Coupler power-assisted dismounting and mounting device

Abstract

The utility model relates to a car coupler power-assisted disassembling and assembling device, and relates to the technical field of disassembling and assembling tools. The device comprises a moving trolley, a Z-axis stand column, a first rotation driving assembly, a lifting assembly mechanism, a force sensing sliding assembly, a stand pipe clamp assembly and a control box. The first rotation driving assembly drives the Z-axis stand column to rotate, the lifting assembly mechanism slides up and down along the Z-axis stand column, the position of the vertical pipe clamp assembly is adjusted through linkage of a large arm and a small arm, and coupler grabbing, pitching angle adjustment and 360-degree rotation are completed. The force sensing sliding assembly is arranged at the tail end of the small arm, force applied by an operator is converted into an electric signal through the pull pressure sensor, and the control box achieves self-adaptive motion control based on the signal. According to the utility model, the car coupler is accurately and firmly clamped through the specific structure of the clamp opening and closing assembly, and the quick disassembly and assembly and flaw detection operation of the car coupler are realized through the integral combination of other structural members, so that the labor intensity is reduced, and the operation safety is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a dismounting tool technical field, specifically is a car hook power -assisted dismounting device. BACKGROUND

[0002] The car hook is the key component of the railway locomotive, passenger and freight car and the car body connection, and its working state is directly related to the safety and reliability of train operation. According to the maintenance regulation, the locomotive vehicle must be disassembled after running a certain mileage or time, and the non-destructive testing (such as magnetic powder testing, ultrasonic testing, etc.) is carried out to detect internal cracks or fatigue damage, and then reassembled after confirmation or repair.

[0003] At present, in the dismounting operation of the above-mentioned car hook, the overhead crane is generally used for lifting operation, which is easy to form a pendulum-like swing, and it is difficult to accurately control its spatial posture and position, which not only poses a potential threat to the personal safety of the operator, but also is easy to collide with the car body or other equipment during moving, causing damage to the equipment or the car hook body. Secondly, the operation of the overhead crane completely depends on the special equipment operator with qualification, which requires high skills and experience of the operator, resulting in low operation efficiency and high labor cost.

[0004] Therefore, there is an urgent need in the art for an auxiliary dismounting tool device that can replace the traditional overhead crane lifting and is specially used for car hook dismounting and flaw detection transfer process to overcome the above-mentioned defects and realize safe, efficient, labor-saving and accurate operation. UTILITY MODEL CONTENTS

[0005] In view of the above problems, the utility model provides a car hook power -assisted dismounting device which is accurate in positioning, high in safety and efficient in dismounting operation.

[0006] The utility model solves the above-mentioned technical problem and adopts the technical scheme: a car hook power -assisted dismounting device, including mobile trolley, Z axle stand, first rotary drive assembly and lifting assembly mechanism, the first rotary drive assembly is installed on the mobile trolley through mounting plate, the bottom plate of Z axle stand is fixed to the top of first rotary drive assembly and is driven to rotate in horizontal plane, the lifting assembly mechanism is connected with Z axle stand through first sliding assembly, and the first sliding assembly is used to drive the lifting assembly mechanism to lift along the Z axle stand, and the lifting assembly mechanism includes big arm, small arm, tension and pressure sensor, force sensing sliding assembly and riser clamp assembly, the first end of big arm is rotatably connected with the first mounting frame of first sliding assembly through first pivot, and the first end of small arm is rotatably connected with the tail end of big arm through second pivot, the riser clamp assembly is arranged below force sensing sliding assembly and is rotatably connected with it, and is slidably connected with the tail end of small arm through force sensing sliding assembly, and the tension and pressure sensor is used to detect the force or torque of force sensing sliding assembly.

[0007] As preferred, the large arm and the small arm both extend in a horizontal plane, and the sliding direction of the force-sensing sliding assembly is perpendicular to the length direction of the small arm; meanwhile, the car coupler assisting dismounting device further comprises a control box, which is electrically connected with the first rotary drive assembly, the first sliding assembly, the tension and compression force sensor, and the stand pipe clamp assembly.

[0008] As preferred, the first sliding assembly further comprises a first lifting motor, a first lifting driving gear, two first guide rails fixed to the same side of the Z-axis stand column along the Z-axis direction and parallel to each other, and a rack, wherein the rack is arranged between the two first guide rails, the top and bottom of each first guide rail is respectively provided with an upper limit block and a lower limit block; the first lifting motor is fixed to a first mounting frame, the first lifting driving gear is connected with the output shaft of the first lifting motor and engaged with the rack, and the first mounting frame is slidingly connected with the first guide rail through at least two first sliding blocks.

[0009] As preferred, the force-sensing sliding assembly comprises a weighing arm pipe, a second sliding rail, and a second sliding block, the second sliding rail is arranged along the axial direction of the weighing arm pipe, and the second sliding block is fixed to the end of the small arm; the tension and compression force sensor is fixed to the weighing upper plate at the top of the weighing arm pipe and abuts against the small arm, and receives signals through the control box to control the action of the first sliding assembly; the bottom of the weighing arm pipe is fixedly connected with a bearing mounting seat.

[0010] The stand pipe clamp assembly comprises a clamp connecting pipe, a clamp opening and closing assembly, a second rotary drive assembly, and a clamp angle adjusting assembly, the clamp connecting pipe is rotationally connected with the weighing arm pipe through a third rotating shaft in the bearing mounting seat, the clamp angle adjusting assembly is hinged to the bottom of the clamp connecting pipe and connected with the clamp opening and closing assembly through the second rotary drive assembly, and the clamp opening and closing assembly is adjusted in pitch angle and rotated in the horizontal plane through the angle adjusting assembly and the second rotary drive mechanism, respectively.

[0011] As preferred, the clamp angle adjusting assembly comprises an electric cylinder arranged obliquely, a horizontal mounting plate, and a vertical mounting plate; the horizontal mounting plate is fixed to the bottom of the clamp connecting pipe, and the upper part of the vertical mounting plate is hinged to the bottom of the horizontal mounting plate; the cylinder body end and the piston rod end of the electric cylinder are hinged to the bottom of the horizontal mounting plate and the lower part of the vertical mounting plate, respectively, to drive the vertical mounting plate to rotate relative to the horizontal mounting plate through the extension and retraction movement.

[0012] As preferred, the second rotary drive assembly comprises a second rotary motor, a second driving gear, and a second rotary support bearing, the second rotary motor is fixed to the vertical mounting plate, the inner ring of the second rotary support bearing is fixed to the vertical mounting plate, the outer ring is fixed to the clamp bottom plate of the clamp opening and closing assembly, and the second driving gear is fixed to the output shaft of the second rotary motor and engaged with the outer ring.

[0013] As preferred, the clamp opening and closing assembly further comprises an upper fixed support plate, a lower movable support plate and a lead screw motor fixedly connected with the clamp bottom plate on the same side of the clamp bottom plate, the bottom of the upper fixed support plate and the top of the lower movable support plate are both provided with a tapered pin matched with the pin hole of the vehicle hook, the lower movable support plate is slidably connected with the third sliding rail fixedly arranged on the clamp bottom plate along the Z-axis direction through a third sliding block, and the lower movable support plate is fixedly connected with a nut mounting seat of the lead screw, the lead screw motor drives the lead screw to rotate to drive the nut mounting seat to move linearly up and down, so as to drive the lower movable support plate to slide up and down along the third sliding rail.

[0014] As preferred, the first rotary drive assembly comprises a first rotary motor, a first driving gear and a first rotary support bearing, the first rotary motor is fixed on the bottom plate of the Z-axis column, the outer gear ring of the first rotary support bearing is fixed on the mounting plate, and the inner gear ring is fixedly connected with the bottom plate of the Z-axis, and the first driving gear is connected with the output end of the transmission shaft of the first rotary motor and meshes with the outer gear ring of the first rotary support bearing.

[0015] As preferred, the moving trolley is a public and railway dual-purpose vehicle or an electric omnidirectional wheel vehicle, the bottom of the vehicle body of the public and railway dual-purpose vehicle and the electric omnidirectional wheel vehicle is provided with two driving wheels and two universal wheels, the top of the vehicle body is provided with a vehicle hook placing rack, and the inside of the vehicle body is provided with a vehicle body controller and an energy storage power supply, each driving wheel is driven and steered by a driving motor and a steering motor respectively, and the driving motor, the steering motor and the energy storage power supply are electrically connected with the vehicle body controller.

[0016] As preferred, the electric omnidirectional wheel vehicle further comprises a hydraulic outrigger assembly, the hydraulic outrigger assembly comprises a hydraulic station arranged in the inside of the vehicle body and two oil cylinder outriggers arranged at the bottom of the vehicle body, the oil cylinder outriggers are connected with the hydraulic station through oil pipes, and the hydraulic station is electrically connected with the vehicle body controller, and the hydraulic outrigger assembly further comprises a support rod, one end of the support rod is fixedly connected with the cylinder body of the oil cylinder outrigger, the piston rod end of the oil cylinder outrigger is movably abutted with the ground, and the other end of the support rod is hingedly connected with the bottom of the vehicle body through a connecting shaft, and the axis of the connecting shaft is perpendicular to the ground.

[0017] Compared with the prior art, the utility model has the following beneficial effects:

[0018] 1、 Compared with the traditional top car dismounting process, the pendulum type shaking is avoided through multi-dimensional mechanical adjustment (Z-axis lifting, 360° rotation, pitch angle adjustment) and force sensing self-adaptive control, the space posture during the dismounting of the coupler is accurately adjusted and controlled, the collision risk with the car body or equipment is greatly avoided, the coupler can be quickly and firmly clamped through the matching tapered pins on the clamp opening and closing assembly, and therefore the accurate and quick dismounting of the coupler is realized. Meanwhile, the device does not need to be operated by special equipment operators, and the dismounting operation can be completed by ordinary personnel through simple thrust guidance, and the personal safety hidden danger is reduced;

[0019] 2、 The omnidirectional movement ability of the mobile trolley and the linkage design of the Z-axis stand rotation, the arm support extension and retraction and the clamp angle adjustment assembly are designed as a complete bench dismounting device system, so that the device can quickly adapt to the coupler positions of different vehicle types for dismounting; and the clamp opening and closing assembly is driven by the screw rod motor to realize self-adaptive clamping, and can be compatible with various types of couplers, without frequent replacement of the dismounting clamp;

[0020] 3、 The utility model integrates the functions of trolley walking, posture adjustment, grabbing and fixing, and one person can complete the whole operation, solving the problem that the top car operation depends on special equipment personnel; the mobile trolley supports two configurations of public and private cars and electric omnidirectional wheel cars, and can be adapted to different scenes such as railway freight yards and repair workshops; the oil cylinder supporting leg assembly further improves the stability of the device under heavy load working conditions;

[0021] 4、 The utility model is simple and fast to operate, the coupler power-assisted dismounting device follows the traction force of the operator to complete the actions of lifting, pushing and pulling, rolling and tilting of the coupler workpiece, so as to easily dismount and carry the workpiece, and assist in the repair of the workpiece;

[0022] 5、 The utility model is provided with a tension and compression force sensor and a force sensing sliding assembly, which can accurately detect the load force and operation force of the machine, and match the corresponding driving signal to the first lifting motor according to the size of the force, realize stepless speed change zero gravity suspension operation, and prevent accidents from happening. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a three-dimensional structure schematic view of the utility model (the mobile trolley hides the top cover plate);

[0024] Figure 2 is a schematic view of the connection structure of the Z-axis stand and the first rotation driving assembly in the utility model;

[0025] Figure 3 is a schematic view of the connection structure of the force sensing sliding assembly and the stand clamp assembly in the utility model;

[0026] Figure 4 is Figure 3 another angle schematic view;

[0027] Figure 5 Figure 1 is a schematic diagram of the connecting structure of the large arm and the small arm in the utility model. DETAILED DESCRIPTION

[0028] The utility model will be described below in detail, the schematic embodiment of the utility model and the description are used to explain the utility model, but not as the limitation of the utility model. Figures 1-5 The utility model will be described below in detail, the schematic embodiment of the utility model and the description are used to explain the utility model, but not as the limitation of the utility model.

[0029] A car hook power-assisted dismounting device, it includes movable trolley 1, Z axle stand 2, first rotary drive assembly 3, lifting assembly mechanism and control box 4, first rotary drive assembly is installed on movable trolley through mounting plate 5, and the bottom plate 6 of Z axle stand is fixed on the top of first rotary drive assembly and is driven to rotate in horizontal plane through it, lifting assembly mechanism is connected with Z axle stand through first sliding assembly, and first sliding assembly is used to drive lifting assembly mechanism to lift along Z axle stand, and lifting assembly mechanism includes large arm 7, small arm 8, tension and compression force sensor 9, force sensing sliding assembly 10 and riser clamp assembly simultaneously, the first end of large arm is rotatably connected with the first mounting frame 15 of first sliding assembly through first pivot, and the first end of small arm is rotatably connected with the end of large arm through second pivot 20, specifically, large arm and small arm all extend in horizontal plane, and the sliding direction of force sensing sliding assembly is perpendicular to the length direction of small arm, riser clamp assembly is arranged below force sensing sliding assembly 10 and is rotatably connected with it, and is slidably connected with the end of small arm through force sensing sliding assembly, and tension sensor is used to detect the force or torque that force sensing sliding assembly bears, control box is electrically connected with first rotary drive assembly, first sliding assembly, tension and compression force sensor and riser clamp assembly.

[0030] In one embodiment, the first sliding assembly further comprises a first lifting motor 16, a first lifting driving gear 39, two first guide rails 17 fixed to the same side of the Z-axis column along the Z-axis direction and parallel to each other, and a rack 18, wherein the rack is arranged between the two first guide rails, and the top and bottom of each first guide rail is respectively provided with an upper limit block and a lower limit block; the first lifting motor is fixedly arranged on a first mounting frame, the first lifting driving gear is connected with the output shaft of the first lifting motor and engaged with the rack, and the first mounting frame is slidingly connected with the first guide rails through at least two first sliding blocks 38. The first lifting motor drives the first lifting driving gear to move up and down along the rack, thereby driving the lifting assembly mechanism to slide up and down along the first sliding rail. The first rotary driving assembly comprises a first rotary motor 36, a first driving gear and a first rotary support bearing 37; the first rotary motor is fixed on the bottom plate of the Z-axis column; the outer gear ring of the first rotary support bearing is fixed on the mounting plate, and the inner gear ring is fixedly connected with the bottom plate of the Z-axis; the first driving gear is connected with the output end of the transmission shaft of the first rotary motor and engaged with the outer gear ring of the first rotary support bearing. The first rotary motor drives the first driving gear to rotate along the outer gear ring, thereby driving the Z-axis column to rotate.

[0031] In one embodiment, the force sensing sliding assembly comprises a weighing arm pipe 19, a second sliding rail 21 arranged axially along the weighing arm pipe, and a second sliding block 22 fixed to the end of the small arm; a tension and compression force sensor is fixed to the weighing upper plate at the top of the weighing arm pipe and abuts against the small arm, and receives signals of the tension and compression force sensor through a control box to control the action of the first sliding assembly. The configuration of the tension and compression force sensor and the force sensing sliding assembly can accurately detect the load force and operating force of the machine, and match the corresponding driving signal to the first lifting motor according to the size of the force, so as to realize stepless speed change and zero gravity suspension operation; the bottom of the weighing arm pipe is fixedly connected with a bearing mounting seat;

[0032] The stand pipe clamp assembly comprises a clamp connecting pipe 11, a clamp opening and closing assembly 12, a second rotary driving assembly 13 and a clamp angle adjusting assembly 14. The clamp connecting pipe is rotatably connected with the weighing arm pipe through a third rotating shaft in the bearing mounting seat. The clamp angle adjusting assembly is hinged to the bottom of the clamp connecting pipe and connected with the clamp opening and closing assembly through the second rotary driving assembly. The clamp opening and closing assembly is adjusted in pitch angle and rotated in the horizontal plane through the angle adjusting assembly and the second rotary driving mechanism, respectively.

[0033] Specifically, the clamp angle adjusting assembly comprises an obliquely arranged electric cylinder 23, a transverse mounting plate 24 and a vertical mounting plate 25. The transverse mounting plate is fixed to the bottom of the clamp connecting pipe, and the upper part of the vertical mounting plate is hinged to the bottom of the transverse mounting plate. The cylinder body end and the piston rod end of the electric cylinder are respectively hinged to the bottom of the transverse mounting plate and the lower part of the vertical mounting plate. The vertical mounting plate is driven to rotate relative to the transverse mounting plate through the extension and retraction movement, thereby driving the clamp opening and closing assembly to adjust the pitch angle.

[0034] The second rotary drive assembly comprises a second rotary motor 26, a second driving gear and a second rotary support bearing 27, the second rotary motor is fixed on the vertical mounting plate, the inner ring of the second rotary support bearing is fixed with the vertical mounting plate, the outer ring is fixed with the clamp bottom plate 28 of the clamp opening and closing assembly, and the second driving gear is fixed on the output shaft of the second rotary motor and meshes with the outer ring. The second rotary motor drives the outer ring meshing with the second driving gear to move, so as to drive the clamp opening and closing assembly to rotate, facilitating the clamp or release of the car hook at the designated position without obstacles.

[0035] The clamp opening and closing assembly further comprises an upper fixed support plate 29, a lower movable support plate 30 and a lead screw motor 31 arranged on the same side of the clamp bottom plate, the bottom of the upper fixed support plate and the top of the lower movable support plate are both provided with a tapered pin 32 matching the pin hole of the car hook, the lower movable support plate is slidably connected with the third sliding rail 34 fixedly arranged on the clamp bottom plate in the Z-axis direction through the third sliding block 33, and the lower movable support plate is fixedly connected with the lead screw nut mounting seat of the threaded connection lead screw 35, the lead screw motor drives the lead screw to rotate to drive the lead screw nut mounting seat to move linearly up and down, thereby driving the lower movable support plate to slide up and down along the third sliding rail, thereby being compatible with car hooks of different sizes, and the upper fixed support plate and the lower movable support plate are both fixed by bolts, so that the clamping member can be replaced according to the operation requirement.

[0036] The mobile trolley is a public and private car or an electric omnidirectional wheel car, the bottom of the car body of the public and private car and the electric omnidirectional wheel car is provided with two driving wheels and two universal wheels, the top of the car body is provided with a car hook placing rack, and the inside of the car body is provided with a car body controller and an energy storage power supply, each driving wheel is driven and steered by a driving motor and a steering motor respectively, and the driving motor, the steering motor and the energy storage power supply are electrically connected with the car body controller.

[0037] The electric omnidirectional wheel car further comprises a hydraulic support leg assembly, the hydraulic support leg assembly comprises a hydraulic station arranged in the inside of the car body and two oil cylinder legs 40 arranged at the two sides of the bottom of the car body, the oil cylinder legs are connected with the hydraulic station through oil pipes, and the hydraulic station is electrically connected with the car body controller; the hydraulic support leg assembly further comprises a support rod 41, one end of the support rod is fixedly connected with the cylinder body of the oil cylinder leg, the piston rod end of the oil cylinder leg is movably abutted with the ground, and the other end of the support rod is hingedly connected with the bottom of the car body through a connecting shaft, and the axis of the connecting shaft is perpendicular to the ground. The car body controller starts the hydraulic station to make the piston rod of the oil cylinder leg abut with the ground, so that the equipment is stably supported.

[0038] In the implementation process, the operator starts the device through the control box or the remote controller. The mobile trolley travels to the working position, and the hydraulic support legs (if provided) stabilize the trolley body. The control box drives the first rotary motor of the first rotary drive assembly to rotate the Z-axis column through gear engagement, and the first lifting motor drives the lifting assembly mechanism to ascend and descend along the first guide rail of the Z-axis column through gear-rack transmission, so as to send the standpipe clamp assembly to the trolley hook waiting for grabbing position.

[0039] Then, the operator manually controls the standpipe clamp assembly, aligns the clamp opening and closing assembly with the trolley hook by rotating the standpipe clamp assembly, and starts the lead screw motor of the clamp opening and closing assembly to drive the lower movable support plate to move downward along the third sliding rail, so as to expand the distance between the tapered pins to adapt to the pin hole of the trolley hook. Then, the second rotary motor of the second rotary drive assembly adjusts the horizontal angle of the clamp opening and closing assembly, and the electric cylinder of the clamp angle adjusting assembly extends and retracts to drive the vertical mounting plate to rotate, so as to realize the pitch angle calibration and ensure the accurate alignment of the tapered pins with the pin hole. The lead screw motor drives the lower movable support plate to move upward, and the tapered pins are inserted into the pin hole to complete the fixation of the trolley hook. Through the trolley hook pin hole and the matching tapered pins, the trolley hook can be quickly and stably clamped, which facilitates the quick disassembly and assembly of the trolley hook in the later stage and improves the work efficiency.

[0040] When the operator pushes the standpipe clamp assembly, the tension and pressure sensor at the top of the force sensing sliding assembly converts the contact force into an electrical signal and transmits it to the control box. The control box adjusts the rotating speed of the first lifting motor in real time based on the signal, further accurately controls the ascending and descending speed of the lifting assembly mechanism, and senses the force applied by manual operation through the tension and pressure sensor. In the zero-gravity suspension state, the device can be accurately positioned during random movement during docking. The force sensing sliding assembly slides along the second sliding rail of the small arm, the standpipe clamp assembly rotates with the third rotating shaft, and the hinge structure of the large arm and the small arm are matched, so that the trolley hook can be disassembled without shaking. After disassembly, the trolley hook can be directly placed on the placing rack of the mobile trolley, which is convenient for stable transportation. When transported to the flaw detection position, the posture of the trolley hook can be fine adjusted through the second rotary drive assembly and the angle adjusting assembly, so as to meet the detection requirements of the flaw detection device.

[0041] After the device is moved to the installation position after flaw detection, the reverse action of the disassembly stage is repeated, the lead screw motor drives the lower movable support plate to move downward, and the tapered pins are separated from the pin hole to complete the installation or release of the trolley hook after flaw detection.

[0042] The above describes the technical solutions provided by the embodiments of the present application in detail. The principles and implementation modes of the embodiments of the present application are described by applying specific examples. The above description of the embodiments is only applicable to help understand the principles of the embodiments of the present application. Meanwhile, for those skilled in the art, the specific implementation modes and application ranges of the embodiments of the present application will be changed, and the content of the present description should not be understood as a limitation of the present application.

Claims

1. A coupler assisted disconnection device, characterised in that: The device comprises a mobile trolley (1), a Z-axis vertical column (2), a first rotary drive assembly (3) and a lifting assembly mechanism; the first rotary drive assembly is installed on the mobile trolley through a mounting plate (5), the bottom plate (6) of the Z-axis vertical column is fixed on the top of the first rotary drive assembly and is driven to rotate in the horizontal plane; the lifting assembly mechanism is connected with the Z-axis vertical column through a first sliding assembly, the first sliding assembly is used to drive the lifting assembly mechanism to ascend and descend along the Z-axis vertical column; meanwhile, the lifting assembly mechanism comprises a large arm (7), a small arm (8), a tension and compression force sensor (9), a force sensing sliding assembly (10) and a standpipe clamp assembly; the first end of the large arm is rotatably connected with the first mounting frame (15) of the first sliding assembly through a first rotating shaft, the first end of the small arm is rotatably connected with the end of the large arm through a second rotating shaft (20); the standpipe clamp assembly is arranged below the force sensing sliding assembly (10) and is rotatably connected with the force sensing sliding assembly, and is slidably connected with the end of the small arm through the force sensing sliding assembly; the tension and compression force sensor is used to detect the force or torque borne by the force sensing sliding assembly.

2. The device according to claim 1, characterized in that: The large arm and the small arm both extend in the horizontal plane, the sliding direction of the force sensing sliding assembly is perpendicular to the length direction of the small arm; meanwhile, the car hook assisting force dismounting device further comprises a control box (4), the control box is electrically connected with the first rotary drive assembly, the first sliding assembly, the tension and compression force sensor and the standpipe clamp assembly.

3. The device according to claim 1, characterized in that: The first sliding assembly further comprises a first lifting motor (16), a first lifting driving gear (39) and two first guide rails (17) which are fixed on the same side of the Z-axis vertical column in the Z-axis direction and are parallel to each other, and a rack (18), meanwhile, the rack is arranged between the two first guide rails, and the top and the bottom of each first guide rail are respectively provided with an upper limit block and a lower limit block; the first lifting motor is fixedly arranged on the first mounting frame, the first lifting driving gear is connected with the output shaft of the first lifting motor and is engaged with the rack, and the first mounting frame is slidably connected with the first guide rails through at least two first sliding blocks (38).

4. The device according to claim 1, characterized in that: The force sensing sliding assembly comprises a weighing arm pipe (19), a second sliding rail (21) and a second sliding block (22), the second sliding rail is arranged in the axial direction of the weighing arm pipe, and the second sliding block is fixed on the end of the small arm; the tension and compression force sensor is fixed on the weighing upper plate at the top of the weighing arm pipe and abuts against the small arm; the bottom of the weighing arm pipe is fixedly connected with a bearing mounting seat; The standpipe clamp assembly comprises a clamp connecting pipe (11), a clamp opening and closing assembly (12), a second rotary drive assembly (13) and a clamp angle adjusting assembly (14), the clamp connecting pipe is rotatably connected with the weighing arm pipe through a third rotating shaft in the bearing mounting seat, the clamp angle adjusting assembly is hingedly connected with the bottom of the clamp connecting pipe and is connected with the clamp opening and closing assembly through the second rotary drive assembly, and the clamp opening and closing assembly is adjusted in the pitch angle and the horizontal plane rotation through the angle adjusting assembly and the second rotary drive mechanism respectively.

5. The device according to claim 4, characterized in that: The clamp angle adjusting assembly comprises an obliquely arranged electric cylinder (23) and a transversely mounted plate (24) and a vertically mounted plate (25); the transversely mounted plate is fixed to the bottom of the clamp connecting pipe, the upper part of the vertically mounted plate is hinged to the bottom of the transversely mounted plate; the cylinder body end and the piston rod end of the electric cylinder are respectively hinged to the bottom of the transversely mounted plate and the lower part of the vertically mounted plate, and the vertically mounted plate is driven to rotate relative to the transversely mounted plate through telescopic movement.

6. The device according to claim 5, characterized in that: The second rotary drive assembly comprises a second rotary motor (26), a second driving gear and a second rotary support bearing (27), the second rotary motor is fixed on the vertically mounted plate, the inner ring of the second rotary support bearing is fixed with the vertically mounted plate, the outer ring is fixed with the clamp bottom plate (28) of the clamp opening and closing assembly, and the second driving gear is fixed on the output shaft of the second rotary motor and meshes with the outer ring.

7. The device according to claim 4, characterized in that: The clamp opening and closing assembly further comprises an upper fixed support plate (29), a lower movable support plate (30) and a lead screw motor (31) arranged on the same side of the clamp bottom plate, the bottom of the upper fixed support plate and the top of the lower movable support plate are respectively provided with tapered pins (32) matched with the pin holes of the vehicle hook, the lower movable support plate is slidably connected with the third sliding rail (34) fixedly arranged on the clamp bottom plate along the Z-axis direction through the third sliding block (33), and the lower movable support plate is fixedly connected with the nut mounting seat of the lead screw (35) through a threaded connection, the lead screw motor drives the lead screw to rotate to drive the nut mounting seat to move up and down linearly, thereby driving the lower movable support plate to slide up and down along the third sliding rail.

8. The device according to claim 1, characterized in that: The first rotary drive assembly comprises a first rotary motor (36), a first driving gear and a first rotary support bearing (37); the first rotary motor is fixed on the bottom plate of the Z-axis column; the outer ring of the first rotary support bearing is fixed on the mounting plate, and the inner ring is fixedly connected with the bottom plate of the Z-axis; the first driving gear is connected with the output end of the transmission shaft of the first rotary motor and meshes with the outer ring of the first rotary support bearing.

9. The device according to claim 1, characterized in that: The mobile trolley is a public and railway dual-purpose vehicle or an electric omnidirectional wheel vehicle, the bottom of the vehicle body of the public and railway dual-purpose vehicle and the electric omnidirectional wheel vehicle is provided with two driving wheels and two universal wheels, the top of the vehicle body is provided with a vehicle hook placing rack, and the inside of the vehicle body is provided with a vehicle body controller and an energy storage power supply, each driving wheel is driven and steered by a driving motor and a steering motor respectively, and the driving motor, the steering motor and the energy storage power supply are electrically connected with the vehicle body controller.

10. The device according to claim 9, characterized in that: The electric omnidirectional wheel vehicle further comprises a hydraulic support leg assembly, the hydraulic support leg assembly comprises a hydraulic station arranged in the inside of the vehicle body and two oil cylinder legs (40) arranged at the two sides of the bottom of the vehicle body, the oil cylinder legs are connected with the hydraulic station through oil pipes, and the hydraulic station is electrically connected with the vehicle body controller; the hydraulic support leg assembly further comprises a support rod (41), one end of the support rod is fixedly connected with the cylinder body of the oil cylinder leg, the piston rod end of the oil cylinder leg is movably abutted against the ground, and the other end of the support rod is hinged to the bottom of the vehicle body through a connecting shaft, and the axis of the connecting shaft is perpendicular to the ground.

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