Automatic unhooking robot for separating train carriages

Abstract

The utility model provides an automatic unhooking robot for separating train carriages, which comprises a bottom plate, a six-dimensional moving mechanism and an unhooking mechanism, and the six-dimensional moving mechanism is arranged on the bottom plate and is in driving connection with the unhooking mechanism; the unhooking mechanism comprises a rotating mechanism and a clamping mechanism, the rotating mechanism is arranged on the six-dimensional moving mechanism, and the clamping mechanism is arranged at the tail end of the rotating end of the rotating mechanism. According to the automatic unhooking device, the six-dimensional moving mechanism and the unhooking mechanism are matched with each other, the six-dimensional moving mechanism moves the unhooking mechanism in six directions and dimensions, the unhooking mechanism clamps a compartment hook and unhooks the compartment hook after moving to a target position, and therefore automatic unhooking operation is achieved, manual operation is not needed, and the working efficiency is improved. The influence on the health of workers is avoided, the cost is reduced, and the efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the field of train unhooking, in particular to an automatic unhooking robot for separating train carriages. Background Art

[0002] The most common combustible material for thermal power generation is coal, which is usually loaded and transported by train. After being transported to the target location, the car is turned over by a car tipper to unload the coal. Before a thermal power plant uses a car tipper to unload coal, the entire train car needs to be unhooked and separated into one or two sections, that is, the hooks connecting the train cars need to be loosened before the individual cars can be turned over and unloaded.

[0003] At present, the unhooking process in thermal power plants generally adopts manual labor. This unhooking method currently has the following problems:

[0004] 1. The unhooking process is boring and monotonous, with a high degree of repetition, which not only wastes human resources but also has low efficiency;

[0005] 2. In the dumping area of ​​the car tipper, there is severe dust and noise, which has a negative impact on the health and safety of workers.

[0006] In summary, the current level of automation in hook removal operations is low, resulting in high labor costs and a significant impact on workers' health. Utility Model Content

[0007] In order to solve the problems existing in the background technology, the utility model proposes an automatic unhooking robot for separating train carriages.

[0008] An automatic unhooking robot for separating train carriages comprises a base plate, a six-dimensional moving mechanism and an unhooking mechanism, wherein the six-dimensional moving mechanism is arranged on the base plate and drives the connected unhooking mechanism; the unhooking mechanism comprises a rotating mechanism and a clamping mechanism, wherein the rotating mechanism is arranged on the six-dimensional moving mechanism, and the clamping mechanism is arranged at the end of the rotating end of the rotating mechanism.

[0009] Based on the above, the clamping mechanism includes a pneumatic clamp, and two clamp bodies of the pneumatic clamp are respectively provided with V-shaped grooves.

[0010] Based on the above, the rotating mechanism includes a support plate, a driving motor, a rotating shaft and a connecting piece. The support plate is arranged on the six-dimensional moving mechanism, the driving motor is arranged on the support plate, the rotating shaft is arranged on the support plate through a bearing, and the driving motor is coaxially driven and connected to the rotating shaft through a coupling; the connecting piece is arranged at the end of the rotating shaft.

[0011] Based on the above, the connecting member includes a first connecting block and a second connecting block, the second connecting block is arranged at the end of the rotating shaft, the first connecting block is arranged on the clamping mechanism, and the first connecting block is connected to the second connecting block by bolts.

[0012] Based on the above, the six-dimensional moving mechanism includes three groups of bidirectional movable slide modules arranged perpendicular to each other, and each bidirectional movable slide module includes a slide motor, a slide seat, a slide body and a screw rod. The screw rod is rotatably arranged on the slide body through a bearing, and slide grooves are arranged on both sides of the slide body. The two ends of the slide seat are slidably arranged in the slide grooves. A threaded through hole is arranged in the middle of the slide seat corresponding to the screw rod, and the screw rod is penetrated in the threaded through hole. The slide motor is arranged on the slide body and drives the screw rod.

[0013] Based on the above, the first bidirectional movable slide module is horizontally arranged on the base plate, the second bidirectional movable slide module is vertically arranged on the slide seat of the first bidirectional movable slide module, and the third bidirectional movable slide module is arranged on the slide seat of the second bidirectional movable slide module and is respectively perpendicular to the first bidirectional movable slide module and the second bidirectional movable slide module.

[0014] Based on the above, a reinforcing connecting plate is included, and the reinforcing connecting plate is arranged on the slide seat of the first bidirectional movable slide module and connected to the slide body of the second bidirectional movable slide module.

[0015] The utility model has substantial characteristics and progress compared with the prior art. Specifically, the utility model realizes the movement of the hook removing mechanism in six directions through the mutual cooperation of the six-dimensional moving mechanism and the hook removing mechanism. After moving to the target position, the hook removing mechanism clamps the carriage hook and performs the hook removing action, thereby realizing automatic hook removing operation without manual operation, avoiding the impact on workers' health, reducing costs and improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0017] Figure 2 It is a structural schematic diagram of the hook removing mechanism of the utility model.

[0018] Explanation of the accompanying drawings: 1. Base plate; 2. Slide body; 3. Reinforced connecting plate; 4. Slide motor; 5. Second bidirectional movable slide module; 6. Drive motor; 7. Third bidirectional movable slide module; 8. Clamp body; 9. Pneumatic clamp; 10. First connecting block; 11. Second connecting block; 12. Slide seat; 13. Bearing; 14. Shaft; 15. Support plate; 16. Coupling. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] like Figure 1-Figure 2 As shown, an automatic unhooking robot for separating train carriages includes a base plate 1, a six-dimensional moving mechanism and an unhooking mechanism, wherein the six-dimensional moving mechanism is arranged on the base plate 1 and drives the connected unhooking mechanism; the unhooking mechanism includes a rotating mechanism and a clamping mechanism, wherein the rotating mechanism is arranged on the six-dimensional moving mechanism, and the clamping mechanism is arranged at the end of the rotating end of the rotating mechanism.

[0021] When in use, the six-dimensional mobile mechanism is used to drive the hook-removing mechanism to move in six directions: front, back, left, right, up, and down. After moving to the target position, the clamping mechanism clamps the pull rod of the car hook lock pin, and then the rotating mechanism drives the clamping mechanism to rotate, and at the same time cooperates with the movement of the six-dimensional mobile mechanism to realize the rotation of the pull rod, and after the lock pin is disengaged from the pin hole, the hook-removing operation of the car hook is completed. In reality, the bottom plate 1 is fixed at a specific position next to the track or fixed on the mobile trolley. The bottom plate 1 is actually also provided with a positioning and recognition unit, such as a laser radar and a high-definition camera, for identifying the type and position of the car hook, etc. The bottom plate 1 or the mobile trolley is provided with an overall control system for controlling the six-dimensional mobile mechanism and the hook-removing mechanism according to the recognition results of the laser radar and the high-definition camera; the recognition, positioning and control adopt the existing common systems, which will not be repeated.

[0022] Specifically, the clamping mechanism includes a pneumatic clamp 9, and the two clamp bodies 8 of the pneumatic clamp 9 are respectively provided with V-shaped grooves. The pneumatic clamp 9 adopts the existing common pneumatic clamp 9, and the V-shaped grooves on the two clamp bodies 8 correspond to the pull rods for unhooking. The two V-shaped grooves are used to facilitate the clamping of the pull rods to prevent the pull rods from sliding relative to the clamp bodies 8. The rotating mechanism includes a support plate 15, a drive motor 6, a rotating shaft 14 and a connecting piece. The support plate 15 is arranged on the six-dimensional moving mechanism, so that the six-dimensional moving mechanism drives the drive motor 6 and the like to move along with the support plate 15 in six directions, thereby realizing the delivery of the pneumatic clamp 9 to the target position. The drive motor 6 is arranged on the support plate 15, and the rotating shaft 14 is arranged on the support plate 15 through a bearing 13. The drive motor 6 is coaxially driven and connected to the rotating shaft 14 through a coupling 16. The connecting piece is arranged at the end of the rotating shaft 14, and the connecting piece is used to connect the clamping mechanism and the rotating shaft 14. When the driving motor 6 is working, it drives the rotating shaft 14 to rotate, so that the rotating shaft 14 drives the clamping mechanism to rotate, and cooperates with the six-dimensional moving mechanism to realize the pulling, flipping and other operations of the car hook lock pin pull rod, so that the pull rod drives the lock pin to disengage from the pin hole, and then the car hook loses the limiting effect of the lock pin, and the hook removal operation is realized. In this embodiment, the connecting member includes a first connecting block 10 and a second connecting block 11, the second connecting block 11 is arranged at the end of the rotating shaft 14, the first connecting block 10 is arranged on the clamping mechanism, and the first connecting block 10 is connected to the second connecting block 11 by bolts. In reality, the first connecting block 10 and the second connecting block 11 are connecting flanges respectively.

[0023] The six-dimensional moving mechanism includes three groups of bidirectional moving slide modules arranged perpendicular to each other, each bidirectional moving slide module includes a slide motor 4, a slide seat, a slide body 2 and a screw rod, the screw rod is rotatably arranged on the slide body 2 through a bearing, a slide groove is arranged on both sides of the slide body 2, and the two ends of the slide seat are slidably arranged in the slide groove, and a threaded through hole is arranged in the middle of the slide seat corresponding to the screw rod, and the screw rod is inserted into the threaded through hole, and the slide motor 4 is arranged on the slide body 2 and drives the screw rod. After the slide motor 4 drives the screw rod to rotate forward / reverse, the slide seat can be moved along the slide groove on the slide body 2 through the action of the thread, thereby realizing movement in two directions. In this embodiment, the slide motor 4 and the drive motor 6 of the drive shaft 14 are servo motors respectively.

[0024] In this embodiment, the three groups of mutually perpendicularly arranged bidirectional movable slide modules are respectively the first bidirectional movable slide module, the second bidirectional movable slide module 5 and the third bidirectional movable slide module 7. The first bidirectional movable slide module is horizontally arranged on the bottom plate 1, and is used to drive the hook-removing mechanism to move in the direction parallel to the rails; the second bidirectional movable slide module 5 is vertically arranged on the slide 12 of the first bidirectional movable slide module, and is used to drive the hook-removing mechanism to move in the direction perpendicular to the ground; the third bidirectional movable slide module 7 is arranged on the slide of the second bidirectional movable slide module 5 and is respectively perpendicular to the first bidirectional movable slide module and the second bidirectional movable slide module 5, and the support plate 15 is arranged on the slide of the third bidirectional movable slide module 7, and is used to drive the hook-removing mechanism to move in the direction parallel to the ground and perpendicular to the rails. In practice, it also includes a reinforcing connecting plate 3, which is arranged on the slide of the first bidirectional movable slide module and connected to the slide body 2 of the second bidirectional movable slide module 5, and is used to strengthen the support of the second bidirectional movable slide module 5.

[0025] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. An automatic unhooking robot for separating train carriages, characterized in that: It includes a base plate, a six-dimensional moving mechanism and a hook-removing mechanism. The six-dimensional moving mechanism is arranged on the base plate and drives the connected hook-removing mechanism. The hook-removing mechanism includes a rotating mechanism and a clamping mechanism. The rotating mechanism is arranged on the six-dimensional moving mechanism, and the clamping mechanism is arranged at the end of the rotating end of the rotating mechanism.

2. The automatic unhooking robot for separating train carriages according to claim 1, characterized in that: The clamping mechanism comprises a pneumatic clamping jaw, and two clamping jaw bodies of the pneumatic clamping jaw are respectively provided with V-shaped grooves.

3. The automatic unhooking robot for separating train carriages according to claim 1, characterized in that: The rotating mechanism includes a support plate, a driving motor, a rotating shaft and a connecting piece. The support plate is arranged on the six-dimensional moving mechanism, the driving motor is arranged on the support plate, the rotating shaft is arranged on the support plate through a bearing, and the driving motor is coaxially driven and connected to the rotating shaft through a coupling; the connecting piece is arranged at the end of the rotating shaft.

4. The automatic unhooking robot for separating train carriages according to claim 3, characterized in that: The connecting member includes a first connecting block and a second connecting block, the second connecting block is arranged at the end of the rotating shaft, the first connecting block is arranged on the clamping mechanism, and the first connecting block is connected to the second connecting block by bolts.

5. The automatic unhooking robot for separating train carriages according to claim 1, characterized in that: The six-dimensional moving mechanism includes three groups of bidirectional movable slide modules arranged perpendicular to each other, each bidirectional movable slide module includes a slide motor, a slide seat, a slide body and a screw rod, the screw rod is rotatably arranged on the slide body through a bearing, slide grooves are arranged on both sides of the slide body, both ends of the slide seat are slidably arranged in the slide grooves, a threaded through hole is arranged in the middle of the slide seat corresponding to the screw rod, the screw rod is penetrated in the threaded through hole, the slide motor is arranged on the slide body and drives the screw rod.

6. The automatic unhooking robot for separating train carriages according to claim 5, characterized in that: The first bidirectional movable slide module is horizontally arranged on the base plate, the second bidirectional movable slide module is vertically arranged on the slide seat of the first bidirectional movable slide module, and the third bidirectional movable slide module is arranged on the slide seat of the second bidirectional movable slide module and is respectively perpendicular to the first bidirectional movable slide module and the second bidirectional movable slide module.

7. The automatic unhooking robot for separating train carriages according to claim 6, characterized in that: It comprises a reinforcing connecting plate, which is arranged on the sliding seat of the first bidirectional movable sliding table module and connected to the sliding table body of the second bidirectional movable sliding table module.

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