A smart automatic uncoupling robot system for railway freight cars

Abstract

This utility model discloses an intelligent automatic uncoupling robot system for railway freight cars, including an information system, a monitoring system, an uncoupling robot trolley, and an early warning system. The information system is used to collect freight car information, confirm the uncoupling robot trolley that needs to be uncoupled according to the plan, and calculate the time required for the freight car to move from the uncoupling position to the corresponding uncoupling robot trolley position. The monitoring system is used to monitor the movement of the uncoupling robot trolley and determine whether there are any abnormalities in the uncoupling operation and uncoupling conditions. The uncoupling robot trolley is used for autonomous driving, autonomously determining the uncoupling position and performing the uncoupling operation, autonomously returning to its original position, monitoring and sending the status information of the uncoupling robot trolley, receiving control commands, and adjusting the status of the uncoupling robot trolley according to the status information or control commands. The early warning system is used to receive and provide feedback on abnormal information of the uncoupling operation and abnormal information of the uncoupling conditions of the uncoupling robot trolley.

Description

Technical Field

[0001] This utility model relates to the technical field of uncoupling and coupling execution equipment for railway freight cars, specifically to an intelligent automatic uncoupling robot system for railway freight cars. Background Technology

[0002] In the current railway transportation system, freight car uncoupling is a frequent and crucial operation. Traditionally, freight car uncoupling has relied primarily on manual labor using tools such as hook-lifting forks and uncoupling levers. In freight car marshalling operations, workers like couplers must precisely engage the hook pin with the hook-lifting fork, then pull forcefully outward to release the pin, thus separating the cars. At large marshalling yards like Jiangcun Station, couplers perform a large number of marshalling operations daily, resulting in extremely high workloads.

[0003] This manual uncoupling method has exposed numerous drawbacks. From a safety perspective, manual uncoupling requires workers to be in close proximity to the freight car couplers, and the working space is extremely confined. If the freight car is not fully stopped before the uncoupling operation, workers are highly susceptible to tripping or even being caught in the operating equipment, posing a significant risk of personal injury or death. Furthermore, in some tippler unloading areas, the working environment is harsh, with coal dust everywhere. Working in this environment for extended periods can severely damage the health of workers. From an efficiency standpoint, the manual uncoupling process is cumbersome, and work efficiency is easily affected by the worker's own condition. For example, at night, workers may be fatigued after long hours of work, significantly reducing uncoupling efficiency. Additionally, manual uncoupling is prone to operational errors that can lead to problems such as uncoupling, hooking, and dead hooks. These issues not only increase the workload of the shunting department but also affect the punctual departure of freight cars, thereby disrupting the efficient operation of the entire railway transportation system.

[0004] Given the significant safety hazards and low efficiency of existing manual uncoupling operations for railway freight cars, there is an urgent need to develop a novel railway freight car uncoupling system. This system should be automated and intelligent, capable of accurately identifying the coupler status and completing the uncoupling action, thereby effectively reducing manual labor intensity, improving operational safety, and ensuring the efficient and stable operation of railway transportation. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of the aforementioned background technology and provide a railway freight car intelligent automatic coupler lifting robot system that can automatically and accurately identify the status of freight car couplers and complete the uncoupling operation, effectively reducing manual labor intensity and improving operational safety.

[0006] To achieve this objective, the intelligent automatic uncoupling robot system for railway freight cars designed in this utility model includes an information system, a monitoring system, an uncoupling robot trolley, and an early warning system. The information system collects freight car information, confirms the uncoupling robot trolley requiring uncoupling operation based on the schedule, calculates the time required for the freight car to move from its uncoupling position to the corresponding uncoupling robot trolley position, and transmits this time and freight car speed to the corresponding uncoupling robot trolley. The monitoring system monitors the actions of the uncoupling robot trolley, determines whether there are any abnormalities in the uncoupling operation and uncoupling conditions, and if so, feeds back to the early warning system. The uncoupling robot trolley autonomously travels, autonomously determines the uncoupling position and performs the uncoupling operation, autonomously returns to its original position, monitors and sends uncoupling robot trolley status information, receives control commands, and adjusts the uncoupling robot trolley status based on the time required for the freight car to move from its uncoupling position to its corresponding uncoupling robot trolley position and the freight car speed. The early warning system receives and feeds back abnormal information regarding the uncoupling operation and uncoupling conditions of the uncoupling robot trolley.

[0007] Furthermore, the information system includes an information collection station, which is equipped with a vehicle speed collection module, a vehicle number collection module, a plan information processing module, and an information sending module. The vehicle speed collection module is used to collect the truck's driving speed; the vehicle number collection module is used to collect the truck's vehicle number; the plan information processing module is used to determine the unhooking robot trolley that needs to be unhooked based on the truck's vehicle number and driving speed, and calculate the time required for the truck to move from its unhooking position to the corresponding unhooking robot trolley position; the information sending module is used to transmit the time required for the truck to move from its unhooking position to the corresponding unhooking robot trolley position and the truck's driving speed to the corresponding unhooking robot trolley.

[0008] Furthermore, the monitoring system includes a lighting device, a lidar device, a camera device, a hook removal anomaly judgment module, and a data transmission module; the hook removal anomaly judgment module is used to determine whether there are any anomalies in the hook removal operation and hook removal conditions of the hook removal robot; the data transmission module is used to send the signal indicating that there are anomalies in the hook removal operation and hook removal conditions of the hook removal robot to the early warning system.

[0009] Furthermore, determining whether the unhooking robot's unhooking operation is abnormal includes determining whether the unhooking robot is not moving or whether its movement is abnormal; determining whether the unhooking conditions are abnormal includes determining whether a foreign object has entered the unhooking robot's working area.

[0010] Furthermore, the unhooking robot includes a driving platform, an unhooking device, a speed-combining device, and a status data generation, acquisition, processing, and transmission device; the driving platform includes a wheel assembly and a platform main frame connected above the wheel assembly, and the unhooking device, the speed-combining device, and the status data generation, acquisition, processing, and transmission device are all mounted on the platform main frame.

[0011] Furthermore, the unhooking device includes an unhooking robotic arm and an unhooking clamp fixedly connected to the power output end of the unhooking robotic arm.

[0012] Furthermore, the speed-combining device includes a speed-supplying swing arm and a bonding plate fixed to the power output end of the speed-supplying swing arm.

[0013] Furthermore, the state data generation, acquisition, processing, and transmission device includes a positioning mechanism for locating the position of the unhooking robot; a vision mechanism for acquiring and processing data on the shape and position of the object and analyzing the state changes of the object through real-time data acquisition; a scanning mechanism for calculating the position coordinates of the hook lever by scanning the hook lever area; and a data transmission mechanism for real-time monitoring and transmission of all state data of the unhooking robot and receiving control commands.

[0014] Furthermore, the status data generation, acquisition, processing, and transmission device also includes a mechanism for planning, correcting, and issuing deviation alarms for the unhooking robot trolley based on the positioning data from the positioning mechanism; determining whether the truck has been unhooked and issuing an alarm for any abnormalities based on the truck's unhooking status collected by the vision mechanism; determining the lifting point and calculating its trajectory based on the lifting position scanned by the scanning mechanism; controlling the unhooking robotic arm's movements based on the lifting point and its trajectory; determining whether the unhooking operation was successful based on the force feedback from the unhooking gripper and providing feedback on whether the unhooking was successful or unsuccessful; performing speed analysis and judgment on the common speed of the unhooking robot trolley and the truck, and providing feedback on whether the common speed is met or not; and an intelligent control mechanism for adjusting the status of the unhooking robot trolley based on its status information or control commands.

[0015] Furthermore, the hook removal clamp includes a clamp bracket connected to the power output end of the hook removal robot arm; two hook rod clamping blocks hinged within the clamp bracket, which can clamp the hook rod through relative movement or release it through opposite movement, and the two hook rod clamping blocks are connected to a clamping block driving mechanism for driving their relative movement or opposite movement.

[0016] The beneficial effects of this utility model are:

[0017] Significantly improved safety performance: The system completely replaces manual close-range contact with the truck coupler for uncoupling operations, avoiding exposure of workers to dangerous scenarios such as trucks not yet stopped or confined working spaces, thus eliminating the risk of personal injury from tripping or being caught in operating equipment; at the same time, in harsh environments such as those filled with coal dust, it eliminates the need for workers to work for extended periods, effectively protecting the health of workers and significantly reducing the risk of occupational health damage.

[0018] Significantly improved operational efficiency: The system accurately calculates the travel time and speed from the freight car's uncoupling position to the uncoupling robot trolley through an information system. Combined with the robot trolley's autonomous driving, precise positioning, and rapid uncoupling capabilities, it achieves highly efficient automated operations. Compared to manual uncoupling, it is unaffected by workers' physical condition, fatigue, or other physical limitations, avoiding the efficiency decline issues associated with nighttime operations. It also eliminates situations such as decoupling, hooking, and dead hooking caused by human error, reducing the workload of the shunting department, ensuring freight cars depart on time, and effectively guaranteeing the efficient operation of the railway transportation system.

[0019] High degree of intelligence and automation: The information system, monitoring system, unhooking robot, and early warning system work together to form a closed-loop intelligent control system. The information system automatically collects truck information and plans the operation process; the monitoring system monitors the unhooking operation and conditions in real time and promptly reports any abnormalities; the unhooking robot integrates multiple advanced mechanisms and can autonomously complete the entire process of driving, positioning, speed adjustment, unhooking, and returning to its original position; the early warning system quickly responds to abnormal information, achieving automated early warning and control. This intelligent operation mode not only reduces the intensity of manual labor but also improves the accuracy and stability of operations.

[0020] Strong fault handling and emergency response capabilities: The system has a comprehensive status monitoring and anomaly handling mechanism, which monitors the status of the uncoupling robot trolley in real time through status data generation, acquisition, processing and transmission devices. Once an anomaly is detected, such as the trolley not moving, abnormal driving or foreign objects intruding into the work area, the system can quickly determine and execute corresponding handling strategies, such as stopping the operation, releasing the hook lever, and detaching from the freight car, to ensure operational safety and reduce the impact of the fault on railway transportation.

[0021] Multifunctional Integration and Precise Control: The unhooking robot integrates multiple functional modules such as a driving platform, unhooking device, and speed-combining device. Through the collaboration of positioning mechanism, vision mechanism, scanning mechanism, and intelligent control mechanism, it achieves precise positioning, trajectory planning, and motion control. For example, the scanning mechanism can accurately calculate the position coordinates of the hook lifting rod, and the intelligent control mechanism plans the motion trajectory of the unhooking robot arm based on this data. Combined with the force feedback of the unhooking gripper, it judges whether the unhooking operation is successful, ensuring that the unhooking operation is completed efficiently and accurately. Attached Figure Description

[0022] Figure 1A perspective view of the intelligent automatic uncoupling robot system for railway freight cars designed for this utility model;

[0023] Figure 2 This is a perspective view of the unhooking robot trolley and the truck moving at the same speed in this utility model;

[0024] Figure 3 A perspective view of the unhooking robot trolley in this utility model performing the unhooking operation;

[0025] Figure 4 This is a perspective view of the unhooking robot trolley in this utility model;

[0026] Figure 5 This is a perspective view of the hook removal clamp in this utility model;

[0027] Figure 6 This is a perspective view of the connection between the push rod and the hook-lifting rod clamp block of the hook-removing clamp in this utility model.

[0028] Among them, 1—information system, 2—monitoring system (2.1—lighting device, 2.2—monitoring integration device), 3—unhooking robot trolley (3.1—driving platform, 3.2—unhooking device, 3.3—speed-common device, 3.4—status data generation, acquisition, processing and transmission device), 4—wheel assembly, 5—platform main frame, 6—unhooking robotic arm, 7—unhooking clamp (7.1—clamping bracket, 7.2—hooking rod clamping block, 7.3—clamping block drive motor) 8—Speed-supply swing arm, 9—Adhesive plate, 10—Positioning mechanism, 11—Vision mechanism, 12—Scanning mechanism, 13—Data transmission mechanism, 14—Intelligent control mechanism, 15—Hook rod, 16—Pushing slope, 17—Collision avoidance radar, 18—Trolley track, 19—Push rod, 20—Omnidirectional coupling, 21—Clamping block connecting seat, 22—Rail wheel, 23—Cargo truck, 24—Cargo truck track, 25—Wheel, 26—Tension and compression sensor, 27—Servo motor. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. In the description of the present utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present utility model 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, and therefore should not be construed as a limitation of the present utility model.

[0030] In some embodiments, such as Figure 1 The railway freight car intelligent automatic uncoupling robot system shown includes an information system 1, a monitoring system 2, an uncoupling robot trolley 3 (multiple uncoupling robots 3 are set at intervals along trolley tracks 18 parallel to the freight car track 24), and an early warning system (not shown in the figure).

[0031] Information system 1 is used to collect truck information, confirm the uncoupling robot trolley 3 that needs to be uncoupled according to the plan, calculate the time required for the truck to move from the uncoupling position to the corresponding uncoupling robot trolley 3 position, and transmit the time and truck speed to the corresponding uncoupling robot trolley 3.

[0032] The monitoring system 2 is used to monitor the actions of the unhooking robot trolley 3, determine whether there are any abnormalities in the unhooking operation and unhooking conditions of the unhooking robot trolley 3, and if so, send the feedback to the early warning system.

[0033] The unhooking robot trolley 3 is used to autonomously drive, autonomously determine the unhooking position and perform the unhooking operation, autonomously return to its original position, monitor and send the status information of the unhooking robot trolley 3, receive control commands, and adjust the status of the unhooking robot trolley 3 according to the time required for the truck to move to its corresponding unhooking position and the speed of the truck.

[0034] The early warning system is used to receive and provide feedback on abnormal information regarding the unhooking operation and unhooking conditions of the unhooking robot.

[0035] Example 1

[0036] A specific embodiment of information system 1 is provided:

[0037] like Figure 1 As shown, information system 1 includes an information collection station, which is equipped with a vehicle speed collection module, a vehicle number collection module, a plan information processing module, and an information sending module. The vehicle speed collection module collects the truck's speed. The vehicle number collection module collects the truck's license plate number. The plan information processing module determines the uncoupling robot trolley 3 that needs to be uncoupled based on the truck's license plate number and speed, and calculates the time required for the truck to move from its uncoupling position to the corresponding uncoupling robot trolley 3 position. The information sending module transmits the time required for the truck to move to its corresponding uncoupling robot trolley 3 position and the truck's speed to the corresponding uncoupling robot trolley 3.

[0038] Example 2

[0039] A specific embodiment of monitoring system 2 is provided:

[0040] like Figure 2As shown, the monitoring system 2 includes a lighting device 2.1 and a monitoring integration device 2.2. The monitoring integration device 2.2 includes a lidar device, a camera device, a hook removal anomaly judgment module, and a data transmission module. The lighting device 2.1 is used for illumination, while the lidar device and camera device are used to monitor the movements of the hook removal robot 3. The hook removal anomaly judgment module is used to determine whether there are any anomalies in the hook removal operation and hook removal conditions of the hook removal robot 3. The data transmission module is used to send signals indicating anomalies in the hook removal operation and hook removal conditions of the hook removal robot 3 to the early warning system.

[0041] Among them, determining whether there is any abnormality in the unhooking operation of the unhooking robot trolley 3 includes determining whether the unhooking robot trolley is not moving or whether it is driving abnormally; determining whether there is any abnormality in the unhooking conditions includes determining whether there is any foreign object intruding into the working area of ​​the unhooking robot trolley 3.

[0042] Example 3

[0043] A specific embodiment of a hook-removing robot trolley 3 is provided:

[0044] like Figure 3 As shown in Figure 4, the unhooking robot trolley 3 includes a driving platform 3.1, an unhooking device 3.2, a speed-combining device 3.3, and a status data generation, acquisition, processing, and transmission device 3.4.

[0045] The driving platform 3.1 includes a wheel assembly 4, a platform main frame 5 connected above the wheel assembly 4, and a hook-and-unhook device 3.2, a speed-combining device 3.3, and a status data generation, acquisition, processing, and transmission device 3.4, all mounted on the platform main frame 5. The wheel assembly 4 includes a trolley track 18 (arranged parallel to the freight car track 24), multiple track wheels 17 (side guide wheels to prevent the vehicle from tipping over, and with suspension damping to prevent excessive track surface vibration and maintain the working accuracy of other components) mounted on the trolley track 18 and suspended below the platform main frame 5, and a drive transmission device (not shown in the figure, including a motor and reducer) that drives the multiple track wheels 17 to rotate synchronously. In addition to a track-type structure, the hook-and-unhook robot trolley 3 can also use a wheel-type structure. The difference is that the wheel assembly 4 includes multiple wheels 25 suspended below the platform main frame 5 and a drive transmission device that drives the multiple wheels 25 to rotate. When a wheel-type structure is adopted, wheel assembly 4 is an all-terrain suspension wheel assembly with suspension and shock absorption function to avoid excessive ground bumps from affecting the working accuracy of other components.

[0046] The unhooking device 3.2 includes an unhooking robotic arm 6 and an unhooking gripper 7 fixedly connected to the power output end of the unhooking robotic arm 6. The unhooking robotic arm 6 is a six-axis robotic arm, and the structure combined with the unhooking gripper 7 can be used to grip, lift, and flip the hook rod 15. It can sense the magnitude of the applied force to ensure reliable robot operation.

[0047] The speed-combining device 3.3 includes a speed-supplying swing arm 8 and a bonding plate 9 fixedly connected to the power output end of the speed-supplying swing arm 8. The speed-supplying swing arm 8 can be driven to rotate at one end by a power mechanism (including but not limited to a motor and a reducer), so that the bonding plate 9 can be used to effectively bond with the end face of the truck. The unhooking robot trolley 3 moves at the same speed as the truck under the push of the truck.

[0048] The status data generation, acquisition, processing, and transmission device 3.4 includes a positioning mechanism 10 (composed of a GPS positioning system, capable of real-time positioning of the moving vehicle and generating positioning data) for locating the position of the unhooking robot trolley; a vision mechanism 11 (composed of a 3D camera and a 2D camera, capable of acquiring and processing data on the shape and position of the object, and analyzing the state changes of the object through real-time data acquisition) for acquiring and processing data on the shape and position of the object, and analyzing the state changes of the object through real-time data acquisition; and a scanning mechanism 12 (including but not limited to radar, consisting of a laser transmitter and receiver, an optical system, and a scanning arm) for calculating the position coordinates of the hook arm 15 by scanning the hook arm area. The system comprises a scanning control system, a ranging algorithm, a data processing and output system, capable of calculating the position coordinates of the hook lever by scanning the hook lever area and feeding them back to the intelligent control system 14); real-time monitoring and transmission of all status data of the unhooking robot trolley 3; a data transmission mechanism 13 (composed of a wireless transmission module, transmitting all data of the unhooking robot trolley 3 to the control center and monitoring the data transmission status in real time to ensure data transmission integrity); and planning, correcting, and alarming the movement of the unhooking robot trolley based on the positioning data of the positioning mechanism 10 (if the unhooking robot trolley 3 adopts a track-type structure, correction is not necessary); and judging the unhooking status of the truck collected by the vision mechanism 11. The system includes: alarms for whether the truck has successfully unhooked and those for which it has not; determining the hook-up point and calculating its trajectory based on the hook-up position scanned by the scanning mechanism 12; controlling the unhooking robotic arm 6 based on the hook-up point and its trajectory; determining the success of the unhooking operation based on the force feedback from the unhooking clamp 7, and providing feedback on whether the unhooking was successful or not; performing a speed analysis and judgment on the speed of the unhooking robot trolley 3 and the truck, and providing feedback on whether the speed is satisfied or not; and an intelligent control mechanism 14 (composed of an embedded microcontroller, a high-performance data processor, an intelligent decision-making algorithm, and a communication device, capable of adjusting the state of the unhooking robot trolley 3 based on its status information or control commands) that can control the movement of the unhooking robot trolley 3 through various mechanisms. The data transmitted by the sensing elements in the component configuration is used to analyze and control the status of the trolley. This includes: planning and correcting the route and issuing deviation alarms after processing the positioning data; judging the unhooking status of the truck after processing the vision system data and issuing alarms for whether unhooking is completed and for failure to unhook; judging the position of the hook-lifting point and calculating the motion trajectory of the hook-lifting point after processing the lidar system data, and controlling the movement of the unhooking robotic arm; judging the success of unhooking after processing the force feedback data of the unhooking clamp and issuing alarms for success or failure; and analyzing the speed status after processing the travel speed data of the moving trolley and issuing alarms for speed compatibility or incompatibility, etc.

[0049] like Figure 5As shown in Figure 6, a specific embodiment of a hook removal clamp 7 is provided:

[0050] The hook removal clamp 7 includes a clamp bracket 7.1 connected to the power output end of the hook removal robotic arm 6 (connected via an omnidirectional coupling 20 and a tension / compression sensor 26 fixed to the top of the clamp bracket 7.1); two clamping block connecting seats 21 respectively hinged to the left and right sides inside the clamp bracket 7.1; two lifting rod clamping blocks 7.2 respectively hinged to the two clamping block connecting seats 21; and a push rod 19 located between the two lifting rod clamping blocks 7.2. The rear end of the push rod 19 is connected to a servo motor 27 that drives its back-and-forth movement (the push rod 19 and the servo motor 27 together form the clamping block drive mechanism 7.3). When the servo motor 27 pushes the push rod 19 forward, the protrusions on the left and right sides of the middle part of the push rod 19 push the hook rod clamping blocks 7.2, and the front ends of the two hook rod clamping blocks 7.2 open, releasing the hook rod 15. When the servo motor 27 pulls the push rod 19 backward, the protrusions on the left and right sides of the front middle part of the push rod 19 push the two hook rod clamping blocks 7.2 backward, and the front ends of the two hook rod clamping blocks 7.2 clamp the hook rod 15.

[0051] There are many structures for the hook removal clamp 7. The above structure is only one specific embodiment of this utility model. Other clamp structures with similar structures and the same functions are also within the protection scope of this utility model, such as the hook rod clamp 7.2 driven by a screw and nut structure or the hook rod clamp 7.2 driven by a gear and rack structure, etc.

[0052] Example 4

[0053] Based on the above-mentioned intelligent automatic coupling robot system for railway freight cars, a method for operating the intelligent automatic coupling robot system for railway freight cars is provided:

[0054] Step 1: The grouped freight cars drive from the information collection station into the push slope 16 of the camel hump unhooking yard. The information collection station collects the speed parameters and freight car numbers of the grouped freight cars. Based on the plan information, it confirms the unhooking robot trolley 3 that needs to be unhooked. It then sends the speed parameters, freight car numbers, and distance and time of the unhooking position from the corresponding unhooking robot trolley 3 to the corresponding unhooking robot trolley 3.

[0055] Step Two: The unhooking robot trolley 3, which requires unhooking operations, waits at its designated position. Monitoring system 2 monitors the operating status of the unhooking robot trolley 3 in real time using lidar or a vision system. If the unhooking robot trolley 3 fails to move, exhibits abnormal driving behavior, or is obstructed by foreign objects in the work area, monitoring system 2 will trigger an early warning system. Upon triggering, the early warning system will first notify the freight car pusher to stop pushing. Then, based on the real-time status of the unhooking robot trolley 3 as determined by monitoring system 2, it will send a command to control the unhooking robot trolley 3 to withdraw from the unhooking operation and await manual intervention.

[0056] Step 3: When the numbered truck that needs to be unhooked reaches the set distance from the unhooking robot trolley 3, the unhooking robot trolley 3 starts up and maintains a reasonable speed with the truck through the system algorithm. When the truck and the unhooking robot trolley 3 are in the correct common speed position relationship, the unhooking robot trolley 3 extends the speed supply swing arm 8 and attaches to the end of the truck that needs to be unhooked through the bonding plate 9.

[0057] Step 4: The driving drive system of the unhooking robot trolley 3 is automatically released, and the wheels 25 or track wheels 22 are in a follow-up state. The truck pushes the unhooking robot trolley 3 and moves parallel to the truck at the same speed through the speed-supplying swing arm 8. During the parallel speed-supplying stage, the 3D vision system and lidar on the unhooking robot trolley 3 scan the area of ​​the truck's hook-lifting lever, generate hook-lifting position information and send it to the unhooking robotic arm 6. Through the system algorithm, the grasping position and movement trajectory of the unhooking robotic arm 6 are calculated, and the action of the unhooking robotic arm 6 is controlled to clamp the hook-lifting lever 15 through the unhooking clamp 7. When the uncoupling robotic arm 6 moves, force feedback data is sent back to the uncoupling robot trolley 3. Simultaneously, the vision system monitors the connection status of the coupler. If the force feedback data exceeds the system default value, or if no coupler separation is detected within the system's calculated distance, the uncoupling robot trolley 3 will stop operating and issue an alarm to the warning system. Then, the uncoupling gripper 7 releases the lifting rod 15, retracts the uncoupling robotic arm 6, and after the truck stops, the drive transmission system of the uncoupling robot trolley 3 is activated, causing it to move forward a distance to detach from the truck, and then the speed-supplying swing arm 8 retracts. If coupler separation is detected, the system algorithm confirms the completion of the uncoupling operation. After confirmation, the uncoupling gripper 7 releases the lifting rod 15, which falls back under its own weight, and the uncoupling robotic arm 6 retracts to a safe position.

[0058] Step 5: After the unhooking robot arm 6 is fully retracted, the algorithm calculates the speed based on the feedback from the wheel assembly 4, and then starts the drive transmission system of the unhooking robot trolley 3 at a reasonable speed, so that the unhooking robot trolley 3 moves forward and detaches from the truck. When it is determined that the distance between the unhooking robot trolley 3 and the truck reaches the set distance, the speed swing arm 8 retracts, completing the entire unhooking operation.

[0059] Step Six: The unhooking robot trolley 3 returns to its original starting position and waits for the next unhooking command.

[0060] In summary, the intelligent automatic uncoupling robot system for railway freight cars designed in this utility model achieves automatic uncoupling, avoiding close contact between personnel and train couplers, preventing personnel from working near trains that have not yet come to a complete stop, reducing the risk of tripping or being caught in equipment, and keeping workers away from harsh environments such as coal dust, ensuring their life, health, and safety. The uncoupling robot trolley 3 can drive autonomously, accurately locate itself, and quickly complete the uncoupling operation, unaffected by factors such as personnel fatigue or energy levels. Compared to manual uncoupling, it can maintain high efficiency at night or during high-intensity operations, reducing human errors such as decoupling and hooking, reducing the amount of repetitive work for shunting departments, improving train marshalling efficiency, and ensuring the timeliness of railway transportation. The system achieves automated control and intelligent decision-making for the entire uncoupling process through the collaborative work of multiple sensors and the intelligent control mechanism 14, including autonomous path planning, coupler status recognition, trajectory calculation, and operation verification, reducing manual intervention, lowering labor intensity, and improving the accuracy and stability of operations. The monitoring system monitors the trolley's operating status in real time, the early warning system responds promptly to abnormal information, and the intelligent control mechanism 14 adjusts the trolley's status based on feedback data. This ensures that in the event of equipment failure, foreign object intrusion, or other situations, the system can take timely measures to avoid transportation delays or safety accidents, thus guaranteeing the reliable operation of railway transportation. The track-type and wheel-type structure of the uncoupling robot trolley 3, along with its modular design, allows it to adapt to different track conditions and operating scenarios. It also facilitates equipment installation, maintenance, and functional upgrades, and can quickly adapt to different vehicle models and coupler types, improving the system's versatility and scenario adaptability.

[0061] It should be noted that the description of the above technical solutions is exemplary, and this specification may be embodied in different forms and should not be construed as limiting it to the technical solutions set forth herein. Rather, providing these descriptions will ensure that the disclosure of this utility model is thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. Furthermore, the technical solutions of this utility model are defined only by the scope of the claims. When using the terms "comprising," "having," and "including" as described in this specification, there may also be another part or other parts, and the terms used are generally singular but may also represent plural forms. Finally, it should be pointed out that the above embodiments are merely representative examples of this utility model. Obviously, this utility model is not limited to the above embodiments and many variations are possible. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this utility model should be considered to fall within the protection scope of this utility model.

Claims

1. A smart automatic uncoupling robot system for railway freight cars, characterized in that: It includes an information system (1), a monitoring system (2), a hook-removing robot vehicle (3), and an early warning system; The information system (1) is used to collect truck information, confirm the unhooking robot trolley (3) that needs to be unhooked according to the plan, calculate the time required for the truck to move from the unhooking position to the position of its corresponding unhooking robot trolley (3), and transmit the time and truck speed to the corresponding unhooking robot trolley (3). The monitoring system (2) is used to monitor the actions of the unhooking robot (3), determine whether there are any abnormalities in the unhooking operation and unhooking conditions of the unhooking robot (3), and if so, to send feedback to the early warning system. The unhooking robot (3) is used to autonomously drive, autonomously determine the unhooking position and perform unhooking operation, autonomously return to its original position, monitor and send the status information of the unhooking robot (3), receive control commands, and adjust the status of the unhooking robot (3) according to the time required for the truck to move to its corresponding unhooking position and the speed of the truck. The early warning system is used to receive and provide feedback on abnormal information regarding the unhooking operation and abnormal unhooking conditions of the unhooking robot.

2. The railroad freight car smart automatic uncoupling robot system of claim 1, wherein: The information system (1) includes an information collection station, which is equipped with a vehicle speed collection module, a vehicle number collection module, a plan information processing module and an information sending module. The vehicle speed acquisition module is used to collect the speed of the truck. The vehicle registration number acquisition module is used to collect truck vehicle registration numbers; The plan information processing module is used to identify the unhooking robot trolley (3) that needs to be unhooked based on the truck number and the truck's speed, and to calculate the time required for the truck to move from the unhooking position to the position of its corresponding unhooking robot trolley (3). The information sending module is used to transmit the time required for the truck to move from its unhooking position to its corresponding unhooking robot vehicle (3) and the truck's driving speed to the corresponding unhooking robot vehicle (3).

3. The railroad car intelligent automatic uncoupling robot system as defined in claim 1 wherein: The monitoring system (2) includes a lighting device (2.1), a lidar device, a camera device, a hook removal anomaly judgment module, and a data transmission module; The hook removal anomaly judgment module is used to determine whether there are any anomalies in the hook removal operation and hook removal conditions of the hook removal robot (3); The data transmission module is used to send signals of abnormal hooking operation and hooking conditions of the unhooking robot (3) to the early warning system.

4. The railroad car intelligent automatic uncoupling robot system of claim 3, wherein: The determination of whether the unhooking robot (3) has any abnormality includes determining whether the unhooking robot is not moving or whether its movement is abnormal; the determination of whether the unhooking conditions are abnormal includes determining whether there is any foreign object intruding into the working area of ​​the unhooking robot (3).

5. The railroad car intelligent automatic uncoupling robot system as defined in claim 1 wherein: The unhooking robot vehicle (3) includes a driving platform (3.1), an unhooking device (3.2), a speed-combining device (3.3), and a status data generation, acquisition, processing, and transmission device (3.4); The driving platform (3.1) includes a wheel assembly (4) and a platform main frame (5) connected above the wheel assembly (4). The hook-off device (3.2), the speed-combining device (3.3), and the status data generation, acquisition, processing and transmission device (3.4) are all mounted on the platform main frame (5).

6. The railroad car intelligent automatic uncoupling robot system of claim 5 wherein: The unhooking device (3.2) includes an unhooking robotic arm (6) and an unhooking clamp (7) fixedly connected to the power output end of the unhooking robotic arm (6).

7. The railroad car intelligent automatic uncoupling robot system of claim 6 wherein: The speed-combining device (3.3) includes a speed-supplying swing arm (8) and a bonding plate (9) fixed to the power output end of the speed-supplying swing arm (8).

8. The railroad car intelligent automatic uncoupling robot system of claim 5 wherein: The state data generation, acquisition, processing and transmission device (3.4) includes a positioning mechanism (10) for locating the position of the hook-removing robot car; a vision mechanism (11) for acquiring and processing data on the shape and position of the object and analyzing the state changes of the object through real-time data acquisition; a scanning mechanism (12) for calculating the position coordinates of the hook rod (15) by scanning the hook rod area; and a data transmission mechanism (13) for real-time monitoring and transmission of all state data of the hook-removing robot car (3) and receiving control commands.

9. The intelligent automatic uncoupling robot system for railway freight cars as described in claim 8, characterized in that: The state data generation, acquisition, processing and transmission device (3.4) also includes a motion planning, correction and deviation alarm for the unhooking robot trolley based on the positioning data of the positioning mechanism (10); an abnormal alarm for whether the truck has completed unhooking and whether it has not been unhooked based on the unhooking status collected by the vision mechanism (11); a hooking point and motion trajectory calculation based on the hooking position scanned by the scanning mechanism (12); control of the unhooking robot arm (6) based on the hooking point and the motion trajectory of the hooking point; a force feedback of the unhooking fixture (7) to determine whether the unhooking operation is successful and to provide feedback on whether the unhooking is successful or unsuccessful; a common speed analysis and judgment of the driving speed of the unhooking robot trolley (3) and the driving speed of the truck and to provide feedback on whether the common speed is satisfied or not; and an intelligent control mechanism (14) to adjust the state of the unhooking robot trolley (3) based on the state information or control instructions of the unhooking robot trolley.

10. The intelligent automatic uncoupling robot system for railway freight cars as described in claim 6, characterized in that: The hook removal clamp (7) includes a clamp bracket (7.1) connected to the power output end of the hook removal robot arm (6); two hook rod clamping blocks (7.2) hinged to the clamp bracket (7.1) and capable of clamping the hook rod (15) by relative movement or releasing it by opposite movement; the two hook rod clamping blocks (7.2) are connected to a clamping block driving mechanism (7.3) for driving their relative movement or opposite movement.

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