A full-automatic uncoupling and recoupling robot for train cars

Abstract

The present application relates to train coupler uncoupling and recoupling technology field, specifically to a kind of train carriage full-automatic uncoupling and recoupling robot, including uncoupling and recoupling mobile platform, the mounting seat of fixed in uncoupling and recoupling mobile platform inside moving block top end and the uncoupling and recoupling mechanical arm of fixed in mounting seat top end, the execution end of uncoupling and recoupling mechanical arm is fixedly connected with connecting seat, the present application is equipped with trigger maintenance component and contact coating component, uncoupling and recoupling operation and knuckle pin lubrication maintenance are simultaneously carried out, while completing the operation of train coupler uncoupling and recoupling, lubricating medium is applied to knuckle pin, lubricating liquid can infiltrate into shaft rotation gap, reduce knuckle rotation resistance, the structure belongs to railway coupler operating equipment in rail transit equipment industry, adapt to high-speed railway traffic maintenance complete set large-scale mechanical equipment intensive operation demand, without setting maintenance station alone, save train coupler transfer process, compress repair procedure, reduce operation and maintenance manpower investment, improve the problem of traditional uncoupling and recoupling equipment function single.

Description

Technical Field

[0001] This invention relates to the field of train coupler uncoupling and recoupling technology, specifically to a fully automated train car uncoupling and recoupling robot. Background Technology

[0002] With the continuous upgrading of the rail transit equipment industry, the demand for intelligent large-scale mechanical equipment for high-speed railway maintenance is becoming increasingly prominent. As a core operational unit in the vehicle inspection and maintenance process, the technological iteration of railway vehicle coupler-specific operating equipment has attracted much attention from the industry. Existing fully automated train car coupler uncoupling and recoupling robots mainly consist of a mobile platform, a mounting base, a multi-degree-of-freedom coupler uncoupling and recoupling robotic arm, and an end effector. During operation, the platform adjusts the work position, and the robotic arm drives the end effector to precisely align the coupler of the car to be maintained. The clamping assembly holds the coupler body, and the rotary drive structure completes the unlocking, uncoupling, and recoupling actions of the coupler. This replaces manual labor in completing the uncoupling and marshalling operations before and after vehicle maintenance, and is widely used in various maintenance scenarios at high-speed railway depots.

[0003] The coupler tongue pin is the core rotating component for the coupler to complete the unlocking, engagement, and reset actions. During train operation and multiple uncoupling and recoupling operations, it is subjected to friction for a long time, which can easily lead to grease failure, accumulation of dirt and rust. If maintenance is not in place, the coupler tongue will become stuck, affecting the reliability of maintenance and marshalling operations. Therefore, the lubrication and maintenance of the coupler tongue pin is an essential procedure in vehicle maintenance.

[0004] The existing coupler operation equipment used in the rail transit equipment industry has a single function, which can only complete the basic actions of uncoupling and recoupling the carriages. It cannot simultaneously lubricate and maintain the coupler tongue pin during the uncoupling and recoupling operations. The maintenance of the coupler tongue pin can only be carried out manually or by independent equipment at a separate work station. The uncoupling and recoupling process and the maintenance process are separated from each other, the operation flow is cumbersome, the maintenance time is extended, and the operation and maintenance costs are increased. It is difficult to meet the development needs of integrated and intensive intelligent operation and maintenance of large-scale mechanical equipment for high-speed railway transportation maintenance. Summary of the Invention

[0005] The purpose of this invention is to provide a fully automated train car uncoupling and recoupling robot to solve the problems mentioned in the background art, where the existing rail transit equipment used in the industry has a single function, can only complete the basic actions of uncoupling and recoupling the cars, and cannot simultaneously lubricate and maintain the coupler pins during uncoupling and recoupling operations. The shaft maintenance needs to be carried out manually or by separate equipment at a separate workstation. The two processes are separated, the operation flow is cumbersome, and the maintenance time and operation costs are increased. It is difficult to meet the integrated and intensive intelligent operation and maintenance needs of large-scale mechanical equipment for high-speed railway transportation maintenance.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a fully automatic uncoupling and recoupling robot for train carriages, comprising an uncoupling and recoupling moving platform, a mounting base fixed to the top of a moving block inside the uncoupling and recoupling moving platform, and an uncoupling and recoupling robotic arm fixed to the top of the mounting base. The execution end of the uncoupling and recoupling robotic arm is fixedly connected to a connecting seat. One end of the connecting seat is fixedly mounted with a mounting frame. A hook-uncoupling gripper is fixedly mounted on the outer side of one side of the mounting frame. An arc-shaped contact block is provided at the end of the mounting frame away from the hook-uncoupling gripper. A contact application component is provided on one side of the arc-shaped contact block. A sleeve column is fixedly inserted through the inner side of the mounting frame near the arc-shaped contact block. A trigger maintenance component is provided inside the sleeve column. A stepper motor is fixedly mounted on the outer side of the mounting frame near the sleeve column. A recoupling drive component is provided at the output end of the stepper motor. The trigger maintenance component includes a sliding sealing block and a liquid guiding cavity. The sliding sealing block is slidably and sealingly installed inside the bottom end of the sleeve column, and the liquid guiding cavity is annularly formed in the inner wall of the sleeve column.

[0007] Furthermore, a metering pump is fixedly installed on one side of the mounting frame, and a liquid guide pipe is fixedly connected to the output end of the metering pump. A positioning frame is fixedly installed in the middle of the sleeve column, and an abutment rod is vertically and slidably installed through the middle of the positioning frame. The bottom end of the abutment rod is fixedly connected to the top end of the sliding sealing block, and a pressing block is fixedly installed at the top end of the abutment rod. A compression spring is sleeved on the outside of the abutment rod.

[0008] Furthermore, the two ends of the compression spring are respectively fixedly installed on the top end of the sliding sealing block and the bottom end of the positioning frame. A single-press limit switch is fixedly installed on the side of the positioning frame near the top of the pressing block. The pressing end of the single-press limit switch faces the top of the pressing block. The output end of the liquid guide tube is fixedly connected to a three-way connector.

[0009] Furthermore, the other two ports of the three-way connector away from the liquid guiding tube are respectively connected and fixed to the limiting liquid injection tube and the spring liquid injection tube. The other end of the limiting liquid injection tube passes through and is sealed and fixed in the wall of the sleeve column, and communicates with the liquid guiding cavity. Several drainage holes are opened around the inner wall of the sleeve column near the sliding sealing block and the liquid guiding cavity.

[0010] Furthermore, the compound hook drive assembly includes a drive gear and a transmission gear ring. The drive gear is sleeved and fixed outside the output end of the stepper motor. The transmission gear ring is sleeved and rotatably engaged outside the sleeve column. The drive gear and the transmission gear ring are meshed and connected.

[0011] Furthermore, a drive frame is fixedly installed on the side of the transmission gear ring away from the drive gear, and the end of the drive frame away from the transmission gear ring is fixedly connected to the top of the arc-shaped contact block. An identification camera is provided on the outside of one side of the sleeve column, and a cleaning component is provided on the outside of the transmission gear ring.

[0012] Furthermore, the contact application assembly includes a liquid storage cavity and a sponge pad. The liquid storage cavity is located inside the arc-shaped contact block, and the sponge pad is snapped and fixed to the outside of the arc-shaped surface of the arc-shaped contact block. Several liquid guiding holes are provided through the interior of the liquid storage cavity and the sponge pad.

[0013] Furthermore, a sealing joint is fixed to the top of the arc-shaped contact block, the bottom end of the sealing joint penetrates and is sealed and fixed in the top wall of the arc-shaped contact block, and is connected to the liquid storage cavity, and the top end of the sealing joint is fixedly connected to the output end of the spring injection tube.

[0014] Furthermore, the cleaning assembly includes a fixed rod, an auxiliary frame, and a wiping brush. One end of the fixed rod is fixedly installed on the edge of the transmission gear ring, the auxiliary frame is fixedly installed on the outside of the other end of the fixed rod, and the wiping brush is fixedly installed on the outside of the auxiliary frame on the side facing the recognition camera lens.

[0015] Furthermore, a support rod is fixedly installed on the side of the mounting bracket near the recognition camera, and a limit frame is fixedly installed on the end of the support rod near the recognition camera. One side of the limit frame is fixedly connected to one side of the recognition camera.

[0016] Compared with the prior art, the beneficial effects of the present invention are: This invention incorporates a trigger-based maintenance component and a contact-applying component, enabling simultaneous uncoupling and recoupling operations with lubrication and maintenance of the hook tongue pin. While completing the coupler uncoupling and rejoining operations, a lubricating medium is applied to the hook tongue pin. The lubricant can penetrate the shaft's rotation gap, reducing the hook tongue's rotational resistance. This structure belongs to the railway coupler operation equipment within the rail transit equipment industry, adapting to the intensive operation needs of large-scale mechanical equipment for high-speed railway maintenance. It eliminates the need for a separate maintenance station, simplifies the coupler transfer process, reduces maintenance procedures, and decreases manpower input for operation and maintenance. The drain hole can be sealed by a sliding sealing block in non-operating states, preventing dust and metal filings from entering the fluid guide cavity, reducing the risk of pipeline blockage, extending the component's service life, and improving the single-function problem of traditional uncoupling and recoupling equipment.

[0017] This invention incorporates a cleaning component. A transmission gear ring drives a fixed rod, auxiliary frame, and wiping brush in conjunction with the coupler drive assembly. The identification camera is stably fixed by a support rod and a limiting frame. The wiping brush simultaneously wipes the camera lens during the coupler uncoupling process, promptly cleaning dust and impurities adhering to the maintenance environment, maintaining clear lens imaging, and ensuring the visual recognition accuracy of the coupler and coupler tongue pin. This supporting structure represents an optimized design for coupler operation devices in the rail transit equipment industry. It is suitable for continuous operation scenarios of large-scale mechanical equipment for high-speed railway maintenance and repair. It eliminates the need for an additional independent drive source, relying on existing coupler power to achieve on-the-fly cleaning, reducing manual lens wiping and maintenance, and improving the stability of the entire coupler operation equipment during long-term continuous operation. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a three-dimensional structural diagram of the mounting bracket and connecting seat of the present invention; Figure 3 This is a three-dimensional structural diagram of the arc-shaped contact block and the drive frame of the present invention; Figure 4 This is a three-dimensional structural diagram of the stepper motor and drive gear of the present invention; Figure 5 This is a partial cross-sectional three-dimensional structural schematic diagram of the sleeve column and sliding sealing block of the present invention; Figure 6 For the present invention Figure 5 Enlarged structural diagram at point A in the middle; Figure 7 This is a schematic diagram demonstrating the contact between the sliding sealing block and the hook tongue pin of the present invention; Figure 8 This is a partial cross-sectional three-dimensional structural schematic diagram of the arc-shaped contact block and the sponge pad of the present invention; Figure 9 For the present invention Figure 8 Enlarged structural diagram at point B; Figure 10 This is a schematic diagram demonstrating the re-hooking operation performed by rotating the arc-shaped contact block to drive the hook tongue to open and close. Figure 11 This is a three-dimensional structural diagram of the support rod and the limiting frame of the present invention; Figure 12 For the present invention Figure 11 Enlarged structural diagram at point C.

[0019] In the attached diagram, the components represented by each number are as follows: 1. Hook removal and retraction moving platform; 2. Mounting base; 3. Hook removal and retraction robotic arm; 4. Mounting frame; 5. Connecting seat; 6. Hook removal gripper; 7. Stepper motor; 8. Sleeve column; 9. Arc-shaped contact block; 10. Metering pump; 11. Sliding sealing block; 12. Single-press limit switch; 13. Liquid guide tube; 14. T-connector; 15. Limiting injection tube; 16. Liquid guide chamber. 17. Positioning frame; 18. Abutment rod; 19. Compression spring; 20. Drive gear; 21. Transmission gear ring; 22. Drive frame; 23. Spring injection tube; 24. Recognition camera; 25. Drain hole; 26. Liquid storage chamber; 27. Sponge pad; 28. Liquid guide hole; 29. ​​Sealing joint; 30. Support rod; 31. Limiting frame; 32. Fixing rod; 33. Auxiliary frame; 34. Wiping brush; 35. Pressing block. Detailed Implementation

[0020] 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.

[0021] Example 1: Please refer to Figures 1-10 A fully automatic uncoupling and recoupling robot for train carriages includes an uncoupling and recoupling moving platform 1, a mounting base 2 fixed to the top of a moving block inside the uncoupling and recoupling moving platform 1, and an uncoupling and recoupling robotic arm 3 fixed to the top of the mounting base 2. The execution end of the uncoupling and recoupling robotic arm 3 is fixedly connected to a connecting seat 5. A mounting frame 4 is fixedly installed at one end of the connecting seat 5. An uncoupling gripper 6 is fixedly installed on the outside of one side of the mounting frame 4. An arc-shaped contact block 9 is provided at the end of the mounting frame 4 away from the uncoupling gripper 6. A contact coating component is provided on one side of the arc-shaped contact block 9. A sleeve column 8 is fixedly inserted through the inside of the end of the mounting frame 4 near the arc-shaped contact block 9. A trigger maintenance component is provided inside the sleeve column 8. A stepper motor 7 is fixedly installed on the outside of the side of the mounting frame 4 near the sleeve column 8. A recoupling drive component is provided at the output end of the stepper motor 7. The trigger maintenance component includes a sliding sealing block 11 and a liquid guiding cavity 16. The sliding sealing block 11 is slidably sealed inside the bottom end of the sleeve column 8. The liquid guiding cavity 16 is annularly opened in the inner wall of the sleeve column 8.

[0022] A metering pump 10 is fixedly installed on one side of the mounting bracket 4. The output end of the metering pump 10 is connected to a liquid guide pipe 13. A positioning bracket 17 is fixedly installed in the middle of the sleeve column 8. An abutment rod 18 is vertically and slidably installed in the middle of the positioning bracket 17. The bottom end of the abutment rod 18 is fixedly connected to the top end of the sliding sealing block 11. A pressing block 35 is fixedly installed at the top end of the abutment rod 18. A compression spring 19 is sleeved on the outside of the abutment rod 18.

[0023] The two ends of the compression spring 19 are fixedly installed on the top of the sliding sealing block 11 and the bottom of the positioning frame 17, respectively. A single-press limit switch 12 is fixedly installed on the side of the positioning frame 17 near the top of the pressing block 35. The pressing end of the single-press limit switch 12 faces the top of the pressing block 35. The output end of the liquid guide tube 13 is fixedly connected to a three-way connector 14.

[0024] The other two ports of the three-way connector 14, away from the liquid guide tube 13, are respectively connected to and fixed with the limiting liquid injection tube 15 and the spring liquid injection tube 23. The other end of the limiting liquid injection tube 15 passes through and is sealed and fixed in the wall of the sleeve column 8, and communicates with the liquid guide cavity 16. Several drainage holes 25 are opened around the inner wall of the sleeve column 8 near the sliding sealing block 11 and the liquid guide cavity 16.

[0025] The double hook drive assembly includes a drive gear 20 and a transmission gear ring 21. The drive gear 20 is sleeved and fixed outside the output end of the stepper motor 7. The transmission gear ring 21 is sleeved and rotated and engaged outside the sleeve column 8. The drive gear 20 and the transmission gear ring 21 are meshed and connected.

[0026] A drive frame 22 is fixedly installed on the side of the transmission gear ring 21 away from the drive gear 20. The end of the drive frame 22 away from the transmission gear ring 21 is fixedly connected to the top of the arc-shaped contact block 9. A recognition camera 24 is provided on the outside of one side of the sleeve column 8.

[0027] The contact application assembly includes a liquid reservoir 26 and a sponge pad 27. The liquid reservoir 26 is located inside the arc-shaped contact block 9, and the sponge pad 27 is snapped and fixed to the outside of the arc-shaped surface of the arc-shaped contact block 9. Several liquid guiding holes 28 are provided through the interior of the liquid reservoir 26 and the sponge pad 27.

[0028] A sealing joint 29 is fixed to the top of the arc-shaped contact block 9. The bottom end of the sealing joint 29 passes through and is sealed and fixed in the top wall of the arc-shaped contact block 9, and is connected to the liquid storage chamber 26. The top end of the sealing joint 29 is fixedly connected to the output end of the spring injection tube 23.

[0029] In this embodiment, the device belongs to the railway vehicle coupler-specific operating equipment in the rail transit equipment industry, and is classified as a refined operation and maintenance unit of large-scale mechanical equipment for high-speed railway maintenance. The entire device is assembled and arranged in the side operation area of ​​the high-speed railway maintenance track. After the maintenance carriage enters the maintenance work position and completes positioning and stopping, the entire device enters the operation state. During the operation, the uncoupling and recoupling moving platform 1 can make fine adjustments to the lateral and longitudinal positions according to the actual parking position of the carriage. In conjunction with the uncoupling and recoupling robotic arm 3 at the top of the mounting base 2, it can achieve multi-degree-of-freedom precise posture adjustment. The uncoupling and recoupling robotic arm 3 drives the mounting frame 4 to move as a whole through the connecting seat 5 at the end. This allows the recognition camera 24 mounted on one side of the mounting frame 4 to collect the coupler position and coupler tongue pin posture information in real time, and complete the intelligent identification and alignment calibration of the coupler position, providing a precise positioning basis for subsequent automated uncoupling and recoupling and synchronous maintenance operations. After alignment, the uncoupling gripper 6 on one side of the mounting frame 4 precisely clamps the main structure of the coupler, and completes the basic work of coupler unlocking and uncoupling in accordance with the equipment's preset program. After uncoupling, the uncoupling and recoupling robotic arm 3 drives the end mechanism to initially reset, waiting for the recoupling and maintenance process to start.

[0030] When the vehicle maintenance is completed and the re-hooking operation begins, the unhooking robotic arm 3 moves the mounting frame 4 forward again. The identification camera 24 then precisely identifies the position of the hook tongue pin, ensuring the sleeve column 8 is accurately fitted onto the protruding top of the hook tongue pin, completing the precise alignment of the maintenance station. As the sleeve column 8 continues to press down, the sliding sealing block 11 inside the sleeve column 8 slides upward relative to the sleeve column 8, simultaneously driving the bottom-fixed abutment rod 18 upward. The compression spring 19 is compressed and stores energy, causing the pressing block 35 at the top of the abutment rod 18 to move upward and press the single-press limit switch 12. The single-press limit switch 12 receives the trigger signal and feeds it back to the control system. After the single-press limit switch 12 is triggered, the control system controls the quantitative liquid supply pump 10 to run once according to a preset time or preset displacement before stopping. The input end of the quantitative liquid supply pump 10 is pre-connected to an external oil guide pipe, enabling continuous liquid replenishment and ensuring the needs of long-term continuous operation and maintenance.

[0031] The metered lubricating and maintenance fluid output by the metered supply pump 10 is delivered to the three-way connector 14 via the liquid guide pipe 13, and is divided into two independent delivery paths to achieve synchronous maintenance operations in different zones. The first path of lubricating and maintenance fluid is introduced into the liquid guide cavity 16 inside the inner wall of the sleeve column 8 through the limiting injection pipe 15. As the sliding sealing block 11 moves upward to avoid it, several drainage holes 25 opened around the side wall of the sleeve column 8 are fully exposed. The lubricating fluid inside the liquid guide cavity 16 is evenly sprayed onto the outer wall of the hook tongue pin through the drainage holes 25. The lubricating fluid naturally seeps into the inner gap of the rotating shaft along the outer wall of the shaft, providing lubrication and maintenance for the hook tongue pin rotating pair that is prone to long-term friction and easy accumulation of dirt and corrosion. This improves the dry and sluggish working conditions of the shaft, adapts to the refined operation and maintenance standards of large-scale mechanical equipment for high-speed railway transportation maintenance, and enhances the standardization of coupler operation and maintenance in the rail transit equipment industry.

[0032] Meanwhile, the second lubricating fluid is introduced into the storage chamber 26 inside the arc-shaped contact block 9 through the spring injection tube 23. The lubricating fluid inside the storage chamber 26 slowly permeates into the sponge pad 27 on the outside of the arc-shaped contact block 9 through several guide holes 28, so that the sponge pad 27 evenly absorbs a certain amount of lubricating fluid, realizing the pre-storage of the lubricating medium. After the shaft spraying maintenance is completed, the stepper motor 7 starts working, driving the drive gear 20 to rotate through the output end. The drive gear 20 meshes with the transmission gear ring 21 on the outside of the transmission, so that the transmission gear ring 21 rotates relative to the sleeve column 8. The transmission gear ring 21 drives the arc-shaped contact block 9 to rotate synchronously through the drive frame 22.

[0033] During the rotation of the arc-shaped contact block 9, the sponge pad 27, soaked in lubricant, continuously adheres to the contact surface of the coupler to complete the wiping and coating operation, forming a uniform lubricating film on the coupler docking surface. This effectively reduces hard friction loss during subsequent coupler engagement and reduces docking jamming. The single-supply mode ensures that the sponge pad 27 absorbs only the appropriate amount of lubricant for the task, avoiding contamination and waste caused by excessive lubricant accumulation, and ensuring the cleanliness and economy of maintenance operations. During the rotation of the arc-shaped contact block 9, the coupler tongue can be pushed to adjust the opening and correct its posture, ensuring accurate coupler engagement and reset in the future.

[0034] After the hook posture correction and end face coating maintenance are completed, the stepper motor 7 reverses to drive the various transmission structures to reset. The compression spring 19 releases its elastic energy to push the sliding sealing block 11 and the contact rod 18 downward to reset as a whole. The sliding sealing block 11 moves downward to reseal the drain hole 25, preventing dust, iron filings and other impurities from entering the liquid guiding chamber 16, reducing the possibility of blockage in the drain hole 25, maintaining smooth fluid passage, extending the service life of the trigger maintenance components, and reducing the frequency of daily maintenance of the equipment. At the same time, the single-press limit switch 12 releases the pressing state, and the equipment ends this round of maintenance operation. Finally, the hook removal robot arm 3 drives the end actuator to retract and reset as a whole, completing an automated operation and maintenance process that integrates hook removal, intelligent alignment, shaft spraying maintenance, end face coating, hook tongue posture correction and hook docking.

[0035] Example 2: Please refer to Figures 10-12 This embodiment further illustrates Example 1, wherein a cleaning component is provided on the outside of the transmission gear ring 21.

[0036] The cleaning assembly includes a fixing rod 32, an auxiliary frame 33, and a wiping brush 34. One end of the fixing rod 32 is fixedly installed on the edge of the transmission gear ring 21, the auxiliary frame 33 is fixedly installed on the outside of the other end of the fixing rod 32, and the wiping brush 34 is fixedly installed on the outside of the side of the auxiliary frame 33 facing the lens end of the recognition camera 24.

[0037] A support rod 30 is fixedly installed on the side of the mounting bracket 4 near the recognition camera 24. A limit bracket 31 is fixedly installed on the end of the support rod 30 near the recognition camera 24. One side of the limit bracket 31 is fixedly connected to one side of the recognition camera 24.

[0038] In this embodiment, based on the automated uncoupling and synchronous lubrication maintenance of Embodiment 1, a matching cleaning component is added. This represents an optimized structural design for railway vehicle coupler-specific operating equipment in the rail transit equipment industry, further improving the intelligent operation and maintenance performance of large-scale mechanical equipment for high-speed railway maintenance. The identification camera 24 is fixedly installed via the support rod 30 and the limiting frame 31. The limiting frame 31 provides stable clamping and limiting for the identification camera 24, effectively restricting slight vibrations and displacements during equipment operation, ensuring the stability of the installation posture of the identification camera 24, and continuously maintaining the accuracy of coupler alignment recognition, providing stable visual positioning support for fully automated uncoupling and maintenance operations.

[0039] Throughout the entire process of unhooking, rehooking, and maintenance operations, the stepper motor 7 drives the drive gear 20 to rotate. The drive gear 20 continuously meshes with the transmission gear ring 21, thereby driving the transmission gear ring 21 to reciprocate. The fixing rod 32, which is fixed to the edge of the transmission gear ring 21, can swing synchronously with the transmission gear ring 21, causing the auxiliary frame 33 and the wiping brush 34 to follow suit. When the wiping brush 34 rotates with the transmission gear ring 21 to the lens end face of the recognition camera 24, it wipes and cleans the lens surface. During each unhooking, rehooking, and hook tongue posture correction operation, the lens surface can be wiped and cleaned synchronously. Dust, fine iron filings, and other impurities are easily generated in the high-speed rail maintenance work environment. Long-term accumulation on the lens surface can easily obstruct the field of view, reduce image recognition accuracy, and affect the accuracy of coupler alignment and hook tongue pin positioning.

[0040] This structure utilizes the rotational power of the existing double-hook drive assembly to achieve synchronous cleaning operations, eliminating the need for an additional drive power source. Through mechanical linkage, it achieves a follow-up cleaning function, eliminating the need for regular manual wiping and maintenance. This effectively meets the unmanned and intensive operation requirements of large-scale mechanical equipment for high-speed railway maintenance. During the reciprocating operation of the transmission gear ring 21, the wiping brush 34 wipes the lens of the identification camera 24, promptly removing attached dust and impurities, continuously ensuring lens light transmission and image clarity, avoiding alignment deviations and operational jams caused by lens contamination, and improving the stability and reliability of continuous equipment operation and maintenance.

[0041] This follow-up cleaning structure is deeply integrated with the coupler disengagement and coupling operation and shaft maintenance operation. It is a supporting and optimized functional structure of the coupler operation device. Unlike the traditional single-function coupler disengagement and coupling equipment, it effectively makes up for the shortcomings of existing rail transit equipment industry coupler operation and maintenance equipment that lacks autonomous cleaning and has poor continuous operation stability. It further improves the integrated operation and maintenance capabilities of the whole set of equipment, reduces the probability of equipment failure and the frequency of manual maintenance, and is suitable for the normalized and high-intensity intelligent inspection and maintenance operation scenarios of high-speed rail depots.

[0042] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0043] 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. A fully automatic uncoupling and recoupling robot for train carriages, comprising an uncoupling and recoupling moving platform (1), a mounting base (2) fixed to the top of a moving block inside the uncoupling and recoupling moving platform (1), and an uncoupling and recoupling robotic arm (3) fixed to the top of the mounting base (2), characterized in that: The execution end of the hook removal and re-hook robotic arm (3) is fixedly connected to a connecting seat (5). One end of the connecting seat (5) is fixedly mounted with a mounting frame (4). A hook removal gripper (6) is fixedly mounted on the outside of one side of the mounting frame (4). An arc-shaped contact block (9) is provided at the end of the mounting frame (4) away from the hook removal gripper (6). A contact coating component is provided on one side of the arc-shaped contact block (9). A sleeve column (8) is fixedly fixed inside the end of the mounting frame (4) near the arc-shaped contact block (9). A trigger maintenance component is provided inside the sleeve column (8). A stepper motor (7) is fixedly mounted on the outside of the side of the mounting frame (4) near the sleeve column (8). A hook removal drive component is provided at the output end of the stepper motor (7). The trigger maintenance component includes a sliding sealing block (11) and a liquid guiding cavity (16). The sliding sealing block (11) is slidably and sealed inside the bottom end of the sleeve column (8), and the liquid guiding cavity (16) is circumferentially opened in the inner wall of the sleeve column (8).

2. The fully automatic uncoupling and recoupling robot for train carriages according to claim 1, characterized in that: A metering pump (10) is fixedly installed on one side of the mounting bracket (4). The output end of the metering pump (10) is connected to a liquid guide pipe (13). A positioning bracket (17) is fixedly installed in the middle of the sleeve column (8). An abutment rod (18) is vertically slidably installed in the middle of the positioning bracket (17). The bottom end of the abutment rod (18) is fixedly connected to the top end of the sliding sealing block (11). A pressing block (35) is fixedly installed at the top end of the abutment rod (18). A compression spring (19) is sleeved on the outside of the abutment rod (18).

3. The fully automatic uncoupling and recoupling robot for train carriages according to claim 2, characterized in that: The two ends of the compression spring (19) are respectively fixedly installed at the top of the sliding sealing block (11) and the bottom of the positioning frame (17). A single-press limit switch (12) is fixedly installed on the side of the positioning frame (17) near the top of the pressing block (35). The pressing end of the single-press limit switch (12) faces the top of the pressing block (35). The output end of the liquid guide tube (13) is fixedly connected to a three-way connector (14).

4. The fully automatic uncoupling and recoupling robot for train carriages according to claim 3, characterized in that: The other two ports of the three-way connector (14) away from the liquid guide tube (13) are respectively connected to and fixed with the limiting liquid injection tube (15) and the spring liquid injection tube (23). The other end of the limiting liquid injection tube (15) passes through and is sealed and fixed in the wall of the sleeve column (8) and communicates with the liquid guide cavity (16). The inner wall of the sleeve column (8) near the sliding sealing block (11) and the liquid guide cavity (16) are provided with a number of drainage holes (25) that pass through it.

5. The fully automatic uncoupling and recoupling robot for train carriages according to claim 1, characterized in that: The double hook drive assembly includes a drive gear (20) and a transmission gear ring (21). The drive gear (20) is sleeved and fixed outside the output end of the stepper motor (7). The transmission gear ring (21) is sleeved and rotated and engaged outside the sleeve column (8). The drive gear (20) and the transmission gear ring (21) are meshed and connected.

6. The fully automatic uncoupling and recoupling robot for train carriages according to claim 5, characterized in that: A drive frame (22) is fixedly installed on the side of the transmission gear ring (21) away from the drive gear (20). The end of the drive frame (22) away from the transmission gear ring (21) is fixedly connected to the top of the arc-shaped contact block (9). An identification camera (24) is provided on the outside of one side of the sleeve column (8). A cleaning component is provided on the outside of the transmission gear ring (21).

7. The fully automatic uncoupling and recoupling robot for train carriages according to claim 4, characterized in that: The contact application assembly includes a liquid storage chamber (26) and a sponge pad (27). The liquid storage chamber (26) is located inside the arc-shaped contact block (9). The sponge pad (27) is snapped and fixed to the outside of the arc-shaped surface of the arc-shaped contact block (9). Several liquid guiding holes (28) are provided through the interior of the liquid storage chamber (26) and the sponge pad (27).

8. The fully automatic uncoupling and recoupling robot for train carriages according to claim 7, characterized in that: The top end of the arc-shaped contact block (9) is fixed with a sealing joint (29). The bottom end of the sealing joint (29) penetrates and is sealed and fixed in the top wall of the arc-shaped contact block (9) and is connected to the liquid storage chamber (26). The top end of the sealing joint (29) is fixedly connected to the output end of the spring injection tube (23).

9. The fully automatic uncoupling and recoupling robot for train carriages according to claim 6, characterized in that: The cleaning assembly includes a fixed rod (32), an auxiliary frame (33), and a wiping brush (34). One end of the fixed rod (32) is fixedly installed on the edge of the transmission gear ring (21), the auxiliary frame (33) is fixedly installed on the outside of the other end of the fixed rod (32), and the wiping brush (34) is fixedly installed on the outside of the auxiliary frame (33) on the side facing the lens end of the recognition camera (24).

10. The fully automatic uncoupling and recoupling robot for train carriages according to claim 9, characterized in that: A support rod (30) is fixedly installed on the side of the mounting bracket (4) near the recognition camera (24). A limit frame (31) is fixedly installed on the end of the support rod (30) near the recognition camera (24). One side of the limit frame (31) is fixedly connected to one side of the recognition camera (24).

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