Re-hooking device

Abstract

The utility model relates to the technical field of trains, in particular to a re-hooking device which comprises a first supporting component, a second supporting component, an adapter arm, a hook lifting component, a re-hooking component and a re-hooking spring. One end of the first supporting component is used for being installed on the multi-axis robot. One end of the second supporting component is rotationally connected with the first supporting component, the other end of the second supporting component is rotationally connected with one end of the adapter arm, and the lifting hook component is rotationally connected with the other end of the adapter arm; one position of the re-hooking component is connected with the end, away from the second supporting component, of the first supporting component through the re-hooking spring, and the other position of the re-hooking component is rotationally connected with the end, close to the second supporting component, of the first supporting component. The self-developed re-hooking device is adopted and matched with an existing six-axis mechanical arm and a movable chassis, complex actions such as hook lifting, hook lifting, re-hooking and positive hooking can be flexibly completed, the operation convenience is improved, and therefore manpower and material resources are saved.

Description

Technical Field

[0001] This application relates to the field of train technology, and in particular to a double-coupling device. Background Technology

[0002] During unloading operations, railway cars are unloaded at the tippler. After unloading, the cars need to be lined up on the empty track and then pulled away by a locomotive. However, after the railway cars have entered the empty track from the tippler system, both couplers on both sides of the car are in the closed position. When both couplers are closed, they cannot be coupled together. Therefore, one of the couplers that is colliding needs to be opened before the railway cars collide, so that automatic coupling can occur upon collision. However, currently, recoupling is often done manually after the tipping operation, which is inefficient and involves high labor intensity and danger. Utility Model Content

[0003] The purpose of this application is to provide a re-hooking device, which to some extent solves the technical problems existing in the prior art where re-hooking operations are often performed manually after the rollover operation is completed, resulting in low efficiency and high labor intensity and danger in the work environment.

[0004] This application provides a double hook device, comprising: a first support member, a second support member, an adapter arm, a lifting hook member, a double hook member, and a double hook spring; wherein, one end of the first support member is used to be mounted on a multi-axis robot; one end of the second support member is fixedly connected to the first support member, and the other end of the second support member is rotatably connected to one end of the adapter arm; the lifting hook member is rotatably connected to the other end of the adapter arm; one position of the double hook member is connected to the end of the first support member away from the second support member via the double hook spring, and the other position of the double hook member is rotatably connected to the end of the first support member closer to the second support member.

[0005] In the above technical solution, the re-hook device further includes a connecting member and a spring assembly; wherein the connecting member is fixedly connected to the adapter arm; along the extension direction of the hook member, the spring assemblies are provided on opposite sides of the adapter arm; each of the spring assemblies includes a first mounting member, a second mounting member, and a hook spring;

[0006] The first mounting component is connected to the connecting component; the second mounting component is connected to the first supporting component; one end of the lifting hook spring is connected to the first mounting component, and the other end of the lifting hook spring is connected to the second mounting component.

[0007] In any of the above technical solutions, the re-hook device further includes an auxiliary hook lifting component and an auxiliary hook lifting spring; wherein, the auxiliary hook lifting component is disposed on the side of the adapter arm, and one end of the auxiliary hook lifting component is rotatably connected to the adapter arm, and the other end of the auxiliary hook lifting component is rotatably connected to the adapter arm through the auxiliary hook lifting spring.

[0008] In any of the above technical solutions, the re-hook device further includes a first proximity sensor, the adapter arm has a mounting groove extending through its side, and the first proximity sensor is disposed in the mounting groove and located on one side of the auxiliary hook member.

[0009] In any of the above technical solutions, the connecting member is further provided with a slot, and the connecting member is engaged with the side of the adapter arm through the slot.

[0010] In any of the above technical solutions, the adapter arm further includes a first extension arm and a second extension arm connected to each other, and the second extension arm is set at an obtuse angle to the first extension arm; the first extension arm is rotatably connected to the second support member; and the hook member is rotatably connected to the second extension arm.

[0011] In any of the above technical solutions, the hook device further includes a flange seat, which is fixed to the end of the first support member away from the hook member. The flange seat is used to be mounted on a multi-axis robot. One position of the hook member is connected to the flange seat through the hook spring, and the other position of the hook member is rotatably connected to the end of the first support member away from the flange seat.

[0012] In any of the above technical solutions, the double hook device further includes a fixed seat, and the fixed seat is fixed to the end of the first support member; the double hook member is rotatably connected to the fixed seat; and a positive hook protrusion is formed at the top of the fixed seat away from the first support member.

[0013] In any of the above technical solutions, the double hook device further includes a first spring seat, and the first spring seat is connected to the double hook component, and one end of the double hook spring is connected to the first spring seat.

[0014] In any of the above technical solutions, the re-hook device further includes a second spring seat, a tension member, an adapter seat, and an adjusting nut; wherein, the second spring seat is connected to the flange seat; the second spring seat has a mounting through hole, the tension member is movably inserted through the mounting through hole, and along the moving direction of the tension member, the adjusting nuts are provided on opposite sides of the second spring seat, and the adjusting nuts on both sides are threadedly connected to the tension member to fix the tension member on the second spring seat; the other end of the re-hook spring is connected to the tension member through the adapter seat.

[0015] In any of the above technical solutions, the first support member, the lifting hook member, and the double hook spring are all arranged along a first preset direction, and the double hook member is arranged along a direction perpendicular to the first preset direction.

[0016] In any of the above technical solutions, the double hook device further includes a distance measuring sensor, which is disposed on the double hook component.

[0017] In any of the above technical solutions, the re-hook device further includes a vision camera and a camera cover; wherein the camera cover is installed on the flange seat, the vision camera is disposed inside the camera cover, and the camera cover forms a shooting port.

[0018] In any of the above technical solutions, the re-hook device further includes a second proximity sensor, which is disposed on the adapter arm and close to the second support member.

[0019] Compared with the prior art, the beneficial effects of this application are as follows:

[0020] This application utilizes a self-developed re-hooking device, combined with an existing six-axis robotic arm and mobile chassis, to flexibly complete complex actions such as lifting, raising, re-hooking, and normal hooking, improving operational convenience and saving manpower and resources. Moreover, the execution parts of the lifting, raising, and re-hooking actions all adopt a spring connection method, which not only ensures the reliability and accuracy of the actions but also allows for adjustment of the working force according to actual conditions, effectively guaranteeing the service life of each component. In the event of operational abnormalities, hard impacts are avoided, preventing structural damage to the carriage and equipment body and extending the service life of each component. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 An assembly drawing of the double hook device and the six-axis robotic arm provided in the embodiments of this application;

[0023] Figure 2 This is a schematic diagram of the structure of the double hook device provided in the embodiments of this application;

[0024] Figure 3 This is another structural schematic diagram of the double hook device provided in the embodiments of this application;

[0025] Figure 4 This is another structural schematic diagram of the double hook device provided in the embodiments of this application;

[0026] Figure 5 This is a schematic diagram of the reference structure of the double hook device provided in the embodiments of this application;

[0027] Figure 6 This is a schematic diagram of the auxiliary lifting hook component provided in the embodiments of this application;

[0028] Figure 7 This is a structural reference diagram of the double hook device provided in the embodiments of this application;

[0029] Figure 8 This is a schematic diagram of the structure of the train coupler and coupler handle provided in the embodiments of this application;

[0030] Figure 9 This is a schematic diagram of the structure of the hook handle on the train provided in an embodiment of this application.

[0031] Figure label:

[0032] 100-Reverse hook device, 1-First support member, 2-Second support member, 3-Adapter arm, 31-First extension arm, 32-Second extension arm, 33-Mounting groove, 34-Mounting part, 4-Hook lifting member, 5-Connecting member, 6-Spring assembly, 61-First mounting member, 62-Second mounting member, 63-Hook lifting spring, 7-Auxiliary hook lifting member, 71-Block, 711-Auxiliary groove, 72-Extension plate, 8-Auxiliary hook lifting spring, 9-First proximity sensor, 10-Flange seat, 11-Reverse hook device Components, 12-double hook spring, 13-fixed seat, 131-positive hook protrusion, 132-protrusion, 14-first spring seat, 15-second spring seat, 16-tension member, 17-adapter seat, 18-adjusting nut, 19-vision camera, 20-camera cover, 21-range sensor, 22-second proximity sensor, 200-six-axis robotic arm, 300-hook handle, 301-horizontal hook handle, 302-vertical hook handle, 400-hook ring, 401-groove, 500-hook tongue, a-first preset direction. Detailed Implementation

[0033] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0034] The components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application.

[0035] Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0037] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0038] The following reference Figures 1 to 9 This application describes a double-hook device according to some embodiments.

[0039] See Figures 1 to 9 As shown, an embodiment of this application provides a double hook device 100, including: a first support member 1, a second support member 2, an adapter arm 3, a lifting hook member 4, a double hook member 11, and a double hook spring 12; wherein, one end of the first support member 1 is used to be mounted on a multi-axis robot; one end of the second support member 2 is fixedly connected to the first support member 1, and the other end of the second support member 2 is rotatably connected to one end of the adapter arm 3; the lifting hook member 4 is rotatably connected to the other end of the adapter arm 3; one position of the double hook member 11 is connected to the end of the first support member 1 away from the second support member 2 through the double hook spring 12, and the other position of the double hook member 11 is rotatably connected to the end of the first support member 1 close to the second support member 2.

[0040] In this embodiment, the re-hooking device 100 can be mounted on a six-axis robotic arm 200 on an existing mobile chassis to complete the hook lifting and hook tongue opening operations. The hook lifting action refers to rotating the hook shank 300 before opening the hook tongue to simulate the hook unhooking action, thereby ensuring that the hook tongue 500 can be opened. Specifically, the mobile chassis first moves the six-axis robotic arm 200 together with the re-hooking device 100 to the working position, and then the six-axis robotic arm 200 moves the re-hooking device 100, such as moving or rotating, so that the hook lifting mechanism... Component 4 is located inside the hook handle 300. At this time, the six-axis robotic arm 200 drives the double hook device 100 to move along a predetermined trajectory, causing the hook handle 300 to rotate counterclockwise, thereby realizing the hook lifting action. Then, the six-axis robotic arm 200 drives the double hook device 100 to move along a predetermined trajectory, inserting the double hook component 11 into the inside of the hook tongue 500. Then, the six-axis robotic arm 200 drives the double hook component 11 to move, causing the hook tongue 500 to open. When a certain position is reached, the double hook spring 12 is pulled open, completing the action of opening the hook tongue.

[0041] As can be seen, this application uses a self-developed double hook device 100, which, together with the existing six-axis robotic arm 200 and mobile chassis, can flexibly complete complex actions such as hook lifting and hook opening, improving the convenience of operation and thus saving manpower and material resources.

[0042] It should be noted that: Figure 8 The hook tongue 500 is in two states: the solid line indicates the open state of the hook tongue 500, and the dashed line indicates the closed state of the hook tongue 500. The hook tongue 500 can be opened or closed by operating the hook shank 300. This part is existing technology and will not be described in detail here.

[0043] In one embodiment of this application, preferably, as shown below, Figures 3 to 5 As shown, the double hook device 100 also includes a connecting member 5 and a spring assembly 6; wherein, the connecting member 5 is fixedly connected to the adapter arm 3; along the extension direction of the hook lifting member 4, spring assemblies 6 are provided on opposite sides of the adapter arm 3; each spring assembly 6 includes a first mounting member 61, a second mounting member 62 and a hook lifting spring 63.

[0044] The first mounting component 61 is connected to the connecting component 5; the second mounting component 62 is connected to the first supporting component 1; one end of the lifting hook spring 63 is connected to the first mounting component 61, and the other end of the lifting hook spring 63 is connected to the second mounting component 62.

[0045] In this embodiment, the six-axis robotic arm 200 drives the re-hook device 100 to move, so that the hook lifting component 4 is located inside the hook handle 300. At this time, the six-axis robotic arm 200 drives the re-hook device 100 to move along a predetermined trajectory, so that the hook handle 300 rotates counterclockwise. When a certain position is reached, the hook lifting spring 63 is pulled open, and the hook lifting action is completed. It can be seen that the aforementioned hook lifting spring 63 is mainly responsible for adjusting the magnitude of the hook lifting force.

[0046] Furthermore, preferably, along the extension direction of the hook member 4, two hook springs 63 are provided on each of the opposite sides of the adapter arm 3. Of course, this is not the only option; the number of hook springs 63 can be selected according to actual needs.

[0047] Furthermore, preferably, hooks are provided at both ends of the lifting hook spring 63, so that the hooks at both ends of the lifting hook spring 63 can be hooked into the hanging rings or through holes on the first mounting member 61 and the second mounting member 62. Of course, it is not limited to this.

[0048] Furthermore, preferably, the connecting member 205 is a single block. Of course, it is not limited to this.

[0049] Furthermore, preferably, the second mounting member 62 is a flat plate. Of course, it is not limited to this.

[0050] Furthermore, preferably, the connecting member 5 is a strip-shaped flat plate, but of course, it is not limited to this.

[0051] Furthermore, preferably, the first mounting component 61 includes a screw, a nut, a U-shaped connector, and a T-shaped mounting plate. The handle of the T-shaped mounting plate is inserted into the U-shaped connector and can be fixed by bolts. The screw is connected to the U-shaped connector and passes through the through hole opened in the connecting component 5. The screw is locked by a nut. One end of the lifting hook spring 63 forms a hook or hanging ring and is hooked onto the plate of the T-shaped mounting plate.

[0052] In one embodiment of this application, preferably, as shown below, Figures 2 to 5 As shown, the double hook device 100 also includes an auxiliary hook lifting component 7 and an auxiliary hook lifting spring 8; wherein, the auxiliary hook lifting component 7 is disposed on the side of the adapter arm 3, and one end of the auxiliary hook lifting component 7 is rotatably connected to the adapter arm 3, and the other end of the auxiliary hook lifting component 7 is rotatably connected to the adapter arm 3 through the auxiliary hook lifting spring 8.

[0053] Further, preferably, such as Figure 7 As shown, the re-hook device 100 also includes a first proximity sensor 9, the adapter arm 3 has a mounting groove 33 extending through its side, and the first proximity sensor 9 is disposed in the mounting groove 33 and located on one side of the auxiliary hook member 7.

[0054] In this embodiment, when the vision camera 19 identifies the vehicle model as hook number 17, the six-axis robotic arm 200 drives the hooking device 100 from its initial vertical state to a horizontal state, thus making the hook lifting component 4 finally horizontal, with the auxiliary hook lifting component 7 positioned above it. Then, the six-axis robotic arm 200 drives the hooking device 100 to move upward, disengaging the cut surface of the hook handle 300 from the groove 401 of the hook ring 400. When a certain height is reached, the auxiliary hook lifting component 7 moves downward under the action of gravity, triggering the first proximity sensor 9 to complete the hook lifting action.

[0055] Furthermore, preferably, the auxiliary hook component 7 includes a block 71 and an extension plate 72 connected to each other; wherein, the extension plate 72 is disposed on one side of the block 71 and is L-shaped; an auxiliary groove 711 is provided on the side of the block 71, and a first groove is provided on both opposite sides of the adapter arm 3, so that a mounting part 34 is formed between the two first grooves. This mounting part 34 is inserted into the auxiliary groove 711 of the block 71 and is rotatably connected by a rotating shaft.

[0056] Furthermore, preferably, there are two mounting grooves 33, which are respectively located on opposite sides of the adapter arm 3. A solid structure is formed between the two mounting grooves 33, and the first proximity sensor 9 is mounted on this solid structure. The mounting grooves 33 mainly serve to avoid collisions.

[0057] In one embodiment of this application, preferably, as shown below, Figure 6 and Figure 7As shown, the connecting member 5 has a slot, and the connecting member 5 is engaged with the side of the adapter arm 3 through the slot.

[0058] In this embodiment, the slot on the connecting member 5 can be engaged with the side of the adapter arm 3, thereby fixing the connecting member 5 to the adapter arm 3. The adapter arm 3 provides support for the connecting member 5. Moreover, this structure facilitates disassembly in the future and improves the convenience of operation. Of course, it is not limited to this. The connecting member 5 can also be connected to the adapter arm 3 by bolts or the like.

[0059] In one embodiment of this application, preferably, as shown below, Figure 3 As shown, the adapter arm 3 includes a first extension arm 31 and a second extension arm 32 connected to each other, and the second extension arm 32 is set at an obtuse angle to the first extension arm 31; the first extension arm 31 is rotatably connected to the second support member 2; and the hook member 4 is rotatably connected to the second extension arm 32.

[0060] In this embodiment, the adapter arm 3 is configured in an L-shaped structure to avoid interference, and the hook component 4 can be placed in the working position to meet the usage requirements.

[0061] In one embodiment of this application, preferably, as shown below, Figure 2 As shown, the hook device 100 also includes a flange seat 10, which is fixed to one end of the first support member 1 away from the hook member 11. The flange seat 10 is used to be mounted on a multi-axis robot. One position of the hook member 11 is connected to the flange seat 10 through a hook spring 12, and the other position of the hook member 11 is rotatably connected to one end of the first support member 1 away from the flange seat 10.

[0062] In this embodiment, the re-hook device 100 can be mounted on the six-axis robotic arm 200 using the flange seat 10, which facilitates assembly and makes the structure more stable after assembly; the re-hook component 11 is responsible for the hook opening action; the re-hook spring 12 is mainly responsible for adjusting the magnitude of the hook opening force.

[0063] The hook opening action can be completed by using the hook component 11 and the hook spring 12. The hook opening action means that after the hook lifting action is completed, the six-axis robotic arm 200 drives the hook device 100 to move along a predetermined trajectory, inserting the hook component 11 into the inside of the hook tongue 500, and then the six-axis robotic arm 200 moves to open the hook tongue 500. When a certain position is reached, the hook spring 12 is pulled open, completing the hook opening action.

[0064] In one embodiment of this application, preferably, as shown below, Figures 2 to 4As shown, the double hook device 100 also includes a fixed seat 13, which is fixed to the end of the first support member 1; the double hook member 11 is rotatably connected to the fixed seat 13; and a positive hook protrusion 131 is formed at the top of the fixed seat 13 away from the first support member 1.

[0065] In this embodiment, the fixing seat 13 is installed between the hook component 11 and the first support component 1, serving as a transition point to facilitate the installation of the hook component 11 and improve assembly efficiency.

[0066] Furthermore, preferably, the aforementioned second mounting member 62 is installed between the fixed base 13 and the adapter arm 3, and the second mounting member 62 is installed between the adapter arm 3 and the end of the first support member 1. Thus, along the length direction of the first support member 1, i.e., the extending direction, the first support member 1, one second mounting member 62, the adapter arm 3, another second mounting member 62, and the fixed base 13 are sequentially arranged and can be fixedly connected together by the same bolt. Of course, the structure is not limited to the above; it can be designed according to actual needs.

[0067] Furthermore, preferably, the end of the hook member 11 is formed with a second groove, and the side of the fixing seat 13 is provided with a protrusion 132, and the protrusion 132 is installed in the second groove and can be rotatably connected by a rotating shaft. Of course, it is not limited to this.

[0068] In one embodiment of this application, preferably, as shown below, Figure 2 As shown, the double hook device 100 also includes a first spring seat 14, and the first spring seat 14 is connected to the double hook component 11, and one end of the double hook spring 12 is connected to the first spring seat 14.

[0069] In this embodiment, the first spring seat 14 serves to transfer and support the hook spring 12, making the hook spring 12 structure more stable.

[0070] In one embodiment of this application, preferably, as shown below, Figure 2 As shown, the double hook device 100 also includes a second spring seat 15, a tension member 16, an adapter seat 17, and an adjusting nut 18; wherein, the second spring seat 15 is connected to the flange seat 10; the second spring seat 15 has a mounting through hole, the tension member 16 is movably inserted through the mounting through hole, and along the moving direction of the tension member 16, adjusting nuts 18 are provided on opposite sides of the second spring seat 15, and the adjusting nuts 18 on both sides are threadedly connected to the tension member 16 to fix the tension member 16 on the second spring seat 15; the other end of the double hook spring 12 is connected to the tension member 16 through the adapter seat 17.

[0071] In this embodiment, the second spring seat 15 serves to transfer and support the hook spring 12, making the hook spring 12 structure more stable; by adjusting the connection position between the tension member 16 and the second spring seat 15, the length of the hook spring 12 can be adjusted, thereby controlling the magnitude of the hook force.

[0072] Furthermore, preferably, the end of the tension member 16 is formed with a third groove, a part of the structure of the adapter 17 is inserted into this third groove and connected by bolts, and the hook of the hook spring 12 is hung in the through hole of another part of the structure of the adapter 17.

[0073] Furthermore, preferably, there are multiple hook springs 12, which are arranged sequentially along the direction of movement perpendicular to the tension member 16. Of course, this is not the only option; they can also be designed according to actual needs.

[0074] In one embodiment of this application, preferably, as shown below, Figure 2 As shown, the first support member 1, the lifting hook member 4, and the double hook spring 12 are all arranged along the first preset direction a, and the double hook member 11 is arranged along a direction perpendicular to the first preset direction a. That is to say, the first preset direction a, the length direction of the first support member 1, the length direction of the lifting hook member 4, and the length direction of the double hook spring 12 are all the same.

[0075] In this embodiment, the double hook component 11, the first support component 1, and the double hook spring 12 are all designed according to the above-mentioned orientation, which facilitates the adjustment of the orientation of the double hook component 11 during operation. Of course, it is not limited to this and can be designed according to actual needs.

[0076] It should be noted that as the state of the re-hook device 100 changes, such as when it rotates, the first preset direction a will change.

[0077] In one embodiment of this application, preferably, as shown below, Figure 2 As shown, the double hook device 100 also includes a distance sensor 21, which is disposed on the double hook component 11 and is used to detect whether the hook tongue is fully open.

[0078] In one embodiment of this application, preferably, as shown below, Figure 2 As shown, the double hook device 100 also includes a vision camera 19 and a camera cover 20; wherein, the camera cover 20 is installed on the flange seat 10, and the vision camera 19 is disposed inside the camera cover 20, and the camera cover 20 forms a shooting port to facilitate the vision camera 19 to take pictures.

[0079] In this embodiment, the vision camera 19 is mainly responsible for identifying the hook, hook handle 300 and hook ring 400, while the camera cover 20 is mainly responsible for protecting the vision camera 19 and installing and fixing the heat dissipation heater.

[0080] In one embodiment of this application, preferably, as shown below, Figure 5 and Figure 7 As shown, the re-hook device 100 also includes a second proximity sensor 22, which is disposed on the adapter arm 3 and close to the second support member 2.

[0081] In this embodiment, when the pulling force is too large, the adapter arm 3 and the second support member 2 will have relative displacement. The second proximity sensor 22 will detect this displacement and then send a signal to indicate that the hook lifting action is completed at this time.

[0082] In summary, the double-hook device 100 provided in this application can mainly complete the double-hook action and the normal hook action. The double-hook action can be mainly broken down into four actions: identification, hook lifting, hook raising, and hook tongue opening. The specific working process of the double-hook device 100 is as follows:

[0083] (1) Action recognition:

[0084] Upon receiving a confirmation signal that the carriage has arrived, the mobile chassis drives the six-axis robotic arm 200 to move along a preset direction. The radar on the six-axis robotic arm 200 scans the carriage in real time. After confirming receipt of the carriage radar signal, the vision camera 19 identifies the hook handle 300 and the coupler. When the vehicle model is identified as No. 17 coupler, a lifting action needs to be added before the lifting action. In the initial state, the hook handle 300 includes a horizontal hook handle part 301 and a vertical hook handle part 302. The left side of the hook handle 300 is connected to the coupler. By operating the hook handle 300, the coupler at one end can be operated. This part is prior art and will not be described in detail here.

[0085] (2) Lifting the hook:

[0086] The lifting action is performed when the No. 17 coupler is not unhooked. Due to gravity, the cut surface of the hook shank 300 will get stuck in the groove 401 of the hook ring 400. At this time, the hook shank 300 cannot rotate. To complete the lifting action, the hook shank 300 needs to be lifted up in advance so that the cut surface of the hook shank 300 is disengaged from the groove 401 of the hook ring 400. Only then can the hook shank 300 rotate freely.

[0087] Specifically, when the vision camera 19 identifies the vehicle model as hook number 17, the six-axis robotic arm 200 moves the re-coupling device 100 from its initial vertical state to a horizontal state, thus ensuring that the hook lifting component 4 is ultimately horizontal, with the auxiliary hook lifting component 7 positioned above it. The six-axis robotic arm 200 then moves the re-coupling device 100, moving the auxiliary hook lifting component 7 to a position below the horizontal hook handle 301 and abutting against the bottom of the hook handle 300. At this point, the hook lifting component 4 is located on one side of the vertically positioned vertical hook handle 302 and abuts against... The vertical hook handle 302 shows that the L-shaped structure formed by the lifting hook component 4 and the auxiliary lifting hook component 7 in this application is hooked together with the L-shaped hook handle 300. Then, the six-axis robotic arm 200 drives the double hook device 100 to move upward, which in turn causes the auxiliary lifting hook component 7 to push the horizontal hook handle 301 upward, thereby causing the cross-section of the horizontal hook handle 301 to disengage from the groove 401 of the hook ring 400. When a certain height is reached, the auxiliary lifting hook component 7 moves downward under the action of gravity, triggering the first proximity sensor 9 to complete the hook lifting action.

[0088] (3) Lifting the hook:

[0089] The hook-lifting action refers to the need to rotate the hook handle 300 again before opening the hook tongue to simulate the action of unhooking, thereby ensuring that the hook tongue 500 can be opened. The six-axis robotic arm 200 drives the re-hooking device 100 to move, so that the hook-lifting component 4 is located inside the hook handle 300. At this time, the six-axis robotic arm 200 drives the re-hooking device 100 to move along a predetermined trajectory, causing the hook handle 300 to rotate counterclockwise. When a certain position is reached, the hook-lifting spring 63 is pulled open, completing the hook-lifting action.

[0090] (4) Opening the hook tongue action:

[0091] The hook opening action refers to the six-axis robotic arm 200 driving the re-hook device 100 to move along a predetermined trajectory after the hook lifting action is completed, inserting the re-hook component 11 into the inside of the hook tongue 500, and then the six-axis robotic arm 200 moves to open the hook tongue 500. When it reaches a certain position, the re-hook spring 12 is pulled open, completing the hook opening action.

[0092] (5) Front hook motion:

[0093] The forward hooking action is achieved by the six-axis robotic arm 200 driving the re-coupling device 100 to bring the forward hook head close to the car coupler according to a predetermined trajectory, and using the power of the robotic arm to straighten the car coupler.

[0094] As can be seen, this application uses a double hook device 100, which, in conjunction with the existing six-axis robotic arm 200 and a mobile chassis, can flexibly complete complex actions such as lifting, raising, re-hooking, and normal hooking, improving the convenience of operation and thus saving manpower and resources. Moreover, the execution parts of the lifting, raising, and re-hooking actions all adopt a spring connection method, which not only ensures the reliability and accuracy of the actions, but also allows for adjustment of the working force according to the actual situation, effectively ensuring the service life of each component. In the event of abnormal operation, hard impacts are avoided, preventing structural damage to the carriage and equipment body, and extending the service life of each component of the equipment.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A double-hook device, characterized in that, include: The system comprises a first support member, a second support member, an adapter arm, a lifting hook member, a repeating hook member, and a repeating hook spring; wherein, one end of the first support member is used to be mounted on a multi-axis robot; one end of the second support member is fixedly connected to the first support member, and the other end of the second support member is rotatably connected to one end of the adapter arm; the lifting hook member is rotatably connected to the other end of the adapter arm; one position of the repeating hook member is connected to the end of the first support member away from the second support member via the repeating hook spring, and the other position of the repeating hook member is rotatably connected to the end of the first support member closer to the second support member.

2. The double-hook device according to claim 1, characterized in that, The re-hook device further includes a connecting member and a spring assembly; wherein, the connecting member is fixedly connected to the adapter arm; along the extension direction of the hook member, the spring assemblies are provided on opposite sides of the adapter arm; each of the spring assemblies includes a first mounting member, a second mounting member, and a hook spring; The first mounting component is connected to the connecting component; the second mounting component is connected to the first supporting component; one end of the lifting hook spring is connected to the first mounting component, and the other end of the lifting hook spring is connected to the second mounting component.

3. The double-hook device according to claim 2, characterized in that, The re-hook device further includes an auxiliary hook lifting component and an auxiliary hook lifting spring; wherein, the auxiliary hook lifting component is disposed on the side of the adapter arm, and one end of the auxiliary hook lifting component is rotatably connected to the adapter arm, and the other end of the auxiliary hook lifting component is rotatably connected to the adapter arm through the auxiliary hook lifting spring.

4. The double-hook device according to claim 3, characterized in that, The re-hook device further includes a first proximity sensor. The adapter arm has a mounting groove extending through its side, and the first proximity sensor is disposed in the mounting groove and located on one side of the auxiliary hook component.

5. The double-hook device according to claim 2, characterized in that, The connecting member has a slot, and the connecting member is engaged with the side of the adapter arm through the slot; The adapter arm includes a first extension arm and a second extension arm connected to each other, with the second extension arm being set at an obtuse angle to the first extension arm; the first extension arm is rotatably connected to the second support member; and the lifting hook member is rotatably connected to the second extension arm.

6. The double-hook device according to claim 1, characterized in that, The hook assembly further includes a flange seat, which is fixed to the end of the first support member away from the hook assembly. The flange seat is used to mount the hook assembly on a multi-axis robot. One position of the hook assembly is connected to the flange seat via the hook spring, and the other position of the hook assembly is rotatably connected to the end of the first support member away from the flange seat.

7. The double-hook device according to claim 6, characterized in that, The double hook device further includes a fixed base, which is fixed to the end of the first support member; the double hook member is rotatably connected to the fixed base; and a positive hook protrusion is formed at the top of the fixed base away from the first support member.

8. The re-hook device according to claim 6, characterized in that, The double hook device further includes a first spring seat, and the first spring seat is connected to the double hook component, and one end of the double hook spring is connected to the first spring seat; The double hook device further includes a second spring seat, a tension member, an adapter seat, and an adjusting nut; wherein, the second spring seat is connected to the flange seat; the second spring seat has a mounting through hole, the tension member is movably inserted through the mounting through hole, and the adjusting nut is provided on both opposite sides of the second spring seat along the moving direction of the tension member, and the adjusting nut on both sides is threadedly connected to the tension member to fix the tension member on the second spring seat; the other end of the double hook spring is connected to the tension member through the adapter seat.

9. The double-hook device according to claim 6, characterized in that, The first support member, the lifting hook member, and the double hook spring are all arranged along a first preset direction, and the double hook member is arranged along a direction perpendicular to the first preset direction; The double hook device also includes a distance measuring sensor, which is disposed on the double hook component; The re-hook device further includes a vision camera and a camera cover; wherein the camera cover is installed on the flange seat, the vision camera is disposed inside the camera cover, and the camera cover forms a shooting port.

10. The double-hook device according to any one of claims 1 to 9, characterized in that, The re-hook device also includes a second proximity sensor, which is disposed on the adapter arm and close to the second support member.

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