A hook extractor and hook extraction device

Abstract

The utility model relates to a kind of hooking device and hooking equipment, belong to hooking equipment technical field, including rack, rack is provided with the installation part for connecting mechanical arm;Hook component, hook component is structured with the contact part for contacting and hooking hook lifting rod and the hinged part for realizing rotatable connection, hook component is rotatably arranged in rack by hinged part, and unlocking mechanism, it is arranged in rack, for hook component is locked in hooking position place and for unlocking hook component so that hook component can rotate outward;The present hooking device, not only make the hooking process more simple, and can more quickly, efficiently complete hooking work, especially hook component can more simply, quickly separate hook lifting rod, can significantly improve efficiency.

Description

Technical Field

[0001] This utility model relates to the field of hook removal equipment technology, specifically to a hook remover and hook removal device. Background Technology

[0002] In railway systems, the coupler is a crucial component connecting two carriages. Couplers are typically equipped with an unlocking mechanism, which is usually connected to a coupler lifting rod. The coupler lifting rod is typically positioned laterally on the end beam of the carriage, and it is used to unlock the coupler, allowing the carriages to separate. Existing coupler lifting rods generally consist of a straight section and a drooping section, forming an L-shaped structure, as shown in the attached diagram. Figure 1 As shown, the ends of the carriage are usually equipped with lugs that are adapted to the hook lifting rod. The lugs are used to support and limit the hook lifting rod. The conventional steps for uncoupling are: first, lift the hook lifting rod upward to unlock it, so that the hook lifting rod can rotate. Then drive the hook lifting rod to rotate upward. By rotating the hook lifting rod, the coupler is unlocked, and the uncoupling effect is achieved. Finally, the coupler is disengaged from the hook lifting rod.

[0003] Existing technologies disclose some hook removal devices for achieving automatic hook removal, such as a hook removal device disclosed in Chinese Patent CN118810854A. Existing hook removal devices are usually equipped with a hook component for hooking the hook lifting rod. The hook component is usually set on a robotic arm, and the position of the hook component is adjusted by the robotic arm in order to complete the hook removal work. Existing hook components are typically L-shaped. Before unhooking, the robotic arm needs to control the hook component to perform relatively complex translational movements to hook the hook lifting rod (specifically, the lower section of the lifting rod). During unhooking, the robotic arm drives the lifting rod upward through the hook component to unlock the hook. After unhooking, the hook component remains hooked, so it is necessary to disengage the hook component from the lifting rod (referred to as unhooking) before the next unhooking action can proceed. In existing technologies, the robotic arm typically drives the hook component to perform multiple reverse translations, allowing the hook component to move out of the lifting rod's range and thus disengage. However, this process involves numerous movements and relatively complex paths, resulting in a long unhooking time and severely impacting unhooking efficiency, which urgently needs to be addressed. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides a hook remover, which not only simplifies the hook removal process but also enables the hook removal work to be completed more quickly and efficiently.

[0005] A hook remover includes a frame, the frame being provided with a mounting portion for connecting a robotic arm;

[0006] The hook assembly has a contact portion for contacting and hooking the hook lifting rod and a hinge portion for achieving a rotatable connection. The hook assembly is rotatably mounted on the frame via the hinge portion.

[0007] An unlocking mechanism, located on the frame, is used to lock the hook component in the unhooked position and to unlock the hook component so that it can rotate outward.

[0008] To further improve the efficiency of unhooking operations, an elastic component is also included. When the hook component rotates outward, the elastic potential energy of the elastic component increases. This allows the elastic component to drive the hook component to automatically reset after complete unhooking, eliminating the need for manual reset and making this unhooking device more efficient and easier to use.

[0009] Preferably, the elastic component is a torsion spring, a tension spring, or a compression spring.

[0010] Preferably, the hook component also has an extension, with the contact portion and the extension located on opposite sides of the hinge portion. By configuring the extension, it is easier to achieve a non-interfering engagement with the unlocking mechanism in some embodiments.

[0011] To address the issue of hook removal failure due to accidental slippage of the hook rod during the unhooking process, the hook component further includes a first limiting part. This first limiting part is located on the inner side of the front end of the contact part and protrudes inward. This allows the contact part and the first limiting part to form an L-shaped structure, effectively constraining and limiting the hook rod during unhooking, thus reducing the likelihood of accidental slippage.

[0012] To prevent the hook lifting rod from getting stuck in the gap between the frame and the hook assembly during the unhooking process, the hook assembly is further provided with a second limiting part. This second limiting part is located on the inner side of the rear end of the contact part and protrudes inward. This allows the second limiting part to effectively constrain and limit the hook lifting rod, making it less likely for it to get stuck in the gap between the frame and the hook assembly during the unhooking process, thus effectively preventing jamming.

[0013] In some preferred embodiments, the unlocking mechanism includes a first part and a second part that can cooperate with each other. The first part is disposed on the hook component, and the second part is disposed on the frame. The second part is adapted to the first part, and the hook component is locked and unlocked by the cooperation of the first part and the second part.

[0014] In some preferred embodiments, the unlocking mechanism includes a movable part, a first part disposed on the movable part, and a second part fixedly disposed on the frame. The second part is adapted to the first part. The movable part is rotatably disposed on the frame or linearly movable disposed on the frame. The hook component is connected to the movable part through a transmission mechanism, and the hook component moves synchronously with the movable part. When the movable part is in the position where the first part and the second part cooperate, the hook component is in the unhooked position, and the movable part is locked and unlocked by the cooperation of the first part and the second part. In this solution, by configuring a transmission mechanism and a moving part with a fixed running trajectory, and by connecting the hook component to the moving part through the transmission mechanism, the hook component and the moving part can move synchronously. Therefore, by configuring the unlocking mechanism to lock and unlock the moving part, the hook component can be locked and unlocked synchronously. With this configuration, the hook component can be set at the front end of the frame, and the unlocking mechanism can be set at the middle and rear of the frame. This not only shifts the center of gravity of the entire hook unloader to the rear, improving the force distribution of the entire hook unloader and the rear robotic arm, but also ensures that the front end of the entire hook unloader only has the hook component, which can effectively prevent the unlocking mechanism from interfering with the normal hook unloading action, thus improving the success rate of hook unloading.

[0015] Preferably, the transmission mechanism is one or more of the following: gear transmission mechanism, belt transmission mechanism, chain transmission mechanism, linkage transmission mechanism, and rack and pinion transmission mechanism.

[0016] Preferably, the transmission mechanism is a linkage transmission mechanism.

[0017] Preferably, the linkage transmission mechanism is a multi-link transmission mechanism, which includes a first link, a second link, and a third link. The second link is rotatably connected to the frame via a hinge shaft. Both ends of the second link are hinged to the first and third links, respectively. The first link is hinged to the hook component, and the third link is hinged to the movable component. The movable component is arranged along the width of the frame and is movably mounted on the frame. The first part is located on the side or end of the movable component. Compared to other transmission mechanisms, the multi-link transmission mechanism not only provides smoother transmission and stronger load-bearing capacity but also reduces resistance during disengagement. This facilitates faster and more efficient disengagement and protects the hook component, extending its service life.

[0018] Preferably, the hook component is rotatably located at the front end of the frame, and the unlocking mechanism is located at the middle and rear of the frame.

[0019] Preferably, the first part is a keyhole, and the second part is a telescopic device adapted to the keyhole. When the hook component is in the unhooked position, the telescopic device faces the keyhole, and the telescopic end of the telescopic device can be inserted into and withdrawn from the keyhole. At this time, the unlocking mechanism adopts a pin-type unlocking mechanism, which can withstand a larger load without separating, ensuring that the hook component remains stably in the unhooked position during the unhooking process.

[0020] Preferably, the first and second parts are configured to adhere to each other. When the hook component is in the unhooked position, the first and second parts correspond to each other and are in contact. At this time, the unlocking mechanism adopts an adsorption unlocking mechanism, which can instantly release the constraint force on the hook component, with a faster response speed, thereby facilitating faster and more efficient unhooking.

[0021] Furthermore, in the first and second parts, one is configured to be magnetic, and the other is configured to be a metal block or have a compatible magnetism, so that the first and second parts can be attracted together.

[0022] Preferably, an electromagnet is provided in the first or second part.

[0023] Preferably, the first part uses a metal block and the second part uses an electromagnet. The metal block is lighter and more convenient. Placing it on the hook component or the moving part that is connected to the hook component in a transmission manner is more conducive to the more efficient operation of the hook component, thus making it easier to unhook.

[0024] A hook-unhooking device includes a wheeled vehicle body, a robotic arm mounted on the vehicle body, a processor, and a hook unloader. The hook unloader's frame is mounted on the robotic arm, which is mounted on the vehicle body. The processor is electrically connected to the vehicle body, the robotic arm, and the hook unloader. The vehicle body carries the hook unloader, and the robotic arm adjusts the spatial position of the hook unloader and drives it to complete the hook-unhooking and unhooking operations. During unhooking, the robotic arm only needs to directly drive the hook unloader to move away from the hook lifting rod to complete the unhooking operation smoothly and efficiently, without the need for complex translation operations, making it very fast and efficient.

[0025] Compared with the prior art, the hook remover and hook removal device provided by this utility model not only makes the hook removal process simpler, but also enables the hook removal work to be completed faster and more efficiently. In particular, the hook component can detach from the hook lifting rod more easily and quickly, which can significantly improve efficiency. Attached Figure Description

[0026] Figure 1 This is a partial structural diagram of the hook lifting rod at the end of the existing carriage.

[0027] Figure 2 This is a schematic diagram of the structure of a hook remover provided in Embodiment 1 of this utility model, with the hook component in the hook removal position.

[0028] Figure 3 This is a schematic diagram of the structure of a hook remover provided in Embodiment 1 of this utility model, with the hook component in the position after being rotated outward.

[0029] Figure 4 This is a schematic diagram of another hook remover provided in Embodiment 1 of this utility model, with the hook component in the hook removal position.

[0030] Figure 5 This is a schematic diagram of a hook remover provided in Embodiment 2 of the present invention, with the hook component in the hook removal position.

[0031] Figure 6 This is a schematic diagram of the structure of a hook remover provided in Embodiment 2 of this utility model, with the hook component in the position after being rotated outward.

[0032] Figure 7 This is a schematic diagram of another hook remover provided in Embodiment 2 of this utility model, with the hook component in the hook-removing position.

[0033] Figure 8 This is a schematic diagram of another hook remover provided in Embodiment 2 of this utility model, with the hook component in the position after being rotated outward.

[0034] Figure 9 This is a schematic diagram of the structure of a hook remover provided in Embodiment 3 of this utility model, with the hook component in the hook removal position.

[0035] Figure 10 This is a schematic diagram of the structure of a hook remover provided in Embodiment 3 of this utility model, with the hook component in the position after being rotated outward.

[0036] Figure 11 This is a three-dimensional structural diagram of a hook remover provided in Embodiment 3 of the present invention, with the hook component in the hook removal position.

[0037] The markings in the diagram are as follows: 1. Carriage; 11. Support lug; 12. Hook lifting rod; 13. Drooping section; 2. Frame; 21. Through hole; 22. Guide hole; 23. Limiting structure; 3. Hook component; 31. Contact part; 32. Hinge hole; 33. Extension part; 34. First limiting part; 35. Second limiting part; 4. Transmission mechanism; 41. Connecting rod; 42. Connecting rod one; 43. Connecting rod two; 44. Connecting rod three; 45. First gear; 46. Second gear; 47. Third gear; 5. Movable part; 51. Gear; 6. Unlocking mechanism; 61. First part; 62. Second part; 63. Telescopic end; 7. Elastic component; 8. Hinge shaft. Detailed Implementation

[0038] Example 1

[0039] This embodiment provides a hook remover, including a support frame 2, a hook component 3, and an unlocking mechanism 6, wherein, as shown... Figures 2-3 As shown, the hook component 3 has a contact portion 31 for contacting and hooking the hook rod. The contact portion 31 can preferably be constructed as a straight structure or other irregularly shaped structure. For example, in this embodiment, the contact portion 31 can be constructed as a straight structure, and the inner edge of the contact portion 31 is chamfered to prevent damage to the hook rod. For ease of assembly, the hook component 3 also has a hinge portion for hinge connection. The hinge portion can be a hinge hole 32 or a hinge shaft 8, etc. The hinge portion is located on one side of the contact portion 31. For example, the hinge portion uses a hinge hole 32. Correspondingly, the front end of the frame 2 also has a matching hinge hole 32. The hook component 3 is rotatably mounted on the frame 2 via the hinge shaft 8 that matches the hinge hole 32, giving the hook component 3 a degree of freedom of rotation relative to the frame 2. In implementation, the hinge shaft 8 can be a pin or bolt, etc.

[0040] In this embodiment, the unlocking mechanism 6 is disposed on the frame 2, mainly used to lock the hook component 3 in the unhooked position and to unlock the hook component 3. In this embodiment, the unlocking mechanism 6 directly cooperates with the hook component 3 to directly lock and unlock the hook lifting rod. As an example, such as Figures 2-3 As shown, the hook component 3 has an extension 33 on the side of the hinge hole 32 opposite to the contact portion 31. The extension 33 extends outward to engage with the unlocking mechanism 6. When the hook component 3 is in the locked state, it is in the unhooked position. In the unhooked position, the hook component 3 can hook the lower section of the hook rod to unlock the hook. When the unlocking mechanism 6 is unlocked, the hook component 3 is unrestrained and can rotate outward on its own under the action of external force (such as resistance). This allows the hook component 3 to quickly disengage from the hook rod by pulling directly outward, eliminating the need for complicated disengagement steps and greatly improving the efficiency of the hook component 3 disengaging from the hook rod.

[0041] In implementation, the unlocking mechanism 6 can be implemented in various ways. For example, the unlocking mechanism 6 can be a pin-type unlocking mechanism 6, an adsorption-type unlocking mechanism 6, etc. Therefore, in this embodiment, the unlocking mechanism 6 includes a first part 61 and a second part 62 that can cooperate with each other to achieve locking and unlocking functions. The first part 61 and the second part 62 have various cooperative implementation methods. For example, the extension 33 at the rear end of the hook component 3 is provided with the first part 61, which can be a lock hole. Correspondingly, the second part 62 is fixedly installed on the frame 2. The second part 62 is a telescopic device adapted to the lock hole. When the hook component 3 is in the hook-off position, the telescopic device is directly opposite the lock hole on the hook component 3, so that the telescopic end 63 of the telescopic device can be inserted into the lock hole, and the hook component 3 can no longer rotate, thus achieving the purpose of locking the hook component 3. When it is necessary to unhook, the telescopic end 63 of the telescopic device retracts, unlocking the hook component 3. The hook component 3 can rotate outward under the action of external force and disengage from the hook lifting rod, thereby achieving the purpose of efficient unhooking. In implementation, the telescopic component can be an electric actuator or a cylinder, etc., and is connected to a processor in the unhooking device so that the processor can control the movement of the telescopic component. Of course, in a more complete embodiment, the frame 2 is provided with a corresponding limiting structure 23, such as... Figures 2-3 As shown, during the process of rotating the hook component 3 inward (i.e. towards the frame 2) to reset, when the hook component 3 is blocked by the limiting structure 23 and cannot continue to rotate, the hook component 3 stops at the unhooking position. At this time, the first part 61 corresponds to the second part 62 so that the hook component 3 can be relocked through the cooperation of the first part 61 and the second part 62 so that the unhooking action can be performed again.

[0042] For example, such as Figure 4 As shown, in another embodiment, the first part 61 and the second part 62 can be configured to attract each other. The first part 61 can be disposed on the hook component 3, and when the hook component 3 rotates outward, it drives the first part 61 to rotate synchronously. The second part 62 is disposed on the frame 2 and adapted to the rotation path of the hook component 3. When the hook component 3 is in the unhooked position, the first part 61 and the second part 62 correspond to each other and can contact each other so as to attract each other. One of the first part 61 and the second part 62 is configured to be magnetic, and the other is configured to be a metal block or have a matching magnetism, so that the first part 61 and the second part 62 can attract each other, and the hook component 3 is locked in the unhooked position by the attraction force between the first part 61 and the second part 62. In implementation, when the first part 61 is a permanent magnet or electromagnet, the second part 62 is a permanent magnet or electromagnet or a metal block; when the first part 61 is a metal block, the second part 62 is a permanent magnet or electromagnet. For example, as Figure 4As shown, the extension 33 of the hook component 3 is provided with a metal block. Correspondingly, an electromagnet adapted to the metal block is provided on the frame 2. The electromagnet can be set at the limiting structure 23. When the hook component 3 rotates to the point where the first part 61 contacts the second part 62, the hook component 3 is in the unhooking position. At this time, the first part 61 faces the second part 62. The first part 61 uses a metal block, and the second part 62 uses an electromagnet. The electromagnet is energized and attracts the corresponding metal block, thereby locking the hook component 3. When it is necessary to unhook, the electromagnet is de-energized, the attraction force disappears, and the hook component 3 is unlocked. The hook component 3 can rotate outward under the action of external force and disengage from the hook lifting rod, thereby achieving the purpose of efficient unhooking. It can be understood that in implementation, the electromagnet can be connected to the processor in the unhooking device so that the processor can energize and de-energize the electromagnet.

[0043] To prevent the hook lifting rod from accidentally slipping during the unhooking process and causing unhooking failure, in a more refined embodiment, the hook component 3 is also constructed with a first limiting part 34, such as... Figures 2-4 As shown, the first limiting part 34 can be constructed on the inner side of the front end of the contact part 31 and protrude into the inner side of the contact part 31, so that the contact part 31 and the first limiting part 34 can form an L-shaped structure, so that the first limiting part 34 can effectively constrain and limit the hook lifting rod, making it less likely for the hook lifting rod to slip off accidentally during the hook removal process.

[0044] To prevent the hook lifting rod from getting stuck in the gap between the frame 2 and the hook component 3 during the unhooking process, in a more refined embodiment, the hook component 3 is also equipped with a second limiting part 35, such as... Figures 2-4 As shown, the second limiting part 35 can be constructed on the inner side of the rear end of the contact part 31 and protrude into the inner side of the contact part 31 so that the second limiting part 35 can effectively constrain and limit the hook lifting rod, making it less likely to get stuck in the gap between the frame 2 and the hook component 3 during the hook removal process, effectively avoiding the problem of jamming.

[0045] like Figures 2-3 As shown, the part between the first limiting part 34 and the second limiting part 35 in the hook component 3 is the contact part 31. During the hook removal process, the contact part 31 mainly contacts and hooks the hook lifting rod.

[0046] In practical use, the frame 2 is used to connect a position adjustment device (such as a robotic arm or robot). Therefore, in a more refined embodiment, the rear end of the frame 2 is also provided with a mounting section, such as... Figures 2-3 As shown, the mounting part includes, but is not limited to, through hole 21, threaded hole and quick connector (or quick-change connector), so as to allow for a detachable connection position adjustment device.

[0047] Example 2

[0048] The main difference between this embodiment 2 and the above embodiment is that, in the hook remover provided in this embodiment, the hook component 3 is rotatably disposed at the front end of the frame 2, while the unlocking mechanism 6 is disposed in the middle and rear part of the frame 2. This not only shifts the center of gravity of the entire hook remover backward, improving the force distribution of the entire hook remover and the rear robotic arm, but also ensures that the front end of the entire hook remover only has the hook component 3, effectively preventing the unlocking mechanism 6 from interfering with the normal hook removal action, which is beneficial to improving the success rate of hook removal. Therefore, in this embodiment, the unlocking mechanism 6 includes a movable component 5 movably disposed on the frame 2 and having a fixed motion trajectory, a first part 61 disposed on the movable component 5, and a second part 62 fixedly disposed on the frame 2. The second part 62 is adapted to the first part 61, and the movable component 5 is locked by the cooperation of the second part 62 and the first part 61. At the same time, the hook component 3 is connected to the movable component 5 by transmission, so that the hook component 3 and the movable component 5 move synchronously. When the movable component 5 is in the position that cooperates with the second part 62, the hook component 3 is exactly in the hook removal position. Therefore, during implementation, the hook component 3 can be locked simultaneously by locking the movable part 5 through the unlocking mechanism 6, so that the unlocking mechanism 6 can be set in the middle and rear part of the frame 2.

[0049] To ensure that the movable part 5 has a fixed motion trajectory, various implementation methods are available. For example, the movable part 5 can be rotatably constrained to the frame 2, giving it a degree of freedom to rotate or swing relative to the frame 2. In this case, the motion trajectory of the movable part 5 is determined. Alternatively, the movable part 5 can be linearly constrained to the frame 2, giving it a degree of freedom to move linearly relative to the frame 2. In this case, the motion trajectory of the movable part 5 is also determined. Simultaneously, since the hook part 3 has a degree of freedom to rotate relative to the frame 2, the hook part 3 can be connected to the movable part 5 via a transmission mechanism 4. This allows for synchronous linkage between the two and enables the movable part 5 to have more forms of motion, including but not limited to rotation or linear movement. In implementation, the transmission mechanism 4 can be one or more combinations of existing gear transmission mechanisms 4, belt transmission mechanisms 4, chain transmission mechanisms 4, linkage transmission mechanisms 4, and rack and pinion transmission mechanisms 4. As an example, the transmission mechanism 4 can be a linkage transmission mechanism 4, such as... Figure 5 and Figure 6 As shown, the linkage transmission mechanism 4 includes a connecting rod 41, with both ends of the connecting rod 41 hinged to the hook component 3 and the movable component 5, respectively. The movable component 5 is movably constrained to the frame 2. For example, the frame 2 has a guide hole 22, and the movable component 5 is configured to fit the guide hole 22. The movable component 5 is rod-shaped and arranged along the length of the frame 2. One end of the movable component 5 passes through the guide hole 22 and is hinged to the connecting rod 41. The movable component 5 can move linearly relative to the guide hole 22. The guide hole 22 is used to guide the movement of the movable component 5. The movable component 5, the connecting rod 41, and the movable component 5 constitute a rocker-slider mechanism. Figure 5 and Figure 6 As shown, the first part 61 is located at the other end or side of the movable part 5, and correspondingly, the second part 62 is located on the frame 2 at a position adapted to the first part 61. When the hook part 3 rotates, the movable part 5 moves linearly in sync. When the unlocking mechanism 6 locks the movable part 5, the hook part 3 is exactly in the unhooking position to perform the unhooking action. After the unhooking action is completed, the unlocking mechanism 6 can unlock the movable part 5. During the outward pulling of the hook part 3, the hook part 3 will be blocked by the hook lifting rod, generating resistance. Under the action of this resistance, the hook part 3 can rotate outward on its own. Figure 6 As shown, this allows the hook component 3 to detach directly from the hook lifting rod, which is highly efficient. During this process, the first part 61 and the second part 62 simultaneously separate. It is understood that in other embodiments, the movable component 5 can also be a slider. Correspondingly, the guide hole 22 needs to be replaced by a guide rail adapted to the slider to achieve the same effect; examples will not be provided here.

[0050] As another example, the transmission mechanism 4 can be a gear transmission mechanism 4, which may include one or more meshing gears. For ease of explanation, the gear transmission mechanism 4 includes three gears: a first gear 45, a second gear 46, and a third gear 47. Figure 7 and Figure 8 As shown, the hook component 3 is fixedly connected to the hinge shaft 8, which is rotatably connected to the frame 2. A first gear 4545 is mounted on the hinge shaft 8 (in this case, the rear end of the hook component 3 does not need an extension 33), allowing the hook component 3 to rotate synchronously with the first gear 4545. A second gear 46 is rotatably mounted on the frame 2 and meshes with the first gear 4545. A third gear 47 is rotatably mounted on the frame 2 and meshes with the second gear 46. The second gear 46 and the third gear 47 are arranged along a direction close to the rear end of the frame 2. Figure 7As shown, the movable part 5 can be located at the middle and rear end of the frame 2. The movable part 5 is rotatably connected to the frame 2 via the hinge shaft 8. The movable part 5 is constructed with teeth 51 that are adapted to the third gear 47, and the third gear 47 meshes with the movable part 5. This allows the hook part 3 and the movable part 5 to rotate synchronously, that is, when the hook part 3 rotates clockwise, the movable part 5 also rotates clockwise. Correspondingly, the first part 61 of the locking part can be located on the upper or lower surface of the movable part 5, and the second part 62 is located above or below the movable part 5 and is adapted to the first part 61. In actual use, the first part 61 rotates synchronously with the movable part 5 and can change its relative position with the second part 62. When the first part 61 is directly opposite the second part 62, the unlocking mechanism 6 can lock the movable part 5 through the cooperation of the second part 62 and the first part 61. When the unlocking mechanism 6 locks the movable part 5, the hook part 3 is in the unhooking position to facilitate the unhooking action. After the unhooking action is completed, the unlocking mechanism 6 can unlock the movable part 5. During the outward pulling of the hook part 3, the hook part 3 will be blocked by the hook lifting rod, generating resistance. Under the action of this resistance, the hook part 3 can rotate outward on its own. Figure 8 As shown, this allows the hook component 3 to be directly disengaged from the hook lifting rod, which is very efficient. In this process, the first part 61 can deviate from the second part 62 under the action of the movable part 5.

[0051] It is understood that, in practice, the first part 61 and the second part 62 in the unlocking mechanism 6 can be implemented using the solutions described in the embodiments, which will not be elaborated here.

[0052] Example 3

[0053] To further improve the hook removal efficiency, the main difference between this embodiment 3 and the above embodiment 2 is that the hook remover provided in this embodiment uses a multi-link transmission mechanism 4 with multiple connecting rods 41, such as... Figures 9-11 As shown, the multi-link transmission mechanism 4 specifically includes three links 41. For ease of description, the three links 41 are referred to as link one 42, link two 43, and link three 44. Link two 43 is rotatably connected to the frame 2 via a hinge shaft 8. The two ends of link two 43 are hinged to link one 42 and link three 44, respectively. Link one 42 is hinged to the hook component 3, and link three 44 is hinged to the movable component 5. The movable component 5 is arranged along the width direction of the frame 2 and is movably mounted on the frame 2. Meanwhile, the first part 61 can be located on the side or end of the movable component 5. For example, in this embodiment, the first part 61 is located at the end of the movable component 5. Correspondingly, the second part 62 is located on the frame 2 directly opposite the first part 61. Figure 9As shown. In this embodiment, the hook component 3, connecting rod 1 42, connecting rod 2 43 and the frame 2 together constitute a double rocker mechanism, so that the hook component 3 and connecting rod 2 43 can swing synchronously; connecting rod 2 43, connecting rod 3 44, movable component 5 and the frame 2 together constitute a rocker-slider mechanism, so that the swing of the hook component 3 can drive the movable component 5 to move synchronously in a straight line.

[0054] In this embodiment, the first part 61 preferably uses a metal block, and the second part 62 preferably uses an electromagnet. When the hook component 3 is in the unhooking position, the first part 61 and the second part 62 are in contact. When the electromagnet is energized, the first part 61 and the second part 62 can be firmly attracted together, and the first part 61 and the movable part 5 cannot move relative to the frame 2, thereby locking the movable part 5 and achieving the effect of locking the hook component 3 in the unhooking position for unhooking action. After the unhooking action is completed, the electromagnet is de-energized, and the movable part 5 can be unlocked simultaneously. During the process of pulling the hook component 3 outward, the hook component 3 will be blocked by the hook lifting rod, generating resistance. Under the action of this resistance, the hook component 3 can rotate outward on its own. Figure 10 As shown, this allows the hook component 3 to be directly disengaged from the hook lifting rod, which is very efficient. In this process, the first part 61 can deviate from the second part 62 under the action of the movable part 5.

[0055] Compared to other transmission mechanisms 4, this embodiment configures the transmission mechanism 4 as a multi-link transmission mechanism 4, which not only makes the transmission smoother and the load-bearing capacity stronger, but also reduces the resistance encountered during the unhooking process. This is beneficial for faster and more efficient unhooking, as well as for protecting the hook component 3 and improving the service life of the hook component 3.

[0056] It is understood that in other embodiments, the first part 61 can also be a locking hole provided on the side of the movable part 5. Correspondingly, the second part 62 is a telescopic device provided on the frame 2 and located on one side of the movable part 5. When the hook part 3 is in the unhooked position, the telescopic end 63 of the telescopic device faces the multi-hole. The locking hole and the telescopic device can also achieve the purpose of locking the hook part 3. Compared with the unlocking mechanism 6 of this structure, when the first part 61 and the second part 62 in the unlocking mechanism 6 achieve the locking function through the adsorption force, it can not only lock the hook part 3, but also play the role of overload protection, thereby effectively preventing the hook part 3 from being damaged.

[0057] Example 4

[0058] The main difference between this embodiment 4 and the above embodiments is that the hook remover provided in this embodiment also includes an elastic component 7. When the hook component 3 rotates outward, the elastic potential energy of the elastic component 7 increases, so that after unhooking, the elastic component 7 can drive the hook component 3 to automatically reset without manual reset, making this hook remover more efficient and easier to use.

[0059] In implementation, the elastic component 7 can have various embodiments and various installation positions. For example, the elastic component 7 can be a torsion spring, which can be sleeved on the hinge shaft 8 on which the elastic component 7 is installed. One end of the torsion spring is constrained to the frame 2, and the other end is constrained to the hook component 3. When the hook component 3 rotates outward under the action of an external force, the elastic potential energy of the torsion spring increases. When the external force disappears, the torsion spring drives the hook component 3 to automatically reset. Alternatively, when a movable component 5 is provided, the elastic component 7 can be a tension spring. One end of the tension spring is connected to the frame 2, and the other end is connected to the hook component 3, the transmission mechanism 4, or the movable component 5. When the hook component 3 rotates outward under the action of an external force, the elastic potential energy of the tension spring increases. Furthermore, in this embodiment, the elastic component 7 can be a compression spring, such as... Figures 2-11 As shown, the compression spring can be sleeved on the outside of the movable part 5. One end of the compression spring abuts against the movable part 5 or the first part 61, and the other end abuts against the frame 2. When the hook part 3 rotates outward under the action of external force, the compression spring is further compressed and the elastic potential energy increases. When the external force disappears, the compression spring can drive the hook part 3 to automatically reset and make the first part 61 contact the second part 62 again so as to lock the hook part 3 again.

[0060] Example 5

[0061] This embodiment also provides a hook removal device, including a wheeled vehicle body, a robotic arm mounted on the vehicle body, a processor, and the hook removal device. The hook removal device is detachably mounted on the robotic arm via fasteners. The robotic arm is mounted on the vehicle body. The processor is connected to the vehicle body, the robotic arm, and the hook removal device. The vehicle body is used to transport the hook removal device. In implementation, an AGV vehicle can be preferred as the vehicle body. The robotic arm is used to adjust the spatial position of the hook removal device and to drive the hook removal device to complete the hook removal and unhooking work. During unhooking, the robotic arm directly drives the hook removal device to move away from the hook lifting rod, which can smoothly and efficiently complete the unhooking work without the need for complex translation operations, making it very fast.

[0062] Of course, in practical implementation, this device also includes a vision module for locating the hook lifting rod, which is connected to the processor. It is understood that the vision module can use existing modules and algorithms to locate the hook lifting rod; this will not be elaborated further here. It is also understood that when the unlocking mechanism 6 is equipped with a telescopic device or an electromagnet, the telescopic device and the electromagnet are respectively connected to the processor so that the processor can control the locking and unlocking process.

[0063] The above description is only a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model.

Claims

1. A hook remover, characterized in that, Includes a frame, which is equipped with a mounting section for connecting the robotic arm; The hook assembly has a contact portion for contacting and hooking the hook lifting rod and a hinge portion for achieving a rotatable connection. The hook assembly is rotatably mounted on the frame via the hinge portion. An unlocking mechanism, located on the frame, is used to lock the hook component in the unhooked position and to unlock the hook component so that it can rotate outward.

2. The hook remover according to claim 1, characterized in that, It also includes an elastic component, whose elastic potential energy increases when the hook component rotates outward; the elastic component includes a torsion spring, a tension spring, or a compression spring.

3. The hook remover according to claim 1, characterized in that, The unlocking mechanism includes a first part and a second part that can cooperate with each other. The first part is disposed on the hook component, and the second part is disposed on the frame. The second part is adapted to the first part, and the hook component is locked and unlocked by the cooperation of the first part and the second part.

4. The hook remover according to claim 1, characterized in that, The unlocking mechanism includes a movable part, a first part disposed on the movable part, and a second part fixedly disposed on the frame. The second part is adapted to the first part. The movable part is rotatably disposed on the frame or linearly movable disposed on the frame. The hook component is connected to the movable part through a transmission mechanism, and the hook component moves synchronously with the movable part. When the movable part is in the position where the first part and the second part cooperate, the hook component is in the unhooked position, and the movable part is locked and unlocked by the cooperation of the first part and the second part.

5. The hook remover according to claim 4, characterized in that, The transmission mechanism is one or more of the following: gear transmission mechanism, belt transmission mechanism, chain transmission mechanism, linkage transmission mechanism, and rack and pinion transmission mechanism.

6. The hook remover according to claim 4, characterized in that, The transmission mechanism is a multi-link transmission mechanism, which includes link one, link two, and link three. Link two is rotatably connected to the frame via a hinge shaft. Both ends of link two are hinged to link one and link three, respectively. Link one is hinged to the hook component, and link three is hinged to the movable component. The movable component is arranged along the width direction of the frame and is movably mounted on the frame. The first part is located on the side or end of the movable component.

7. The hook remover according to any one of claims 3-6, characterized in that, The first part is a lock hole, and the second part is a telescopic device adapted to the lock hole. When the hook component is in the unhooked position, the telescopic device is facing the lock hole, and the telescopic end of the telescopic device can be inserted into and withdrawn from the lock hole.

8. The hook remover according to any one of claims 3-6, characterized in that, The first part and the second part are configured to be able to attract each other. One of the first part and the second part is configured to be magnetic, and the other part is configured to be a metal block or have a matching magnetism. When the hook component is in the hook-off position, the first part and the second part correspond to each other and are in contact with each other.

9. The hook remover according to claim 8, characterized in that, In both Part 1 and Part 2, at least one is equipped with an electromagnet; And / or, the hook component is further provided with a first limiting part, which is constructed on the inner side of the front end of the contact part and protrudes into the inner side of the contact part; And / or, the hook component is further provided with a second limiting part, which is constructed on the inner side of the rear end of the contact part and protrudes into the inner side of the contact part; And / or, the hook component is also configured with an extension, with the contact portion and the extension portion located on both sides of the hinge portion.

10. A hook-removal device, comprising a wheeled vehicle body, a robotic arm disposed on the vehicle body, and a processor, characterized in that, It also includes the unhooking device according to any one of claims 1-9, wherein the frame of the unhooking device is mounted on the robotic arm, the robotic arm is mounted on the vehicle body, and the processor is electrically connected to the vehicle body, the robotic arm and the unhooking device respectively. The vehicle body is used to carry the unhooking device, the robotic arm is used to adjust the spatial position of the unhooking device and to drive the unhooking device to complete the unhooking and unhooking work.

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