Train door moving assisting mechanical hand and vehicle

Abstract

The utility model provides a train door removes power assisting mechanical hand and vehicle relates to maintenance handling device technical field, include: support arm, rotary arm and clamping part, support arm and rotary arm fixed connection, rotary arm and clamping part fixed connection, the mechanical hand has three rotation degrees of freedom, the mechanical hand has a vertical degree of freedom and a turnover degree of freedom, each degree of freedom of the mechanical hand has brake device, the mechanical hand can be remote control operation, the utility model discloses simple structure, convenient operation can realize the single -person operation of dismounting process, effectively promotes the operating efficiency, reduces the personnel in the maintenance handling process in the misadventure situation, improves railway vehicle maintenance efficiency, the utility model discloses train door removes power assisting vehicle, makes the use of mechanical hand more flexible, is not affected by topography or specific station, can adapt to a variety of special situation demand.

Description

Technical Field

[0001] This utility model relates to the field of maintenance and handling equipment technology, specifically a train door moving assistive manipulator and vehicle. Background Technology

[0002] Currently, railway vehicles need to have their doors opened when unloading cargo, and similarly, they need to have their doors disassembled during maintenance. However, the disassembly, maintenance, and handling of existing railway vehicle doors rely primarily on manual labor. The doors are heavy, and multiple people are needed to work together during manual maintenance and handling. During maintenance and handling, workers are prone to injury due to exhaustion. Furthermore, traditional manual handling methods are limited by the physical strength of the workers, requiring long rest intervals between each handling operation. On average, only 3-5 door loading and unloading operations can be completed per hour, which seriously affects the maintenance speed and turnover efficiency of railway vehicles.

[0003] Currently, a small number of depots use robotic arms for assisted maintenance and handling. However, existing robotic arms are not flexible enough after grasping objects, cannot adjust the door angle flexibly, require slow operating speed, and require multiple people to cooperate in transporting the doors, which cannot meet the rapid needs of modern railway maintenance.

[0004] Therefore, there is an urgent need to develop a robotic arm and vehicle for moving train doors to solve the above problems. Utility Model Content

[0005] To achieve the above objectives, this utility model provides the following technical solution: a train door moving assist manipulator, comprising: a support arm, a rotating arm, and a clamping part, wherein the support arm is fixedly connected to the rotating arm, the rotating arm is fixedly connected to the clamping part, the manipulator has three rotational degrees of freedom, one vertical degree of freedom, and one flipping degree of freedom, each degree of freedom of the manipulator is equipped with a braking device, and the manipulator can be remotely operated.

[0006] Preferably, the support arm includes a column, a rotating shaft, a rotary roller assembly, a main shaft rotary brake disc, a single-cylinder brake, a lifting cylinder, an air tank, an upper column assembly, and a controller. The rotating shaft is movably hinged to the column. The rotary roller assembly is fixedly connected above the rotating shaft. The main shaft rotary brake disc is fixedly connected above the rotary roller assembly. A single-cylinder brake is fixedly connected to one side of the main shaft rotary brake disc. The upper column assembly is fixedly connected above the main shaft rotary brake disc. The controller and the air tank are fixedly connected to both sides of the upper column assembly, respectively. The lifting cylinder is movably connected to the upper column assembly.

[0007] Preferably, the rotating arm includes an upper support assembly, a single-cylinder upper arm, a single-cylinder lower arm, a central rotating shaft brake disc, a single-cylinder brake II, a connecting shaft assembly, and a curved arm. The upper support assembly is fixedly connected to the upper column assembly. The upper support assembly is movably connected to the single-cylinder upper arm and the single-cylinder lower arm, respectively. The other side of the single-cylinder upper arm and the single-cylinder lower arm is movably connected to the connecting shaft assembly. The connecting shaft assembly is provided with a central rotating shaft brake disc on its upper part. A single-cylinder brake II is provided on one side of the central rotating shaft brake disc. A curved arm is fixedly connected to the top of the connecting shaft assembly.

[0008] Preferably, the clamping part includes a vertical arm rotating brake disc, a single-cylinder brake, a vertical arm support assembly, a tilting cylinder, a tilting component, a remote control, an operating handle, and a gripping component. The vertical arm rotating brake disc is movably connected above the vertical arm support assembly, and a single-cylinder brake is fixedly connected to one side of the vertical arm rotating brake disc. The vertical arm support assembly is movably hinged to the curved arm. A tilting cylinder is fixedly connected to one side of the vertical arm support assembly. A tilting component is movably connected to the lower part of the vertical arm support assembly. The initial included angle of the tilting component is greater than 90 degrees. The middle part of the tilting component is fixedly connected to the vertical arm support assembly. One side of the tilting component is movably connected to the tilting cylinder, and the other end is fixedly connected to the gripping component. The operating handle is fixedly connected to the vertical arm support assembly, and a remote control is connected to the operating handle.

[0009] The gripping components are arranged opposite each other. Each gripping component includes a fixed bracket, a hanging magnetic suction cup, a suction cup switch cylinder, a spur gear guide rail, and a spur gear. The fixed bracket is fixedly connected to the flipping component. The hanging magnetic suction cup is fixedly connected to the front end of the fixed bracket. The suction cup switch cylinder is fixedly connected to one side of the hanging magnetic suction cup. The top of the suction cup switch cylinder is bolted to the spur gear guide rail. The spur gear guide rail is meshed with the spur gear. The hanging magnetic suction cup has a central switch. The spur gear is fixedly connected to the central switch of the hanging magnetic suction cup.

[0010] Preferably, the gripping components are arranged opposite each other. Each gripping component includes a fixed bracket, a support plate, a gripping motor, a coupling, a lead screw, a slider, and a gripper assembly. The fixed bracket is fixedly connected to the flipping component and the gripper assembly. The support plate is fixedly connected to one side of the fixed bracket. The gripping motor is fixedly mounted on the support plate. The coupling is fixedly connected to the support plate. The gripping motor and the coupling are movably hinged. Both ends of the coupling are fixedly connected to the lead screw. The two lead screws are arranged opposite each other, and the lead screw is threadedly engaged with the slider.

[0011] Preferably, the gripper assembly includes a first gripper and a second gripper. The first gripper is provided with a track groove, and the second gripper is provided with a convex rail. The first gripper and the second gripper are slidably connected through the track groove, and the second gripper is fixedly connected to the slider.

[0012] Preferably, the robotic arm also has a pressure detection alarm device.

[0013] Preferably, the controller is electrically connected to the tilting cylinder, lifting cylinder, single-cylinder brake one, single-cylinder brake two, single-cylinder brake three, suction cup switch cylinder and / or gripping motor, and pressure detection alarm device, and the controller is communicatively connected to the remote controller.

[0014] Preferably, a train door moving assist vehicle uses the aforementioned robotic arm.

[0015] Beneficial effects

[0016] This utility model provides a robotic arm for moving train doors, which has the following advantages compared with existing technologies:

[0017] This invention achieves a composite motion with three rotational degrees of freedom, one vertical degree of freedom, and one flipping degree of freedom through the coordinated design of the support arm, rotating arm, and clamping part. Each degree of freedom is equipped with an independent braking device, which effectively improves the positioning accuracy.

[0018] This invention features a 90-degree rotation design for the flipping component, allowing the cover to flexibly switch between horizontal and vertical states. This makes the robotic arm more flexible in the process of gripping and / or magnetically attaching and placing the hood, effectively reducing human intervention.

[0019] This utility model is equipped with a pressure detection alarm device to monitor the gas pressure of each component of the device and provide high and low pressure alarm prompts. At the same time, each braking device is driven by a cylinder, which has a fast response speed and can immediately lock the robotic arm in an emergency.

[0020] This utility model proposes a train door moving assist vehicle, which makes the use of robotic arms more flexible, unaffected by terrain or specific work positions, and can be used for a variety of special situations.

[0021] This utility model has a simple structure and is easy to operate. It enables single-person operation of the disassembly process, effectively improving operational efficiency and reducing accidental injuries to personnel during handling. It effectively solves the problems of high labor intensity, low efficiency, and high safety hazards associated with traditional manual handling, and has good value for promotion and application. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the robotic arm and its vehicle structure according to the present invention;

[0024] Figure 2 This is a front view of the robotic arm and its vehicle according to the present invention;

[0025] Figure 3 This is a schematic diagram of the robotic arm structure of this utility model;

[0026] Figure 4 This is a side view of the robotic arm of this utility model;

[0027] Figure 5 This is a schematic diagram of the clamping part of this utility model;

[0028] Figure 6 This is a schematic diagram of another structure of the clamping part of this utility model;

[0029] In the picture:

[0030] 1. Support arm; 101. Column; 102. Rotary shaft; 103. Rotary drum assembly; 104. Main shaft rotary brake disc; 105. Single cylinder brake; 106. Lifting cylinder; 107. Air tank; 108. Upper column assembly; 109. Controller.

[0031] 2. Rotary arm, 201. Upper support assembly, 202. Single cylinder upper arm, 203. Single cylinder lower arm, 204. Central shaft rotating brake disc, 205. Single cylinder brake, 206. Connecting shaft assembly, 207. Bent arm.

[0032] 3. Clamping part, 301. Vertical arm rotating brake disc, 302. Single cylinder brake three, 303. Vertical arm support assembly, 304. Tilting cylinder, 305. Tilting assembly, 306. Remote control, 307. Operating handle, 308. Gripping assembly, 3081. Fixed bracket, 3082. Bearing plate, 3083. Gripping motor, 3084. Coupling, 3085. Lead screw, 3086. Slider, 3087. Gripper assembly, 30871. Gripper one, 30872. Gripper two, 3088. Lifting magnetic suction cup, 3089. Suction cup switch cylinder, 3090. Spur gear guide rail, 3091. Spur gear;

[0033] 4. Pressure detection and alarm device;

[0034] 5. Vehicle body. Detailed Implementation

[0035] To make the technical problems, technical solutions and beneficial effects of this utility model clearer, this utility model will be further described in detail with reference to the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model. The technical solutions of this utility model will be described in detail below with reference to the embodiments and accompanying drawings, but the scope of protection is not limited thereto.

[0036] Please see Figure 1-5 This utility model provides a technical solution:

[0037] A train door moving assist manipulator includes: a support arm 1, a rotating arm 2, and a clamping part 3. The support arm 1 is fixedly connected to the rotating arm 2, and the rotating arm 2 is fixedly connected to the clamping part 3. The manipulator has three rotational degrees of freedom, one vertical degree of freedom, and one flipping degree of freedom. Each degree of freedom of the manipulator has a braking device. The manipulator can be remotely operated.

[0038] In some embodiments, the support arm 1 includes a column 101, a rotating shaft 102, a rotary drum assembly 103, a main shaft rotary brake disc 104, a single-cylinder brake 105, a lifting cylinder 106, an air tank 107, an upper column assembly 108, and a controller 109. The rotating shaft 102 is movably hinged to the column 101. The rotary drum assembly 103 is fixedly connected above the rotating shaft 102. The main shaft rotary brake disc 104 is fixedly connected above the rotary drum assembly 103. The single-cylinder brake 105 is fixedly connected to one side of the main shaft rotary brake disc 104. The upper column assembly 108 is fixedly connected above the main shaft rotary brake disc 104. The controller 109 and the air tank 107 are fixedly connected to both sides of the upper column assembly 108, respectively. The lifting cylinder 106 is movably connected to the upper column assembly 108.

[0039] In some embodiments, this robotic arm is used to assist in the maintenance and handling of heavy components such as railway vehicle doors. The robotic arm includes a support arm 1, a rotating arm 2, and a gripping part 3. The support arm 1 is fixedly connected to the rotating arm 2, and the rotating arm 2 is fixedly connected to the gripping part 3. The overall structure has three rotational degrees of freedom, one vertical lifting degree of freedom, and one tilting degree of freedom, enabling multi-dimensional flexible movement. Each degree of freedom is equipped with an independent braking device to ensure precise positioning and reliable locking at any position. The robotic arm supports remote control operation; operators can remotely control the robotic arm's movements via remote controller 306, improving operational safety and convenience.

[0040] In some embodiments, the support arm 1 includes a column 101, a rotating shaft 102, a rotary drum assembly 103, a main shaft rotary brake disc 104, a single-cylinder brake 105, a lifting cylinder 106, an air tank 107, an upper column assembly 108, and a controller 109. The rotating shaft 102 is hinged to the column 101 via bearings to achieve horizontal rotation. The rotary drum assembly 103 is fixedly connected above the rotating shaft 102 to transmit power and support the upper structure. The main shaft rotary brake disc 104 is fixedly connected above the rotary drum assembly 103, and a single-cylinder brake 105 is provided on one side of the disc, which brakes and releases the rotation of the main shaft through pneumatic drive. The upper column assembly 108 is fixedly connected above the main shaft rotary brake disc 104, and a controller 109 and an air tank 107 are respectively installed on both sides of this assembly for centralized control of pneumatic components and storage of compressed gas. The lifting cylinder 106 is movably connected to the upper column assembly 108, driving the support arm 1 to rise and fall vertically to achieve height adjustment.

[0041] In some embodiments, the rotating arm 2 includes an upper support assembly 201, a single-cylinder upper arm 202, a single-cylinder lower arm 203, a central rotating shaft rotary brake disc 204, a single-cylinder brake 205, a connecting shaft assembly 206, and a curved arm 207. The upper support assembly 201 is fixedly connected to the upper column assembly 108, forming the base of the rotating arm 2. The upper support assembly 201 is hinged to the single-cylinder upper arm 202 and the single-cylinder lower arm 203 respectively, forming a parallelogram linkage mechanism, and the arm pitching motion is achieved by the extension and retraction of the cylinders. The other end of the single-cylinder upper arm 202 and the single-cylinder lower arm 203 is hinged to the connecting shaft assembly 206. The central rotating shaft rotary brake disc 204 is provided on the upper part of the connecting shaft assembly 206, and its braking state is controlled by the single-cylinder brake 205 to achieve the pitch angle locking of the rotating arm 2. A bent arm 207 is fixedly connected above the connecting shaft assembly 206, serving as the mounting base for the clamping part 3.

[0042] In some embodiments, the clamping part 3 includes a vertical arm rotating brake disc 301, a single-cylinder brake 302, a vertical arm support assembly 303, a tilting cylinder 304, a tilting component 305, a remote control 306, an operating handle 307, and a gripping component 308. The vertical arm support assembly 303 is movably connected to the vertical arm rotating brake disc 301 via a bearing, allowing the clamping part 3 to rotate about the vertical axis. A single-cylinder brake 302 is provided on one side of the assembly to lock this rotational degree of freedom. The vertical arm support assembly 303 is movably hinged to the curved arm 207, forming a connection node between the rotating arm 2 and the clamping part 3. The tilting cylinder 304 is fixedly connected to one side of the vertical arm support assembly 303, and the tilting component 305 is movably connected to the lower part. The tilting component 305 has a bent structure with an included angle greater than 90 degrees. Its middle part is fixed to the vertical arm support assembly 303, one end is hinged to the piston rod of the tilting cylinder 304, and the other end is fixedly connected to the gripping component 308. Driven by the tilting cylinder 304, the gripping assembly 308 can be flexibly switched between horizontal and vertical states, facilitating the removal and installation of the door cover. The operating handle 307 is fixed to the drop arm support assembly 303, which integrates a remote control 306 for easy manual operation by on-site personnel.

[0043] In some embodiments, the gripping components 308 are arranged opposite each other and include a fixed bracket 3081, a hanging magnetic suction cup 3088, a suction cup switch cylinder 3089, a spur gear guide rail 3090, and a spur gear 3091. The fixed bracket 3081 is fixedly connected to the flipping component 305. The hanging magnetic suction cup 3088 is fixedly connected to the front end of the fixed bracket 3081. The suction cup switch cylinder 3089 is fixedly connected to one side of the hanging magnetic suction cup 3088. The top of the suction cup switch cylinder 3089 is bolted to the spur gear guide rail 3090. The spur gear guide rail 3090 is movably engaged with the spur gear 3091. The hanging magnetic suction cup 3088 has a spindle switch. The spur gear 3091 is fixedly connected to the spindle switch of the hanging magnetic suction cup 3088.

[0044] In some embodiments, the gripping assembly 308 is a counter-gripping assembly, including a fixed bracket 3081, a support plate 3082, a gripping motor 3083, a coupling 3084, a lead screw 3085, a slider 3086, and a gripper assembly 3087. The fixed bracket 3081 is fixedly connected to the flipping assembly 305 and forms a stable support structure with the gripper assembly 3087. The support plate 3082 is mounted on one side of the fixed bracket 3081, and the gripping motor 3083 is mounted on it. The output end of the motor is connected to two opposing lead screws 3085 through the coupling 3084. The lead screws 3085 are threadedly engaged with the slider 3086, allowing the slider 3086 to slide on a guide rail. The gripper assembly 3087 includes gripper one 30871 and gripper two 30872. Gripper one 30871 has a track groove, and gripper two 30872 has a matching convex rail. The two are connected by a sliding fit. Gripper two 30872 is fixedly connected to slider 3086. When the gripping motor 3083 drives the lead screw 3085 to rotate, it drives the slider 3086 to move synchronously in opposite directions, thereby realizing the opening and closing action of the gripper and completing the clamping or releasing of the train door.

[0045] In some embodiments, the robotic arm is further equipped with a pressure detection alarm device 4 for real-time monitoring of the gas pressure in the system's air circuit. When the gas pressure is too high or too low, the controller 109 receives a signal and triggers an alarm to ensure the safe operation of the system. The controller 109 is electrically connected to the tilting cylinder 304, the lifting cylinder 106, the single-cylinder brake 105, the single-cylinder brake 205, the single-cylinder brake 302, the gripping motor 3083, and the pressure detection alarm device 4, and establishes a wireless communication connection with the remote controller 306 to achieve centralized control.

[0046] In some embodiments, the present invention also provides a train door moving assistance vehicle, equipped with a train door moving assistance robot of any of the above embodiments. By integrating the robot into the moving vehicle platform, the equipment can be flexibly moved to different work positions, significantly improving the efficiency of railway vehicle maintenance and loading / unloading.

[0047] Example 1

[0048] An integrated structure of a train door moving assist manipulator. The manipulator is installed at the end of a railway open wagon and is used to flip and transport a 200kg door from the horizontal locked position to the vertical open position.

[0049] The column 101 is fixed to the vehicle end beam by a flange and has internally welded reinforcing ribs; the rotating shaft 102 and the column 101 use tapered roller bearings to achieve the horizontal rotational freedom R1; the rotary drum assembly 103 is installed on the upper end of the rotating shaft 102 by a key connection, and its outer ring is welded with the main shaft rotating brake disc 104; the single-cylinder brake 105 is normally closed, and the air pipe is connected to the air tank 107. When the system air pressure is greater than the set threshold, the brake is released; the lifting cylinder 106 is a double-acting cylinder, and the piston rod end is hinged to the upper column assembly 108 to achieve the vertical freedom Z; the air tank 107 has a volume of 5L and a rated pressure of 0.8MPa; the controller 109 is a distributed I / O module based on the CAN bus, model STM32F407, which communicates with the remote controller 306 through a wireless data transmission module.

[0050] The upper support assembly 201 is fixed to the upper column assembly 108 by high-strength bolts; the single cylinder upper arm 202 and the single cylinder lower arm 203 form a parallel four-bar linkage to achieve rotational freedom R2; the upper end of the connecting shaft assembly 206 is equipped with a central rotating brake disc 204, which is braked by a single cylinder brake 205; the curved arm 207 is a box-type welded structure with a waist-shaped hole at the end for adjusting the installation angle of the clamping part 3.

[0051] The swing arm rotating brake disc 301 is bolted to the end of the curved arm 207, and the single-cylinder brake 302 is normally closed; the swing arm support assembly 303 is hinged to the curved arm 207, forming a rotational degree of freedom R3; the tilting assembly 305 is driven by a spherical bearing; the tilting assembly 305 is welded from two bent plates with an included angle of 135°, ensuring that the door can be continuously tilted between 0° and 90°; the gripping assembly 308 includes a fixed bracket 3081, a bearing plate 3082, a gripping motor 3083, a coupling 3084, and a lead screw 3085. The slider 3086 and the gripper assembly 3087 are included. The gripping motor 3083 is a DC 24V servo motor, which drives two opposing trapezoidal lead screws 3085 to rotate synchronously via a 1:10 planetary reducer and a coupling 3084. The gripper assembly 3087 consists of gripper one 30871 and gripper two 30872. Gripper one 30871 has a T-shaped track groove machined on its inner side, and gripper two 30872 has a convex rail to achieve linear guidance. Gripper two 30872 is fixedly connected to the slider 3086 with screws. The lead screws 3085 achieve clamping / unclamping actions when rotating forward and backward.

[0052] A 0-1MPa pressure transmitter, model CY-YD-205, is installed at the outlet of the gas storage tank 107, the rodless chamber of the tilting cylinder 304, and the rod chamber of the lifting cylinder 106. The controller 109 collects the pressure value in real time. When the pressure at any measuring point is lower than or higher than the set threshold, the pressure detection alarm device 4 is triggered, and all brake cylinders are locked at the same time to ensure system safety.

[0053] Remote Control 306 and its Operation Procedure

[0054] The remote control 306 uses 2.4GHz FHSS frequency hopping technology. The panel is equipped with a joystick, an emergency stop button and function buttons to control the length or retraction of the tilting cylinder 304 and the lifting cylinder 106, and to control the locking and unlocking of the single-cylinder brake 105, single-cylinder brake 205 and single-cylinder brake 302.

[0055] The operation steps are as follows:

[0056] S1 operator station inspects the equipment and its operating environment, and after confirming safety, holds the operating handle 307 with both hands;

[0057] S2 presses the "Reset" button on remote control 306, the system performs a self-check and releases all brakes;

[0058] S3 pushes the robotic arm to the upper edge of the car door, so that gripper 30872 is in the open state;

[0059] S4 Press the "Clamp" button, the gripper motor 3083 drives the lead screw 3085 to rotate, the gripper closes and clamps the car door, and controls the single cylinder brake as needed.

[0060] After the S5 is clamped, the single-cylinder brake is unlocked as needed, and the operator pulls it back to the designated placement position.

[0061] Using the S7 joystick and flip button, the car door can be flipped from a horizontal position to a vertical position;

[0062] After S8 reaches the target position, control the lifting cylinder 106 to reach the placement height, press the "clamp" button to release the gripper 30872, and complete one handling cycle.

[0063] Example 2

[0064] Based on Embodiment 1, this embodiment provides a train door moving assist vehicle. A base is welded to the middle of the vehicle body 5 for fixing the manipulator column 101. The vehicle is equipped with a 24V DC power supply, an air compressor, and a 20L air tank 107, which supplies power to the manipulator through quick connectors. Adjustable outriggers are installed at the four corners of the vehicle to ensure stable operation under switch or slope conditions.

[0065] Example 3

[0066] In some embodiments, the suction cup switch cylinder 3089 is electrically connected to the controller 109. The extension and retraction of the suction cup switch cylinder 3089 is controlled by the remote controller 306. When the suction cup switch cylinder 3089 extends, it drives the spur gear 3090 to move. The spur gear 3090 drives the spur gear 3091 to rotate. The spur gear 3091 turns on the shaft switch of the lifting magnetic suction cup 3088, making the lifting magnetic suction cup 3088 magnetic and adsorbing the train door. Conversely, the remote controller 306 controls the suction cup switch cylinder 3089 to retract, and the spur gear 3091 turns off the shaft switch of the lifting magnetic suction cup 3088, making the lifting magnetic suction cup 3088 non-magnetic and releasing the train door.

[0067] In summary, this utility model, through multi-degree-of-freedom collaborative design, pneumatic braking system, electronically controlled clamping mechanism and remote control operation function, realizes efficient, safe and single-person handling of train door covers, effectively solving the problems of high labor intensity, low efficiency and high safety hazards of traditional manual maintenance and handling, and has good promotion and application value.

[0068] The above description is a further detailed explanation of the present invention in conjunction with specific preferred embodiments. For those skilled in the art to which the present invention pertains, several simple deductions or substitutions can be made without departing from the present invention, and all such deductions or substitutions should be considered as falling within the scope of patent protection determined by the submitted claims.

Claims

1. A train door moving assist robot comprising: The support arm, the rotating arm, and the clamping part are characterized in that the support arm is fixedly connected to the rotating arm, the rotating arm is fixedly connected to the clamping part, the manipulator has three rotational degrees of freedom, the manipulator has one vertical degree of freedom and one flipping degree of freedom, each degree of freedom of the manipulator has a braking device, and the manipulator can be remotely operated.

2. A mobile power-assisted hand for a train door according to claim 1, characterized in that: The support arm includes a column, a rotating shaft, a rotary roller assembly, a main shaft rotary brake disc, a single-cylinder brake, a lifting cylinder, an air tank, an upper column assembly, and a controller. The rotating shaft is movably hinged to the column. The rotary roller assembly is fixedly connected above the rotating shaft. The main shaft rotary brake disc is fixedly connected above the rotary roller assembly. A single-cylinder brake is fixedly connected to one side of the main shaft rotary brake disc. The upper column assembly is fixedly connected above the main shaft rotary brake disc. The controller and the air tank are fixedly connected to both sides of the upper column assembly, respectively. The lifting cylinder is movably connected to the upper column assembly.

3. A mobile power-assisted hand for a train door according to claim 2, characterized in that: The rotating arm includes an upper support assembly, a single-cylinder upper arm, a single-cylinder lower arm, a central rotating shaft brake disc, a single-cylinder brake II, a connecting shaft assembly, and a curved arm. The upper support assembly is fixedly connected to the upper column assembly. The upper support assembly is movably connected to the single-cylinder upper arm and the single-cylinder lower arm respectively. The other side of the single-cylinder upper arm and the single-cylinder lower arm is movably connected to the connecting shaft assembly. The central rotating shaft brake disc is provided on the upper part of the connecting shaft assembly. A single-cylinder brake II is provided on one side of the central rotating shaft brake disc. A curved arm is fixedly connected to the top of the connecting shaft assembly.

4. A mobile power-assisted hand for a train door according to claim 3, characterized in that: The clamping part includes a vertical arm rotating brake disc, a single-cylinder brake caliper, a vertical arm support assembly, a tilting cylinder, a tilting component, a remote control, an operating handle, and a gripping component. The vertical arm rotating brake disc is movably connected to the top of the vertical arm support assembly. A single-cylinder brake caliper is fixedly connected to one side of the vertical arm rotating brake disc. The vertical arm support assembly is movably hinged to the curved arm. A tilting cylinder is fixedly connected to one side of the vertical arm support assembly. A tilting component is movably connected to the bottom of the vertical arm support assembly. The initial included angle of the tilting component is greater than 90 degrees. The middle part of the tilting component is fixedly connected to the vertical arm support assembly. One side of the tilting component is movably connected to the tilting cylinder, and the other end is fixedly connected to the gripping component. The operating handle is fixedly connected to the vertical arm support assembly, and a remote control is connected to the operating handle.

5. A mobile power-assisted hand for a train door according to claim 4, characterized in that: The gripping components are arranged opposite each other. Each gripping component includes a fixed bracket, a hanging magnetic suction cup, a suction cup switch cylinder, a spur gear guide rail, and a spur gear. The fixed bracket is fixedly connected to the flipping component. The hanging magnetic suction cup is fixedly connected to the front end of the fixed bracket. The suction cup switch cylinder is fixedly connected to one side of the hanging magnetic suction cup. The top of the suction cup switch cylinder is bolted to the spur gear guide rail. The spur gear guide rail is meshed with the spur gear. The hanging magnetic suction cup has a central switch. The spur gear is fixedly connected to the central switch of the hanging magnetic suction cup.

6. A mobile power-assisted hand for a train door according to claim 4, characterized in that: The gripping components are arranged opposite each other. Each gripping component includes a fixed bracket, a support plate, a gripping motor, a coupling, a lead screw, a slider, and a gripper assembly. The fixed bracket is fixedly connected to the flipping component and the gripper assembly. The support plate is fixedly connected to one side of the fixed bracket. The gripping motor is fixedly mounted on the support plate. The coupling is fixedly connected to the support plate. The gripping motor and the coupling are movably hinged. Both ends of the coupling are fixedly connected to the lead screw. The two lead screws are arranged opposite each other, and the lead screws are threadedly engaged with the slider.

7. A mobile power-assisted hand for a train door according to claim 6, characterized in that: The gripper assembly includes gripper one and gripper two. Gripper one is provided with a track groove, and gripper two is provided with a convex rail. Gripper one and gripper two are slidably connected through the track groove, and gripper two is fixedly connected to the slider.

8. A mobile power-assisted hand for a train door according to claim 5, characterized in that: The robotic arm also has a pressure detection alarm device.

9. A mobile power-assisted hand for a train door according to claim 7, characterized in that: The controller is electrically connected to the tilting cylinder, lifting cylinder, single-cylinder brake one, single-cylinder brake two, single-cylinder brake three, suction cup switch cylinder and / or gripping motor, and pressure detection alarm device. The controller is also communicatively connected to the remote controller.

10. A train door moving assistance vehicle characterized by comprising: Use the robotic arm as described in any one of claims 1-9.

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