Unhooking robot and re-hooking robot cooperative control system

Abstract

The utility model relates to the technical field of coupler unhooking and rehooking, in particular to a cooperative control system for an unhooking robot and a rehooking robot. Comprising an information acquisition unit which is used for identifying the vehicle type of a compartment to be subjected to unhooking, re-hooking and positive hooking operation and positioning the three-dimensional coordinates of a pin lifting operation rod of the compartment; an unhooking robot and a re-hooking robot; the unhooking robot is used for carrying out unhooking operation on a pin lifting operation rod of the carriage to be operated; the re-hooking robot is used for performing re-hooking operation on the pin lifting operation rod of the carriage to be operated; an electrical control unit; and the electrical control unit is electrically connected with the information acquisition unit, the unhooking robot and the re-hooking robot. Two sets of robots are adopted to operate cooperatively, unhooking, re-hooking and correcting operations are carried out at the same time, meanwhile, the unhooking, re-hooking and correcting functions of a single robot can be achieved, when one robot breaks down, the other robot can independently complete all work, and the effect of a redundant robot is achieved.

Description

Technical Field

[0001] This utility model relates to the field of coupler uncoupling and recoupling technology, and in particular to a collaborative control system for uncoupling and recoupling robots. Background Technology

[0002] The uncoupling, recoupling, and straightening robot is a robotic arm used in tippler systems to uncouple, recouple, and straighten train cars. Currently, domestically produced robotic arms all use customized dual-arm robots. One robot completes the uncoupling and recoupling of empty train cars, while the straightening operation is performed by a separate dedicated robot.

[0003] There are two layout options for dual-arm robots used for unhooking and rehooking on the market. One is a self-propelled dual-arm robot that shares a track with the air conditioner on the empty car line. This method occupies the air conditioner's walking track, shortens its effective walking distance, eliminates the mechanical safety stop for the air conditioner's push limit, and relies on the empty car line ground wheel clamp (85% of tippler systems do not have an empty car line ground wheel clamp). The other method is to install a dual-arm robot at the entrance of the transfer platform. In this method, one robot performs two functions; if one function fails, the entire system will be paralyzed. Forward hooking robots also have two layout options: one is installed on the boom of the re-adjusting machine, and the other is installed on the track of the tippler body.

[0004] None of the above layout methods offer redundant robot functionality, suffer from low work efficiency, and are limited by on-site equipment and space. Therefore, a solution is urgently needed.

[0005] The above content is only used to help understand the technical solution of this utility model and does not represent an admission that the above content is the closest prior art. Utility Model Content

[0006] The technical problem to be solved by this utility model is to provide a collaborative control system for a de-hooking robot and a re-hooking robot, thereby solving the above-mentioned problem.

[0007] To achieve the aforementioned objective, the technical solution of this utility model is implemented as follows: a collaborative control system for the unhooking robot and the rehooking robot, comprising:

[0008] The information acquisition unit is used to identify the vehicle type of the car body that is about to be unhooked, rehooped, and straightened, and to locate the three-dimensional coordinates of the lifting pin operating lever of the car body.

[0009] The unhooking robot and the rehooking robot are used to unhook the lifting pin control lever of the car body to be worked on; the rehooking robot is used to rehooke the lifting pin control lever of the car body to be worked on.

[0010] An electrical control unit is electrically connected with the information acquisition unit, the unhooking robot and the rehooking robot, used for receiving the vehicle type category information and the three-dimensional coordinate information of the operating lever collected by the information acquisition unit, and controlling the unhooking robot and the rehooking robot to work cooperatively, or the unhooking robot or the rehooking robot to work independently, so as to complete the unhooking, rehooking and normal hooking operations of the carriages to be operated.

[0011] Preferably, the information acquisition unit comprises a carriage recognition camera and a laser radar; the carriage recognition camera is used for collecting image information of the carriages to be operated, and analyzing the collected image information to determine the vehicle type category of the carriages to be operated; and the laser radar is used for automatically collecting the three-dimensional coordinate information of the operating lever and transmitting the three-dimensional coordinate information to the electrical control unit.

[0012] Preferably, the unhooking robot and the rehooking robot are respectively provided with an unhooking tentacle clamp, a rehooking tentacle clamp and a normal hooking tentacle clamp.

[0013] Preferably, the unhooking robot and the rehooking robot are respectively installed on two sides of the track at the entrance of the heavy carriage line of the car transfer platform, and are located at a position 2.5 meters away from the center of the track.

[0014] Preferably, the length of the robot arm of the unhooking robot and the rehooking robot is 3.5 meters; and the robot arm is capable of reaching the position of the operating lever and the center position of the hook head by stretching and retracting.

[0015] Preferably, the electrical control unit comprises a PLC controller or a DCS controller and a control panel; the PLC controller or the DCS controller is electrically connected with the control panel; the control panel is used for inputting the operation instructions of unhooking, rehooking and normal hooking to the PLC controller or the DCS controller; and the PLC controller or the DCS controller is electrically connected with the unhooking robot and the rehooking robot, and controls the unhooking robot and the rehooking robot to complete the operation instructions.

[0016] Preferably, the process of controlling the unhooking robot and the rehooking robot to work cooperatively comprises:

[0017] S1, the laser radar scans the three-dimensional coordinates of the operating lever to be unhooked, and the PLC controller controls the unhooking robot to run to the vicinity of the operating lever to be unhooked after receiving the coordinate information, and controls the rehooking robot to run to the center position of the track;

[0018] S2, the laser radar scans the three-dimensional coordinates of the car hook again, the unhooking robot clamps the operating lever to be unhooked by the unhooking tentacle clamp to perform the unhooking operation, rotates to 90 degrees and waits, and the rehooking robot performs the normal hooking operation to push the car hook to the middle position, and the PLC controller controls the rehooking robot to reset the hook tongue when the unhooking robot is unhooked to 90 degrees.

[0019] S3, after the re-hooking robot re-hooks, the PLC controller judges that the coupler has been opened, the uncoupling robot and the re-hooking robot return to the original position respectively, and the car transfer platform moves to the empty car line to continue the subsequent operation.

[0020] Preferably, the vehicle type category identified by the car body recognition camera includes a first category and a second category; the first category includes C64 and C62; and the second category includes C70, C70E and C70E-A.

[0021] Preferably, the process of the uncoupling robot performing uncoupling operation on the first category of vehicle type includes:

[0022] a1, the machine arm of the uncoupling robot extends and approaches the lifting pin operating rod,

[0023] a2, after scanning the three-dimensional coordinates of the lifting pin operating rod by the laser radar, the machine arm locks the target, the uncoupling robot tentacle clamp tentacle goes to the target point, the uncoupling robot tentacle clamp clamps the lifting pin operating rod, and rotates to 90 degrees position for waiting;

[0024] a3, the uncoupling robot waits for the re-hooking robot to complete the hooking and re-hooking, rotates to 0 degree position, the uncoupling robot tentacle clamp releases the lifting pin operating rod, and the uncoupling robot returns to the original position;

[0025] The process of the uncoupling robot performing uncoupling operation on the second category of vehicle type includes:

[0026] b1, the machine arm of the uncoupling robot extends and approaches the lifting pin operating rod, the laser radar scans the three-dimensional coordinates of the lifting pin operating rod, the machine arm locks the lifting pin operating rod, and the uncoupling robot tentacle clamp tentacle goes to the lifting pin operating rod,

[0027] b2, the uncoupling robot tentacle clamp clamps the lifting pin operating rod, and performs lifting pin operating rod correction: lifting pin operating rod lifting unlocking action or lifting pin operating rod downward inclined pulling action;

[0028] b3, the uncoupling robot tentacle clamp performs lifting pin operating rod rotating operation, and rotates to 90 degrees position for waiting;

[0029] b4, after the uncoupling robot waits for the re-hooking robot to complete the hooking and re-hooking, it rotates to 0 degree position, the uncoupling robot tentacle clamp releases the lifting pin operating rod, and the uncoupling robot returns to the original position.

[0030] Preferably, the process of the re-hooking robot performing hooking and re-hooking operation on the first category and the second category of vehicle type includes:

[0031] c1, the machine arm of the re-hooking robot extends and approaches the lifting pin operating rod;

[0032] c2, after scanning the three-dimensional coordinates of the lifting pin operating rod by the laser radar, the machine arm of the re-hooking robot locks the lifting pin operating rod;

[0033] c3, the robotic arm of the re-hook robot is close to the lifting pin operating rod, the positive hook tentacle clamp grabs the train coupler and then pushes the coupler;

[0034] c4, after the lifting pin operating rod is rotated to 90 degrees by the unhooking robot, the re-hook tentacle clamp performs the knuckle repositioning operation, and after the re-hooking is completed, the re-hook robot returns to the original position.

[0035] The beneficial effects of the utility model are embodied in:

[0036] The unhooking robot and the re-hook robot cooperative control system provided by the utility model can not only simultaneously perform unhooking, re-hooking and positive hooking operations, but also can achieve the functions of a single robot completing unhooking, re-hooking and positive hooking, and when one robot fails, the other robot can independently complete all work, thereby having the effect of a redundant robot. BRIEF DESCRIPTION OF DRAWINGS

[0037] Fig. 1 It is a layout schematic diagram of the unhooking robot and the re-hook robot of the utility model;

[0038] Fig. 2 It is a collaborative work flowchart of the unhooking robot and the re-hook robot of the utility model. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. In the case of no conflict, the embodiments in the application and the features in the embodiments can be combined with each other. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the utility model.

[0040] Embodiment 1

[0041] Referring to Figs. 1-2 As shown in the figure:

[0042] The utility model provides an unhooking robot and a re-hook robot cooperative control system, which comprises:

[0043] An information acquisition unit is used to identify the vehicle type category of the vehicle compartment ready for unhooking, re-hooking and positive hooking operations, and to locate the three-dimensional coordinates of the lifting pin operating rod of the vehicle compartment.

[0044] The unhooking robot and the rehooking robot; the unhooking robot is used for unhooking operation of the unhooking operation lever of the to-be-operated carriage. The rehooking robot is used for rehooking operation of the unhooking operation lever of the to-be-operated carriage; the unhooking robot and the rehooking robot are provided with an unhooking tentacle clamp, a rehooking tentacle clamp and a normal hook tentacle clamp. The unhooking robot and the rehooking robot are respectively installed on both sides of the track at the entrance of the heavy vehicle line of the car transfer platform and are located at a position 2.5 meters away from the center of the track. The length of the robot arm of the unhooking robot and the rehooking robot is 3.5 meters; the robot arm reaches the position of the unhooking operation lever and the center position of the hook head through stretching.

[0045] The electrical control unit; the electrical control unit is electrically connected with the information acquisition unit, the unhooking robot and the rehooking robot, is used for receiving the vehicle type category information and the three-dimensional coordinate information of the unhooking operation lever collected by the information acquisition unit, and controlling the unhooking robot and the rehooking robot to work cooperatively, the unhooking robot or the rehooking robot to work independently, to complete the unhooking, rehooking and normal hooking operations of the to-be-operated carriage.

[0046] The information acquisition unit includes a carriage recognition camera and a laser radar. The carriage recognition camera is used for collecting image information of the to-be-operated carriage, analyzing the collected image information and determining the vehicle type category of the to-be-operated carriage; the laser radar is used for automatically collecting three-dimensional coordinate information of the unhooking operation lever and transmitting the three-dimensional coordinate information to the electrical control unit. The vehicle type category recognized by the carriage recognition camera includes a first category and a second category; the first category includes C64 and C62; the second category includes C70, C70E and C70E-A.

[0047] The electrical control unit includes a PLC controller or a DCS controller and a control panel. The PLC controller or the DCS controller is electrically connected with the control panel, the control panel is used for inputting operation instructions of unhooking, rehooking and normal hooking to the PLC controller or the DCS controller; the PLC controller or the DCS controller is electrically connected with the unhooking robot and the rehooking robot and controls the unhooking robot and the rehooking robot to complete the operation instructions.

[0048] By setting the information acquisition unit, the unhooking robot and the rehooking robot and the electrical control unit, the unhooking robot and the rehooking robot cooperation control system is composed. Since the unhooking robot and the rehooking robot are both equipped with the unhooking, rehooking and normal hooking clamp tentacles, a full-featured robot is formed, so that two working modes can be performed.

[0049] The first working mode is the cooperation working mode, two robots operate simultaneously, one performs unhooking work and the other performs rehooking and normal hooking work. This working mode not only improves the working efficiency, but also prevents the unhooking failure caused by the hook pin falling back. The second working mode is that a single robot completes all the work. This working mode has lower working efficiency and is only used in the case of failure of one robot, so as to improve the flexibility of the whole system.

[0050] The process of controlling the decoupling robot and the recoupling robot to work cooperatively comprises:

[0051] S1, the laser radar scans the three-dimensional coordinates of the decoupling operation lever, and the PLC controller controls the decoupling robot to run to the vicinity of the decoupling operation lever for operation, and controls the recoupling robot to run to the center position of the track;

[0052] S2, the laser radar scans the three-dimensional coordinates of the car coupler again, the decoupling robot clamps the decoupling operation lever with the decoupling tentacle clamp for decoupling operation, rotates to 90 degrees and waits, and the recoupling robot performs the positive hook operation to push the car coupler to the middle position, and the PLC controller judges the decoupling robot to be decoupled to 90 degrees, and the recoupling robot performs the hook tongue resetting operation.

[0053] In step S2,

[0054] The process of the decoupling robot performing decoupling operation on a type of vehicle comprises:

[0055] a1, the machine arm of the decoupling robot extends and approaches the decoupling operation lever,

[0056] a2, after the laser radar scans the three-dimensional coordinates of the decoupling operation lever, the machine arm locks the target, the decoupling tentacle clamp tentacle goes to the target point, the decoupling tentacle clamp clamps the decoupling operation lever, and performs the rotating operation, rotates to the 90-degree position and waits.

[0057] a3, the decoupling robot waits for the recoupling robot to complete the positive hooking and recoupling, rotates to the 0-degree position, the decoupling tentacle clamp releases the decoupling operation lever, and the decoupling robot returns to the original position.

[0058] The process of the decoupling robot performing decoupling operation on a type of vehicle comprises:

[0059] b1, the machine arm of the decoupling robot extends and approaches the decoupling operation lever, the laser radar scans the three-dimensional coordinates of the decoupling operation lever, the machine arm locks the decoupling operation lever, and the decoupling tentacle clamp tentacle goes to the decoupling operation lever,

[0060] b2, the decoupling tentacle clamp clamps the decoupling operation lever and performs the decoupling operation lever correction: the decoupling operation lever unlocking action or the decoupling operation lever downward oblique pulling action;

[0061] b3, the decoupling tentacle clamp performs the decoupling operation lever rotating operation, rotates to the 90-degree position and waits;

[0062] b4, the decoupling robot waits for the recoupling robot to complete the positive hooking and recoupling, rotates to the 0-degree position, the decoupling tentacle clamp releases the operation lever, and the decoupling robot returns to the original position.

[0063] The process of the rehooking robot performing the straight hooking and rehooking operation on the first type and the second type of train includes:

[0064] c1, the machine arm of the rehooking robot is stretched out and approaches the lifting pin operating rod;

[0065] c2, after scanning the three-dimensional coordinates of the lifting pin operating rod by the laser radar, the machine arm of the rehooking robot locks the lifting pin operating rod;

[0066] c3, the machine arm of the rehooking robot approaches the lifting pin operating rod, and the straight hooking tentacle clamp performs the straight hooking operation after grabbing the train hook;

[0067] c4, after the lifting pin operating rod is rotated to 90 degrees by the unhooking robot, the rehooking tentacle clamp performs the knuckle repositioning operation, and the rehooking robot returns to the original position after the rehooking is completed.

[0068] S3, after the rehooking robot completes the rehooking, the PLC controller judges that the train hook has been opened, and the unhooking robot and the rehooking robot return to the original position respectively, and the transfer platform continues the subsequent operation by moving to the empty car line.

[0069] Through the above operation process, the unhooking robot and the rehooking robot cooperative control system provided by the utility model can not only simultaneously perform the unhooking, rehooking and straight hooking operation, but also can achieve the function of a single robot completing the unhooking, rehooking and straight hooking, and when one robot fails, the other robot can complete all the work alone, thereby having the function of a redundant robot.

[0070] It should be noted that if the utility model embodiments involve directional indications such as up, down, left, right, front, back, etc., the directional indications are only used to explain the relative position relationship, movement condition, etc. between the components in a certain specific posture, such as shown in the drawings, and if the specific posture changes, the directional indications also change accordingly.

[0071] In addition, if the utility model embodiments involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel solutions, for example, "A and / or B" includes A solution, or B solution, or A and B solutions. In addition, "multiple" means two or more. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist.

[0072] The above merely describes preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A system for cooperative control of a hook unhooking robot and a hook rehooking robot, characterized in that The utility model relates to a kind of information acquisition unit, unhooking robot and rehooking robot, and electric control unit for the unhooking and rehooking of carriages. The information acquisition unit is used to identify the type of the carriage to be operated, and locate the three-dimensional coordinates of the handle lever of the carriage. The unhooking robot is used to unhook the handle lever of the carriage to be operated, and the rehooking robot is used to rehook the handle lever of the carriage to be operated. The electric control unit is electrically connected with the information acquisition unit, the unhooking robot and the rehooking robot, and is used to receive the type information of the carriage and the three-dimensional coordinates information of the handle lever collected by the information acquisition unit, and control the unhooking robot and the rehooking robot to work together or independently to complete the unhooking, rehooking and hooking of the carriage to be operated.

2. The unhooking robot and rehooking robot cooperative control system according to claim 1, characterized by, The information acquisition unit includes a carriage recognition camera and a laser radar.

3. The unhooking robot and rehooking robot cooperative control system according to claim 2, characterized by, The unhooking robot and the rehooking robot are each provided with an unhooking tentacle clamp, a rehooking tentacle clamp and a hooking tentacle clamp.

4. The unhooking robot and rehooking robot cooperative control system according to claim 3, characterized by, The unhooking robot and the rehooking robot are respectively installed on the two sides of the track at the entrance of the heavy car line of the car transfer platform, and are located at a position 2.5 meters away from the center of the track.

5. The unhooking robot and rehooking robot cooperative control system according to claim 4, characterized in that, The length of the robot arm of the unhooking robot and the rehooking robot is 3.5 meters.

6. The unhooking robot and rehooking robot cooperative control system according to claim 5, characterized in that, The electric control unit includes a PLC controller or a DCS controller and a control panel.

7. The unhooking robot and rehooking robot cooperative control system according to claim 6, characterized in that, The type of the carriage recognized by the carriage recognition camera includes type one and type two. Type one includes C64 and C62, and type two includes C70, C70E and C70E-A.

Images