Tippler unhooking robot based on visual positioning function

Abstract

The utility model relates to the technical field of unhooking robots, in particular to a car dumper unhooking robot based on a visual positioning function, which comprises a base, a casing is arranged at the top end of the base, a driving component is arranged in an inner cavity of the casing, a fixing seat is arranged at the top end of the driving component, an adjusting component is arranged at the top end of the fixing seat, and the adjusting component is arranged at the top end of the fixing seat. A fixing plate is arranged at the output end of the adjusting assembly, an unhooking assembly is arranged on the side, away from the adjusting assembly, of the fixing plate, a visual positioning instrument is installed at the top end of the fixing plate through a rack, and wheels are arranged at the four corners of the bottom end of the base. According to the car dumper unhooking robot based on the visual positioning function, the problems that in the actual using process of the unhooking robot, the position of the clamping jaw is adjusted through a complex receiving and unloading structure, and due to the fact that the mechanical structure is complex, the failure rate is large, the using mode is single, and the using cost is high in the using process are solved. And only one side of the carriage can move to the unhooking position for unhooking.

Description

Technical Field

[0001] This utility model relates to the field of unhooking robot technology, specifically a tipper unhooking robot based on visual positioning function. Background Technology

[0002] Uncoupling robots are automated devices specifically designed to replace manual labor in uncoupling operations. They are primarily used in industries with high transportation volumes, such as ports, metallurgy, coal, and thermal power, especially in scenarios where tippers are used for unloading. Tippers are the main method for unloading bulk materials from open railway wagons, and uncoupling robots can replace manual labor in actions such as lifting, straightening, and recoupling, achieving fully unmanned operation throughout the entire process.

[0003] Utility model application CN202323004230.9 relates to the field of uncoupling robot technology, specifically a tippler train uncoupling robot. It includes a mobile platform with a housing at its top. A lifting assembly is located within the housing's inner cavity. A fixed box is located at the top of the lifting assembly. A sliding assembly is located within the fixed box's inner cavity. A robotic arm is located at the left end of the sliding assembly. Telescopic components are located at the four corners of the bottom of the housing's inner cavity, and the tops of multiple telescopic components are fixedly connected to the bottom of the fixed box. This tippler train uncoupling robot solves the problem of existing tippler uncoupling operations relying on manual operation. However, manual uncoupling requires certain skills and a period of adaptation and familiarization, often resulting in new operators being unfamiliar with the operation, leading to reduced system efficiency and potential safety hazards.

[0004] The aforementioned patent uses a complex unloading structure to adjust the position of the gripper during actual use. Due to its complex mechanical mechanism, the failure rate during use is increased, and its usage is limited, as it can only move to the unhooking position on one side of the carriage to unhook the hook. To address this problem, a tipper unhooking robot based on visual positioning function is provided. Summary of the Invention

[0005] The purpose of this utility model is to provide a tippler unhooking robot based on visual positioning function to solve the problems mentioned in the background art. To achieve the above objective, this utility model provides the following technical solution: a tippler unhooking robot based on visual positioning function, including a base, a housing at the top of the base, a drive assembly inside the housing, a fixed seat at the top of the drive assembly, an adjustment assembly at the top of the fixed seat, a fixed plate at the output end of the adjustment assembly, an unhooking assembly on the side of the fixed plate away from the adjustment assembly, a visual positioning device mounted on the top of the fixed plate via a frame, wheels at the four corners of the bottom of the base, and a connecting assembly at the top of the base.

[0006] Preferably, the connecting assembly includes cylinders and electromagnets, with multiple cylinders disposed on the outer wall of the base and the electromagnets disposed at the output ends of the multiple cylinders.

[0007] Preferably, the wheel is a self-locking swivel wheel.

[0008] Preferably, the drive assembly includes a servo motor, a worm gear, a rotating column, and a worm wheel. The servo motor is located at the right end of the housing, and its output end extends into the inner cavity of the housing. One end of the worm gear is rotatably connected to the left side of the inner cavity of the housing via a bearing, and the other end of the worm gear is fixedly connected to the output end of the servo motor. The rotating column is rotatably connected to the bottom end of the inner cavity of the housing via a bearing, and the worm wheel is fixedly sleeved on the outer wall of the rotating column. The top end of the rotating column is fixedly connected to the bottom end of the fixed base.

[0009] Preferably, the worm gear meshes with the worm wheel.

[0010] Preferably, the adjustment assembly includes a fixed rod, a first joint motor, a first rotating rod, a second joint motor, and a second rotating rod. The fixed rod is fixedly connected to the top of the fixed base. The first joint motor is disposed on one side of the outer wall of the fixed rod and its output end extends to the other side of the fixed rod. The first rotating rod is fixedly sleeved on the output end of the first joint motor. The second joint motor is disposed on one side of the outer wall of the first rotating rod and its output end extends to the other side of the first rotating rod. The second rotating rod is fixedly sleeved on the output end of the second joint motor and fixedly connected to the fixed plate.

[0011] Preferably, the hook removal assembly includes a bracket, electric push rods, and clamping plates. The bracket is disposed on the front side of the fixed plate, the two electric push rods are respectively fixedly inserted into the left and right sides of the inner cavity of the bracket, and the two clamping plates are respectively disposed on the output ends of the two electric push rods.

[0012] Preferably, anti-slip pads are provided on the sides of the two clamping plates that are close to each other.

[0013] Preferably, the sides of the two anti-slip pads that are close to each other are adapted to fit the outer circumference of the hook.

[0014] Preferably, the bottom end of the electromagnet is provided with a rubber protective pad.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] 1. The hook removal component can be used to grip the hook. The up-down and back-and-forth positions of the hook removal component can be adjusted by adjusting the adjustment component. The left-right position of the hook removal component can be adjusted by adjusting the drive component. Thus, under the combined action of the adjustment component and the drive component, the position of the hook removal component can be flexibly adjusted. The structure is simple and the operation is convenient. It solves the problem that the hook removal robot uses a complex disassembly structure to adjust the position of the gripper. Due to its complex mechanical mechanism, the failure rate is high during use.

[0017] 2. The wheels facilitate the movement of the device, allowing it to be used on the ground. The electromagnet allows the device to be attached to one end of the vehicle, enabling it to move with the vehicle above the hook. This improves the device's flexibility during use and solves the problem that the unhooking robot is limited to a single mode of operation, only able to move to the unhooking position from one side of the vehicle. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the hook removal assembly of this utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the adjustment component of this utility model;

[0021] Figure 4 This is a schematic diagram of the structure of the drive component of this utility model;

[0022] Figure 5 This is a schematic diagram of the structure of the connecting component of this utility model.

[0023] In the diagram: 1. Base; 2. Housing; 3. Fixing seat; 4. Fixing plate; 5. Vision positioning device; 6. Wheel; 7. Cylinder; 8. Electromagnet; 9. Servo motor; 10. Worm gear; 11. Rotating column; 12. Worm wheel; 13. Fixing rod; 14. First joint motor; 15. First rotating rod; 16. Second joint motor; 17. Second rotating rod; 18. Bracket; 19. Electric push rod; 20. Clamping plate. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0025] Please see Figures 1 to 5 This utility model provides a technical solution: a tipper hook removal robot based on visual positioning function, including a base 1, a housing 2 at the top of the base 1, a drive assembly inside the housing 2, a fixed seat 3 at the top of the drive assembly, an adjustment assembly at the top of the fixed seat 3, a fixed plate 4 at the output end of the adjustment assembly, a hook removal assembly on the side of the fixed plate 4 away from the adjustment assembly, a visual positioning device 5 mounted on the top of the fixed plate 4 via a frame, wheels 6 at the four corners of the bottom of the base 1, and a connecting assembly at the top of the base 1. The hook removal assembly can clamp the hook, the adjustment assembly can adjust the vertical and horizontal positions of the hook removal assembly, and the drive assembly can control the hook removal assembly. The device can be adjusted left and right, and through the combined action of the adjustment and drive components, the position of the hook-unhooking component can be flexibly adjusted. It has a simple structure and is easy to operate. It solves the problem that the hook-unhooking robot uses a complex unloading structure to adjust the position of the gripper, which leads to a high failure rate due to its complex mechanical mechanism. The wheels 6 facilitate the movement of the device, allowing it to be used on the ground. The electromagnet 8 allows the device to be attached to one end of the carriage, so that the device is located above the hook and moves with the vehicle, improving the flexibility of the device during use. It solves the problem that the hook-unhooking robot can only be used in a single way, moving to the hook-unhooking position from one side of the carriage.

[0026] In this embodiment, the connecting assembly includes cylinders 7 and electromagnets 8. Multiple cylinders 7 are disposed on the outer wall of the base 1, and electromagnets 8 are disposed at the output ends of multiple cylinders 7. When cylinders 7 are activated, the output ends of cylinders 7 extend, causing electromagnets 8 to contact one end of the carriage. When electromagnets 8 are energized, magnetic attraction is generated, thereby fixing the device to one end of the carriage. This allows the device to be positioned above the hook and move with the vehicle, improving the flexibility of the device during use and solving the problem that the unhooking robot has a single usage mode in actual use, and can only move to the unhooking position on one side of the carriage to unhook.

[0027] In this embodiment, wheel 6 is a self-locking omnidirectional wheel.

[0028] In this embodiment, the drive assembly includes a servo motor 9, a worm gear 10, a rotating column 11, and a worm wheel 12. The servo motor 9 is located at the right end of the housing 2, and the output end of the motor extends into the inner cavity of the housing 2. One end of the worm gear 10 is rotatably connected to the left side of the inner cavity of the housing 2 via a bearing, and the other end of the worm gear 10 is fixedly connected to the output end of the servo motor 9. The rotating column 11 is rotatably connected to the bottom end of the inner cavity of the housing 2 via a bearing. The worm wheel 12 is fixedly sleeved on the outer wall of the rotating column 11, and the top end of the rotating column 11 is fixedly connected to the bottom end of the fixed seat 3. When the servo motor 9 is started, it drives the worm gear 10 to rotate. Since the worm gear 10 and the worm wheel 12 mesh, when the worm gear 10 rotates, the worm wheel 12 drives the rotating column 11 to rotate, which in turn drives the fixed seat 3 to rotate the fixed rod 13, the first rotating rod 15, the second rotating rod 17, the fixed plate 4, and the clamping plate 20. This allows for flexible adjustment of the left and right positions of the clamping plate 20.

[0029] In this embodiment, the worm 10 meshes with the worm wheel 12, so that when the worm 10 rotates, it drives the worm wheel 12 to drive the rotating column 11 to rotate.

[0030] In this embodiment, the adjustment assembly includes a fixed rod 13, a first joint motor 14, a first rotating rod 15, a second joint motor 16, and a second rotating rod 17. The fixed rod 13 is fixedly connected to the top of the fixed base 3. The first joint motor 14 is disposed on one side of the outer wall of the fixed rod 13 and its output end extends to the other side of the fixed rod 13. The first rotating rod 15 is fixedly sleeved on the output end of the first joint motor 14. The second joint motor 16 is disposed on one side of the outer wall of the first rotating rod 15 and its output end extends to the other side of the first rotating rod 15. The second rotating rod 17 is fixedly sleeved on the output end of the second joint motor 16 and fixedly connected to the fixed plate 4. Activating the first joint motor 14 and the second joint motor 16 can rotate the first rotating rod 15 and the second rotating rod 17, thereby adjusting the left and right positions of the clamping plate 20.

[0031] In this embodiment, the hook removal assembly includes a bracket 18, an electric push rod 19, and a clamping plate 20. The bracket 18 is located on the front side of the fixed plate 4. The two electric push rods 19 are respectively fixedly inserted into the left and right sides of the inner cavity of the bracket 18. The two clamping plates 20 are respectively located at the output ends of the two electric push rods 19. When the electric push rods 19 are activated, the output ends of the electric push rods 19 extend, thereby allowing the two clamping plates 20 to clamp the hook for hook removal.

[0032] In this embodiment, anti-slip pads are provided on the sides of the two clamping plates 20 that are close to each other, which can improve the friction between the clamping plates 20 and the outer wall of the hook.

[0033] In this embodiment, the sides of the two anti-slip pads that are close to each other are adapted to fit the outer circumference of the hook.

[0034] In this embodiment, a rubber protective pad is provided at the bottom of the electromagnet 8 to prevent the electromagnet 8 from being damaged by scratches from hard substances.

[0035] The method of use and advantages of this utility model: During use, the working process is as follows:

[0036] The device is lowered to a suitable position by the action of wheel 6. The hook position is then located by the visual positioning device 5. Servo motor 9 is activated, causing it to drive worm gear 10 to rotate. Since worm gear 10 meshes with worm wheel 12, when worm gear 10 rotates, worm wheel 12 drives rotating column 11 to rotate, causing fixed base 3 to drive fixed rod 13, first rotating rod 15, second rotating rod 17, fixed plate 4, and clamping plate 20 to rotate. This allows for flexible adjustment of the left and right positions of clamping plate 20. Activating first joint motor 14 and second joint motor 16 causes first rotating rod 15 and second rotating rod 17 to rotate, further adjusting the left and right positions of clamping plate 20. The device can be adjusted so that the positions of the two clamping plates 20 are on both sides of the hook. The electric push rod 19 is activated so that its output end extends, allowing the two clamping plates 20 to clamp the hook for unhooking. The device is then moved to one end of the carriage. The cylinder 7 is activated so that its output end extends, allowing the electromagnet 8 to contact one end of the carriage. The electromagnet 8 is energized to generate magnetic attraction, thus fixing the device to one end of the carriage. This allows the device to move with the vehicle above the hook, improving its flexibility during use and solving the problem that the unhooking robot can only be used in a single way, moving to the unhooking position from one side of the carriage.

[0037] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A tipper unhooking robot based on visual positioning function, comprising a base (1), characterized in that: The base (1) has a housing (2) at its top. The housing (2) has a drive assembly inside its cavity. The drive assembly has a fixed seat (3) at its top. The fixed seat (3) has an adjustment assembly at its top. The adjustment assembly has a fixed plate (4) at its output end. The fixed plate (4) has a hook assembly on its side away from the adjustment assembly. The fixed plate (4) has a visual positioning device (5) mounted on its top via a frame. The base (1) has wheels (6) at its four corners. The base (1) has a connecting assembly at its top. The adjustment assembly includes a fixed rod (13), a first joint motor (14), a first rotating rod (15), a second joint motor (16), and a second rotating rod (17). The fixed rod (13) is fixedly connected to the top of the fixed seat (3). The first joint motor... The machine (14) is set on one side of the outer wall of the fixed rod (13) and the output end extends to the other side of the fixed rod (13). The first rotating rod (15) is fixedly sleeved on the output end of the first joint motor (14). The second joint motor (16) is set on one side of the outer wall of the first rotating rod (15) and the output end extends to the other side of the first rotating rod (15). The second rotating rod (17) is fixedly sleeved on the output end of the second joint motor (16) and fixedly connected to the fixed plate (4). The hook-removing assembly includes a bracket (18), an electric push rod (19) and a clamping plate (20). The bracket (18) is set on the front side of the fixed plate (4). The two electric push rods (19) are respectively fixedly inserted into the left and right sides of the inner cavity of the bracket (18). The two clamping plates (20) are respectively set on the output ends of the two electric push rods (19).

2. The tipper unhooking robot based on visual positioning function according to claim 1, characterized in that: The connection assembly includes a cylinder (7) and an electromagnet (8). The cylinders (7) are all disposed on the outer wall of the base (1), and the electromagnet (8) is disposed at the output end of the cylinders (7).

3. The tipper unhooking robot based on visual positioning function according to claim 1, characterized in that: The wheel (6) is a self-locking omnidirectional wheel.

4. The tipper unhooking robot based on visual positioning function according to claim 1, characterized in that: The drive assembly includes a servo motor (9), a worm (10), a rotating column (11), and a worm wheel (12). The servo motor (9) is located at the right end of the housing (2), and the output end of the motor extends into the inner cavity of the housing (2). One end of the worm (10) is rotatably connected to the left side of the inner cavity of the housing (2) through a bearing, and the other end of the worm (10) is fixedly connected to the output end of the servo motor (9). The rotating column (11) is rotatably connected to the bottom end of the inner cavity of the housing (2) through a bearing. The worm wheel (12) is fixedly sleeved on the outer wall of the rotating column (11), and the top end of the rotating column (11) is fixedly connected to the bottom end of the fixed seat (3).

5. The tipper unhooking robot based on visual positioning function according to claim 4, characterized in that: The worm (10) meshes with the worm wheel (12).

6. The tipper unhooking robot based on visual positioning function according to claim 1, characterized in that: Anti-slip pads are provided on the sides of the two clamps (20) that are close to each other.

7. A tipper unhooking robot based on visual positioning function according to claim 6, characterized in that: The two anti-slip pads are positioned close to each other on the same side, and both fit snugly against the outer circumference of the hook.

8. A tipper unhooking robot based on visual positioning function according to claim 2, characterized in that: The bottom end of the electromagnet (8) is provided with a rubber protective pad.

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