Integrated unhooking and unhooking robot

Abstract

The utility model provides an integrated unhooking and rehooking robot which comprises walking equipment and an unhooking and rehooking machine body, the unhooking and rehooking machine body is arranged at the top of the walking equipment and comprises an unhooking assembly and a rehooking assembly, and the unhooking assembly comprises an unhooking mechanical arm and an unhooking manipulator. The re-hooking assembly comprises a re-hooking mechanical arm and a re-hooking finger, a gap is formed between the unhooking mechanical arm and the re-hooking mechanical arm, the re-hooking mechanical arm comprises a moving part and a swinging part, and the swinging part is hinged to the moving part; the multi-hook mechanical arm can be folded when unhooking and multi-hook actions are not needed, the influence on a train is reduced, the integration degree is high, the occupied area is small, and transportation is convenient; and the two mechanical arms are matched with each other, so that the automation and matching effects of the whole equipment are better, and the working efficiency and accuracy of unhooking and rehooking are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal handling equipment, in particular to an integrated uncoupling and recoupling robot. BACKGROUND

[0002] In thermal power generation, raw materials such as coal need to be transported by train. The two carriages for transporting coal are connected by couplers. During the unloading of coal, uncoupling and recoupling actions are required. The coupler is a vehicle component used to connect locomotives and vehicles or vehicles, transmit traction and impact, and maintain a certain distance between vehicles. When uncoupling, external force is often applied to the rotating handle at the connection position of the train to rotate the rotating handle and make the locking column on the surface of the train coupler pop up to achieve uncoupling.

[0003] Currently, in order to facilitate the uncoupling action of the coupler of the train, many automatic uncoupling and recoupling mechanical devices have appeared in the prior art. Among them, the Chinese utility model patent CN220313354U proposes a coal unloading uncoupling and recoupling robot, which can automatically operate uncoupling and recoupling actions, reduce labor input, and save labor. However, since there is a certain distance between the coupler and the rotating handle, and the height in the vertical direction is also different, this patent uses two basically identical mechanical arms on the one hand, which has a complex structure and is difficult to control the rotating handle and the coupler with differentiated control structures, making it difficult to achieve synchronous operation. On the other hand, this structure uses a vertical guide rail in cooperation with a mechanical arm, which is difficult to store and has low integration level, large floor area, and inflexible clamping action.

[0004] Therefore, the prior art needs to be further improved and improved. UTILITY MODEL CONTENT

[0005] The present application provides an integrated uncoupling and recoupling robot to solve the problems of low integration level, large floor area, inflexible operation, complex structure, and poor synchronization of uncoupling and recoupling robots in the prior art.

[0006] The technical solution adopted by the present application is as follows:

[0007] The present application provides an integrated uncoupling and recoupling robot. The uncoupling and recoupling robot includes a walking device and an uncoupling and recoupling robot main body. The uncoupling and recoupling robot main body is arranged on the top of the walking device. The uncoupling and recoupling robot main body includes an uncoupling assembly and a recoupling assembly. The uncoupling assembly includes an uncoupling mechanical arm and an uncoupling mechanical hand. The recoupling assembly includes a recoupling mechanical arm and a recoupling finger. The uncoupling mechanical arm and the recoupling mechanical arm have a gap therebetween. The recoupling mechanical arm includes a moving part and a swinging part. The swinging part is hinged to the moving part.

[0008] As a preferred embodiment of the present application, the hooking and unhooking machine body is provided with a first installation opening and a second installation opening, which respectively accommodate the moving part of the hooking mechanical arm and the hooking mechanical arm, and the hooking mechanical arm and the moving part are respectively capable of sliding in the inner wall of the first installation opening and the second installation opening.

[0009] As a preferred embodiment of the present application, the first installation opening and the second installation opening are arranged along the walking direction of the walking device, and the hooking mechanical arm and the hooking mechanical arm are slidingly connected perpendicularly to the walking direction of the walking device.

[0010] As a preferred embodiment of the present application, the moving part is horizontally slidingly connected to the second installation opening, and the moving part is provided with a rotating part at the connection position with the swinging part, and the swinging part has a working state in line with the moving part, and a storage state vertically arranged and perpendicular to the moving part.

[0011] As a preferred embodiment of the present application, the sliding direction of the hooking mechanical arm and the hooking mechanical arm is perpendicular to the moving direction of the walking device.

[0012] As a preferred embodiment of the present application, the hooking finger comprises a mounting part and a moving part, the mounting part is connected to the swinging part, the moving part comprises a connecting plate, a traction part and a hooking part, and the two ends of the traction part are respectively connected to the connecting plate and the hooking part to drive the hooking part to swing.

[0013] As a preferred embodiment of the present application, the mounting part is provided with an installation opening, the connecting plate is arranged in the installation opening, and the hooking part is hingedly connected to the connecting plate, and the two ends of the traction part are respectively connected to the connecting plate and the hooking part.

[0014] As a preferred embodiment of the present application, the hooking mechanical hand comprises a rotating plate and a clamping jaw, the end of the hooking mechanical arm is provided with a mounting plate parallel to the side wall of the walking device, the rotating plate is rotatingly connected to the through hole of the mounting plate, and the side of the rotating plate away from the rotating position is provided with the clamping jaw.

[0015] As a preferred embodiment of the present application, the clamping jaw comprises a clamping finger and a sliding plate, the sliding plate is connected to the rotating plate, and the clamping finger is slidingly connected to the sliding plate to expand the interval between the clamping fingers in the walking direction of the walking device.

[0016] As a preferred embodiment of the present application, the walking device is internally provided with a lifting part, the lifting part is slidingly connected to the hooking mechanical arm, and the lifting part drives the hooking mechanical arm to lift along the vertical direction.

[0017] Due to the adoption of the above technical scheme, the present application has the following technical effects:

[0018] The application provides an integrated uncoupling and recoupling hook robot, which is convenient for uncoupling and recoupling hooks at different positions through the walking device, and the walking device can also save the labor input of the staff; in addition, the rotating handle of the car hook is clamped and operated through the uncoupling mechanical arm and the uncoupling mechanical hand, so that the train completes the uncoupling action, and the car hook is contacted through the recoupling mechanical arm and the recoupling finger, the recoupling finger pulls the car hook to reset, and the uncoupling mechanical arm completes the control of the rotating handle, thereby realizing the recoupling action, which not only ensures the smooth operation of uncoupling and recoupling, but also divides the uncoupling mechanical arm and the recoupling mechanical arm to manage different work and synchronously operate, which is convenient and easy to use; furthermore, the recoupling mechanical arm of the application comprises a moving part and a swing, so that the recoupling mechanical arm can be folded when uncoupling and recoupling actions are not needed, the influence on the train is reduced, the degree of integration is high, the floor area is small, and transportation is facilitated. BRIEF DESCRIPTION OF DRAWINGS

[0019] The drawings described herein are used to provide further understanding of the application, constitute a part of the application, and the illustrative embodiments of the application and the description thereof are used to explain the application, and do not constitute an improper limitation on the application. In the drawings:

[0020] Fig. 1 A general structure schematic diagram of an integrated uncoupling and recoupling hook robot is provided.

[0021] Fig. 2 A side structure schematic diagram of an integrated uncoupling and recoupling hook robot is provided.

[0022] Fig. 3 A partial connection structure schematic diagram of an integrated uncoupling and recoupling hook robot is provided.

[0023] Reference signs:

[0024] 10 walking device; 11 first installation port; 12 second installation port; 13 lifting part; 14 laser radar guiding module; 15 visual guiding module;

[0025] 20 uncoupling and recoupling robot main body; 21 uncoupling assembly; 211 uncoupling mechanical arm; 212 uncoupling mechanical hand; 2121 rotating plate; 2122 clamping finger; 2123 sliding plate; 22 recoupling assembly; 221 recoupling mechanical arm; 2211 moving part; 2212 swing part; 222 recoupling finger; 2221 installation part; 2222 installation port; 2223 connecting plate; 2224 traction part; 2225 recoupling part;

[0026] 30 car compartment; 31 car hook; 32 rotating handle. DETAILED DESCRIPTION

[0027] In order to more clearly illustrate the overall concept of the present application, the following will be described in detail with reference to the accompanying drawings.

[0028] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without the specific details and other implementations can be employed. Therefore, the scope of the present application is defined by the appended claims, not by the following description.

[0029] In addition, in the description of the present application, it should be understood that the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0030] In the present application, unless specifically defined and limited otherwise, the terms "mount", "connect", "connection", "fixed", and the like are to be broadly interpreted, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection, or communication; can be directly connected, or indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0031] In the present application, unless specifically defined and limited otherwise, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. In the description of the specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples.

[0032] As Figs. 1 to 3As shown, the present application provides an integrated picking and replacing hook robot, the picking and replacing hook robot comprises a walking device 10 and a picking and replacing hook robot body 20, the picking and replacing hook robot body 20 is arranged on the top of the walking device 10, the picking and replacing hook robot body 20 comprises a picking hook assembly 21 and a replacing hook assembly 22, the picking hook assembly 21 comprises a picking hook mechanical arm 211 and a picking hook mechanical hand 212, the replacing hook assembly 22 comprises a replacing hook mechanical arm 221 and a replacing hook finger 222, the picking hook mechanical arm 211 and the replacing hook mechanical arm 221 are spaced apart, the replacing hook mechanical arm 221 comprises a moving part 2211 and a swing part 2212, and the swing part 2212 is hinged to the moving part 2211.

[0033] Wherein, the walking device 10 can be divided into two kinds of in-situ carriers and track carriers, both of which can realize the synchronous forward movement of the picking and replacing hook robot and the train compartment 30, and can be selected and processed and assembled according to the actual needs of the site.

[0034] As shown, Fig. 1 The walking device 10 and the picking and replacing hook robot body 20 are arranged in a stacked manner, forming a structure similar to a square box, to carry the entire picking hook assembly 21 and replacing hook assembly 22; the picking and replacing hook robot body 20 is provided with a first installation opening 11 and a second installation opening 12, which are arranged for the moving part 2211 of the picking hook mechanical arm 211 and the replacing hook mechanical arm 221 respectively, and the picking hook mechanical arm 211 and the moving part 2211 can slide in the inner walls of the first installation opening 11 and the second installation opening 12 respectively.

[0035] In an optional embodiment, Fig. 1 For example, the first installation opening 11 and the second installation opening 12 are arranged along the walking direction of the walking device 10, the first installation opening 11 is located in front of the second installation opening 12, and the picking hook mechanical arm 211 and the replacing hook mechanical arm 221 are assembled respectively.

[0036] Further, the picking hook mechanical arm 211 and the replacing hook mechanical arm 221 can be connected in a sliding manner perpendicular to the walking direction of the walking device 10, and the sliding directions of the picking hook mechanical arm 211 and the replacing hook mechanical arm 221 are both perpendicular to the moving direction of the walking device 10.

[0037] Wherein, for the second installation opening 12 and the replacing hook mechanical arm 221, the moving part 2211 is connected to the second installation opening 12 in a horizontal sliding manner, a rotating part is arranged at the connection between the moving part 2211 and the swing part 2212, the swing part 2212 has a working state in line with the moving part 2211, and a storage state arranged vertically and perpendicular to the moving part 2211.

[0038] That is, the re-hooking mechanical arm 221 can perform translation perpendicular to the moving direction of the walking device 10 under the sliding connection of the moving part 2211 and the second installation port 12, and the re-hooking fingers 222 can perform swinging under the relative swinging of the swinging part 2212 and the moving part 2211.

[0039] As a preferred embodiment of the present application, as shown in Fig. 2 The re-hooking fingers 222 include an installation part 2221 and a moving part, the installation part 2221 is connected to the swinging part 2212, and the moving part includes a connecting plate 2223, a traction member 2224 and a re-hooking member 2225, the two ends of the traction member 2224 are respectively connected to the connecting plate 2223 and the re-hooking member 2225 to drive the re-hooking member 2225 to swing.

[0040] The installation part 2221 is provided with an installation port 2222, the connecting plate 2223 is arranged in the installation port 2222, the re-hooking member 2225 is hinged to the connecting plate 2223, and the two ends of the traction member 2224 are respectively connected to the connecting plate 2223 and the re-hooking member 2225. As shown in Fig. 2 The installation port 2222 is opened towards the direction of the hooking mechanical arm 211, and the connecting plate 2223 is inserted into the installation port 2222 to bear the traction member 2224 and the re-hooking member 2225.

[0041] As for the structure of the traction member 2224, a small hydraulic structure can be used to drive the re-hooking member 2225 to swing, and as for the re-hooking member 2225, as shown in Fig. 2 An arc-shaped hook claw structure can be used to hook the inner wall of the tongue of the car hook 31 when re-hooking, under the traction of the traction member 2224, the re-hooking member 2225 swings outward to drive the car hook 31 to move synchronously, so that the car hook 31 is opened to perform the re-hooking action.

[0042] Further, as shown in Fig. 2 The hooking mechanical arm 211 is provided with an installation plate parallel to the side wall of the walking device 10, the rotating plate 2121 is rotatably connected to the through hole of the installation plate, and the clamping jaw is arranged on the side of the rotating plate 2121 away from the rotating position.

[0043] The clamping jaw comprises a clamping finger 2122 and a sliding plate 2123, the sliding plate 2123 is connected to the rotating plate 2121, and the clamping finger 2122 is slidingly connected to the sliding plate 2123, so as to expand the interval between the clamping fingers 2122 in the walking direction of the walking device 10, as shown in the figure. For the structure of the clamping finger 2122, it can be provided as two plate-shaped structures that are symmetrical left and right. The clamping fingers 2122 on both sides can move towards each other or away from each other along the sliding plate 2123, so as to realize the action of expanding or reducing the interval between the clamping fingers 2122. When the rotating handle 32 needs to be clamped, the clamping fingers 2122 can move towards each other to clamp, and when the rotating handle 32 does not need to be clamped, the clamping fingers 2122 can move away from each other to release.

[0044] In addition, as shown in Fig. 2 The walking device 10 is internally provided with a lifting part 13, and the lifting part 13 is slidingly connected to the unhooking mechanical arm 211. The lifting part 13 drives the unhooking mechanical arm 211 to move up and down in the vertical direction.

[0045] That is, specifically, in use, the unhooking robot realizes synchronous walking with the carriage 30 through the walking device 10, and reaches a relatively static state. At this time, the swinging part 2212 and the moving part 2211 of the rehooking mechanical arm 221 are in a storage state, the unhooking mechanical arm 211 reaches the rotating handle 32, and moves close to the rotating handle 32 until the clamping jaw clamps the rotating handle 32. The rotating handle 32 is driven to rotate by the rotation of the rotating plate 2121, so as to make the rotating handle 32 act, realize the unhooking operation, and finally the unhooking mechanical arm 211 is reset to complete the homing action.

[0046] When rehooking is needed, the swinging part 2212 of the rehooking mechanical arm 221 starts to swing, gradually changes to a working state, and after switching to the working state, the rehooking finger 222 is extended to perform a swing reset action on the tongue of the coupler 31. At this time, the unhooking mechanical arm 211 also controls the rotating handle 32 to rotate, so as to unlock the coupler 31, facilitate the rehooking action of the rehooking finger 222, and the two work together to operate conveniently and quickly. After the rehooking operation is completed, the unhooking mechanical arm 211 and the rehooking mechanical arm 221 are reset to complete the reset action. The dashed line and arrow in the figure represent the action of the unhooking mechanical arm 211 and the rehooking mechanical arm 221, and the unhooking mechanical arm 211 and the rehooking mechanical arm 221 are not provided with two.

[0047] It can be understood that due to the need to unload coal from the car 30, the hook tongue that has been unlocked will be re-locked due to the influence of gravity and inertia when the train car 30 is turned over for unloading. Therefore, when the re-hooking action is performed, the uncoupling assembly 21 and the re-hooking assembly 22 need to cooperate to quickly complete the entire re-hooking action. After re-hooking, the front car 30 and the rear car 30 are connected by the collision of the couplings 31, and the connection of the cars 30 is completed.

[0048] In addition, it should be noted that in order to achieve automatic control of the present application, the uncoupling assembly 21, the re-hooking assembly 22 and the action device of the present application are provided with a plurality of motor structures. These motor structures are large or small, and the model and size are adjusted according to the work required to realize the horizontal movement of the uncoupling mechanical arm 211, the vertical movement of the uncoupling mechanical arm 211, the swing storage of the re-hooking mechanical arm 221, the approach and departure of the uncoupling mechanical hand 212, the action of the re-hooking finger 222, etc. All these actions can be controlled by motors.

[0049] Furthermore, the present application should also include a control system, which includes a control module, a man-machine interaction module, a driving module, a sensing detection module, a visual guidance module 15, a laser radar guidance module 14, a visual monitoring module, a safety alarm module, etc. In essence, it is a multi-motor control system.

[0050] As shown in FIG. 1, the uncoupling mechanical arm 211 is provided with a laser radar guidance module 14 on the top wall of the uncoupling and re-hooking machine body 20 at the position of the uncoupling mechanical arm 211, so that the uncoupling mechanical arm 211 can be accurately positioned and the distance can be judged. Similarly, the re-hooking mechanical arm 221 can be provided with a visual guidance module 15, such as an online monitoring camera, which can judge whether it is in place through image recognition and perform manual or automatic re-hooking adjustment. Fig. 2

[0051] Of course, the control module of the entire control system can be controlled by a PLC program. The PLC sends a control signal to the servo driver, and the motor runs at a specific speed. The actuator is driven by the rotation of the motor to run to the corresponding point. The encoder on the servo motor feeds back the in-place signal to the servo driver, thereby completing a complete motion control. The control program of the control module and the model selection of each control system module are not limited in the present application, as long as the module structure and control program in the prior art can match the uncoupling and re-hooking action of the present application.

[0052] The places not mentioned in the present application can be realized by using or referring to the existing technology.

[0053] ​The various embodiments in the specification are described in progressive manner, and the same or similar parts between the various embodiments can be mutually referred to, and each embodiment focuses on the difference from other embodiments.

[0054] The above merely provides an example of the present application, and is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. An integrated picking and hooking robot, characterized in that, The picking and replacing hook robot comprises a walking device and a picking and replacing hook robot body, the picking and replacing hook robot body is arranged on the top of the walking device, the picking and replacing hook robot body comprises a picking hook assembly and a replacing hook assembly, the picking hook assembly comprises a picking hook mechanical arm and a picking hook mechanical hand, the replacing hook assembly comprises a replacing hook mechanical arm and a replacing hook finger, the picking hook mechanical arm and the replacing hook mechanical arm are spaced apart, the replacing hook mechanical arm comprises a moving part and a swinging part, and the swinging part is hinged to the moving part.

2. An integrated pick-up hook robot as claimed in claim 1, characterized in that The picking and replacing hook robot body is provided with a first installation opening and a second installation opening, which are arranged respectively for the moving part of the picking hook mechanical arm and the replacing hook mechanical arm, and the picking hook mechanical arm and the moving part can slide in the inner wall of the first installation opening and the second installation opening respectively.

3. An integrated hook picking robot as claimed in claim 2, characterized in that The first installation opening and the second installation opening are arranged along the walking direction of the walking device, and the picking hook mechanical arm and the replacing hook mechanical arm are connected in a sliding mode perpendicular to the walking direction of the walking device.

4. An integrated pick-up hook robot as claimed in claim 3, characterized in that The moving part is connected to the second installation opening in a horizontal sliding mode, a rotating part is arranged at the connection position of the moving part and the swinging part, the swinging part has a working state in line with the moving part, and a storage state arranged vertically and perpendicularly to the moving part.

5. An integrated hook picking robot as claimed in claim 4, characterized in that The sliding directions of the picking hook mechanical arm and the replacing hook mechanical arm are perpendicular to the moving direction of the walking device.

6. An integrated pick-up hook robot as claimed in claim 5, characterized in that The replacing hook finger comprises a mounting part and a moving part, the mounting part is connected to the swinging part, and the moving part comprises a connecting plate, a traction part and a replacing hook part, the traction part is connected to the connecting plate and the replacing hook part at two ends respectively to drive the replacing hook part to swing.

7. An integrated pick-up hook robot as claimed in claim 6, characterized in that The mounting part is provided with an installation opening, the connecting plate is arranged in the installation opening, and the replacing hook part is hinged to the connecting plate.

8. An integrated pick-up hook robot as claimed in claim 7, characterized in that The picking hook mechanical hand comprises a rotating plate and a clamping jaw, the end of the picking hook mechanical arm is provided with a mounting plate, the mounting plate is parallel to the side wall of the walking device, the rotating plate is connected to the through hole of the mounting plate in a rotating mode, and the clamping jaw is arranged on the side of the rotating plate away from the rotating position.

9. An integrated pick-up hook robot as claimed in claim 8, characterized in that The clamping jaw comprises a clamping finger and a sliding plate, the sliding plate is connected to the rotating plate, and the clamping finger is connected to the sliding plate in a sliding mode to expand the interval between the clamping fingers in the walking direction of the walking device.

10. An integrated hook picking robot as claimed in claim 9, characterized in that The walking device is internally provided with a lifting part, the lifting part is connected to the picking hook mechanical arm in a sliding mode, and the lifting part drives the picking hook mechanical arm to lift in a vertical direction.

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