A common speed device and its mounting structure

Abstract

This utility model discloses a speed-coupling device and its installation structure, including a speed-coupling swing arm and a power mechanism. One end of the speed-coupling swing arm is fixed to the power output end of the power mechanism, and the other end of the speed-coupling swing arm is fixed with a bonding plate. The speed-coupling swing arm can be driven by the power mechanism to rotate one end, causing the bonding plate to fit against the end face of the freight car, so that the uncoupling robot trolley moves at the same speed as the freight car under the push of the freight car. The speed-coupling device designed in this utility model can be applied to the uncoupling operation of freight car uncoupling robots, enabling the freight car uncoupling robot to move at the same speed as the railway freight car while the two are relatively stationary, providing a foundation for subsequent uncoupling operations of freight car uncoupling robots.

Description

Technical Field

[0001] This utility model relates to the technical field of uncoupling and coupling execution equipment for railway freight cars, specifically to a common speed device and its installation structure. 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 new railway freight car uncoupling robot. During the robot's operation, ensuring that the robot moves synchronously with the railway freight car and that the two remain relatively stationary is the basis for the robot to perform the uncoupling operation. Utility Model Content

[0005] The purpose of this utility model is to overcome the shortcomings of the above-mentioned background technology and provide a speed-sharing device and its installation structure for use in the uncoupling operation of a freight car uncoupling robot, enabling the freight car uncoupling robot and the railway freight car to travel at the same speed and remain relatively stationary.

[0006] To achieve this objective, the common speed device designed in this utility model includes a common speed swing arm and a power mechanism. One end of the common speed swing arm is fixed to the power output end of the power mechanism, and the other end of the common speed swing arm is fixed with a bonding plate. The common speed swing arm can be driven by the power mechanism to rotate one end, so that the bonding plate is bonded to the end face of the truck, and the unhooking robot trolley moves at the same speed as the truck under the push of the truck.

[0007] Furthermore, the speed-supplying swing arm is a telescopic structure, which includes a swing arm support with one end fixed to the power output end of the power mechanism and a speed-supplying support arm that is slidably connected to the swing arm support and can reciprocate along the length direction of the swing arm support. The bonding plate is fixed to the end of the speed-supplying support arm away from the swing arm support.

[0008] Furthermore, a telescopic drive mechanism for driving the speed supply support arm to reciprocate along the length direction of the swing arm support and a telescopic guide mechanism for guiding the speed supply support arm to move along the length direction of the swing arm support are connected between the swing arm support and the speed supply support arm.

[0009] Furthermore, the power mechanism includes a motor and a speed reducer.

[0010] Furthermore, the motor includes a servo motor and a stepper motor.

[0011] Furthermore, the common speed device also includes a limiting structure for limiting the extreme rotational positions of the common speed swing arm.

[0012] Furthermore, a rotating flange is provided at the connection between the power mechanism and the common speed swing arm.

[0013] Furthermore, the rotating flange includes a torque-resistant rotating bearing capable of withstanding normal torque, enabling the unhooking robot trolley to run at the same speed as the truck.

[0014] Furthermore, a balance block is fixed to one end of the common speed swing arm. The balance block can balance the rotational torque of the common speed swing arm and prevent the rotational torque of the common speed swing arm from exceeding the threshold.

[0015] Furthermore, the mounting structure of the common speed device includes a hook-unhooking robot trolley, which includes a wheel assembly and a platform main frame connected above the wheel assembly, and the power mechanism is fixed to the platform main frame.

[0016] Furthermore, the wheel assembly includes a trolley track, multiple track wheels disposed on the trolley track and suspended below the main frame of the platform, and a drive transmission device for driving the multiple track wheels to rotate.

[0017] Furthermore, the track wheels are side track guide wheels, which can prevent the vehicle body from tipping over.

[0018] The beneficial effects of this utility model are:

[0019] Achieving shared speed: The shared speed device is attached to the surface of the truck via a bonding plate, enabling it to travel at the same speed as the truck. This provides a basis for the unhooking robot's operation, ensuring that the two are relatively stationary and meeting the robot's operational requirements. Furthermore, the horizontal relative position of the bonding plate and the truck can be adjusted via the telescopic structure of the speed-supplying arm, further ensuring stable speed supply between the unhooking robot and the truck during the unhooking process.

[0020] High safety: It changes the traditional method of manual uncoupling and close contact with the truck coupler. The robot moves synchronously with the truck through a speed-synchronizing device, reducing the direct involvement of workers in the uncoupling operation. It avoids the risk of workers being tripped or caught in the operating equipment due to the truck not coming to a complete stop, reduces the harm to the health of workers, and improves the safety of the operation.

[0021] High work efficiency: It solves the problems of cumbersome manual uncoupling process and the fact that efficiency is easily affected by the worker's own condition. Robot operation is less prone to problems such as hook falling off, hook biting, and dead hooking, which reduces the workload of the shunting department, ensures the punctual departure of freight cars, and helps maintain the efficient operation of the entire railway transportation.

[0022] Reasonable structural design: The rotation of the common speed swing arm can be precisely controlled by the motor-driven common speed swing arm, so as to achieve precise adjustment of the position of the bonding plate.

[0023] Easy to install: The installation structure of the common speed device includes a hook-unhooking robot trolley, which fixes the power mechanism to the main frame of the platform. The installation method is simple and convenient for practical application and operation. Attached Figure Description

[0024] Figure 1 This is a perspective view of the co-speed device of this utility model;

[0025] Figure 2 This is a perspective view of the co-speed device of this utility model installed on the unhooking robot trolley;

[0026] Figure 3 This is a perspective view of the connection between the unhooking robot trolley and the truck via a speed-combining device in this utility model.

[0027] Figure 4 This is a perspective view of the speed supply device with a telescopic speed supply arm in this utility model.

[0028] Among them, 1—common speed swing arm (1.1—swing arm support, 1.2—speed supply support arm), 2—power mechanism, 3—unhooking robot trolley, 4—cargo truck, 5—rotary flange, 6—balance block, 7—fitting plate, 8—wheel assembly, 9—platform main frame, 10—trolley track, 11—track wheel, 12—electric push rod, 13—linear guide rail. 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] like Figure 1 As shown in Figure 3, in some embodiments, the common speed device includes a common speed swing arm 1, a power mechanism 2 fixedly connected to one end of the common speed swing arm 1 and driving it to rotate around the hinge point, and an adhesive plate 7 fixed to the other end of the common speed swing arm 1.

[0031] Example 1

[0032] A specific embodiment of the drive structure for a common-speed swing arm 1 is provided:

[0033] like Figure 1 As shown, the power mechanism 2 includes a servo motor (or a stepper motor or a regular motor) and a reducer. The power output end of the reducer is fixedly connected to one end of the common speed swing arm 1, and a rotating flange 5 (fixed to the reducer housing) is provided at the connection between the reducer and the common speed swing arm 1. This flange can be an anti-torque rotary bearing, which supports the rotation of the common speed swing arm 1, bears the normal torque of the common speed swing arm 1, and ensures the rotational stability of the common speed swing arm 1. A bonding plate 7 is fixed to the end of the common speed swing arm 1 away from the power mechanism 2. The relative position of the bonding plate 7 and the truck 4 can be adjusted by adjusting the rotation angle of the common speed swing arm 1 through the servo motor of the power mechanism 2, so that the bonding plate 7 is attached to the end surface of the truck 4, realizing the common speed device and the truck 4 traveling at the same speed. To ensure the relative position of the bonding plate 7 and the truck 4, and to prevent the common speed swing arm 1 from over-rotating, a limiting structure for the common speed swing arm 1 can be set, including a limiting baffle or a limiter.

[0034] Example 2

[0035] A structural embodiment of a telescopic speed-supplying swing arm 1 is provided:

[0036] like Figure 4 As shown, the speed-supplying swing arm 1 includes a swing arm support 1.1 with one end fixed to the power output end of the power mechanism 2, and a speed-supplying support arm 1.2 slidably connected to the swing arm support 1.1 and capable of reciprocating along the length direction of the swing arm support 1.1. A bonding plate 7 is fixed to the end of the speed-supplying support arm 1.2 away from the swing arm support 1.1. An electric push rod 12 (i.e., a telescopic drive mechanism) is connected between the swing arm support 1.1 and the speed-supplying support arm (1.2) to drive the speed-supplying support arm 1.2 to reciprocate along the length direction of the swing arm support 1.1. Through the telescopic movement of the push rod, the side end face of the speed-supplying support arm 1.2 extends to a designated position, and then the bonding plate 7 is bonded to the end face of the vehicle body. Under the push of the truck 4, it moves at the same speed. The electric push rod 12 includes a motor, gear transmission mechanism, and screw and nut mechanism, etc., which are common devices and will not be described in detail here. Furthermore, any drive device capable of driving the telescopic movement of the speed-supplying support arm 1.2 is included in this description. Within the scope of protection of this utility model, a linear guide rail 13 (i.e., a telescopic guide mechanism, arranged along the length of the swing arm support 1.1, including a slider, not shown in the figure, the slider and the linear guide rail 13 are respectively fixed on the swing arm support 1.1 and the speed supply support arm 1.2, and the slider and the linear guide rail 13 cooperate to guide the speed supply support arm 1.2. In addition, any mechanism that can realize the linear guidance of the speed supply support arm 1.2, such as gears and racks, is within the scope of protection of this utility model.

[0037] Example 3

[0038] An embodiment of the mounting structure for a common speed device is provided:

[0039] like Figure 2 As shown in Figure 3, the robot trolley 3 is a track-mounted unhooking robot, which includes a wheel assembly 8 and a platform main frame 9 connected above the wheel assembly 8. The power mechanism 2 is fixed to the platform main frame 9. The wheel assembly 8 includes a trolley track 10, multiple track wheels 11 set on the trolley track 10 and suspended below the platform main frame 9, and a drive transmission device that drives the multiple track wheels 11 to rotate synchronously.

[0040] The operating method of the common speed device designed in this utility model is as follows:

[0041] When the tandem freight cars enter the push slope of the hump unloading yard from the information collection station, the information collection station collects the speed parameters and freight car numbers of the tandem freight cars. Based on the plan information, it identifies the unloading robot trolley 3 that needs to be unloaded and sends the speed parameters, freight car numbers, and distance and time from the unloading position to the corresponding unloading robot trolley 3. The unloading robot trolley 3 waiting at the designated position waits. Its operating status is monitored in real time by a lidar or vision system. If the unloading robot trolley 3 does not move, exhibits abnormal driving, or foreign objects intrude into the work area, an early warning system will be triggered. After the early warning system is triggered, it first notifies the tandem freight car pusher to stop pushing, and then, based on the real-time status of the unloading robot trolley 3, sends a command to control the unloading robot trolley 3 to withdraw from the unloading operation state and await manual handling. When the numbered truck to be unhooked reaches a set distance from the unhooking robot trolley 3, the unhooking robot trolley 3 starts and maintains a reasonable speed with the truck 4 through the system algorithm. When the truck 4 and the unhooking robot trolley 3 are in the correct common speed position relationship, the unhooking robot trolley 3 extends its common speed swing arm 1 and attaches to the end of the truck to be unhooked through the fitting plate 3. The driving drive system of the unhooking robot trolley 3 is automatically released, and the wheels or track wheels are in a follow-up state. The truck 4 pushes the unhooking robot trolley 3 and the truck 4 to move in parallel at the same speed through the common speed swing arm 1. During the parallel common speed movement phase, the 3D vision system and lidar on the unhooking robot trolley 3 scan the hook-lifting bar area of ​​the truck, generate hook-lifting position information and send it to the unhooking robot arm. Through the system algorithm, the grasping position and movement trajectory of the unhooking robot arm are calculated, the action of the unhooking robot arm is controlled, and the hook-lifting bar is clamped by the unhooking gripper. During the uncoupling operation, 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 releases the hook-lifting lever, retracts the uncoupling robot arm, 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 4, before retracting the common-speed swing arm 1. If coupler separation is detected, the system algorithm confirms the completion of the uncoupling operation. After confirmation, the uncoupling gripper releases the hook-lifting lever, which falls back under its own weight, and the uncoupling robot arm retracts to a safe position. After the unhooking robotic arm is fully retracted, the algorithm calculates the speed based on the feedback from the wheel assembly 8, and then activates the drive transmission system of the unhooking robot trolley 3 at an appropriate speed, causing the unhooking robot trolley 3 to move forward and detach from the truck. When it is determined that the distance between the unhooking robot trolley 3 and the truck 4 reaches the set distance, the common-speed swing arm 1 retracts, completing the entire unhooking operation. The unhooking robot trolley 1 returns to its original initial position, awaiting the next unhooking command.

[0042] In summary, the shared-speed device designed in this invention is attached to the surface of the truck 4 via the bonding plate 7, enabling it to travel at the same speed as the truck 4. This provides a basis for the unhooking operation of the unhooking robot trolley 3, ensuring that the two remain relatively stationary and meeting the needs of the robot during operation. A servo motor is installed within the power mechanism 2 to drive the shared-speed swing arm 1, enabling precise control of its rotation (if it is a telescopic speed-supplying swing arm 1, its length can also be adjusted via the telescopic structure), thus achieving precise adjustment of the position of the bonding plate 7. The installation structure of the shared-speed device includes the unhooking robot trolley 3, with the power mechanism 2 fixed to the platform main frame 9. The installation method is simple and convenient for practical application and operation.

[0043] Based on the aforementioned speed-combining device, the uncoupling robot trolley 3 designed in this invention changes the traditional method of manual uncoupling involving close contact with freight car couplers. The robot moves synchronously with the freight car 4 via the speed-combining device, reducing the direct involvement of workers in the uncoupling operation. This avoids the risk of workers tripping or being caught in running equipment due to the freight car 4 not coming to a complete stop, reducing harm to workers' health and improving operational safety. It solves the problems of cumbersome manual uncoupling processes and efficiency being easily affected by the worker's condition. Robotic operation is less prone to problems such as decoupling, hooking, and dead hooking, reducing the workload of the shunting department, ensuring the punctual departure of freight cars, and contributing to the efficient operation of the entire railway transportation system.

[0044] It should be noted that the above description of the 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.

[0045] Finally, it should be noted that the above embodiments are merely representative examples of this utility model. Obviously, this utility model is not limited to the above embodiments and can have many variations. 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 co-speed device, characterized by: It includes a common speed swing arm (1) and a power mechanism (2). One end of the common speed swing arm (1) is fixed to the power output end of the power mechanism (2), and the other end of the common speed swing arm (1) is fixed with a bonding plate (7). The common speed swing arm (1) can be driven to rotate at one end by the power mechanism (2), so that the bonding plate (7) is bonded to the end face of the truck (4), so that the unhooking robot trolley (3) runs at the same speed as the truck (4) under the push of the truck (4).

2. The co-speed device of claim 1, wherein: The common speed swing arm (1) is a telescopic structure, which includes a swing arm support (1.1) with one end fixed to the power output end of the power mechanism (2) and a speed supply support arm (1.2) slidably connected to the swing arm support (1.1) and capable of reciprocating along the length direction of the swing arm support (1.1). The bonding plate (7) is fixed on the end of the speed supply support arm (1.2) away from the swing arm support (1.1).

3. The co-speed device of claim 2, wherein: The swing arm support (1.1) and the speed supply support arm (1.2) are connected by a telescopic drive mechanism for driving the speed supply support arm (1.2) to reciprocate along the length direction of the swing arm support (1.1) and a telescopic guide mechanism for guiding the speed supply support arm (1.2) to move along the length direction of the swing arm support (1.1).

4. The co-speed device of claim 1, wherein: The power mechanism (2) includes a motor and a reducer.

5. The co-speed device of claim 1, wherein: It also includes a limiting structure for limiting the extreme rotational position of the common speed swing arm (1).

6. The co-speed device of claim 1, wherein: A rotating flange (5) is provided at the connection between the power mechanism (2) and the common speed swing arm (1).

7. The co-speed device of claim 6, wherein: The rotating flange (5) includes a torque-resistant rotating bearing capable of withstanding normal torque, enabling the unhooking robot trolley (3) and the truck (4) to run at the same speed.

8. The co-speed device of claim 1, wherein: One end of the common speed swing arm (1) is fixed with a balance block (6), which can balance the rotational torque of the common speed swing arm (1) and prevent the rotational torque of the common speed swing arm (1) from exceeding the threshold.

9. The mounting structure of the common speed device as described in any one of claims 1-8, characterized in that: It includes a hook-removing robot vehicle (3), which includes a wheel assembly (8) and a platform main frame (9) connected above the wheel assembly (8), wherein the power mechanism (2) is fixed to the platform main frame (9).

10. The mounting structure of the common speed device as described in claim 9, characterized in that: The wheel assembly (8) includes a trolley track (10), a plurality of track wheels (11) disposed on the trolley track (10) and suspended below the main frame (9) of the platform, and a drive transmission device for driving the plurality of track wheels (11) to rotate.

Images