Railway vehicle air duct picking robot

Abstract

The utility model discloses a railway vehicle air duct picking robot, and relates to the technical field of air duct picking. The automatic pipe picking device comprises an AGV chassis, a mechanical arm, an identification mechanism and a control mechanism, and further comprises a pipe picking clamp, the pipe picking clamp is connected with the mechanical arm and comprises a hook body and a distance adjusting structure, the hook body is provided with a groove, the groove comprises two side edges and a bottom edge, the two side edges are connected with the two sides of the bottom edge respectively, and the distance adjusting structure is arranged on the hook body. The side edge away from the mechanical arm is an inclined edge which is arranged in an inclined mode relative to the bottom edge. As the side edge, far away from the mechanical arm, of the groove is the inclined edge, when the pipe picking clamp starts to transversely move, the inclined edge can exert acting force on the air pipe connector to separate the air pipe connector, and if the air pipe connector is not separated all the time, the air pipe connector slides upwards along the inclined edge and finally slides out of the groove along the inclined edge. The pipe picking clamp can be prevented from being clamped due to the fact that the air pipe connector is clamped on the inner side of the groove.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of the extraction of air pipe, and specifically provides a railway vehicle air pipe extraction robot. BACKGROUND

[0002] The railway open wagon is a railway vehicle mainly used for transporting goods such as coal and ore. The same type of railway vehicle also includes a special hopper car, which is also used for transporting goods and can unload goods through a dumper. After the railway open wagon transports the goods to the destination, the car head of the railway open wagon is separated from the car body, and the car body of the railway open wagon is moved by a separate traction machine head. The traction machine head is used to pull the car body of the railway open wagon to the dumper for unloading. Before unloading, the air pipe between the car bodies of the railway open wagon needs to be disconnected, that is, the air pipe between the car bodies is disconnected, which is also called air pipe extraction. The air pipe is part of the braking system in the railway open wagon, and the air pipe between the car bodies is connected through a unique joint. As shown in Figure 8 , the joint is basically located at the middle position between the car bodies. Unlike ordinary trains, the car head of the railway open wagon is first separated from the car body in the actual field. After the car head is separated from the car body, the air pipe of the entire vehicle loses the air supply of the car head, and the pressure has been released, so there is no need to release pressure again. At this time, the joint of the air pipe between the car bodies can be directly separated.

[0003] Patent No. CN114802335A discloses a robot that can be used to extract the air pipe, which detects the position of the car hook and the air pipe through a work radar. Patent No. CN120327571A discloses a robot that can extract the air pipe, which detects the position of the car hook lock pin and the air pipe through a radar camera. Both patents disclose that the position of the air pipe can be identified through the existing radar or camera, and then the pipe extraction clamp is operated through the mechanical arm. The pipe extraction clamp is configured with a recess, which moves to the lower side of the air pipe joint, and then the mechanical arm drives the pipe extraction clamp to move vertically upward. The middle position of the air pipe joint is lifted upward by the pipe extraction clamp, so that the middle position of the air pipe joint is lifted upward and higher than the two ends of the air pipe joint, that is, the air pipe joint is unlocked and separated from each other. Then the mechanical arm controls the pipe extraction clamp to vertically descend and retract, which can smoothly complete the air pipe extraction operation on one side.

[0004] However, due to the long-term exposure of the air pipe joint, foreign matters (such as dust, stones, cinder, etc.) are easily mixed in the joint, the air pipe joint is frequently disconnected and connected, and the abrasion caused by the interference factors, in the actual application, the air pipe joint is easily not separated from each other after being unlocked, and needs to be manually separated; in order to solve this problem, in the early stage of the experiment, the retraction path of the mechanical arm is considered to be changed, that is, after the air pipe joint is unlocked, the mechanical arm controls the pipe clamp to directly retract, so as to pull out the air pipe joint which is not separated, so that the air pipe joint can be separated from each other, but in the actual application, it is found that when the existing pipe clamp is used to pull out the air pipe joint which is unlocked and not separated from each other, the air pipe joint is easily stuck, and it is urgent to be solved. Practical new type content

[0005] The utility model discloses to solve the above-mentioned technical problem, provide a kind of railway vehicle air pipe joint robot, both can avoid the situation of jamming in the process of pulling, and can ensure that the air pipe joint is separated from each other after being unlocked, improve success rate.

[0006] The technical scheme of the utility model is as follows:

[0007] The railway vehicle air pipe removing robot comprises an AGV chassis, a mechanical arm, an identification mechanism and a control mechanism, the mechanical arm is arranged on the AGV chassis, the identification mechanism is arranged on the AGV chassis and is used for identifying the positions of a carriage and an air pipe, the identification mechanism, the AGV chassis and the mechanical arm are electrically connected with the control mechanism respectively, and the robot further comprises a pipe removing clamp, the pipe removing clamp is connected to the mechanical arm, the pipe removing clamp comprises a hook body and a distance adjusting structure, the hook body is provided with a groove matched with an air pipe joint, the groove comprises two side edges and a bottom edge, the two side edges are connected with the two sides of the bottom edge respectively, the side edge away from the mechanical arm is an inclined edge, the inclined edge is arranged to be inclined relative to the bottom edge, and the height of the inclined edge is higher than the height of the other side edge of the groove based on the bottom edge. In the scheme, because the side edge away from the mechanical arm of the groove is the inclined edge, when the pipe removing clamp starts to move laterally and retract, the inclined edge gives the air pipe joint a force for mutual separation, so that the air pipe joint is separated; if the air pipe joint is not separated all the time, the air pipe joint will slide upward along the inclined edge and finally slide out of the groove along the inclined edge. Therefore, even if the air pipe joint is not separated, the air pipe joint will not be stuck in the groove when the pipe removing clamp moves laterally and retracts, and the lateral retraction movement of the pipe removing clamp will not give the air pipe a great pulling force, so as to avoid damage caused by the air pipe due to the great pulling force. More importantly, because the height of the inclined edge is higher than the height of the other side edge of the groove, even if the air pipe joint is not separated before it is separated from the pipe removing clamp, the inclined edge can further lift the air pipe joint by pulling the air pipe joint laterally, and after the air pipe joint is separated from the pipe removing clamp, the air pipe joint can accelerate falling under the action of gravity and can be automatically separated when falling to the lowest point. The higher the initial falling height of the air pipe joint is, the faster the air pipe joint falls to the lowest point, so that the air pipe joints of the two air pipes have a greater mutual force, so as to ensure that the air pipe joints can be separated from each other and the success rate can be improved significantly. In addition, the robot is further provided with the distance adjusting structure, the distance adjusting structure is located between the mechanical arm and the pipe removing clamp and is used for adjusting the distance between the pipe removing clamp and the mechanical arm. Therefore, in actual application, the staff can observe whether the railway track in the working area is a ballast track or a non-ballast track, and then adjust the distance adjusting structure according to the actual situation of the railway track, so that the distance between the pipe removing clamp and the mechanical arm meets the track condition, so that the robot is applicable to the ballast track and the non-ballast track, and it is not necessary to design and produce the pipe removing clamp or purchase the mechanical arm separately for different height differences, so that the cost is reduced.

[0008] Preferably, the inclined angle of the inclined edge relative to the bottom edge is 50°-70°. The larger inclined angle can ensure that the inclined edge can give the air pipe joint a force in the horizontal direction, so that the air pipe joint can be separated when subjected to the lateral force.

[0009] In order to solve the problem that the operation of the hook body of the distance adjusting structure is complex, preferably, the distance adjusting structure comprises a distance adjusting rod, the distance adjusting rod is provided with a plurality of connecting holes, the plurality of connecting holes are arranged along the length direction of the distance adjusting rod, the hook body is detachably connected with the connecting holes, and the distance between the hook body and the mechanical arm is different when the hook body is connected with different connecting holes.In this scheme, the hook body can be connected with different connecting holes, the distance between the hook body and the mechanical arm can be changed by changing the connecting position of the hook body, and the hook body can be moved to the lower side of the joint of the air pipe at a suitable angle.

[0010] In order to avoid the problem that the deformation of the distance adjusting structure causes the hook body to be unable to be adjusted, preferably, the distance adjusting rod is provided with a reinforcing rib.In this scheme, when the air pipe is lifted, the distance adjusting rod and the hook body will be subjected to the reaction force from the air pipe, at this time, the hook body or the distance adjusting structure may be deformed under force.The reinforcing rib can strengthen the distance adjusting rod, and plays a role in preventing the distance adjusting rod from being deformed.As long as the distance adjusting rod is not deformed, the new hook body can be installed without difficulty, and subsequent use is facilitated.

[0011] In order to solve the problem that the hook body rotates around the connecting hole when lifting the air pipe upward, thereby failing to lift the air pipe, preferably, the hook body is connected with at least two connecting holes.In this scheme, the hook body is connected with at least two connecting holes at the same time, and the rotation of the hook body around the connecting hole can be avoided.Meanwhile, the hook body is connected with more connecting holes, and the stability of the hook body can be improved.

[0012] When the AGV is parked, if the position of the robot is not convenient for the mechanical arm to work, the difficulty of the mechanical arm in operating the hook body to separate the air pipe will be affected, preferably, the railway vehicle air pipe removing robot further comprises a sliding table, the sliding table is slidably arranged on the AGV chassis, and the mechanical arm is arranged on the sliding table.In this scheme, the sliding table is arranged to change the position of the mechanical arm without moving the vehicle, the sliding table and the distance adjusting structure can be matched to reduce the length of the distance adjusting structure, reduce the load borne by the mechanical arm, and make the position of the mechanical arm more flexible, so that the position of the AGV chassis does not need to be frequently adjusted.

[0013] If the length of the distance adjusting structure is long, the distance between the hook body and the mechanical arm is large, and the load on the mechanical arm is large. In order to avoid the load on the mechanical arm being too large to affect the accuracy of the mechanical arm, preferably, the sliding direction of the sliding table is perpendicular to the side of the AGV chassis. In this scheme, the moving direction of the AGV chassis is the direction along the railway track, that is, the same as the walking direction of the railway vehicle, so that the air pipe between the carriages can be separated. Therefore, when the distance between the AGV chassis and the air pipe is too far and the distance between the mechanical arm and the air pipe needs to be adjusted, the process of adjusting the position of the AGV chassis is more complex. The sliding table can move in the direction perpendicular to the railway track, so that the position of the mechanical arm can be adjusted more quickly, thereby quickly completing the air pipe separation under the condition that the AGV chassis is not moved, improving the efficiency of the air pipe separation, and enabling the robot to be applicable to more complex working conditions.

[0014] In order to solve the problem that the movement of the sliding table is not convenient to control, preferably, the AGV chassis is provided with a driving mechanism for driving the sliding table, the driving mechanism is in transmission connection with the sliding table, and the driving mechanism is in electrical connection with the control mechanism. In this scheme, when the identification mechanism identifies that the distance between the air pipes is too far, the control mechanism can control the movement of the sliding table to change the position of the mechanical arm, so that the mechanical arm can separate the air pipes through the hook body.

[0015] In cold weather, the joints of the air pipe are exposed for a long time, and water vapor is easily condensed on the surface and forms a thin layer of ice, so that the two joints of the air pipe are frozen together. In this case, when the pipe clamp lifts the joint of the air pipe from the lower side, the joint of the air pipe will not be separated due to icing, which seriously affects the work of separating the air pipe. Therefore, the pipe clamp is provided with a vibrator, the vibrator is used to vibrate the pipe clamp, the pipe clamp vibrates to break the ice, and the vibrator is in electrical connection with the controller. In this scheme, because the pipe clamp is provided with the vibrator, when in use, the vibration generated by the vibrator is transmitted to the pipe clamp, and when the mechanical arm moves the pipe clamp to the joint of the air pipe, the pipe clamp continuously vibrates on the joint of the air pipe, so as to break the ice condensed on the joint of the air pipe, thereby solving the problem that the joint of the air pipe cannot be separated due to icing. After the ice on the joint of the air pipe is broken, the mechanical arm moves upward to separate the top of the joint of the air pipe, and then the mechanical arm controls the pipe clamp to move laterally toward the AGV chassis, so as to separate the bottom of the pipe clamp, thereby achieving the effect of separating the air pipe. In the whole operation, the ice is broken by vibration, and then the air pipe is separated, thereby solving the problem that the joint of the air pipe cannot be separated due to icing.

[0016] The mechanical arm is mounted on an AGV chassis, and the pipe removing clamp is connected with the mechanical arm. In order to solve the problem that the pipe removing clamp reduces the vibration effect due to the connection with the mechanical arm, the robot further comprises a damping mechanism, the pipe removing clamp is connected with the damping mechanism, and the damping mechanism is connected with the mechanical arm. In the scheme, the damping pad can play a damping role, avoid the vibration generated by the vibrator from being transmitted to the mechanical arm, and reduce the vibration effect on the mechanical arm. At the same time, due to the existence of the damping mechanism, the vibration effect of the vibrator can be maximized, and the pipe removing clamp can quickly vibrate the ice layer on the pipe joint.

[0017] In the process of using the robot, if the hook body is damaged and deformed, it can be disassembled from the distance adjusting structure and replaced. In order to avoid disassembling the vibrator when replacing the hook body, the vibrator is arranged on the distance adjusting structure. When the vibrator is arranged on the distance adjusting structure, the hook body does not need to be disassembled and reinstalled, which reduces the operation steps of replacing the hook body and makes the operation of replacing the hook body simple and efficient.

[0018] The beneficial effects of the utility model are: the railway vehicle pipe removing robot can avoid the situation of being stuck during pulling, and can ensure that the pipe joints are separated after being unlocked, thereby improving the success rate. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme of the utility model, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can obtain other drawings according to these drawings without creating labor.

[0020] Figure 1 It is a structural schematic view of the embodiment one.

[0021] Figure 2 It is a pipe removing clamp in the embodiment two.

[0022] Figure 3 It is a top view of the embodiment three.

[0023] Figure 4 It is a structural schematic view of the pipe removing clamp in the embodiment one.

[0024] Figure 5 It is another angle structural schematic view of the pipe removing clamp in the embodiment one.

[0025] Figure 6 It is a structural schematic view of the embodiment four.

[0026] Figure 7 It is a local enlarged view of the pipe removing clamp in the embodiment one.

[0027] Figure 8 This is a partial bottom view of the air duct, carriage, and coupler.

[0028] In the above figures, the corresponding reference numerals are as follows:

[0029] 1. AGV chassis; 2. Robotic arm; 3. Adjustable distance structure; 4. Hook; 5. Radar; 6. Depth camera; 7. Slide table; 8. Vibrator; 9. Vibration damping block; 10. Camera; 11. Carriage; 12. Coupler; 13. Air duct; 31. Adjustable distance rod; 32. Reinforcing rib; 33. Connecting plate; 34. Connecting hole; 35. Flange; 41. Separation part; 42. Connecting part; 43. Fixing hole; 44. Groove; 45. Toothed structure. Detailed Implementation

[0030] The technical solution of this utility model will be clearly and completely described in conjunction with the accompanying drawings and through specific embodiments.

[0031] Example 1:

[0032] like Figure 1 As shown in the figure, this embodiment provides a railway vehicle air duct removal robot, including an AGV chassis 1, a robotic arm 2, a duct removal clamp, an identification mechanism, and a control mechanism. The duct removal clamp includes a hook body 4 and an adjustable distance structure 3, with the hook body 4 connected to the adjustable distance structure 3.

[0033] The adjustable distance structure 3 is connected to the robotic arm 2, and the hook body 4 is connected to the adjustable distance structure 3. The identification mechanism is installed on the AGV chassis 1, located on the side closest to the railway vehicle, and is used to identify the positions of the carriage 11 and the air duct 13. The AGV chassis 1, robotic arm 2, and identification mechanism are electrically connected to the control mechanism. The control mechanism is used to control the movement of the AGV chassis 1 and the movement of the robotic arm 2, while the identification mechanism is used to identify the positions of the carriage 11 and the air duct 13 and then send the information to the control mechanism.

[0034] like Figure 4 As shown, the adjustable distance structure 3 is an adjustable distance rod 31. One end of the adjustable distance rod 31 is provided with a flange 35. Screws are used to pass through the flange 35 and fix it to the robotic arm 2, thereby connecting the adjustable distance rod 31 to the robotic arm 2.

[0035] The adjusting rod 31 can be round or square and can be made of metal.

[0036] As shown in the figure, the adjusting rod 31 is provided with a plurality of connecting holes 34, which are arranged along the length of the adjusting rod 31. The hook body 4 is provided with a fixing hole 43 that matches the connecting hole 34. An internal thread can be opened in the connecting hole 34, and the hook body 4 can be fixedly connected to the connecting hole 34 by screws.

[0037] The shape of the distance adjusting rod 31 is preferably square rod shape, and the cross-sectional shape of the distance adjusting rod 31 is rectangular, which facilitates the hook body 4 to be attached to the distance adjusting rod 31.

[0038] The shape of the distance adjusting rod 31 is square rod shape, and the cross-sectional shape of the distance adjusting rod 31 is rectangular. In order to avoid the distance adjusting rod 31 from being bent and deformed due to the reaction force of the air pipe 13, a reinforcing rib 32 is arranged on the distance adjusting rod 31 to strengthen the strength of the distance adjusting rod 31.

[0039] The reinforcing rib 32 is arranged along the length direction of the distance adjusting rod 31, and the reinforcing rib 32 is welded to the distance adjusting rod 31. One end of the reinforcing rib 32 abuts against the flange plate 35, and the reinforcing rib 32 is welded to the flange plate 35.

[0040] At the junction of the flange plate 35 and the distance adjusting rod 31, the reinforcing rib 32 is provided with a chamfer structure. The chamfer structure can avoid burrs and other defects at the junction to cause the reinforcing rib 32 to fail to be attached to the distance adjusting rod 31 and the flange plate 35 at the same time.

[0041] As an optional solution, a connecting plate 33 can be welded to the end of the distance adjusting rod 31. The connecting plate 33 is provided with a through hole, and the connecting plate 33 is connected to the flange plate 35 through a screw. The flange plate 35 is connected to the mechanical arm 2.

[0042] The shape of the reinforcing rib 32 is rectangular strip shape.

[0043] In order to facilitate the arrangement of the fixing hole 43, the hook body 4 includes a separation part 41 and a connecting part 42. The shape of the connecting part 42 is long strip shape, and one end of the connecting part 42 is connected to the separation part 41. The fixing hole 43 is arranged on the connecting part 42 along the length direction of the connecting part 42. The connecting holes 34 on the distance adjusting rod 31 are arranged at equal intervals, and the fixing holes 43 on the connecting part 42 are also arranged at equal intervals. The interval between adjacent connecting holes 34 is the same as the interval between adjacent fixing holes 43. Therefore, the connecting part 42 can be connected to multiple connecting holes 34 at the same time. The top of the separation part 41 has a concave notch, that is, a groove 44. When the air pipe 13 is separated, the groove 44 is aligned with the joint of the air pipe 13, and then the separation part 41 is moved upward, so that the air pipe 13 is separated.

[0044] When the hook body 4 is connected to the distance adjusting rod 31, the hook body 4 is connected to the distance adjusting rod 31 through four screws at the same time, which ensures that the hook body 4 is stably connected to the distance adjusting rod 31. More than four connecting holes 34 are arranged on the distance adjusting rod 31, so that the hook body 4 can change the connection position with the distance adjusting rod 31.

[0045] As an optional technical solution, the fixing hole 43 on the hook body 4 is provided with internal threads, and the connecting hole 34 of the distance adjusting rod 31 is a through hole, and a screw for fixing the hook body 4 is screwed with the fixing hole 43 of the hook body 4 after passing through the connecting hole 34. The advantage of this design is that the working environment of the hook body 4 is harsh, and it is easy to contaminate liquid or impurities from the air pipe 13 or the coupler 12 of the railway vehicle, causing the internal threads to rust. When the hook body 4 is deformed during use or needs to be removed for other reasons, even if the internal threads are damaged due to violent removal of the hook body 4, since the internal threads are arranged on the hook body 4, a new hook body 4 can be replaced at this time, without affecting the connection of the new hook body 4. Conversely, if the internal threads are arranged in the connecting hole 34, then when the internal threads of the connecting hole 34 are damaged, the distance adjusting rod 31 needs to be removed from the mechanical arm 2. The operation precision requirement for dismounting from the mechanical arm 2 is high, and the cost of the mechanical arm 2 is obviously higher than that of the distance adjusting rod 31 and the hook body 4. Therefore, in order to avoid damage to the mechanical arm 2, it is preferred to replace the hook body 4 as the main solution.

[0046] As another optional solution, neither the connecting hole 34 nor the fixing hole 43 is provided with internal threads, and the hook body 4 and the distance adjusting rod 31 are fixed by cooperating with a bolt and a nut.

[0047] In order to make the ice layer on the air pipe joint break more quickly, a toothed structure 45 can be arranged on the pipe removing tool. When the toothed structure 45 contacts the ice layer on the surface of the air pipe 13, the contact area is smaller and the contact pressure on the ice layer is greater, so the ice layer is more easily damaged and the efficiency of damaging the ice layer can be improved.

[0048] The pipe removing clamp is provided with a groove 44, and the opening of the groove 44 faces upward. During operation, the groove 44 is moved to the lower side of the air pipe joint, and then the mechanical arm 2 is lifted upward, so that the top of the air pipe joint is separated, which can be understood as the unlocking of the air pipe joint. At this time, the bottom of the air pipe joint still maintains a connection relationship. Then the mechanical arm 2 moves laterally towards the side where the robot is located, and the air pipe joint also moves laterally, and the bottom of the air pipe joint will be relatively misaligned. During the misalignment process, the air pipe joint is completely separated, and the separation operation of the air pipe joint is completed. The groove 44 is arranged on the upper side of the hook body 4, and the groove 44 includes two side edges and a bottom edge, and the two side edges are respectively connected to the two sides of the bottom edge. Among them, the side edge away from the mechanical arm 2 is an inclined edge, which is inclined relative to the bottom edge. The overall shape of the pipe removing clamp is long strip-shaped, which is convenient for extending to the air pipe 13, and the length direction of the pipe removing clamp is basically parallel to the bottom edge. The toothed structure 45 is arranged on the bottom edge.

[0049] Because when the pipe joint is separated, the pipe joint is completely separated when the pipe clamp moves horizontally, at this time, the inclined edge acts on the pipe joint. In order to avoid the pipe joint quickly sliding out of the groove 44 along the inclined edge, causing the contact time of the groove 44 with the pipe joint to be too short, thereby causing the pipe joint to not be separated. Therefore, the height of the inclined edge is higher than the height of the other side of the groove 44, based on the bottom of the groove as the reference, when the pipe clamp moves horizontally, the distance that the inclined edge can contact the pipe joint is longer, and the contact time is longer, thereby improving the success rate of separating the pipe, thereby improving the stability of the work of the pipe clamp.

[0050] If the pipe joint is still not separated, at this time, the height of the inclined edge is higher than the other side, then when the pipe joint is separated from the pipe clamp, the height of the pipe joint relative to the ground is also higher, and the pipe joint will fall from a higher position, so that the speed of the pipe joint reaching the limit position at the bottom is faster. The faster speed has a greater interaction force, which can also cause the pipe joint to separate at this time.

[0051] The inclined edge needs to give the pipe joint a horizontal force when the pipe clamp moves horizontally, so that the pipe joint is completely separated. Therefore, the inclined edge needs to maintain a certain angle relative to the horizontal plane. As an optional range, the angle of the inclined edge relative to the bottom edge is 50°-70°. A larger inclined angle can ensure that the inclined edge gives the pipe joint a force, and at the same time can guide the pipe joint to slide upward when the pipe joint is not separated.

[0052] It should be noted that the AGV chassis 1 and the mechanical arm 2 are existing products on the market, and the improvement of the utility model does not lie in the AGV chassis 1 and the mechanical arm 2 themselves.

[0053] The identification mechanism can adopt a camera 10, and the control mechanism includes a wireless module and a controller. The controller can adopt a PLC or an industrial computer. The camera 10 and the wireless module are electrically connected with the controller, and the controller controls the movement of the AGV chassis 1 and the mechanical arm 2.

[0054] In this scheme, the camera 10 transmits the captured image to the controller in real time, and the controller remotely transmits the captured image to a computer or other device used for controlling the robot. Workers can watch the image captured by the camera 10 through the computer, and remotely control the AGV chassis 1 to walk through the computer, and at the same time control the mechanical arm 2 to move the pipe clamp to separate the pipe 13.

[0055] The camera 10 is arranged on the AGV chassis 1, and the camera 10 is located on the side close to the railway vehicle, so as to facilitate observation of the positions of the pipe 13, the carriage 11 and the pipe clamp.

[0056] The working process of the railway vehicle air pipe removing robot provided in the embodiment is as follows: after the positioning of the air pipe joint is completed, the mechanical arm 2 operates the pipe removing clamp to move the groove 44 directly below the air pipe joint, and then drives the pipe removing clamp to move vertically upward, lifts the middle position of the air pipe joint upward by the pipe removing clamp, makes the middle position of the air pipe joint tilt upward and be higher than the two ends, and then the air pipe joint is unlocked; then the mechanical arm 2 controls the pipe removing clamp to retract laterally to pull the air pipe joint outward, in this process, the inclined edge of the pipe removing clamp contacts the air pipe joint and guides the air pipe joint to move upward to further lift the air pipe joint (in the case that the air pipe joint is not pulled apart), the mechanical arm 2 controls the pipe removing clamp to continue to retract laterally, so that the air pipe joint is separated from the pipe removing clamp at the highest position of the inclined edge, and then the air pipe joint can freely accelerate downward under the action of gravity and can be automatically separated when falling to the lowest position, so as to ensure that the air pipe joint can be separated from each other and the success rate can be significantly improved.

[0057] Embodiment two

[0058] The difference between the embodiment two and the embodiment one is that the embodiment two further comprises a vibrator 8 and a damping block 9.

[0059] The mechanical arm 2 is arranged on the AGV chassis 1, the pipe removing clamp is connected with the mechanical arm 2, and the vibrator 8 is connected with the pipe removing clamp.

[0060] More specifically, the distance adjusting structure 3 is connected with the damping block 9, and the damping block 9 is connected with the mechanical arm 2. The vibrator 8 is fixed on the distance adjusting structure 3 by fasteners, and the vibrator 8 is arranged at one end close to the mechanical arm 2. When the vibrator 8 works, it will vibrate to make the pipe removing clamp vibrate. When the pipe removing clamp contacts the air pipe joint, the vibrator 8 is started to make the pipe removing clamp vibrate, so that the thin ice condensed on the surface of the air pipe joint can be broken by vibration. The thin ice on the air pipe joint is broken, so that the air pipe joint can be separated. The identification mechanism is arranged on the AGV chassis 1, and the identification mechanism, the mechanical arm 2 and the vibrator 8 are electrically connected with the control mechanism.

[0061] As shown in Figure 2 The vibrator 8 is fixed on the pipe removing clamp by fasteners, so as to directly transmit the vibration to the pipe removing clamp. When the air pipe 13 needs to be removed, the control mechanism controls the mechanical arm 2 to move, and at the same time controls the vibrator 8 to start vibrating. Before the pipe removing clamp contacts the air pipe joint, the vibrator 8 starts to vibrate, that is, the vibrator 8 always vibrates during the whole pipe removing process.

[0062] A damping mechanism is further arranged between the pipe removing clamp and the mechanical arm 2, and the damping mechanism is a damping block 9 for cost control. The damping block 9 is a common damping structure in the market, which comprises thick rubber and connecting flanges arranged at two ends of the thick rubber. The connecting flanges are provided with threaded holes, and the threaded holes of the connecting flanges can be connected with the mechanical arm 2 or the pipe removing clamp. The pipe removing clamp is connected with the connecting flange at one end of the damping block 9, and the mechanical arm 2 is connected with the connecting flange at the other end of the damping block 9.

[0063] The damping block 9 isolates the vibration generated by the vibrator 8 from the mechanical arm 2. When the vibrator 8 works, the damping block 9 can reduce the influence of the vibration on the mechanical arm 2, so as to avoid that the vibration acting on the mechanical arm 2 is too strong and the precision is greatly reduced. Meanwhile, the damping block 9 also has the effect of flexible connection, that is, avoiding that the pipe removing clamp is rigidly connected with the mechanical arm 2 and the vibration effect of the pipe removing clamp is reduced.

[0064] The vibrator 8 vibrates the pipe removing clamp in a high-frequency vibration mode, so as to shake off the thin ice on the pipe joint.

[0065] Embodiment three:

[0066] The railway vehicle pipe removing robot of the embodiment three is different from the railway vehicle pipe removing robot of the embodiment one in that the identification mechanism is different.

[0067] The identification mechanism in the embodiment two comprises a radar 5 and a depth camera 6.

[0068] As shown in Figure 3 The radar 5 is arranged on the AGV chassis 1, and the radar 5 is located at a side close to the railway vehicle, and is used for detecting the position of the carriage 11. The radar 5 detects the position of the end of the carriage 11, and the control mechanism controls the AGV chassis 1 to move according to the information detected by the radar 5. For example, the radar 5 detects that the distance from the position of the end of the carriage 11 is 5 m, and then the control mechanism controls the AGV dolly to continue to move. When the radar 5 detects that the end of the carriage 11 has been passed and the distance from the end of the carriage 11 is 0.5 m, the distance between the two carriages 11 of the open wagon is usually 1.8 m. Therefore, the controller continues to control the AGV chassis 1 to move, and when the radar 5 detects that the distance from the end of the carriage 11 is 0.9 m, the AGV chassis 1 is located at the middle position of the two carriages 11. The pipe 13 is usually located at the middle position between the two carriages 11, and the AGV chassis 1 is located at one side of the pipe 13 at this time.

[0069] The AGV chassis 1 can be provided with two radars 5, and the position of the AGV chassis 1 is comprehensively judged according to the data detected by the two radars 5, so as to accurately obtain the position of the AGV chassis 1, and the control mechanism can accurately control the AGV chassis 1 to move along the length direction parallel to the railway vehicle.

[0070] The radar 5 can scan the position of the wind pipe joint, combined with the position of the wind pipe joint detected by the depth camera 6, the position can be accurately obtained, the control mechanism can construct the three-dimensional coordinates of the wind pipe joint according to the detected position information, and then the mechanical arm 2 can be controlled to move the pipe stripping clamp to the lower side of the joint of the wind pipe 13, and then the wind pipe joint is lifted upwards to separate the wind pipes 13 of the two cars 11.

[0071] Embodiment four:

[0072] The railway vehicle pipe stripping robot of the fourth embodiment is different from the first embodiment in that the AGV chassis 1 is provided with a sliding table 7.

[0073] As shown in Figure 6 , the sliding table 7 is slidably arranged on the top of the AGV chassis 1, and the mechanical arm 2 is fixed on the sliding table 7.

[0074] The AGV chassis 1 is provided with a sliding rail or a sliding groove, and the sliding table 7 is slidably connected with the sliding rail or the sliding groove.

[0075] The AGV chassis 1 is provided with an electric cylinder, one end of the electric cylinder is connected with the sliding table 7, and the electric cylinder can drive the sliding table 7 to move along the sliding rail or the sliding groove.

[0076] The sliding direction of the sliding table 7 is perpendicular to the length direction of the railway track, and when the sliding table 7 moves, the distance between the mechanical arm 2 and the wind pipe 13 can be changed. Even if the AGV chassis 1 moves to a far position, the position of the mechanical arm 2 can be close to the wind pipe 13 by moving the sliding table 7, so that the mechanical arm 2 and the pipe stripping clamp can complete the work of separating the wind pipe 13.

[0077] The electric cylinder is electrically connected with the control mechanism, and the electric cylinder can be controlled by the control mechanism.

[0078] The electric cylinder can directly drive the sliding table 7, and the electric cylinder can be replaced by a servo motor and a screw nut assembly. For example, the servo motor is installed on the AGV chassis 1, the screw is rotatably arranged on the AGV chassis 1, the axis of the screw is parallel to the length direction of the sliding rail or the sliding groove, the nut is arranged on the sliding table 7, the nut is in transmission connection with the screw, and the servo motor is in transmission connection with the screw. The servo motor drives the screw to rotate, the nut moves along the axis direction of the screw, and the sliding table 7 moves along the axis direction of the screw. The servo motor is electrically connected with the control mechanism, and the sliding table 7 is controlled to move by the control mechanism.

Claims

1. A railway vehicle air pipe removing robot, comprising an AGV chassis (1), a mechanical arm (2), an identification mechanism and a control mechanism, the mechanical arm (2) is arranged on the AGV chassis (1), the identification mechanism is arranged on the AGV chassis (1) and is used for identifying the positions of a carriage (11) and an air pipe (13), the identification mechanism, the AGV chassis (1) and the mechanical arm (2) are electrically connected with the control mechanism, characterized in that, The device also comprises a pipe removing clamp connected to the mechanical arm (2), the pipe removing clamp comprising a hook body (4) and a distance adjusting structure (3), the hook body (4) is provided with a groove (44), the groove (44) comprises two side edges and a bottom edge, the two side edges are connected to the two sides of the bottom edge respectively, the side edge away from the mechanical arm (2) is an inclined edge, the inclined edge is arranged inclinedly relative to the bottom edge, taking the bottom edge of the groove (44) as a reference, the height of the inclined edge is higher than the height of the other side edge of the groove (44).

2. A railway car pipe-pumping robot according to claim 1, wherein, The inclined angle of the inclined edge relative to the bottom edge is 50°-70°.

3. A railway car pipe-pumping robot according to claim 1, wherein, The distance adjusting structure (3) comprises a distance adjusting rod (31), the distance adjusting rod (31) is provided with a plurality of connecting holes (34), the plurality of connecting holes (34) are arranged along the length direction of the distance adjusting rod (31), the hook body (4) is detachably connected to the connecting holes (34), when the hook body (4) is connected to different connecting holes (34), the distance between the hook body (4) and the mechanical arm (2) is different.

4. A railway car pipe-pumping robot according to claim 3, wherein, The distance adjusting rod (31) is provided with a reinforcing rib (32).

5. A railway car pipe-pumping robot according to claim 3, wherein, The hook body (4) is connected to at least two connecting holes (34).

6. A railway car pipe-pumping robot according to claim 1 wherein, The device also comprises a sliding table (7), the sliding table (7) is slidably arranged on the AGV chassis (1), the mechanical arm (2) is arranged on the sliding table (7), the sliding direction of the sliding table (7) is perpendicular to the side surface of the AGV chassis (1).

7. A railway car pipe-pumping robot according to claim 6, wherein, The AGV chassis (1) is provided with a driving mechanism for driving the sliding table (7), the driving mechanism is in transmission connection with the sliding table (7), and the driving mechanism is in electrical connection with the control mechanism.

8. A railway car pipe-purging robot according to claim 1 wherein, The pipe removing clamp is connected to the mechanical arm (2), the pipe removing clamp is provided with a vibrator (8), the vibrator (8) is used for vibrating the pipe removing clamp, so that the pipe removing clamp vibrates the ice, and the vibrator (8) is in electrical connection with the controller.

9. A railway car pipe-pumping robot according to claim 8, wherein, The device also comprises a vibration reduction mechanism, the pipe removing clamp is connected to the vibration reduction mechanism, and the vibration reduction mechanism is connected to the mechanical arm (2).

10. A railway car pipe-pumping robot according to claim 8, wherein, The vibrator (8) is arranged on the distance adjusting structure (3).

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