A hook picking robot trolley and arrangement thereof

Abstract

This utility model discloses a hook-unhooking robot vehicle and its layout structure, including a driving platform, a hook-unhooking device, a speed-coordination 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. The hook-unhooking device, speed-coordination device, and status data generation, acquisition, processing, and transmission device are all mounted on the platform main frame. The hook-unhooking device is used to grip the hooking rod and perform the hook-unhooking operation. The speed-coordination device is used to enable the hook-unhooking robot vehicle to travel at the same speed as the truck. The status data generation, acquisition, processing, and transmission device is used to acquire, process, and transmit the status data generated by the hook-unhooking robot vehicle and receive control commands to realize the autonomous driving and operation control of the hook-unhooking robot vehicle. The wheel assembly includes a vehicle track, track wheels set on the vehicle track and connected to the lower part of the platform main frame, and a drive transmission device.

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 uncoupling robot trolley and its arrangement 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 novel railway freight car uncoupling robot. This robot 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 hook-and-unhook robot trolley and its arrangement structure that can automatically and accurately identify the status of the truck coupler and complete the unhooking operation, effectively reducing the intensity of manual labor and improving operational safety.

[0006] To achieve this objective, the present invention designs a hook-removing robot vehicle, which includes a driving platform, a hook-removing device, a speed-coordination device, and a status data generation, acquisition, processing, and transmission device. The driving platform includes wheel assemblies and a platform main frame connected above the wheel assemblies. The hook-removing device, the speed-coordination device, and the status data generation, acquisition, processing, and transmission device are all mounted on the platform main frame. The hook-removing device is used to grip the hooking rod and perform the hook-removing operation. The speed-coordination device is used to enable the hook-removing robot vehicle to travel at the same speed as the truck. The status data generation, acquisition, processing, and transmission device is used to acquire, process, and transmit the status data generated by the hook-removing robot vehicle and receive control commands to realize the autonomous driving and operation control of the hook-removing robot vehicle.

[0007] 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.

[0008] 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.

[0009] 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.

[0010] 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.

[0011] Furthermore, the state data generation, acquisition, processing, and transmission device also includes: planning the movement of 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 failure based on the truck's unhooking status collected by the vision mechanism; determining the lifting point and calculating its motion 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 motion 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 not; 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 that adjusts the state of the unhooking robot trolley based on its state information or control commands.

[0012] Furthermore, multiple track wheels that roll and fit against the sides of the trolley track are connected to the left and right sides of the platform's main structure.

[0013] Furthermore, one arrangement structure of the unhooking robot trolley includes a push ramp, on which a truck track for carrying a truck is provided, and a trolley track is arranged on the push ramp parallel to the direction of the truck track, with multiple unhooking robot trolleys arranged on the trolley track.

[0014] Furthermore, the arrangement structure of the unhooking robot vehicle also includes an information system. The information system is used to collect truck information, confirm the unhooking robot vehicle that needs to be unhooked according to the plan, calculate the time required for the truck to move from the unhooking position to the corresponding unhooking robot vehicle position, and transmit the time and truck speed to the status data generation, collection, processing and transmission device of the corresponding unhooking robot vehicle.

[0015] Furthermore, the arrangement structure of the unhooking robot vehicle also includes a monitoring system. The monitoring system is used to monitor the actions of the unhooking robot vehicle, determine whether there are any abnormalities in the unhooking operation and unhooking conditions of the unhooking robot vehicle, and if so, feed back to the early warning system.

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

[0017] Comprehensive safety assurance: The uncoupling robot completely replaces manual labor in uncoupling tasks, eliminating the safety hazards of workers approaching the coupling when the truck is not fully stopped, and preventing personal injury accidents caused by collisions or equipment entanglement. At the same time, the robot can operate stably and continuously in harsh environments such as coal dust pollution, high temperature and humidity, avoiding worker exposure to harmful environments and fundamentally protecting personnel's life and health.

[0018] Highly efficient operation: This robotic vehicle achieves rapid and precise positioning using a pre-set track. Working in conjunction with an intelligent control system and multiple sensors, it can automatically perform operations such as speed adjustment and uncoupling based on the freight car's operating status. Unaffected by human fatigue or decreased energy, it maintains high efficiency even at night or in high-intensity work environments. Furthermore, automated operation significantly reduces human errors such as decoupling and hooking, lowers the workload of repetitive tasks for shunting departments, and significantly improves the efficiency of freight car marshalling and unmarshalling, ensuring the timeliness of railway transportation.

[0019] Achieving a high degree of automation and intelligence: An integrated status data processing system combining multiple types of sensors, including positioning, vision, and radar scanning, along with an intelligent control mechanism, enables the robotic vehicle to perform autonomous path planning, coupler recognition, trajectory calculation, and operation verification. Through the linkage of information and monitoring systems, the entire process from freight car information collection and task allocation to coupler uncoupling monitoring can be automated, greatly reducing the need for manual intervention, effectively alleviating the workload of railway workers, and improving operational accuracy and stability.

[0020] Enhanced operational stability and reliability: The design allows the robotic vehicle to travel along a fixed track, effectively avoiding issues like deviation and slippage during operation compared to freely moving wheeled structures, ensuring precise and controllable trajectory. The layout of the track wheels rolling in close contact with the track side further enhances stability, making it suitable for operating environments with varying slopes and curves. Simultaneously, the monitoring system monitors the robotic vehicle's operational status in real time. Upon detecting equipment malfunctions, foreign object intrusion, or other anomalies, it immediately triggers an early warning and activates an emergency response mechanism, ensuring the safe and reliable operation of railway transportation.

[0021] Optimized layout and applicability: The layout of the uncoupling robot trolley sets the trolley track parallel to the freight car track on the push slope, making reasonable use of railway station space and facilitating collaborative operation of multiple robots. The number and spacing of equipment can be flexibly adjusted according to actual needs. The modular structural design facilitates equipment installation, maintenance and function upgrades, and can quickly adapt to different freight car models and coupler types, significantly improving the system's versatility and scenario adaptability, and providing an efficient solution for the intelligent transformation of railway transportation. Attached Figure Description

[0022] Figure 1 This is a perspective view of the unhooking robot trolley in this utility model;

[0023] Figure 2 This is a perspective view of the hook removal clamp in this utility model;

[0024] Figure 3 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.

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

[0026] Figure 5 This is a perspective view of the unhooking robot trolley and the truck moving at the same speed in this utility model;

[0027] Figure 6 A perspective view of the unhooking robot trolley in this utility model performing the unhooking operation;

[0028] Among them, 1—Information system, 2—Monitoring system, 3—Unhooking robot trolley (3.1—Driving platform, 3.2—Unhooking device, 3.3—Speed-sharing 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—Hook-lifting rod clamping block, 7.3—Clamping block drive mechanism), 8—Speed-supplying swing arm, 9—Adhesive plate, 10—Positioning mechanism, 11—Vision mechanism, 12—Scanning mechanism, 13—Data transmission mechanism, 14—Intelligent control mechanism, 15—Hook-lifting rod, 16—Trolley track, 17—Track wheel, 18—Pushing slope, 19—Truck, 20—Truck track, 21—Collision avoidance radar, 22—Push rod, 23—Omnidirectional coupling, 24—Clamping block connecting seat, 25—Tension and compression sensor, 26—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] like Figure 1 As shown, in some embodiments, the unhooking robot trolley 3 designed by this utility model 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.

[0031] Example 1

[0032] A specific embodiment of a driving platform 3.1 is provided:

[0033] like Figure 1As shown, the traveling platform 3.1 includes a wheel assembly 4 and a platform main frame 5 connected above the wheel assembly 4. The uncoupling 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. The wheel assembly 4 includes a trolley track 16, multiple track wheels 17 mounted on the trolley track 16 and suspended below the platform main frame 5, and a drive transmission device (not shown in the figure, including a motor, reducer, etc.) that drives the multiple track wheels 17 to rotate. The track wheels 17 are side track guide wheels, which prevent the vehicle from tipping over. The track wheels 17 also have suspension damping function, which avoids excessive track surface vibration and does not affect the working accuracy of other components. The wheel assembly 4 may also include multiple wheels suspended below the platform main frame 5 and a drive transmission device (not shown in the figure, including a motor, reducer, etc.) that drives the multiple wheels to rotate. In this case, the wheel assembly 4 is an all-terrain suspended wheel assembly with suspension damping function, preventing excessive ground vibration from affecting the working accuracy of other components.

[0034] Example 2

[0035] like Figure 1 As shown, a specific embodiment of a hook removal device 3.2 is provided:

[0036] The unhooking device 3.2 is used to grip the lifting rod 15 and perform the unhooking operation; it 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 lifting rod 15, and can sense the magnitude of the applied force to ensure reliable robot operation.

[0037] Example 3

[0038] like Figure 1 As shown, a specific embodiment of a common speed device 3.3 is provided:

[0039] The speed-combining device 3.3 is used to enable the unhooking robot trolley to travel at the same speed as the truck; it 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. 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, and the unhooking robot trolley 3 can move at the same speed as the truck under the push of the truck.

[0040] Example 4

[0041] like Figure 1 As shown, a specific embodiment of a state data generation, acquisition, processing, and transmission device 3.4 is provided:

[0042] The state data generation, acquisition, processing, and transmission device 3.4 is used to acquire, process, and transmit the state data generated by the unhooking robot trolley and receive control commands to realize the autonomous driving and operation control of the unhooking robot trolley; it includes a positioning mechanism 10 (composed of a GPS positioning system, capable of real-time positioning of the moving trolley 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 objects, and analyzing the state changes of objects through real-time data acquisition) for scanning the hook lifting bar area and calculating... The scanning mechanism 12 (including but not limited to radar, consisting of a laser transmitter and receiver, optical system, scanning control system, ranging algorithm, data processing and output system, capable of calculating the position coordinates of the hook lever 15 by scanning the hook lever area and feeding it back to the intelligent control system 14) and the data transmission mechanism 13 (consisting of a wireless transmission module, transmitting all data of the hook-removing robot 3 to the control center and monitoring the data transmission status in real time to ensure data transmission integrity) and the motion planning of the hook-removing robot 3 based on the positioning data of the positioning mechanism 10; based on the vision mechanism 11 The system collects the truck's unhooking status and determines whether the truck has successfully unhooked or if it has not, triggering an alarm. Based on the hook-lifting position scanned by the scanning mechanism 12, it identifies the hook-lifting point and calculates its trajectory. It controls the unhooking robotic arm 6 based on the hook-lifting point and its trajectory. It uses force feedback from the unhooking gripper 7 to determine the success of the unhooking operation and provides feedback on whether it was successful or not. It performs a speed-matching analysis and judgment between the unhooking robot trolley 3 and the truck's speed, providing feedback on whether the speed-matching is satisfied or not. An intelligent control mechanism 14 (composed of an embedded microcontroller, high-performance data processor, intelligent decision-making algorithm, communication device, etc.) adjusts the state of the unhooking robot trolley 3 based on its status information or control commands. The system can analyze and control the status of the vehicle by using data transmitted from sensing elements configured in various components. This includes: planning and correcting the route and issuing deviation alarms after processing positioning data; judging the unhooking status of the truck after processing vision system data and issuing alarms for whether unhooking is complete or not; determining the lifting point position and calculating the motion trajectory of the lifting point after processing 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 successful or unsuccessful unhooking; and analyzing the speed status after processing the travel speed data of the moving vehicle and issuing alarms for whether the speed is met or not.

[0043] Example 5

[0044] A specific embodiment of the hook removal clamp 7 is provided:

[0045] like Figure 2 As shown in Figure 3, the hook removal clamp 7 includes a clamp support 7.1 connected to the power output end of the hook removal robotic arm 6 (connected by an omnidirectional coupling 23 and a tension / compression sensor 25 fixed to the top of the clamp support 7.1); two clamping block connecting seats 24 respectively hinged to the left and right sides inside the clamp support 7.1; two lifting rod clamping blocks 7.2 respectively hinged to the two clamping block connecting seats 24 in the middle; and a push rod 22 located between the two lifting rod clamping blocks 7.2. The rear end of the push rod 22 is connected to a servo motor 26 that drives its back-and-forth movement (the push rod 22 and the servo motor 26 together form the clamping block drive mechanism 7.3). When the servo motor 26 pushes the push rod 22 forward, the protrusions on the left and right sides of the middle part of the push rod 22 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 26 pulls the push rod 22 backward, the protrusions on the left and right sides of the front middle part of the push rod 22 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.

[0046] 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.

[0047] Example 6

[0048] A specific embodiment of the arrangement structure of a hook-removing robot vehicle is provided:

[0049] like Figure 4 As shown in Figure 5, the system includes a push ramp 18, an information system 1, and a monitoring system 2. The push ramp 18 is equipped with a truck track 20 for carrying trucks 19. A trolley track 16 is arranged on the push ramp 18 parallel to the truck track 20. Multiple unhooking robot trolleys 3 are spaced apart on the trolley track 16.

[0050] 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 this time and truck speed to the corresponding uncoupling robot trolley 3 status data generation, collection, processing, and transmission device 3.4. Specifically, 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 is used to collect the truck speed. The vehicle number collection module is used to collect the truck number. The plan information processing module is used to confirm the uncoupling robot trolley 3 that needs to be uncoupled according to the truck number and truck speed, and calculate the time required for the truck to move from the uncoupling position to the corresponding uncoupling robot trolley 3 position. The information sending module is used to transmit the time required for the truck to move from the uncoupling position to the corresponding uncoupling robot trolley 3 position and the truck speed to the corresponding uncoupling robot trolley 3.

[0051] Monitoring system 2 monitors the movements of the unhooking robot 3, determining whether there are any abnormalities in its unhooking operations and conditions. If so, it sends feedback to the early warning system. Specifically, 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, an unhooking anomaly judgment module, and a data transmission module. The lighting device 2.1 provides illumination, while the lidar device and camera device monitor the movements of the unhooking robot 3. The unhooking anomaly judgment module determines whether there are any abnormalities in the unhooking operations and conditions of the unhooking robot 3. The data transmission module sends signals indicating abnormalities in the unhooking operations and conditions of the unhooking robot 3 to the early warning system. Determining whether the unhooking operations of the unhooking robot 3 are abnormal includes determining whether the robot is not moving or is driving abnormally; determining whether the unhooking conditions are abnormal includes determining whether any foreign objects have entered the working area of ​​the unhooking robot 3.

[0052] The working method of the unhooking robot trolley 3 designed in this utility model is as follows: When the merging freight car enters the push slope 18 of the hump unhooking yard from the information collection station, the information collection station collects the speed parameters and freight car number of the merging freight car. Based on the plan information, it confirms the unhooking robot trolley 3 that needs to be unhooked and sends the speed parameters, freight car number, and distance and time of the unhooking position from the corresponding unhooking robot trolley 3 to the corresponding unhooking robot trolley 3. The unhooking robot trolley 3 that needs to be unhooked waits at the prepared position. The monitoring system 2 monitors the operating status of the unhooking robot trolley 3 in real time through laser radar or vision system. If the unhooking robot trolley 3 does not move, has abnormal driving, or foreign objects intrude into the work area, the monitoring system 2 will trigger the early warning system. After the early warning system is triggered, it will first notify the merging freight car pusher to stop pushing, and then, based on the real-time status of the unhooking robot trolley 3 judged by the monitoring system 2, send a command to control the unhooking robot trolley 3 to withdraw from the unhooking operation state and wait for 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 through the system algorithm. When the truck and the unhooking robot trolley 3 are in the correct common speed position, the unhooking robot trolley 3 extends its speed-supplying swing arm 8 and attaches to the end of the truck to be unhooked through the fitting plate 9. The driving drive system of the unhooking robot trolley 3 is automatically released, and the track wheels 17 are in a follow-up state. The truck pushes the unhooking robot trolley 3 to move in parallel with the truck at the same speed through the speed-supplying swing arm 8. During the parallel common speed movement, 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 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 bar 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.After the unhooking robotic 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 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 has reached the set distance, the speed-operated swing arm 8 retracts, completing the entire unhooking operation. The unhooking robot trolley 3 returns to its original initial position, waiting for the next unhooking command.

[0053] In summary, this utility model, through innovative design of the unhooking robot trolley and its various structural components, effectively solves the drawbacks of traditional manual unhooking operations, achieving multiple technological breakthroughs and improvements, as detailed below:

[0054] 1. Ensuring operational safety: Replacing manual uncoupling with the uncoupling robot trolley 3 completely avoids the safety risks of personnel operating near the coupler when the train has not come to a complete stop, preventing accidents such as being hit by the train or being caught in equipment; the shock absorption function of the suspended side rail guide wheel assembly ensures stable operation of the robot in complex terrain, enabling it to replace manual labor in harsh environments such as coal dust and high temperatures, reducing the risk of occupational health damage, and comprehensively protecting the safety of workers.

[0055] 2. Improved operational efficiency: The uncoupling robot trolley 3 can quickly move to the working position along the trolley track 16. With the precise planning of the information system 1 and the efficient collaboration of the uncoupling device 3.2, the speed-combining device 3.3, and the status data generation, acquisition, processing, and transmission device 3.4, it can quickly complete operations such as speed-combining with the train, positioning the hook lifting rod 15, and performing uncoupling. It is not affected by personnel fatigue or energy level, avoids efficiency loss caused by manual uncoupling errors, significantly shortens the train decoupling and marshalling time, and significantly improves the efficiency of railway transportation operations.

[0056] 3. Achieving Intelligent and Precise Operation: The status data generation, acquisition, processing, and transmission device 3.4 integrates advanced technologies such as GPS positioning, 3D / 2D camera vision, and LiDAR scanning. Combined with an intelligent control mechanism, it endows the robot with powerful environmental perception and autonomous decision-making capabilities. It can accurately locate its own position and the train's position in real time, precisely calculate the coordinates of the hook-lifting rod and the uncoupling trajectory, and verify the uncoupling operation through force feedback and visual monitoring, ensuring accurate operation and improving the level of intelligence in railway transportation.

[0057] 4. Enhance equipment reliability and stability: The suspension damping design of wheel assembly 4 effectively reduces the impact of ground bumps on equipment accuracy and ensures stable operation of each component; the monitoring system 2 monitors the trolley's operating status in real time through lidar and cameras, and the intelligent control mechanism 14 responds to anomalies in a timely manner, realizing rapid early warning and handling of situations such as trolley not moving, abnormal driving, and foreign object intrusion, avoiding the impact of equipment failure on railway transportation and enhancing the overall reliability of the system.

[0058] 5. Improve system flexibility and adaptability: The structure gives the robot trolley precise movement capabilities, making it suitable for various railway operation scenarios; the modular device design, such as the uncoupling clamps 7 with different drive structures, makes it easy to replace and upgrade according to actual needs, and can quickly adapt to uncoupling operations of different train models and coupler types; multiple trolleys arranged at intervals on the push slope can be flexibly deployed according to the workload, improving the system's operational flexibility and adaptability.

[0059] 6. Optimize overall collaborative operation capabilities: The collaborative cooperation of information system 1, monitoring system 2, and uncoupling robot trolley 3 constructs a complete automated uncoupling operation system. The information system accurately plans tasks, the monitoring system ensures safety throughout the process, and the trolley efficiently executes operations. The close connection and efficient operation of each link realizes the full-process automation and intelligent management of railway freight car uncoupling operations, reduces the cost of manual intervention, and improves the overall collaborative efficiency and management level of railway transportation operations.

[0060] 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 hook-removing robot trolley, characterized in that: It includes a driving platform (3.1), 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). 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). The hook removal device (3.2) is used to clamp the hook rod (15) and perform the hook removal operation; The speed-combining device (3.3) is used to enable the unhooking robot trolley to travel at the same speed as the truck; The state data generation, acquisition, processing and transmission device (3.4) is used to acquire, process and transmit the state data generated by the unhooking robot and receive control commands to realize the autonomous driving and operation control of the unhooking robot.

2. The unhooking robot trolley as described in claim 1, characterized in that: 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).

3. The unhooking robot trolley as described in claim 2, 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.

4. The unhooking robot trolley as described in claim 1, characterized in that: The common speed device (3.3) includes a speed supply swing arm (8) and a bonding plate (9) fixed to the power output end of the speed supply swing arm (8).

5. The unhooking robot trolley as described in claim 1, characterized in that: 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.

6. The unhooking robot trolley as described in claim 5, characterized in that: The state data generation, acquisition, processing and transmission device (3.4) also includes a motion planning mechanism for the unhooking robot trolley based on the positioning data of the positioning mechanism (10); a judgment on whether the truck has completed unhooking and an abnormal alarm for failure based on the unhooking status of the truck collected by the vision mechanism (11); a judgment on the lifting point and calculation of the movement trajectory of the lifting point based on the lifting position scanned by the scanning mechanism (12); a control mechanism for the action of the unhooking robot arm (6) based on the lifting point and the movement trajectory of the lifting point; a judgment on whether the unhooking operation is successful based on the force feedback of the unhooking fixture (7), and feedback on whether the unhooking is successful or unsuccessful; a common speed analysis and judgment on the driving speed of the unhooking robot trolley (3) and the driving speed of the truck, and feedback on whether the common speed is satisfied or not; and an intelligent control mechanism (14) for adjusting the state of the unhooking robot trolley (3) based on the state information or control instructions of the unhooking robot trolley.

7. The unhooking robot trolley as described in claim 1, characterized in that: The platform's main frame (5) has multiple track wheels (17) that roll and fit against the sides of the trolley track (16) on its left and right sides respectively.

8. An arrangement structure of a hook-unhooking robot vehicle according to any one of claims 1-7, comprising a push ramp (18), wherein a truck track (20) for carrying a truck (19) is provided on the push ramp (18), characterized in that: The push slope (18) is parallel to the direction of the truck track (20) and the trolley track (16) is arranged with a plurality of the unhooking robot trolleys (3).

9. The arrangement structure of the unhooking robot vehicle as described in claim 8, characterized in that: It also includes an information system (1), which 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 state data generation, collection, processing and transmission device (3.4) of the corresponding unhooking robot trolley (3).

10. The arrangement structure of the unhooking robot vehicle as described in claim 8 or 9, characterized in that: It also includes a monitoring system (2), which 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, feed back to the early warning system.

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