to the initial assembly state, the no-load standby state and the heavy-load grabbing dynamic state of the equipment, the buffer stiffness can be self-adaptively matched in multiple working conditions, and the axial impact load generated by the goods clamping and the unloading impact can be effectively dissipated.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to an intelligent robotic arm for loading and unloading railway freight. Background Technology

[0002] In railway freight transport operations, various types of boxed, bagged, and bulk cargo require automated operations such as loading, unloading, transfer, and stacking. Manual handling is arduous, inefficient, and poses safety hazards such as working at heights and cargo falling, making it unsuitable for the efficient, continuous, and safe operational requirements of modern railway freight transport. Intelligent loading and unloading equipment based on robotic arms, with its advantages of high automation, strong operational stability, and adaptability to various freight scenarios, is gradually replacing manual labor and is widely used in cargo loading, unloading, and transfer work at railway platforms and freight yards. This type of intelligent robotic arm mainly relies on a rotating base, a large arm unit, and a small arm unit to form a multi-degree-of-freedom mechanical transmission structure. Through the joint structure, it achieves multi-angle rotation and pitch adjustment, and works with the end gripper assembly to complete the clamping, handling, and unloading of cargo. It is the core equipment for automated loading and unloading of railway freight.

[0003] Currently, the mainstream railway freight loading and unloading robots on the market all adopt a combination of multi-joint robotic arms and end grippers. The opening and closing of the grippers is controlled by the drive structure at the end of the forearm, thereby realizing cargo gripping operations. The power drive of conventional loading and unloading robots is mainly divided into two types: cylinder drive and motor screw drive. Power is output through a single rigid drive structure to directly drive the grippers to complete the gripping action. It can meet the basic loading, unloading and transfer needs of conventional light goods. It has a simple structure and is easy to control, and is widely used in general warehousing and short-distance transfer scenarios.

[0004] However, the end-effector drive and buffer structure of existing conventional loading and unloading robots have obvious inherent technical defects, making them unsuitable for the complex working conditions of railway freight loading and unloading. They also have shortcomings in operational stability, equipment lifespan, and safety protection. The specific technical defects are as follows: 1. Existing direct-drive cylinder solutions rely on the linear reciprocating motion of the cylinder's output piston rod to drive the gripper to complete the opening and closing action. This approach has significant drawbacks in the high-frequency impact and variable load environments of railway freight operations. Axial impact loads generated when the gripper collidees with materials, experiences overload, or is impacted during unloading are directly transmitted back to the cylinder body via the piston rod, and further to the forearm housing and forearm joint reducer. This easily causes wear on the cylinder seals and exacerbates damage to the joint reducer. Long-term operation can lead to increased joint rotation clearance. Issues such as reduced positioning accuracy arise; simultaneously, the external lateral loads experienced by the gripper during operation are directly transmitted to the cylinder piston rod, which is only adapted to ideal axial loads. Lateral load imbalance can cause unilateral wear and leakage failure of the piston rod and sealing ring, significantly shortening the cylinder's service life. Furthermore, the cylinder's fixed working stroke cannot be adaptively adjusted. When the gripper holds materials with out-of-tolerance dimensions, the cylinder will rigidly lock up after reaching its stroke limit, and the load will act directly on the boom without any mechanical buffering capability, easily causing structural damage to the boom.

[0005] 2. The existing motor-to-screw drive system converts the rotational motion of the motor into linear displacement via the screw pair to drive the opening and closing of the grippers. This is a two-stage conversion transmission structure from rotation to linear motion, which has significant inherent structural defects. The linear impact load generated by the clamping impact and collision impact on the gripper end will be converted into the impact torque of the screw through the nut and continuously transmitted to the motor output shaft. This can easily cause various component failures such as pitting of the screw raceway, impact damage to the motor bearings, and demagnetization of the motor permanent magnet. When clamping overload occurs, the movement of the nut is obstructed, the screw locks, and the motor continues to output torque, creating a stall condition that can easily lead to motor overheating. Burnout occurs when the screw thread pair is subjected to excessive contact stress, leading to permanent failures such as indentation and pitting. Furthermore, the inherent static self-locking capability of the screw pair is only suitable for static load conditions. When the gripper is subjected to a violent external impact, the external force can directly overcome the thread self-locking effect, forcing the screw to reverse, potentially causing the gripper to release unexpectedly and materials to fall. Moreover, the connection between the motor and the screw drive link and the gripper is mostly rigid, meaning that various impact loads generated at the end cannot be effectively dissipated or buffered. These impact loads are continuously transmitted to the forearm joint reducer, accelerating fatigue failure of joint components and significantly reducing the overall service life and operational stability of the equipment.

[0006] Therefore, in view of this, the present invention proposes an intelligent robotic arm based on railway freight loading and unloading to make up for and improve the shortcomings of the existing technology. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention provides an intelligent robotic arm for loading and unloading railway freight, thereby resolving the technical issues raised in the background section.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows: an intelligent robotic arm for loading and unloading railway freight transport, comprising a rotating base, a large arm unit mounted on the top of the rotating base, a small arm unit mounted at the end of the large arm unit, a connecting gripper assembly at the end of the small arm unit, and a dynamic buffer mechanism at the end of the small arm unit away from the large arm unit. The dynamic buffer mechanism includes a connecting arm cylinder mounted between the small arm unit and the gripper assembly. A translation drive assembly is provided inside the connecting arm cylinder. The translation drive assembly includes a drive cylinder, a fixed disc spring, and a movable disc spring. The fixed disc spring and the movable disc spring are axially aligned along the outer wall of the drive cylinder. The assembly is divided into sections. The movable disc spring changes its axial position synchronously with the drive shaft of the drive cylinder, adapting to the initial assembly pre-tightening state of the translation drive assembly and the dynamic use state during cargo grabbing operations, achieving adaptive matching of the buffer position under different working conditions. The end face of the translation drive assembly is equipped with an annular compartment. A connecting circular plate that is fixedly assembled with the drive shaft of the drive cylinder is slidably installed inside the annular compartment. The outer wall of the connecting circular plate and the inner wall of the annular compartment cooperate to form a piston cylinder structure. The bottom wall of the annular compartment has a vent hole. The connecting circular plate moves synchronously back and forth with the drive shaft. When moving downward, exhaust is discharged outward through the vent hole, and when moving upward, air is introduced under negative pressure through the vent hole, thereby achieving heat dissipation of the inner cavity.

[0009] Furthermore, a waist rotation joint is fixedly mounted on the rotating base. The upper arm unit includes an upper arm body, the root of which is rotatably mounted to the side wall of the waist rotation joint. A shoulder joint is rotatably mounted at the end of the upper arm body away from the waist rotation joint. The lower arm unit includes a lower arm body rotatably mounted to the outer wall of the shoulder joint. An elbow joint is rotatably mounted at the end of the lower arm body away from the shoulder joint. A rotary joint is rotatably mounted inside the elbow joint. The gripper assembly includes a power transmission component and a working gripper block. The power transmission component is fixedly mounted to the drive shaft of the translation drive assembly. The operation of the drive shaft controls the movement of the power transmission component, thereby driving the working gripper block to expand and contract to achieve cargo gripping.

[0010] Furthermore, both the fixed disc spring and the movable disc spring are composed of several stacked disc springs. The fixed disc spring is fixedly mounted on the upper and lower ends of the inner wall of the connecting arm cylinder, and the movable disc spring is located between the two sets of fixed disc springs and is fixedly mounted on the outer wall of the drive shaft of the drive cylinder.

[0011] Furthermore, the radial radius of the connecting arm is smaller than that of the annular chamber.

[0012] Furthermore, a number of convex balls are uniformly fixedly assembled on the lower surface of the connecting circular plate.

[0013] Furthermore, the vent hole is funnel-shaped, narrow at the top and wide at the bottom.

[0014] Furthermore, the connecting arm cylinder is provided with a rotary drive assembly, which includes a drive motor. A threaded shaft is fixedly mounted on the outer wall of the output shaft of the drive motor. A nut sleeve is threadedly connected to the outer wall of the threaded shaft. The threaded shaft and the nut sleeve form a ball screw structure.

[0015] Furthermore, the outer wall of the nut sleeve is symmetrically and fixedly fitted with a limiting shaft, and the limiting shaft is fixedly fitted with the annular chamber.

[0016] Furthermore, a movable sleeve is fitted onto the outer wall of the drive motor, and the movable sleeve is slidably fitted onto the inner wall of the connecting arm cylinder.

[0017] Furthermore, a fixing collar is fixedly mounted on the outer wall of the output shaft of the drive motor, and a plurality of elastic cables are fixedly mounted on the surface of the fixing collar. The plurality of elastic cables pass through the fixing collar from top to bottom, and the upper ends of the plurality of elastic cables are fixedly mounted to the movable sleeve pad, and the lower ends are fixedly mounted to the connecting circular plate.

[0018] Compared with the prior art, the beneficial effects of the present invention are: (1) By setting an integrated dynamic buffer mechanism between the forearm unit and the gripper assembly, and relying on the fixed disc spring and the movable disc spring arranged in the axial partition inside the connecting arm cylinder, the adaptive buffer protection effect of the manipulator in the gripping operation is realized, which improves the operation mode of the traditional railway freight manipulator with cylinder direct drive rigid transmission and no adaptive buffer. By utilizing the characteristic of the movable disc spring synchronously axially displacing with the cylinder drive shaft, the buffer position and buffer matching degree can be adjusted in real time according to the initial assembly state of the equipment, the idle standby state, and the heavy-load gripping dynamic state, so as to realize the adaptive adaptation of buffer stiffness under multiple working conditions, effectively dissipate the axial impact load generated by cargo clamping and unloading impact, and avoid the impact load being directly transmitted back to the cylinder body, forearm joint and reducer. This reduces the failure problems such as cylinder seal wear, joint clearance increase and positioning accuracy decay from the root, and greatly improves the operation stability and structural durability of the manipulator.

[0019] Furthermore, the circular chamber and the connecting circular plate linked with the drive shaft, along with the funnel-shaped vent, form a reciprocating piston-type ventilation structure. This achieves long-term protection against automatic heat dissipation, dust, and backflow within the equipment cavity, solving the technical drawbacks of traditional robotic arms where the inner cavity is closed, leading to heat accumulation and dust buildup. During long-term, high-frequency operation, the internal drive cylinder and transmission components continuously generate heat through friction. Heat accumulation in the closed cavity can easily cause high-temperature aging and lubrication failure. This structure relies on the reciprocating sliding motion of the connecting circular plate with the drive shaft. The downward movement compresses the air in the cavity and exhausts it at high speed through the vent. This actively blows away accumulated dust and quickly removes heat. When the arm moves upward to reset, a negative pressure suction environment is created in the cavity. Combined with the funnel-shaped vent structure that is narrower at the top and wider at the bottom, this effectively blocks large particles of impurities from the outside, slows down the intake air velocity, and prevents fine dust from being carried back into the cavity by the negative pressure. This maintains a low-temperature, clean working environment within the cavity, effectively avoiding wear and jamming failures of transmission components and ensuring the accuracy and stability of the robotic arm during long-term continuous operation.

[0020] Furthermore, by adopting a differentiated cavity layout structure with a connecting arm cylinder radial dimension smaller than that of the annular chamber, and in conjunction with a convex ball structure evenly distributed on the bottom surface of the connecting circular plate, the robot arm achieves the effects of buffer protection during extreme operations and improved cavity ventilation efficiency. The larger annular chamber provides sufficient ventilation cavity space, ensuring sufficient airflow replacement and stable heat dissipation and dust removal during piston reciprocating motion. At the same time, the convex ball structure at the bottom of the connecting circular plate can reduce the rigid contact area under extreme downward pressure, weaken the impact stress generated by mechanical hard collisions, and avoid rigid jamming damage to the structure after the drive shaft reaches its stroke limit, significantly improving the equipment's operational fault tolerance and structural safety.

[0021] (2) Example 1 adopts a cylinder drive combined with a partitioned stacked disc spring adaptive buffer structure. The cylinder linear reciprocating drive realizes the complete operation of gripper expansion, retraction and unloading. Combined with a piston-type active ventilation and heat dissipation dustproof structure, it achieves the operation effect of simple structure, rapid response and strong adaptability of the robot. The pure pneumatic drive structure has no complex transmission conversion parts, low failure rate and convenient maintenance. The stacked disc spring structure can absorb axial impact load in both directions, which is suitable for the stable loading and unloading of small and medium-sized goods in railways. At the same time, the autonomous ventilation and dustproof structure can realize the equipment self-cleaning and self-cooling, without the need for frequent manual disassembly and maintenance, which greatly reduces the equipment operation and maintenance cost and downtime loss. It takes into account the operation accuracy, stability and economy, and is perfectly adapted to the normalized and high-frequency automated loading, unloading and transfer conditions of railway yards.

[0022] (3) Example 2 adds a motor-to-ball screw rotation drive and elastic cable buffer structure to Example 1. The rotational motion of the motor is converted into linear drive displacement by the ball screw. Combined with the circumferential elastic cable structure with adjustable preload, it achieves the upgraded operation effect of high precision transmission, impact and shock absorption, and prevention of accidental claw loosening. It solves the inherent defects of traditional motor screw transmission, such as large impact torque, overload stall damage, and easy claw loosening upon impact. By adjusting the vertical position of the moving sleeve during the assembly stage, the initial tension of each set of elastic cables can be calibrated to ensure uniform elastic buffer force. During operation, the torsional energy storage characteristics of the elastic cable are used to dissipate the transmission impact torque, avoiding direct impact damage to the motor bearing, screw raceway and forearm joint. At the same time, it retains the advantages of heat dissipation and dust prevention of the inner cavity in Example 1. It combines the protective properties of pneumatic structure with the high precision of screw transmission, effectively expanding the heavy-load and high-precision operation scenarios of the equipment and greatly improving the safety and operation accuracy of loading and unloading large heavy-load goods on railways. Attached Figure Description

[0023] Figure 1 This is an axial perspective three-dimensional schematic diagram of the present invention; Figure 2 This is a planar schematic diagram of the translation drive component in Embodiment 1 of the present invention; Figure 3 This is a three-dimensional schematic diagram of the relevant structure of the translation drive component in Embodiment 1 of the present invention; Figure 4 This is a bottom-view perspective view of the vent hole in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the initial state of the movable disc spring in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the movable disc spring in use according to Embodiment 1 of the present invention; Figure 7 This is a planar schematic diagram of the rotation drive component in Embodiment 2 of the present invention; Figure 8 This is a three-dimensional schematic diagram of the relevant structure of the rotary drive component in Embodiment 2 of the present invention; Figure 9 This is a schematic planar view of the relevant structure of the rotation drive component in Embodiment 2 of the present invention; Figure 10 This is an exploded view of the relevant structure of the rotary drive component in Embodiment 2 of the present invention.

[0024] The numbers on the map are: 1. Rotating base; 11. Waist rotation joint; 2. Upper arm unit; 21. Upper arm body; 22. Shoulder joint; 3. Forearm unit; 31. Forearm body; 32. Elbow joint; 33. Rotation joint; 4. Gripper assembly; 41. Power transmission components; 42. Working jaw block; 5. Dynamic buffer mechanism; 51. Connecting arm cylinder; 52. Translation drive assembly; 521. Drive cylinder; 522. Fixed disc spring; 523. Moving disc spring; 53. Rotation drive assembly; 531. Drive motor; 532. Threaded shaft; 533. Nut sleeve; 534. Limiting shaft; 535. Moving sleeve; 536. Fixed collar; 537. Elastic cable; 54. Circular chamber; 55. Connecting circular plate; 56. Convex ball; 57. Vent hole. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Example 1: Please refer to Figures 1-3 As shown, an intelligent robotic arm based on railway freight loading and unloading includes a rotating base 1, a large arm unit 2 mounted on the top of the rotating base 1, a small arm unit 3 mounted at the end of the large arm unit 2, and a connecting gripper assembly 4 at the end of the small arm unit 3.

[0027] It should be noted that the slewing base 1 is fixedly equipped with a waist slewing joint 11, the upper arm unit 2 includes an upper arm body 21, the root of the upper arm body 21 is rotatably equipped with the side wall of the waist slewing joint 11, and the end of the upper arm body 21 away from the waist slewing joint 11 is rotatably equipped with a shoulder joint 22; the forearm unit 3 includes a forearm body 31 rotatably equipped with the outer wall of the shoulder joint 22, and the end of the forearm body 31 away from the shoulder joint 22 is rotatably equipped with an elbow joint 32, and the inside of the elbow joint 32 is rotatably equipped with a rotary joint 33; the gripper assembly 4 includes a power transmission component 41 and a working gripper block 42, the power transmission component 41 is fixedly equipped with the drive shaft of the translation drive assembly 52, and the operation of the drive shaft controls the movement of the power transmission component 41, thereby driving the working gripper block 42 to expand and contract to achieve the gripping of goods.

[0028] It should be added that the rotating base 1, the waist rotating joint 11, the upper arm unit 2, and the lower arm unit 3 together constitute the multi-degree-of-freedom rotation and pitch adjustment structure of the robot arm, and the gripper assembly 4 provides the cargo gripping and grasping function. The two work together to complete the automated loading, unloading, and transfer operations of railway cargo. The working principles of the above structures, such as the horizontal rotation drive principle of the waist rotating joint 11, the hinge swing principle of the shoulder joint 22 and the elbow joint 32, the circumferential rotation transmission principle of the rotary joint 33, and the opening and closing gripping transmission principle of the gripper assembly 4, as well as the specific structures, such as the base fixing structure of the rotating base 1, the arm body hinge assembly structure of the upper arm body 21 and the lower arm body 31, the rotational cooperation structure of each joint, and the gripping assembly structure of the power transmission component 41 and the working claw block 42, are all existing technologies and will not be described in detail hereafter.

[0029] Please refer to Figures 1-6 As shown, a dynamic buffer mechanism 5 is provided at the end of the forearm unit 3 away from the upper arm unit 2. The dynamic buffer mechanism 5 includes a connecting arm cylinder 51 assembled between the forearm unit 3 and the gripper assembly 4. A translation drive assembly 52 is provided inside the connecting arm cylinder 51. The translation drive assembly 52 includes a drive cylinder 521, a fixed disc spring 522, and a movable disc spring 523. The fixed disc spring 522 and the movable disc spring 523 are axially partitioned along the outer wall of the drive cylinder 521. The movable disc spring 523 changes its axial position synchronously with the drive shaft of the drive cylinder 521, adapting to the translation drive assembly 52. The initial assembly pre-tightening state and the dynamic usage state during cargo grabbing operations enable adaptive matching of the buffer position under different working conditions; the end face of the translation drive assembly 52 is equipped with an annular chamber 54, and a connecting circular plate 55 that is fixedly mounted to the drive shaft of the drive cylinder 521 is slidably mounted inside the annular chamber 54. The outer wall of the connecting circular plate 55 and the inner wall of the annular chamber 54 cooperate to form a piston cylinder structure. The bottom wall of the annular chamber 54 is provided with a vent hole 57. The connecting circular plate 55 moves back and forth synchronously with the drive shaft. When moving downward, exhaust is discharged outward through the vent hole 57, and when moving upward, air is introduced under negative pressure through the vent hole 57, thereby realizing heat dissipation of the inner cavity.

[0030] It should be noted that both the fixed disc spring 522 and the movable disc spring 523 are composed of several single disc springs stacked together. The fixed disc spring 522 is fixedly mounted on the upper and lower ends of the inner wall of the connecting arm cylinder 51, and the movable disc spring 523 is located between the two sets of fixed disc springs 522, and is fixedly mounted on the outer wall of the drive shaft of the drive cylinder 521. The radial radius of the connecting arm cylinder 51 is smaller than the radial radius of the annular chamber 54. Several convex balls 56 are uniformly fixedly mounted on the lower surface of the connecting circular plate 55. The vent hole 57 is a funnel shape that is narrow at the top and wide at the bottom.

[0031] Specifically, the slewing base 1 serves as the main support for the entire machine, maintaining a fixed support state. The waist slewing joint 11 can drive the upper arm unit 2 to complete the horizontal slewing adjustment. The upper arm body 21 achieves angle swing by relying on the rotation of the root and the waist slewing joint 11. At the same time, the shoulder joint 22 at the end of the upper arm body 21, in conjunction with the elbow joint 32, realizes the pitch and swing posture adjustment of the lower arm body 31. The rotation joint 33 inside the lower arm unit 3 can drive the entire end to rotate circumferentially, realizing the multi-angle posture alignment of the gripper assembly 4. Meanwhile, the dynamic buffer mechanism 5 assembled at the end of the lower arm completes the posture adjustment synchronously with the lower arm unit 3. The connecting arm cylinder 51 maintains the overall posture synchronization. The internal translation drive component 52 is in the initial assembly pre-tightening state. The moving disc spring 523 and the upper and lower fixed disc springs 522 maintain the initial balance position.

[0032] After the equipment is aligned, the translation drive assembly 52 is activated, and the drive shaft of the drive cylinder 521 extends downward, driving the power transmission component 41 to move. This, in turn, drives the working claw block 42 to expand outward, so that the opening of the working claw block 42 matches the shape and size of the goods to be grasped. After the working claw block 42 is aligned and wraps around the outside of the goods, the drive shaft of the drive cylinder 521 retracts upward and resets, driving the power transmission component 41 to move in the opposite direction, pulling the working claw block 42 inward to retract and complete the clamping and fixing of the railway goods. During this telescopic drive process, the movable disc spring 523, which is fixed to the outer wall of the drive shaft of the drive cylinder 521, moves synchronously back and forth with the drive shaft, changing its axial assembly position in real time. Through the adaptive adjustment of the position of the movable disc spring 523, it matches the buffering requirements of the real-time clamping condition, effectively absorbing the axial impact and overload generated at the moment of goods clamping, and avoiding the direct transmission of rigid impact back to the cylinder body and the forearm joint.

[0033] Simultaneously, the drive shaft synchronously drives the connecting circular plate 55 to slide back and forth along the inner wall of the annular chamber 54. During the downward expansion phase, the connecting circular plate 55 presses down on the air inside the annular chamber 54. The airflow inside the chamber is quickly discharged outward through the funnel-shaped vent 57. The rapid airflow can promptly remove the frictional heat generated by the operation of the connecting arm cylinder 51 and the internal drive components of the annular chamber 54, achieving active heat dissipation of the internal cavity. At the same time, the outward blowing airflow can effectively remove the dust and impurities accumulated inside the cavity, preventing dust accumulation from causing component jamming and wear. Several convex balls 56 evenly distributed on the lower surface of the connecting circular plate 55 can reduce the rigid contact area at the downward limit position of the connecting circular plate 55, buffer the impact of the ultimate downward pressure, and further improve the structural protection effect. Among them, the fixed disc spring 522 is fixedly assembled at the upper and lower ends of the connecting arm cylinder 51, which can form a partitioned buffer structure with the moving disc spring 523 in the middle. Combined with the elastic deformation performance of the disc spring stacked structure, it greatly improves the impact resistance under clamping conditions and effectively solves the problems of impact load return and component damage in traditional cylinder direct drive structures.

[0034] Meanwhile, the structural layout of the connecting boom 51 having a radial dimension smaller than that of the annular chamber 54 ensures that the annular chamber 54 has sufficient ventilation chamber space, ensuring that the heat dissipation and dust prevention effects of the small reciprocating motion of the chamber during the transfer process remain effective, maintaining a stable working environment for the internal transmission components, and improving the stability and safety of the equipment under heavy load.

[0035] When the drive cylinder 521 controls the drive shaft to extend downwards again, it drives the working claw block 42 to expand outwards again, releasing the clamping limit on the goods, and the goods are successfully unloaded. After unloading, the drive cylinder 521 retracts upwards to reset, and the moving disc spring 523 resets upwards synchronously with the drive shaft, readjusting the equipment to the initial unloaded state, restoring the initial pre-tightened balance state of the structure, and realizing the adaptive reset under working conditions. At the same time, the connecting circular plate 55 slides upwards with the drive shaft, and a negative pressure environment is formed inside the annular chamber 54. Outside air is released through the narrow-at-the-top and wide-at-the-bottom leak. The funnel-shaped vent 57 is drawn into the cavity; the funnel-shaped structure has a small opening facing inward and a large opening facing outward. When air is introduced, the gradually changing channel structure can guide and block the airflow mixed with dust from the outside. The large diameter outer end can initially block large particles of impurities, while the narrowed inner end can slow down the airflow velocity and inhibit the dust and fine dust particles from being drawn into the chamber by negative pressure. This effectively blocks external dust and impurities from entering the cavity. At the same time, it can even out the airflow and improve the air intake efficiency, continuously replace the high-temperature air inside the cavity to cool the components, and ensure that the inside of the annular chamber 54 always maintains a normal working temperature during reciprocating operation, providing a stable structural foundation for the next clamping operation.

[0036] Example 2: Based on Example 1, please refer to Figures 7-10 As shown, a rotary drive assembly 53 is provided inside the connecting arm cylinder 51. The rotary drive assembly 53 includes a drive motor 531. A threaded shaft 532 is fixedly mounted on the outer wall of the output shaft of the drive motor 531. A nut sleeve 533 is threadedly connected to the outer wall of the threaded shaft 532. A ball screw structure is formed between the threaded shaft 532 and the nut sleeve 533. A limiting shaft 534 is symmetrically fixedly mounted on the outer wall of the nut sleeve 533. The limiting shaft 534 is fixedly mounted to the annular chamber 54.

[0037] It should be noted that the outer wall of the drive motor 531 is fitted with a movable sleeve 535, the movable sleeve 535 is slidably mounted on the inner wall of the connecting arm cylinder 51, and a fixed collar 536 is fixedly mounted on the outer wall of the output shaft of the drive motor 531. Several elastic cables 537 are fixedly mounted on the surface of the fixed collar 536. The several elastic cables 537 pass through the fixed collar 536 from top to bottom, and the upper end of the several elastic cables 537 is fixedly mounted to the movable sleeve 535, and the lower end is fixedly mounted to the connecting circular plate 55.

[0038] Specifically, this embodiment is another set of implementation structures. The overall frame structure of the equipment, the rotating base 1, the upper arm unit 2, the lower arm unit 3, the gripper assembly 4, and the heat dissipation and dust prevention structure of the annular compartment 54, the connecting circular plate 55, and the funnel-shaped ventilation hole 57 are all consistent with the first embodiment. The basic working process of manipulator posture adjustment, cargo clamping and alignment, and internal cavity ventilation, heat dissipation and dust prevention is exactly the same as the first embodiment, and will not be repeated here. The core difference between this embodiment and the first embodiment is that a rotary drive component 53 is introduced inside the connecting arm cylinder 51. The motor to ball screw rotary to linear transmission structure is combined with multiple sets of elastic cables 537 torsional buffer structure to achieve a more stable and highly protected drive operation of the gripper.

[0039] The rotary drive assembly 53 is equipped with a drive motor 531 as the core power source. The output shaft of the drive motor 531 is fixedly mounted with a threaded shaft 532. The threaded shaft 532 and the nut sleeve 533 are threaded together to form a ball screw transmission structure, which can convert the rotational motion of the drive motor 531 into the linear displacement motion of the nut sleeve 533. The outer wall of the nut sleeve 533 is symmetrically equipped with a limiting shaft 534. The end of the limiting shaft 534 is fixedly connected to the annular chamber 54. Through the circumferential limiting constraint of the limiting shaft 534, the nut sleeve 533 is prevented from rotating synchronously with the threaded shaft 532, ensuring that the nut sleeve 533 only performs vertical linear reciprocating motion, and realizing a stable conversion from rotation to linear transmission.

[0040] Meanwhile, a movable sleeve 535 is slidably fitted onto the outer wall of the drive motor 531. The movable sleeve 535 slides against the inner wall of the connecting arm cylinder 51, providing radial sliding support and limiting guidance for the drive motor 531. During equipment assembly, the assembly position of the movable sleeve 535 can be adjusted by sliding it up and down, thereby synchronously adjusting the initial tension of each set of elastic cables 537. This achieves assembly adaptation and adjustment of the preload of the elastic cables 537, ensuring uniform force distribution and consistent initial buffering performance across multiple sets of elastic cables 537. The outer side of the output shaft of the drive motor 531... The equipment is fixedly equipped with a fixed collar 536. The upper end of each elastic cable 537 is fixedly connected to the movable sleeve 535, and the lower end is fixedly connected to the connecting circular plate 55, forming an elastic connection structure that pulls up and down. During the operation of the equipment, the drive motor 531 drives the threaded shaft 532 to rotate and transmit power. The screw structure drives the end structure to linearly displace and complete the opening and closing operation of the gripper. At the same time, the drive motor 531 rotates and drives the fixed collar 536 to twist, so that multiple sets of elastic cables 537 twist and store energy synchronously, realizing the functions of rotational torque buffering, transmission shock absorption and reset assistance.

[0041] This embodiment relies on the characteristics of ball screw transmission combined with the 537 elastic cable torsion buffer structure to improve the shortcomings of traditional motor screw transmission, such as large impact torque, easy damage due to overload, and easy loosening of the claw upon impact. At the same time, it retains the advantages of adaptive working condition matching and piston-type ventilation and dust prevention in Embodiment 1, enabling the robot to have multiple performances such as high-precision transmission, two-way buffer protection, and long-term dust prevention and heat dissipation, further improving the stability, accuracy and service life of railway cargo loading and unloading operations.

[0042] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent robotic arm for loading and unloading railway freight transport, comprising a rotating base (1), a large arm unit (2) mounted on top of the rotating base (1), a small arm unit (3) mounted at the end of the large arm unit (2), and a connecting gripper assembly (4) provided at the end of the small arm unit (3), characterized in that: The forearm unit (3) is provided with a dynamic buffer mechanism (5) at the end away from the upper arm unit (2). The dynamic buffer mechanism (5) includes a connecting arm cylinder (51) assembled between the forearm unit (3) and the gripper assembly (4). The connecting arm (51) is provided with a translation drive assembly (52). The translation drive assembly (52) includes a drive cylinder (521), a fixed disc spring (522), and a movable disc spring (523). The fixed disc spring (522) and the movable disc spring (523) are axially partitioned along the outer wall of the drive cylinder (521). The movable disc spring (523) changes its axial position synchronously with the drive shaft of the drive cylinder (521) to adapt to the initial assembly pre-tightening state of the translation drive assembly (52) and the dynamic use state during cargo grabbing operations, so as to realize the adaptive matching of the buffer position under different working conditions. The end face of the translation drive assembly (52) is equipped with an annular chamber (54). A connecting circular plate (55) that is fixedly mounted to the drive shaft of the drive cylinder (521) is slidably mounted inside the annular chamber (54). The outer wall of the connecting circular plate (55) and the inner wall of the annular chamber (54) cooperate to form a piston cylinder structure. A vent hole (57) is opened on the bottom wall of the annular chamber (54). The connecting circular plate (55) moves back and forth synchronously with the drive shaft. When it moves downward, it exhausts air outward through the vent hole (57). When it moves upward, it enters air under negative pressure through the vent hole (57) to achieve heat dissipation in the cavity.

2. The intelligent robotic arm for loading and unloading railway freight transport according to claim 1, characterized in that: The slewing base (1) is fixedly equipped with a waist slewing joint (11), the upper arm unit (2) includes an upper arm body (21), the root of the upper arm body (21) is rotatably assembled to the side wall of the waist slewing joint (11), and a shoulder joint (22) is rotatably assembled at the end of the upper arm body (21) away from the waist slewing joint (11). The forearm unit (3) includes a forearm body (31) rotatably mounted on the outer wall of the shoulder joint (22), an elbow joint (32) rotatably mounted at the end of the forearm body (31) away from the shoulder joint (22), and a rotary joint (33) rotatably mounted inside the elbow joint (32). The gripper assembly (4) includes a power transmission component (41) and a working gripper block (42). The power transmission component (41) is fixedly assembled with the drive shaft of the translation drive assembly (52). The operation of the drive shaft controls the movement of the power transmission component (41), thereby driving the working gripper block (42) to expand and contract to achieve cargo gripping.

3. The intelligent robotic arm for loading and unloading railway freight transport according to claim 2, characterized in that: The fixed disc spring (522) and the movable disc spring (523) are both composed of several single disc springs stacked together. The fixed disc spring (522) is fixedly mounted on the upper and lower ends of the inner wall of the connecting arm cylinder (51). The movable disc spring (523) is located between the two sets of fixed disc springs (522) and is fixedly mounted on the outer wall of the drive shaft of the drive cylinder (521).

4. The intelligent robotic arm for loading and unloading railway freight transport according to claim 3, characterized in that: The radial radius of the connecting arm (51) is smaller than that of the annular chamber (54).

5. The intelligent robotic arm for loading and unloading railway freight transport according to claim 4, characterized in that: The lower surface of the connecting circular plate (55) is uniformly fixed with several convex balls (56).

6. The intelligent robotic arm for loading and unloading railway freight transport according to claim 1, characterized in that: The vent (57) is a funnel shape that is narrow at the top and wide at the bottom.

7. The intelligent robotic arm for loading and unloading railway freight transport according to claim 2, characterized in that: The connecting arm cylinder (51) is provided with a rotary drive assembly (53), which includes a drive motor (531). A threaded shaft (532) is fixedly mounted on the outer wall of the output shaft of the drive motor (531). A nut sleeve (533) is threadedly connected to the outer wall of the threaded shaft (532). The threaded shaft (532) and the nut sleeve (533) form a ball screw structure.

8. The intelligent robotic arm for loading and unloading railway freight transport according to claim 7, characterized in that: The outer wall of the nut sleeve (533) is symmetrically fixedly assembled with the limiting shaft (534), and the limiting shaft (534) is fixedly assembled with the annular chamber (54).

9. The intelligent robotic arm for loading and unloading railway freight transport according to claim 8, characterized in that: The outer wall of the drive motor (531) is fitted with a movable sleeve (535), which is slidably mounted on the inner wall of the connecting arm cylinder (51).

10. The intelligent robotic arm for loading and unloading railway freight transport according to claim 9, characterized in that: A fixed collar (536) is fixedly mounted on the outer wall of the output shaft of the drive motor (531). A plurality of elastic cords (537) are fixedly mounted on the surface of the fixed collar (536). The plurality of elastic cords (537) pass through the fixed collar (536) from top to bottom. The upper end of the plurality of elastic cords (537) is fixedly mounted to the movable sleeve (535), and the lower end is fixedly mounted to the connecting circular plate (55).

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