A type of uncoupling robot for train carriages

Abstract

This utility model provides a robotic arm for unhooking a train car, belonging to the field of unhooking technology. Specifically, it includes a vertical plate, a horizontal plate, and a first return spring. The vertical plate connects to the robotic arm, and the horizontal plate applies force to the hook handle. The horizontal plate is pivotally connected to the vertical plate, allowing it to rotate. The first return spring is connected at both ends to the horizontal and vertical plates respectively. When the horizontal plate rotates downwards, the first return spring is stretched and has a restoring force. Compared with the prior art, in this utility model, the horizontal and vertical plates are connected by a pivot, and a first return spring is also connected between them. When the horizontal plate applies force to the hook tongue or hook handle, it rotates downwards at a certain angle, stretching the first return spring. This first return spring buffers the force on the horizontal plate, thereby reducing impact damage.

Description

Technical Field

[0001] This utility model belongs to the field of uncoupling technology, specifically relating to a mechanical arm for uncoupling train carriages. Background Technology

[0002] The uncoupling robot is a device used in railway vehicle marshalling yards, freight yards, or maintenance bases to replace human hands in the operation of separating (uncoupling) the coupler. When performing the uncoupling operation, the robot needs to provide force to the coupler tongue.

[0003] In the existing technology, since the preceding carriage pulls the following carriage, there is a tensile force between the two adjacent carriages. Therefore, when performing the uncoupling operation, the robot arm needs to apply a large force to the hook tongue or hook shank. At this time, the robot arm has to withstand the longitudinal impact force at the moment of uncoupling, which can easily lead to damage to the robot arm. Utility Model Content

[0004] The purpose of this invention is to provide a robotic arm for uncoupling train carriages, which can buffer the impact force during uncoupling operations and improve its service life.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is a car body unhooking robot, comprising a vertical plate, a horizontal plate, and a first return spring. The vertical plate is used to connect the robot arm, the horizontal plate is used to apply force to the car body hook handle, the horizontal plate is axially connected to the vertical plate so that the horizontal plate can be flipped, and the two ends of the first return spring are respectively connected to the horizontal plate and the vertical plate. When the horizontal plate flips downward, the first return spring is stretched and has a restoring force.

[0006] Furthermore, it also includes a side arm and a hook handle. The side arm is set on the horizontal plate, and the hook handle is connected to the side arm for connecting the car body hook tongue.

[0007] Furthermore, the side arm is pivotally connected to the horizontal plate, the side arm can be flipped and when flipped, it drives the hook handle to move, and a return spring is connected between the side arm and the horizontal plate.

[0008] Furthermore, a pressure plate is mounted on the horizontal plate, and a sensor and a second reset spring are installed below the pressure plate. The second reset spring is connected to the horizontal plate.

[0009] Furthermore, the vertical plate includes an outer shell plate and an inner hanging plate. The outer shell plate has a cavity and a displacement channel inside. The displacement channel runs vertically through the outer shell plate. The inner hanging plate is located in the displacement channel and can move vertically. The inner hanging plate is axially connected to the horizontal plate.

[0010] Furthermore, a transmission seat is provided inside the cavity, which is connected to the inner hanging plate and the horizontal plate respectively. The transmission seat can drive the inner hanging plate and the horizontal plate to move.

[0011] Furthermore, the transmission base includes an upper half and a lower half, both of which can move vertically, and when they move, they control the movement of the inner hanging plate and the horizontal plate, respectively.

[0012] Furthermore, the transmission seat also includes a limiting channel and a lifting rod. The limiting channel is set on the lower half of the seat, and the lifting rod is fixed on the upper half of the seat. The lower end of the lifting rod is located inside the limiting channel.

[0013] Furthermore, the upper part of the seat is equipped with a locking block, which is fitted with a sliding groove, which is located on the inner hanging plate.

[0014] Furthermore, the lower half of the seat is provided with a toothed section, which engages with a mating tooth, which is located on the horizontal plate.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows: Since the horizontal plate and the vertical plate are connected by a pivot, and a first return spring is also connected between the horizontal plate and the vertical plate, when the horizontal plate applies force to the hook tongue or hook handle, the horizontal plate will flip downward at a certain angle. At this time, the first return spring is stretched, that is, the force on the horizontal plate is buffered by the first return spring, thereby reducing impact damage. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the horizontal plate structure of this utility model;

[0018] Figure 3 This is a schematic diagram of the vertical plate structure of this utility model;

[0019] Figure 4 This is a schematic diagram of the internal structure of the outer shell of this utility model;

[0020] Figure 5 This is a schematic diagram of the internal hanging plate structure of this utility model;

[0021] Figure 6 This is a schematic diagram of the transmission seat structure of this utility model;

[0022] Among them, 101-mounting column, 102-vertical plate, 103-horizontal plate, 104-first return spring, 105-pressure plate, 106-second return spring, 107-lifting hook handle, 108-side arm, 109-return spring, 1021-outer shell plate, 1022-inner hanging plate, 1023-cavity, 1024-displacement channel, 1025-side notch, 1026-slide groove, 110-flat hanging plate, 111-lead screw, 1121-lower half seat, 1122-upper half seat, 1123-convex tooth section, 1124-positioning block, 1125-hanging rod, 1126-guide slider, 1127-third return spring, 1128-guide rod. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0025] A type of uncoupling manipulator for train carriages, see reference. Figure 1 and Figure 2 As shown, the robotic arm is installed at the output end and has a telescopic structure. The robotic arm can control the movement of the robotic hand, allowing it to move between two adjacent carriages and complete the uncoupling operation.

[0026] The aforementioned robotic arm includes a mounting column 101, which is connected to the output end of the robotic arm. A vertical plate 102 is connected to the end of the mounting column 101, forming a vertical connection between the two. At this time, the vertical plate 102 is in a vertical state. A horizontal plate 103 is connected to the lower end of the vertical plate 102 via a pivot, allowing the horizontal plate 103 to rotate around the pivot. A first return spring 104 is connected between the horizontal plate 103 and the vertical plate 102. The upper end of the first return spring 104 is connected to the upper end of the vertical plate 102, and the lower end of the first return spring 104 is connected to the horizontal plate 103. After the horizontal plate 103 flips downward, the first return spring 104 is stretched. After the horizontal plate 103 loses external force, under the restoring force of the first return spring 104, the horizontal plate 103 returns to a horizontal state, thus enabling the hook to be pulled through the horizontal plate 103.

[0027] A pressure plate 105 is connected to a horizontal plate 103, with its front end axially connected to the front end of the horizontal plate 103. A sensor is positioned below the pressure plate 105, and a second return spring 106 is mounted on the horizontal plate 103. The second return spring 106 generates a restoring force after being compressed. Both the sensor and the second return spring 106 are located between the pressure plate 105 and the horizontal plate 103. Because the front end of the pressure plate 105 is axially connected to the horizontal plate 103, when the horizontal plate 103 moves upward and encounters an obstacle, the pressure plate 105... Plate 105 will rotate around the shaft joint, during which the second return spring 106 is compressed. When lifting the hook, the pressure plate 105 first contacts the hook handle crossbar on the car body. After contact, the pressure plate 105 is pressed down, and the sensor under the pressure plate 105 is triggered, thereby determining that the pressure plate 105 has contacted the hook handle crossbar, thus controlling the subsequent lifting displacement and avoiding damage to the device due to excessive hook pulling. After the lifting operation is completed, the pressure plate 105 is lifted by the second return spring 106 and returns to the initial state.

[0028] A hook handle 107 is provided at the front end of the horizontal plate 103. The hook handle 107 is axially connected to the horizontal plate 103, that is, the hook handle 107 can rotate. When the horizontal plate 103 cannot be inserted due to different types of hook tongues, the hook removal operation can be performed through the hook handle 107. At this time, the hook handle 107 can cooperate with the hook tongue. By controlling the hook handle 107, the hook tongue can be removed, and the hook removal operation is completed. Since the hook handle 107 can rotate, the wear of the hook handle 107 can be reduced during the hook removal operation.

[0029] The hook handle 107 is connected to the horizontal plate 103 via the side arm 108. The hook handle 107 is located at the front end of the side arm 108, and the rear end of the side arm 108 is axially connected to the horizontal plate 103. At this time, the side arm 108 can be vertically flipped. In order to limit the flipping state of the side arm 108, a locking structure is provided between the side arm 108 and the horizontal plate 103. The locking structure can limit the position of the side arm 108. Specifically, the locking structure includes an arc-shaped groove provided on the side surface of the horizontal plate 103. This arc-shaped groove is covered by the side arm 108, and a locking rod is provided on the side arm 108. The locking rod is located in the arc-shaped groove. When the locking rod is located at the end of the arc-shaped groove, the maximum flipping angle of the side arm 108 is reached.

[0030] A return spring 109 is connected between the side arm 108 and the cross plate 103. Initially, the side arm 108 is in a horizontal state, and the return spring 109 is also in a normal state. When there is an obstruction above the hook handle 107, and the cross plate 103 needs to move upward, the side arm 108 will flip downward. During this process, the return spring 109 is stretched, giving it a restoring force. When the hook handle 107 is used to lift the hook above, the return spring 109 can also play a buffering role. When the hook handle 107 completes its work, the return spring 109 can provide a force to the side arm 108, which is used to reset the side arm 108.

[0031] The aforementioned robotic arm, when performing hook-lifting operations, requires control of its longitudinal movement and rotation via a robotic arm, which presents limitations. Therefore, based on the above structure, the connection structure between the vertical plate 102 and the horizontal plate 103 is improved. For details, please refer to [reference needed]. Figures 3 to 6 As shown, the vertical plate 102 includes an outer shell plate 1021 and an inner hanging plate 1022. A cavity 1023 is provided inside the outer shell plate 1021, and a drive motor is installed within the cavity 1023. A displacement channel 1024 is also provided on the outer shell plate 1021, vertically penetrating the outer shell plate 1021. At this time, the displacement channel 1024 communicates with the cavity 1023, and the inner hanging plate 1022 passes through the displacement channel 1024. A flat hanging plate 110 is fixed to the upper end of the inner hanging plate 1022. The flat hanging plate 110 is connected to the first return spring 104. The horizontal plate 103 is connected to the lower end of the inner hanging plate 1022 through a pivot. A side notch 1025 is provided on the outer shell plate 1021. The side notch 1025 extends upward from the lower end of the outer shell plate 1021. When the inner hanging plate 1022 moves upward, the horizontal plate 103 can enter the side notch 1025. At this time, the hook is lifted by the horizontal plate 103.

[0032] Specifically, the cavity 1023 is also vertically extended. A transmission seat is also provided in the cavity 1023. The transmission seat is connected to the drive motor through the lead screw 111. After the output shaft of the drive motor is connected to the lead screw 111, the drive motor can control the lead screw 111 to rotate. After the lead screw 111 rotates, the transmission seat can move vertically in the cavity 1023. The transmission seat is connected to the inner hanging plate 1022. When the transmission seat moves upward, it can make the inner hanging plate 1022 move upward, thereby driving the horizontal plate 103 to move upward.

[0033] See Figure 5 As shown, the inner hanging plate 1022 is provided with a vertically extending slide groove 1026, and a locking block 1124 is provided in the slide groove 1026. The locking block 1124 is fixed to the side surface of the transmission seat. When the transmission seat moves upward until it contacts the upper end of the slide groove 1026, and then the transmission seat continues to move upward, it can drive the inner hanging plate 1022 and the horizontal plate 103 to move upward. During the downward movement of the transmission seat, it no longer provides an upward force to the inner hanging plate 1022. The inner hanging plate 1022 moves back to its original position under the action of gravity until the flat hanging plate 110 contacts the upper end of the outer shell plate 1021. After that, even if the transmission seat continues to move downward, the inner hanging plate 1022 cannot continue to move downward.

[0034] After the transmission seat moves downward, it can engage with the horizontal plate 103. Then, as the transmission seat moves downward, the horizontal plate 103 can be flipped upward, causing the hook handle 107 to move upward. Specifically, a toothed section 1123 is provided on the side of the transmission seat, and an arc-shaped surface is provided at the rear end of the horizontal plate 103. A mating tooth is provided on the arc-shaped surface. The toothed section 1123 of the transmission seat meshes with the mating tooth. When the transmission seat moves downward, it will drive the toothed section 1123 to move downward. At this time, the transmission seat and the horizontal plate 103 move relative to each other, thereby causing the horizontal plate 103 to flip upward.

[0035] See Figure 6As shown, since the transmission seat is used to control both the upward movement of the inner hanging plate 1022 and the upward flipping of the horizontal plate 103, in order to enable the transmission seat to achieve the above functions, the transmission seat in this technical solution includes a lower half seat 1121 and an upper half seat 1122. The locking block 1124 and the toothed section 1123 are respectively disposed on the upper half seat 1122 and the lower half seat 1121. A central channel and a limiting channel are provided on the lower half seat 1121, and the central channel and the limiting channel are arranged in parallel. The upper half seat 1122 is provided with a hanging rod 1125 and a longitudinal through hole. The longitudinal through hole and the middle channel are on the same straight line. A ball nut is installed in the longitudinal through hole. The lead screw 111 passes through the ball nut. By controlling the rotation direction of the lead screw 111, the upper half seat 1122 can be adjusted to move upward or downward. The lead screw has a threaded section and a smooth section. The smooth section passes through the middle channel on the lower half seat 1121, and the threaded section passes through the longitudinal through hole on the upper half seat 1122.

[0036] The lower end of the lifting rod 1125 is located in the limiting channel, and an anti-detachment groove is provided in the limiting channel. The anti-detachment groove extends along the length of the limiting channel. An anti-detachment column is fixed at the lower end of the lifting rod 1125, and the end of the anti-detachment column is located in the anti-detachment groove (the anti-detachment column and the anti-detachment groove are existing technologies and are not shown in the attached drawings), so that the anti-detachment column cannot be moved out of the limiting channel. Thus, when the upper half seat 1122 moves upward, it will drive the lifting rod 1125 to move upward, and finally move the anti-detachment column to the upper end of the anti-detachment groove. During this process, the inner lifting plate 1022 is driven to move upward through the locking block 1124.

[0037] A vertically extending track groove is provided in the lower half of the cavity 1023, and a guide slider 1126 is provided on the side wall of the lower half seat 1121. The guide slider 1126 is connected to a third return spring 1127, which is located below the guide slider 1126 and within the track groove. When the third return spring 1127 is in its natural state, it can support the guide slider 1126. A guide rod 1128 can also pass through the third return spring 1127. Located within the track groove and passed through by the guide slider 1126, when the drive motor controls the lead screw 111 to rotate, the upper half seat 1122 moves downward. If the lower end of the lifting rod 1125 is initially located in the middle position of the limiting hole, the lifting rod 1125 can move downward at this time. During this process, the lower half seat 1121 will not move until the anti-detachment column at the lower end of the lifting rod 1125 moves to the bottom of the anti-detachment groove. As the upper half seat 1122 continues to move downward, the lower half seat 1121 can move synchronously, ultimately causing the horizontal plate 103 to flip upward.

[0038] When the anti-detachment column at the lower end of the rod 1125 is located at the lower end or middle of the anti-detachment groove, by controlling the rotation direction of the screw 111, the upper half seat 1122 can be moved upward, so that the lower end of the rod 1125 moves towards the upper end of the anti-detachment groove. During this process, the lower half seat 1121 cannot move, but the locking block 1124 will move to contact the upper end of the slide 1026, so that the inner hanging plate 1022 moves upward through the movement of the upper half seat 1122.

[0039] The vertical movement of the transmission seat enables movement control of the horizontal plate 103 and the hook handle 107. Even if the robotic arm cannot move, the hook removal operation can still be performed by the robotic arm, reducing limitations.

[0040] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A car unhooking robot characterized by comprising: include: Vertical plate (102) is used to connect the robotic arm; The horizontal plate (103) is used to apply force to the car body hook handle; The horizontal plate (103) is axially connected to the vertical plate (102), allowing the horizontal plate (103) to be flipped. The first return spring (104) is connected at both ends to the horizontal plate (103) and the vertical plate (102) respectively. When the horizontal plate (103) is flipped downward, the first return spring (104) is stretched and has a restoring force.

2. The car unhooking robot of claim 1, wherein, Also includes: A side arm (108) is mounted on a horizontal plate (103); The hook handle (107) is connected to the side arm (108) and is used to connect the car body hook tongue.

3. The car unhooking robot of claim 2, wherein, The side arm (108) is axially connected to the horizontal plate (103). The side arm (108) can be flipped and when flipped, it drives the hook handle (107) to move. A return spring (109) is connected between the side arm (108) and the horizontal plate (103).

4. The car unhooking robot of claim 1, wherein, A pressure plate (105) is axially connected to the horizontal plate (103). A sensor and a second reset spring (106) are provided below the pressure plate (105). The second reset spring (106) is connected to the horizontal plate (103).

5. The car unhooking robot of claim 1, wherein, The vertical plate (102) includes: The outer shell plate (1021) has a cavity (1023) and a displacement channel (1024) inside, and the displacement channel (1024) vertically penetrates the outer shell plate (1021); The inner hanging plate (1022) is located in the displacement channel (1024) and can move vertically. The inner hanging plate (1022) is axially connected to the horizontal plate (103).

6. The uncoupling manipulator for train carriages according to claim 5, characterized in that, A transmission seat is provided inside the cavity (1023). The transmission seat is connected to the inner hanging plate (1022) and the horizontal plate (103) respectively. The transmission seat can drive the inner hanging plate (1022) and the horizontal plate (103) to move.

7. The car unhooking robot of claim 6, wherein, The transmission seat includes an upper half seat (1122) and a lower half seat (1121), both of which can move vertically. When they move, they control the movement of the inner hanging plate (1022) and the horizontal plate (103), respectively.

8. The car unhooking robot of claim 7, wherein, The transmission base also includes: The limiting channel is set on the lower half (1121); The lifting rod (1125) is fixed on the upper half seat (1122), and the lower end of the lifting rod (1125) is located in the limiting channel.

9. The car unhooking robot of claim 8, wherein, The upper half (1122) is provided with a locking block (1124), and the locking block (1124) is fitted with a sliding groove (1026), which is provided on the inner hanging plate (1022).

10. The car unhooking robot of claim 8, wherein, The lower half (1121) is provided with a toothed section (1123), which is engaged with a mating tooth, which is provided on the horizontal plate (103).

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