Turnover type robot for preventing car coupler from shifting

Abstract

The utility model discloses a turnover type robot for preventing coupler deviation, which comprises a first detection mechanism, a second detection mechanism and a vehicle body moving on a guide rail, the vehicle body is hinged with one end of a turnover plate, the other end of the turnover plate is hinged with a positioning plate, a first driving mechanism for driving the turnover plate to fold and unfold is arranged between the vehicle body and the turnover plate, and a second driving mechanism for driving the turnover plate to fold and unfold is arranged between the vehicle body and the turnover plate. A reset mechanism is arranged between the turnover plate and the positioning plate, the first detection mechanism is used for detecting whether the positioning plate deflects or not, a limiting plate is arranged at the end, close to the positioning plate, of the turnover plate, a second driving mechanism for driving the limiting plate to horizontally move is arranged between the limiting plate and the turnover plate, and the limiting plate is located on the side, close to the first driving mechanism, of the positioning plate. The second detection mechanism is used for detecting whether the limiting plate abuts against one side of the coupler or not. Compared with the prior art, the utility model is suitable for all tippler systems, has a compact and small structure, can adapt to various coupler types, ensures the postures of the coupler, and avoids the procedure of manual coupler correction operation after the tippling operation.

Description

Technical Field

[0001] This utility model relates to the field of coupler positioning technology, and in particular to a flipping robot for preventing coupler offset. Background Technology

[0002] A coupler is a vehicle component used to connect locomotives and carriages, or carriages themselves, transmitting traction and impact forces and maintaining a certain distance between carriages. The coupler body is connected to the coupler tail frame installed at both ends of the carriage via a coupler tail pin. The coupler body can swing left and right within a certain range around the coupler tail pin to adapt to the curved and turning conditions of railway transportation. Automatic couplers are widely used in the domestic railway system. Open-top carriages are commonly used for transporting bulk cargo such as coal and iron ore, and unloading is often done using a tippler system. After being uncoupled and separated, the open-top carriages are pulled into the tippler system. The tippler rotates the open-top carriages approximately 160 degrees for unloading, resulting in a high degree of automation and high unloading efficiency.

[0003] During the tippler's rotation and unloading of the wagon, the coupler body, under the influence of gravity, will tilt to one side of the unloading port and will not automatically return to its original position. This tilting of the coupler body can cause abnormalities in the shunting locomotive's pushing of the wagon and subsequent collision hooks, and may even lead to accidents. Before the wagon is pushed out by the shunting locomotive, the tilted coupler bodies must be manually straightened. This is done by hand or by swinging a crowbar, often while the tippler's automated system is still running. The entire process carries the risk of personnel being caught in the equipment. Utility Model Content

[0004] (1) Technical issues to be resolved

[0005] Based on this, this utility model proposes a flipping robot to prevent coupler misalignment, in order to solve the safety hazard caused by the need for manual straightening of existing couplers after unloading operations.

[0006] (2) Technical solution

[0007] To overcome or at least partially solve the above problems, this utility model provides a flipping robot for preventing coupler misalignment, comprising: a first detection mechanism, a second detection mechanism, and a vehicle body that moves on a guide rail. The vehicle body is hinged to one end of a flipping plate, and the other end of the flipping plate is hinged to a positioning plate. A first drive mechanism is provided between the vehicle body and the flipping plate to drive the flipping plate to fold and unfold. A reset mechanism is provided between the flipping plate and the positioning plate. The first detection mechanism is used to detect whether the positioning plate has deflected. A limiting plate is provided at one end of the flipping plate near the positioning plate. A second drive mechanism is provided between the limiting plate and the flipping plate to drive the limiting plate to move horizontally. The limiting plate is located on the side of the positioning plate near the first drive mechanism. The second detection mechanism is used to detect whether the limiting plate is abutting against one side of the coupler.

[0008] Preferably, the reset mechanism is a torsion spring disposed on the hinge shaft between the positioning plate and the flip plate, and the positioning plate and the flip plate are provided with mutually cooperating positioning surfaces.

[0009] Preferably, the positioning plate has a protrusion on the side near the first drive mechanism that cooperates with the coupler.

[0010] Preferably, the first drive mechanism includes a first electric push rod, the two ends of which are respectively hinged to the vehicle body and the tipping plate.

[0011] Preferably, the second drive mechanism includes a second electric push rod, and the telescopic rod of the second electric push rod is fixed to the limiting plate.

[0012] Preferably, the flip plate is provided with a receiving groove, and the second electric push rod is disposed in the receiving groove.

[0013] Preferably, the second detection mechanism is a pressure sensor mounted on the limit plate.

[0014] Preferably, the first detection mechanism is an angle sensor or a distance sensor.

[0015] Preferably, the vehicle body is provided with wheels that roll along the inner side of the guide rail.

[0016] Preferably, the device includes a rack disposed between the guide rails, a drive gear rotatably disposed on the vehicle body that meshes with the rack, the drive gear being connected to a drive motor, the horizontal position of the rack being lower than the horizontal position of the guide rails, and the teeth of the rack being vertically distributed.

[0017] (3) Beneficial effects

[0018] The tilting robot for preventing coupler misalignment of this invention has the following advantages:

[0019] This utility model features a compact and small structure. After the open wagon is towed into the tippler and secured, the robot is notified to start, and the wagon body moves towards the coupler. The first drive mechanism flips the tipping plate upwards, changing its horizontal to vertical arrangement. When the first detection mechanism detects a shift in the positioning plate, it indicates that the robot has moved into position. A signal is sent to stop the wagon body, and the second drive mechanism pushes the limiting plate towards the coupler. When the second detection mechanism detects that the limiting plate is against the coupler, the limiting plate stops moving forward. The limiting plate maintains its position on the coupler during subsequent unloading operations, preventing it from shifting. This utility model, combined with the tippler automation program, can completely replace manual labor, is applicable to all tippler systems, can adapt to various hook types, ensures the coupler's posture, and eliminates the need for manual hook alignment after unloading. Attached Figure Description

[0020] The features and advantages of this utility model will be more clearly understood by referring to the accompanying drawings. The drawings are schematic and should not be construed as limiting the utility model in any way. In the drawings:

[0021] Figure 1 It is a structural diagram of the utility model;

[0022] Figure 2 This is the left view of the present invention;

[0023] Figure 3 It is a rear view of the utility model;

[0024] Figure 4 This is a top view of the present invention.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1. Guide rail, 2. Car body, 3. Flip plate, 4. Positioning plate, 5. Reset mechanism, 6. Limiting plate, 7. Second drive mechanism, 8. Hinge shaft, 9. Protrusion, 10. Wheel, 11. Rack, 12. Drive gear, 13. Drive motor, 100. Positioning surface, 200. Receiving hole, 300. Receiving groove. Detailed Implementation

[0027] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0028] Refer to the attached Figure 1 and attached Figure 3This embodiment provides a flipping robot for preventing coupler misalignment, comprising: a first detection mechanism, a second detection mechanism, and a vehicle body 2 that moves on a guide rail 1. One end of the vehicle body 2 is hinged to a flipping plate 3, and the other end of the flipping plate 3 is hinged to a positioning plate 4. A first drive mechanism is provided between the vehicle body 2 and the flipping plate 3 to drive the flipping plate 3 to fold and unfold. When folded, the flipping plate 3 is horizontally distributed, not affecting the entry and exit of open wagons; when unfolded, the flipping plate 3 is vertically distributed, providing support for the subsequent operation of the positioning plate 4 and the limiting plate 6. A reset mechanism 5 is provided between the flipping plate 3 and the positioning plate 4. The first detection mechanism is used to detect whether the positioning plate 4 has deflected. When the first detection mechanism detects that the positioning plate 4 has deflected, it indicates that the positioning plate 4 has been attached to the coupler, meaning the robot has moved into position. When the positioning plate 4 leaves the coupler, the reset mechanism 5 drives the positioning plate 4 back to its initial position, preparing for the next detection. A limiting plate 6 is provided at one end of the tilting plate 3 near the positioning plate 4. A second drive mechanism 7 is provided between the limiting plate 6 and the tilting plate 3 to drive the limiting plate 6 to move horizontally. The limiting plate 6 is located on the side of the positioning plate 4 near the first drive mechanism. The second detection mechanism is used to detect whether the limiting plate 6 is against the side of the coupler. After the open wagon is pulled into the tilting machine by the shunting machine and fixed, when the robot is a certain distance away from the coupler, the first drive mechanism flips the tilting plate 3 upward. After the positioning plate 4 becomes vertical with the tilting plate 3, the wagon body 2 continues to move towards the coupler. When the positioning plate 4 touches the coupler, it deflects. After the first detection mechanism detects the deflection of the positioning plate 4, it notifies the wagon body 2 to stop moving. Under the action of the second drive mechanism 7, the limiting plate 6 moves horizontally along the width direction of the open wagon. When the second detection mechanism detects that the limiting plate 6 is against the side of the coupler, the tilting machine performs the unloading operation. During this process, the coupler posture remains unchanged through the limiting plate 6. After the unloading operation is completed, under the action of the second drive mechanism 7, the limiting plate 6 moves away from the coupler, and the car body 2 moves away from the coupler. The positioning plate 4 returns to its original state with the help of the reset device. The first drive mechanism flips the flipping plate 3 downward, and the flipping plate 3 returns from a vertical state to a horizontal state, becoming folded, which does not affect the entry and exit of the open wagon. The shunting machine pulls the empty wagon out of the tipper. This utility model, through the foldable flipping plate 3 and the positioning plate 4, limiting plate 6 and second drive mechanism 7 that follow the flipping plate 3, does not affect the entry and exit of the open wagon in the standby state. Secondly, through the cooperation of the reset mechanism 5, the first detection mechanism and the limiting plate 6, the robot can move accurately to the coupler, adapting to different open wagons. Thirdly, the horizontally moving limiting plate 6 and the cooperation of the second detection mechanism can limit the coupler of different open wagons, which has good applicability.

[0029] In another embodiment of this utility model, the reset mechanism 5 is a torsion spring mounted on the hinge shaft 8 between the positioning plate 4 and the flip plate 3. The positioning plate 4 and the flip plate 3 are provided with mutually cooperating positioning surfaces 100. When the flip plate 3 flips upward, the two positioning surfaces 100 come into contact, and at this time both the positioning plate 4 and the flip plate 3 are perpendicular to the horizontal plane.

[0030] As another embodiment of this utility model: refer to the appendix Figure 2 The positioning plate 4 has a protrusion 9 on the side near the first drive mechanism that cooperates with the coupler. When the vehicle body 2 moves towards the coupler, the protrusion 9 will first contact the front end of the coupler. Specifically, the limiting plate 6 contacts the positioning plate 4, and when the coupler contacts the protrusion 9, it will push the positioning plate 4 away, and the coupler will just stop in front of the limiting plate 6.

[0031] One embodiment of the first drive mechanism: The first drive mechanism includes a first electric push rod, the two ends of which are respectively hinged to the vehicle body 2 and the tilting plate 3. The vehicle body 2 is provided with a lug plate, and the hinge shaft 8 between the vehicle body 2 and the tilting plate 3 passes through the lug plate.

[0032] Another implementation of the first drive mechanism: A first gear is provided on the hinge shaft 8 between the vehicle body 2 and the tilting plate 3. The first gear meshes with the first rack below it. The first electric push rod rotates the first gear by pushing the first rack, thereby completing the rotation of the tilting plate 3.

[0033] One embodiment of the second drive mechanism 7: The second drive mechanism 7 includes a second electric push rod, and the telescopic rod of the second electric push rod is fixed to the limiting plate 6.

[0034] In another embodiment of this utility model: the flip plate 3 is provided with a receiving groove 300, and the second electric push rod is disposed in the receiving groove 300. When the flip plate 3 is folded, this structural design helps to reduce the thickness of the robot, so as to avoid the robot protruding too much from the guide rail 1. The telescopic rod of the second electric push rod is fixed to the limiting plate 6 through a connecting rod, and the connecting rod is slidably disposed in the flip plate 3. Specifically, a guide rod is fixed on the connecting plate, and the guide rod slides along the slide groove on the flip plate 3.

[0035] As another embodiment of the present invention: this embodiment also includes an accordion dust cover, and the second electric push rod is located inside the accordion dust cover to protect the second electric push rod in dust and coal dust.

[0036] As another embodiment of this utility model: the second detection mechanism is a pressure sensor installed on the limiting plate 6.

[0037] One implementation of the first detection mechanism: The first detection mechanism is an angle sensor or a distance sensor.

[0038] Another implementation of the first detection mechanism: The first detection mechanism is a pressure sensor, which is disposed on the protrusion 9.

[0039] As another embodiment of this utility model: the vehicle body 2 is provided with a wheel 10 that rolls along the inner side of the guide rail 1. The inner side of the guide rail 1 is provided with a groove, and the wheel 10 rolls in the groove.

[0040] As another embodiment of this utility model: refer to the appendix Figure 4 This embodiment also includes a rack 11 disposed between the guide rails 1. A drive gear 12, which meshes with the rack 11, is rotatably disposed on the vehicle body 2. The drive gear 12 is connected to a drive motor 13. The horizontal position of the rack 11 is lower than the horizontal position of the guide rails 1, and the teeth of the rack 11 are vertically distributed. This structural design allows the drive motor 13, drive gear 12, and rack 11 to be disposed as far below and between the guide rails 1 as possible, to avoid the robot protruding excessively from the guide rails 1. Secondly, the vertical distribution of the teeth of the rack 11 helps to reduce the impact of dust and coal ash on its operation. When the robot moves into position, the drive motor 13 engages the brake and locks, fixing the robot on the tipper platform. It then follows the open wagon for unloading operations, so as to maintain the limit of the coupler during the operation.

[0041] As another embodiment of this utility model: the vehicle body 2 is provided with a receiving hole 200, the drive motor 13 is installed in the receiving hole 200, and after the flip plate 3 is folded, both the flip plate 3 and the positioning plate 4 are located in the receiving hole 200. This structural design can effectively prevent the robot from protruding too much from the guide rail 1.

[0042] Specifically, the hinge shaft 8 between the flip plate 3 and the vehicle body 2 is located at the front end of the vehicle body 2, and the drive motor 13 is located at the rear end of the vehicle body 2.

[0043] Specifically, the mobile power supply set in the receiving slot 300 provides power to the first drive mechanism, the second drive mechanism 7, the first detection mechanism, the second detection mechanism, the drive motor 13, and the controller.

[0044] After the open wagon is pulled into the tippler and secured by the shunting locomotive, the robot is notified to start. The wagon body 2 moves towards the coupler, and the first drive mechanism flips the tipping plate 3 upward, changing its horizontal distribution to a vertical distribution. When the first detection mechanism detects that the positioning plate 4 has shifted (the coupler pushes the positioning plate 4 away, causing it to rotate around the hinge axis 8), it indicates that the robot has moved into position. A signal is sent to stop the wagon body 2, and the second drive mechanism 7 pushes the limiting plate 6 forward towards the coupler. When the second detection mechanism detects that the limiting plate 6 is against the coupler, the limiting plate 6 stops moving forward. The limiting plate 6 maintains its position on the coupler during subsequent tipping operations, preventing it from shifting. This utility model, combined with the tippler automation program, can completely replace manual labor, is applicable to all tippler systems, has a compact and small structure, can adapt to various hook types, ensures the coupler posture, and eliminates the need for manual hook alignment after tipping operations.

[0045] Finally, the method described in this application is merely a preferred embodiment and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

[0046] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A flipping robot for preventing coupler deflection, characterized in that, include: The system comprises a first detection mechanism, a second detection mechanism, and a vehicle body that moves on a guide rail. One end of the vehicle body is hinged to a flipping plate, and the other end of the flipping plate is hinged to a positioning plate. A first drive mechanism is provided between the vehicle body and the flipping plate to drive the flipping plate to fold and unfold. A reset mechanism is provided between the flipping plate and the positioning plate. The first detection mechanism is used to detect whether the positioning plate has deflected. A limiting plate is provided at one end of the flipping plate near the positioning plate. A second drive mechanism is provided between the limiting plate and the flipping plate to drive the limiting plate to move horizontally. The limiting plate is located on the side of the positioning plate near the first drive mechanism. The second detection mechanism is used to detect whether the limiting plate is abutting against one side of the coupler.

2. The flipping robot for preventing coupler deflection according to claim 1, characterized in that, The reset mechanism is a torsion spring mounted on the hinge shaft between the positioning plate and the flip plate, and the positioning plate and the flip plate are provided with mutually cooperating positioning surfaces.

3. The flipping robot for preventing coupler deflection according to claim 2, characterized in that, The positioning plate has a protrusion on the side near the first drive mechanism that cooperates with the coupler.

4. The flipping robot for preventing coupler deflection according to claim 1, characterized in that, The first drive mechanism includes a first electric push rod, the two ends of which are respectively hinged to the vehicle body and the tipping plate.

5. The flipping robot for preventing coupler deflection according to claim 1, characterized in that, The second drive mechanism includes a second electric push rod, the telescopic rod of which is fixed to the limiting plate.

6. The flipping robot for preventing coupler deflection according to claim 5, characterized in that, The flip plate is provided with a receiving groove, and the second electric push rod is located in the receiving groove.

7. The flipping robot for preventing coupler deflection according to claim 1, characterized in that, The second detection mechanism is a pressure sensor installed on the limit plate.

8. The flipping robot for preventing coupler deflection according to claim 1, characterized in that, The first detection mechanism is an angle sensor or a distance sensor.

9. The flipping robot for preventing coupler deflection according to claim 1, characterized in that, The vehicle body is equipped with wheels that roll along the inside of the guide rail.

10. The flipping robot for preventing coupler deflection according to claim 9, characterized in that, The device includes a rack disposed between guide rails, a drive gear rotatably disposed on the vehicle body that meshes with the rack, the drive gear being connected to a drive motor, the horizontal position of the rack being lower than the horizontal position of the guide rails, and the teeth of the rack being vertically distributed.

Images