Hook pulling device and hook pulling apparatus

Abstract

The utility model relates to a kind of hooking devices, belong to hooking equipment technical field, including hooking device, hooking device includes rack and drag hook, still include connecting frame and stretch spring, connecting frame includes base, base is structured with the installation portion for being connected to mechanical arm, the both ends of stretch spring are connected to rack and connecting frame respectively;Rack and connecting frame are respectively provided with the cooperation portion of mutual adaptation, one of the cooperation portion is structured with insertion part, the other cooperation portion is structured with the guide cavity of adaptation insertion part, insertion part is inserted in guide cavity, insertion part can move and rotate relative to guide cavity;When insertion part moves along the direction of being separated from guide cavity, the elastic potential energy of stretch spring increases;The present hooking device uses flexible connection, drag hook can be self-adapting adjustment, not only can greatly reduce the probability of accidental unhooking, but also can effectively avoid the situation of jamming even breakage due to excessive torsion, it is favorable to improve the service life of drag hook.

Description

Technical Field

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

[0002] In railway systems, couplers are components that connect two carriages. Based on their opening method, existing couplers are generally divided into top-acting and bottom-acting types. Top-acting couplers are typically opened by a lifting mechanism located at the top of the coupler head and are more common in freight cars, while bottom-acting couplers are typically opened by a cone-shaped mechanism located at the bottom of the coupler head and are more common in passenger cars. The Jan coupler is a relatively common automatic coupler that connects two carriages without human intervention. To uncouple (i.e., unlock or decouple), the coupler tongue is manually lifted.

[0003] Existing couplers, whether top-operated or bottom-operated, are typically equipped with a coupler lifting rod (or lifting lever) for manual uncoupling (uncoupling). This lifting rod is usually horizontally mounted on the end beam of the car body, and one end is typically connected to the unlocking mechanism (such as a locking pin device) within the coupler. To uncouple, rotating the lifting rod lifts or pushes up the unlocking mechanism, allowing the cars to separate. In existing technology, the lifting rod typically includes a straight section and a drooping section, which usually form an L-shape. Before uncoupling, adjacent cars are connected by the coupler, and the drooping section of the lifting rod is typically in a drooping state. When using the uncoupling device for automatic uncoupling operations, it is usually necessary to first lift the hook lifting rod to unlock it, and then pull the lower section of the hook lifting rod by hooking it. The lower section of the hook lifting rod is rotated relative to the straight section by the hook pulling. When it rotates to a certain angle, the hook lifting rod unlocks the coupler and completes the uncoupling, allowing the two cars to separate from each other. Then, the hook of the uncoupling device is driven to disengage from the hook lifting rod, thus completing the automatic uncoupling operation for use on the lower level.

[0004] Because the hook lifting rod is located at the end of the carriage, it is not only exposed to the elements for a long time but also used very frequently, resulting in a large number of hook lifting rods being deformed. In particular, the older the hook lifting rod, the greater its deformation. During the process of using the hook to unhook or hook the other vehicle, the deformed hook lifting rod is prone to accidental disengagement and can also generate torque or uneven load on the hook, resulting in complex loads on the hook. In practical applications, hooks often get stuck or even break, which greatly reduces the service life of the hook and urgently needs to be solved. Utility Model Content

[0005] The first aspect of this utility model is to solve the above-mentioned technical problems by providing a hook removal device. The hook removal device and the connecting frame are flexibly connected, so that the hook can be adaptively adjusted during the hook removal process. This not only greatly reduces the probability of accidental disengagement, but also effectively avoids jamming or even breakage due to excessive torque, which is conducive to improving the service life of the hook.

[0006] A hook removal device includes a hook remover, a connecting frame, and a tension spring. The hook remover includes a frame and a hook connected to the frame, the hook being used to hook a hook lifting rod. The connecting frame includes a base with a mounting portion for connecting to a robotic arm. The two ends of the tension spring are respectively connected to the frame and the connecting frame. The frame and the connecting frame are respectively provided with mutually compatible mating portions. One mating portion has an insertion portion, and the other mating portion has a guide cavity adapted to the insertion portion. The insertion portion is inserted into the guide cavity and can move and rotate relative to the guide cavity. The guide cavity guides the insertion portion. When the insertion portion moves in a direction away from the guide cavity, the elastic potential energy of the tension spring increases. In this solution, a tension spring is used to connect the frame and the base, and a matching connector and guide cavity are configured between the frame and the base. This allows the hook unloader to not only move linearly relative to the connecting frame, but also to rotate relative to the connecting frame. On the one hand, the cooperation between the connector and the guide cavity effectively improves the stability of the connection between the hook unloader and the connecting frame, ensuring that the connecting frame can drive the hook unloader to move synchronously during normal hooking, so as to accurately control the hooking process and accurately realize the hooking action, thereby improving the success rate and efficiency of hooking. On the other hand, it can achieve a flexible connection between the frame and the base. During the hook lifting rod hooking process, if the hook lifting rod itself has deformed and the hook is subjected to additional torque, the torque can drive the hook unloader to rotate at a certain angle relative to the connecting frame, achieving the purpose of adaptive adjustment. This greatly alleviates or even eliminates the torque borne by the hook, which can protect the hook and effectively avoid problems such as accidental hooking, jamming, and breakage due to excessive torque.

[0007] Preferably, the cross-sectional structure of the insertion part is circular, the cross-sectional structure of the guide cavity is circular, and the outer diameter of the insertion part is smaller than the inner diameter of the guide cavity. This allows the insertion part to both move and rotate relative to the guide cavity.

[0008] Preferably, the hook is located at the front end of the frame, making it easier to perform the hook removal operation.

[0009] Preferably, the mounting portion includes mounting holes, connecting posts, or quick-connect couplings, facilitating faster installation.

[0010] To facilitate the formation of the flow channel, preferably, a connecting cylinder is also included, the guide cavity being constructed within the connecting cylinder, which is connected to the frame or base. The insertion part can both move and rotate relative to the connecting cylinder.

[0011] To further improve reliability and stability, a tension spring is fitted onto the outside of the connecting cylinder and the insertion part, covering them. By covering the connecting cylinder and the insertion part with the tension spring, the spring also serves to protect them, preventing foreign objects from easily getting stuck in the guide cavity, which could damage the insertion part or even prevent it from being inserted or removed.

[0012] The second aspect of this invention addresses the problem that the hook remover moves independently relative to the base before the hook is lifted, leading to inaccurate control. Furthermore, it includes a limiting part to restrict the insertion depth of the insertion part. Initially, the tension spring possesses elastic potential energy, and the connecting cylinder abuts against the limiting part under the elastic force of the tension spring, or the insertion part abuts against the limiting part under the elastic force of the tension spring. By configuring the limiting part, and through its cooperation with the connecting cylinder or insertion part, not only is it less likely for the insertion part to detach from the connecting cylinder during hook removal, but the connection structure between the frame and the base also becomes more rigid. Before the hook is lifted, the hook remover will not move independently relative to the base, which is more conducive to the base moving synchronously with the frame via the tension spring, enabling faster and more accurate hook removal.

[0013] In some designs, an extension is connected to the end of the insertion part that is away from the connecting cylinder. A step is formed between the insertion part and the extension to fit the connecting cylinder. Initially, the end of the connecting cylinder abuts against the step, which is used to limit the insertion depth of the insertion part.

[0014] Preferably, the extension has a circular cross-section, and its maximum outer diameter is smaller than the inner diameter of the tension spring. This allows the extension to be disposed inside the tension spring.

[0015] Furthermore, one end of the connecting cylinder is also equipped with a connecting plate, which has multiple connecting holes along its circumference. The connecting plate can be detachably connected to the frame or base via fasteners that fit the connecting holes. This allows the frame and connecting cylinder to be manufactured separately.

[0016] Furthermore, the extension is detachably connected to the frame or base.

[0017] To address the issues of reducing the fit accuracy and friction between the insertion part and the connecting cylinder, preferably, one end of the extension part is also equipped with a positioning head. The outer diameter of the positioning head is smaller than the outer diameter of the extension part, and the frame or base is equipped with a positioning hole adapted to the positioning head. The positioning head is inserted into the positioning hole and fixed therein. This assembly structure allows for the separate machining of the components consisting of the insertion part, extension part, and positioning head, ensuring high-precision coaxiality among them. It also ensures high-precision coaxiality between the positioning head and the positioning hole, thereby improving assembly accuracy and enabling a better fit between the insertion part and the connecting cylinder. This effectively reduces friction between them and facilitates the adaptive action of the hook remover.

[0018] The third aspect of this utility model further addresses the problem of hooks easily disengaging, jamming, or even breaking due to off-center loading. Furthermore, a constriction section is constructed between the end of the insertion part and its outer surface, with the inner diameter of the constriction section gradually decreasing towards the end of the insertion part. In this solution, by configuring the constriction section, on the one hand, during actual use, when the end of the connecting cylinder is pulled to the position of the constriction section, the entire frame can adaptively deflect a certain angle relative to the base. This further solves the problem of the load borne by the hook and the load on the frame caused by the deformation of the hook lifting rod being inconsistent in direction, leading to hook disengagement, jamming, or even breakage. With the constriction section configured, the entire frame can adaptively deflect a certain angle relative to the base under these conditions, which not only facilitates smoother hook removal operations but also reduces the likelihood of the hook jamming or breaking, effectively improving reliability. In addition, the compression section can also serve as a guide. In conjunction with the tension spring, it can more smoothly achieve the automatic reset function. Even if the insertion part is completely disengaged from the connecting cylinder, it can automatically reset so that the next hook removal operation can be carried out. The stability and reliability are greatly improved.

[0019] Preferably, the connecting cylinder is detachably mounted to the rear end of the frame by fasteners. The base includes a mounting plate with a circular plate structure and a positioning cylinder connected to the mounting plate. A positioning hole is formed in the positioning cylinder and penetrates the mounting plate. The positioning hole and the positioning cylinder are coaxial, and the positioning cylinder and the mounting plate are coaxial. The outer diameter of the positioning cylinder is greater than or equal to the outer diameter of the extension. The positioning head is inserted into the positioning hole and fixed in the positioning hole. The front end of the insertion part faces the connecting cylinder and is inserted into the connecting cylinder. A tension spring is sleeved outside the connecting cylinder and the positioning cylinder. One end of the tension spring is fixedly connected to the connecting cylinder or the connecting plate, and the other end of the tension spring is fixedly connected to the positioning cylinder or the mounting plate.

[0020] A hook removal device includes a robotic arm and a hook removal mechanism, wherein a connecting frame is detachably mounted on the robotic arm, and the robotic arm is used to drive the hook removal mechanism to perform a hook removal action.

[0021] Compared with the prior art, the hook removal device and hook removal equipment provided by this utility model adopt a flexible connection between the hook remover and the connecting frame, so that the hook can be adjusted adaptively during the hook removal process. This not only greatly reduces the probability of accidental disengagement and improves the success rate of hook removal, but also effectively avoids jamming or even breakage due to excessive torque, which is conducive to improving the service life of the hook. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of a hook removal device provided in Embodiment 1 of this utility model.

[0024] Figure 2 for Figure 1 Sectional view at point AA.

[0025] Figure 3 This is a partial cross-sectional view of another hook removal device provided in Embodiment 1 of this utility model.

[0026] Figure 4 This is a schematic diagram of the structure of a connecting frame in a hook removal device provided in Embodiment 1 of this utility model.

[0027] Figure 5 This is a partial cross-sectional view of another hook removal device provided in Embodiment 1 of this utility model.

[0028] Figure 6 This is a schematic diagram of a hook removal device provided in Embodiment 2 of this utility model. In the figure, the hook removal device undergoes an adaptive deflection at a certain angle relative to the connecting frame. 61 represents the central axis of the insertion part, and 62 represents the central axis of the connecting cylinder.

[0029] Figure 7 This is a schematic diagram of the structure of an insertion part in a hook removal device provided in Embodiment 3 of this utility model.

[0030] Figure 8 This is a schematic diagram of the structure of a base in a hook removal device provided in Embodiment 3 of this utility model.

[0031] Figure 9 This is a partial structural diagram of a hook removal device provided in Embodiment 3 of this utility model.

[0032] The markings in the diagram are as follows: hook remover 1, frame 11, hook 12; connecting frame 2, base 21, mounting hole 22, positioning cylinder 23, mounting plate 24, positioning hole 25; mating part 3, insertion part 31, extension part 32, step 321, tightening section 33, positioning head 34, weight reduction hole 35, connecting cylinder 36, guide cavity 37, stop block 38, connecting plate 39; tension spring 4; fastener 5; central axis of insertion part 61, central axis of connecting cylinder 62. Detailed Implementation

[0033] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0034] Example 1

[0035] This embodiment provides a hook removal device, including a hook remover 1, a connecting frame 2, and a tension spring 4. The hook remover 1 can be an existing hook removal device or equipment. The hook remover 1 typically includes a frame 11 and a hook 12 for hooking the hook lifting rod. The hook 12 is located at the front end of the frame 11. The rear end of the front end of the frame 11 is used to directly or indirectly connect to a robotic arm. The robotic arm drives the hook 12 to hook the hook lifting rod to unlock the car hook. In this embodiment, the hook mechanism is mainly used to hook the lower section of the hook lifting rod and drive the lower section of the hook lifting rod to rotate, thus achieving the purpose of hook removal. In implementation, the hook 12 and the frame 11 can be integrally formed components. The hook 12 can also be detachably installed on the frame 11 using fasteners 5, allowing the hook 12 to move synchronously with the frame 11 under its drive. In implementation, the hook 12 can preferably be constructed as an L-shaped structure, such as... Figure 1 As shown, it is understood that in implementation, the hook 12 can be a hook 12 commonly used in the prior art. The hook 12 can be a one-piece molded component or a combined component composed of multiple components.

[0036] like Figure 1 and Figure 2As shown, the connecting frame 2 includes a base 21, which is configured with a mounting portion for connection to a robotic arm. This mounting portion allows the base 21 to be fixed to the robotic arm (or manipulator, robot, etc.) in an existing unhooking device. In practice, the mounting portion can be a mounting hole 22 (including but not limited to through holes and threaded holes), a connecting post, or a quick-connect coupling, etc., constructed in the base 21. As an example, such as... Figures 1-4 As shown, the base 21 can be constructed as a circular plate structure, and the mounting part includes a plurality of mounting holes 22 constructed along the circumference of the base 21 so as to securely connect the robotic arm using fasteners 5 that are adapted to the mounting holes 22.

[0037] In this embodiment, the frame 11 and the connecting frame 2 are respectively provided with mutually compatible mating parts 3. For ease of description, in this embodiment, the mating part 3 provided on the frame 11 is the first mating part, and the mating part 3 provided on the connecting frame 2 is the second mating part. In the first and second mating parts, one mating part 3 is configured with an insertion part 31, and the other mating part 3 is configured with a guide cavity 37 adapted to the insertion part 31. The insertion part 31 can be inserted into the guide cavity 37 and can move relative to the guide cavity 37. The guide cavity 37 is used to constrain the insertion part 31 and guide the movement of the insertion part 31, ensuring that the insertion part 31 and the guide cavity 37 can move coaxially relative to each other. More specifically, when the first mating part is configured with an insertion part 31, the second mating part is configured with the guide cavity 37; when the first mating part is configured with a guide cavity 37, the second mating part is configured with the insertion part 31. In this embodiment, the two ends of the tension spring 4 are connected to the frame 11 and the connecting frame 2, respectively, for example, to the base 21 of the connecting frame 2. Correspondingly, the insertion part 31 is inserted into the guide cavity 37. The insertion part 31 needs to overcome the elastic force of the tension spring 4 to exit the guide cavity 37. This not only makes it difficult for the insertion part 31 to exit the guide cavity 37, ensuring stable power transmission between the frame 11 and the connecting frame 2, but also allows the connecting frame 2 to stably support the entire hook remover 1 through the cooperation between the insertion part 31 and the guide cavity 37 before the insertion part 31 completely exits the guide cavity 37, which helps to improve the accuracy and efficiency of the hook removal process. In addition, the tension spring 4 can also play an automatic reset role for reuse.

[0038] As an example, in this embodiment, such as Figure 2 or Figure 3As shown, the first mating part includes a connecting cylinder 36 connected to the frame 11, and the connecting cylinder 36 has a guide cavity 37 constructed inside. Correspondingly, the second mating part includes an insertion part 31 connected to the base 21. The insertion part 31 is disposed on one side of the base 21 and is coaxial with the base 21. During assembly, the insertion part 31 needs to be inserted into the corresponding guide cavity 37. After assembly, the insertion part 31 is inserted into the guide cavity 37, and the two ends of the tension spring 4 are respectively fixed to the connection between the frame 11 and the connecting frame 2. In a more preferred embodiment, the tension spring 4 can also be sleeved on the outside of the connecting cylinder 36 and the insertion part 31, so that the tension spring 4 can cover the connecting cylinder 36 and the insertion part 31, such as... Figure 2 and Figure 3 As shown, at this time, the tension spring 4 can also protect the connecting cylinder 36 and the insertion part 31, and can prevent foreign objects from easily getting stuck in the guide cavity 37, which could cause damage to the insertion part 31 or even prevent it from being inserted or removed.

[0039] In implementation, the insertion part 31 is configured to fit the guide cavity 37. In this embodiment, the connecting frame 2 can not only move linearly relative to the frame 11, but the frame 11 can also rotate relative to the connecting frame 2. This allows the hook remover 1 to adaptively rotate a certain angle relative to the connecting frame 2 during the hook removal process when there is torque on the hook remover 1. This greatly alleviates or even eliminates the torque borne by the hook 12, protecting the hook 12 and effectively preventing jamming due to excessive torque. Therefore, in this embodiment, the cross-section of the guide cavity 37 is preferably circular, and correspondingly, the cross-section of the insertion part 31 is also circular. In this case, the insertion part 31 can preferably be configured as a cylindrical structure, such as... Figure 2 and Figure 3 As shown, the outer diameter of the insertion part 31 is smaller than the inner diameter of the guide cavity 37, so that the insertion part 31 can be inserted into the wire channel.

[0040] In implementation, the connecting cylinder 36 can preferably be constructed as a cylinder, with its maximum outer diameter being less than or equal to the inner diameter of the tension spring 4, allowing the connecting cylinder 36 to be smoothly inserted into the tension spring 4. Figure 2 and Figure 3 As shown.

[0041] In implementation, the tension spring 4 can be configured according to actual needs. Initially, the tension spring 4 can be in its original length state, that is, the tension spring 4 may initially have no elastic potential energy and is only used to prevent the plug from coming out of the connecting cylinder 36. In a preferred embodiment, the tension spring 4 can also be in a stretched state initially, in which case the tension spring 4 has elastic potential energy, making it more difficult for the insertion part 31 to come out of the connecting cylinder 36, and making the connection structure between the frame 11 and the base 21 more rigid, which is more conducive to synchronous operation. In this embodiment, a limiting part for limiting the insertion depth of the insertion part 31 is also provided. The limiting part has various implementations. For example, the limiting part can be a stop 38 constructed in the guide cavity 37, such as... Figure 3 As shown, initially, the end of the insertion part 31 can abut against the stop block 38, and the greater the elastic force of the tension spring 4, the greater the pressure between the insertion part 31 and the stop block 38; or, the limiting part can also be a limiting step constructed between the insertion part 31 and the frame 11 or the base 21. Initially, the end of the connecting cylinder 36 can abut against the limiting step, and the greater the elastic force of the tension spring 4, the greater the pressure between the connecting cylinder 36 and the limiting step, thereby achieving the purpose of precisely controlling the insertion depth of the insertion part 31.

[0042] In the preferred embodiment provided in this example, an extension portion 32 is also connected to the end of the insertion portion 31 that is away from the connecting cylinder 36, such as... Figure 4 and Figure 5 As shown, the insertion part 31 is connected to the frame 11 or the base 21 via the extension part 32. In implementation, the extension part 32 can preferably be cylindrical in shape, and its maximum outer diameter is less than or equal to the inner diameter of the tension spring 4, allowing the extension part 32 to be smoothly inserted into the tension spring 4. Simultaneously, the outer diameter of the insertion part 31 is smaller than the outer diameter of the extension part 32, allowing a step 321 to be formed between the insertion part 31 and the extension part 32 to accommodate the connecting cylinder 36. The step 321 forms a limiting part to restrict the insertion depth of the insertion part 31. In implementation, the extension part 32 can be an integrally formed component or a composite component; in implementation, the extension part 32 itself can be a light shaft with a constant outer diameter or a stepped shaft; in implementation, the insertion part 31 and the extension part 32 can be integrally formed components, or the insertion part 31 and the extension part 32 can be machined separately, and finally the insertion part 31 is installed at the end of the extension part 32.

[0043] During actual assembly, the extension 32 faces the connecting cylinder 36 and is coaxial with the connecting cylinder 36. The insertion part 31 at the end of the extension 32 is inserted into the guide cavity 37, such as... Figure 5As shown, the tension spring 4 is sleeved on the outside of the connecting cylinder 36 and the extension 32. One end of the tension spring 4 is fixedly connected to the frame 11, and the other end is fixedly connected to the base 21. The tension spring 4 covers the connecting cylinder 36 and the extension 32 inside, and the insertion part 31 has a preset insertion depth. At this time, the distance between the connecting cylinder 36 (or the frame 11) and the base 21 is the smallest. For ease of understanding, this is taken as the initial position.

[0044] During implementation, the tension spring 4 can be configured reasonably, and the insertion depth of the insertion part 31 when the connecting cylinder 36 is in the initial position can be configured reasonably, so that the insertion part 31 will not completely come out of the connecting cylinder 36 during the hook removal operation. Therefore, in this embodiment, a tension spring 4 is used to connect the frame 11 and the base 21, and a connecting cylinder 36 and a plug-in mating structure are configured between the frame 11 and the base 21. On the one hand, this can effectively improve the stability of the connection between the frame 11 and the base 21, ensuring that the base 21 can drive the frame 11 to move synchronously during the normal hook removal process, so as to accurately control the hook removal process and accurately realize the hook removal action, thereby improving the success rate and efficiency of hook removal. On the other hand, it can realize the flexible connection between the frame 11 and the base 21. During the hook removal process, if the hook lifting rod itself has deformed, the hook 12 will bear additional torque. This torque can drive the hook remover 1 (including the hook 12 and the frame 11) to rotate at a certain angle relative to the base 21, thereby achieving the purpose of adaptive adjustment, greatly alleviating or even eliminating the torque borne by the hook 12. This can protect the hook 12 and effectively avoid jamming or breakage due to excessive torque.

[0045] Example 2

[0046] The main difference between this embodiment 2 and the above embodiments is that, in the hook removal device provided in this embodiment, a tightening section 33 is further constructed between the end of the insertion part 31 and the outer surface of the insertion part 31. Along the direction near the end of the insertion part 31, the inner diameter of the tightening section 33 gradually decreases, such as... Figures 2-5 As shown, by configuring the compression section 33, on the one hand, during actual use, when the end of the connecting cylinder 36 is pulled to the position of the compression section 33, the entire frame 11 (including the connecting cylinder 36 or the insertion part 31) can adaptively deflect a certain angle Φ relative to the base 21, such as... Figure 6 As shown, this further solves the problem that the deformation of the hook lifting rod causes the load on the hook 12 to be inconsistent with the load direction of the base 21 on the frame 11, which makes the hook 12 prone to jamming or even breaking; after configuring the compression section 33, the entire frame 11 (including the connecting cylinder 36 or the insertion part 31) can adaptively deflect a certain angle relative to the base 21 under these circumstances, such as Figure 6As shown, this not only facilitates smoother unhooking operations, but also reduces the likelihood of the hook 12 getting stuck or breaking, effectively improving reliability. Furthermore, the tightening section 33 also acts as a guide, and in conjunction with the tension spring 4, it enables smoother automatic reset. Even if the insertion part 31 is completely disengaged from the connecting cylinder 36, it can automatically reset for the next unhooking operation, greatly enhancing stability and reliability.

[0047] Example 3

[0048] The main difference between this embodiment 3 and the above embodiments is that, in the hook-removing device provided in this embodiment, the connecting cylinder 36 is detachably connected to the frame 11 or the base 21. For example, one end of the connecting cylinder 36 is also equipped with a connecting disc 39. Figure 9 As shown, the connecting disc 39 has multiple connecting holes in its circumferential direction. The connecting disc 39 can preferably be a circular disc. The connecting disc 39 and the connecting cylinder 36 are coaxial, allowing the connecting disc 39 to be detachably connected to the frame 11 or base 21 during assembly via fasteners 5 that fit the connecting holes. (It can be understood that the frame 11 or base 21 has through holes that fit the connecting holes, such as...) Figure 9 (as shown), so that the frame 11 and the connecting cylinder 36 can be manufactured separately.

[0049] In a further embodiment, the extension 32 is detachably connected to the base 21. For example, the extension 32 can be mounted to the base 21 using fasteners 5 such as bolts or screws. Also, in the preferred embodiment provided in this practice, one end of the extension 32 is further provided with a positioning head 34. Figure 7 As shown, the outer diameter of the positioning head 34 is smaller than the outer diameter of the extension 32. The outer diameter of the positioning head 34 can be equal to the outer diameter of the insertion part 31, which makes it easier to process and form. The insertion part 31, the positioning head 34, and the extension 32 are coaxial. Correspondingly, as shown... Figure 8 As shown, the frame 11 or base 21 is constructed with positioning holes 25 adapted to the positioning head 34. During assembly, the positioning head 34 is inserted into the positioning hole 25 and fixed in the positioning hole 25, as shown. Figure 9 As shown, for example, it can be fixed in the positioning hole 25 by welding or by heat assembly. With this assembly structure, the components consisting of the insertion part 31, the extension part 32 and the positioning head 34 can be processed separately to ensure high-precision coaxiality of the insertion part 31, the extension part 32 and the positioning head 34, and also to ensure high-precision coaxiality between the positioning head 34 and the positioning hole 25. This helps to ensure and improve the assembly accuracy, so that the insertion part 31 and the connecting cylinder 36 can achieve better fit.

[0050] like Figure 7 and Figure 9As shown, in some embodiments, the end of the positioning head 34 is also provided with a weight reduction hole 35, which extends through the rear end of the positioning head 34. By configuring the weight reduction hole 35, the entire hook removal device becomes lighter.

[0051] As an example, such as Figure 9 As shown, the connecting disc 39 of the connecting cylinder 36 is mounted to the rear end of the frame 11 by fasteners 5; the base 21 includes a mounting plate 24 with a circular plate structure and a positioning cylinder 23 connected to the mounting plate 24. A positioning hole 25 is formed in the positioning cylinder 23 and penetrates the mounting plate 24. The positioning hole 25 is coaxial with the positioning cylinder 23, and the positioning cylinder 23 is coaxial with the mounting plate 24. The outer diameter of the positioning cylinder 23 is greater than or equal to the outer diameter of the extension 32; Figure 9 As shown, the positioning head 34 is inserted into the positioning hole 25 and welded to the base 21; during assembly, the front end of the insertion part 31 faces the connecting cylinder 36 and is inserted into the connecting cylinder 36. The tension spring 4 is sleeved outside the connecting cylinder 36 and the positioning cylinder 23. One end of the tension spring 4 is fixedly connected to the connecting cylinder 36 or the connecting plate 39, and the other end of the tension spring 4 is fixedly connected to the positioning cylinder 23 or the mounting plate 24.

[0052] It is understandable that, to further simplify the structure, in implementation, the structure of the base 21 can be the same as the components formed by the connecting cylinder 36 and the connecting plate 39, such as... Figure 9 As shown.

[0053] Example 5

[0054] This embodiment provides a hook removal device, including a robotic arm and the aforementioned hook removal device. The base 21 in the connecting frame 2 can be detachably installed on the robotic arm via fasteners 5. The robotic arm is mainly used to drive the hook removal device to perform hook removal actions.

[0055] In a more complete implementation, the unhooking device also includes a vehicle body, a controller, a vision positioning module, etc. The robotic arm is mounted on the vehicle body, and the controller is connected to the vehicle body, the robotic arm, and the vision positioning module respectively, so as to complete the unhooking action under the control of the controller. In practice, the controller, robotic arm, and vision positioning module can all be implemented using existing technologies, which will not be elaborated here.

[0056] 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 removal device, comprising a hook remover, the hook remover including a frame and a hook connected to the frame, the hook being used to hook a hook lifting rod, characterized in that, It also includes a connecting frame and tension springs. The connecting frame includes a base, which has a mounting part for connecting to the robotic arm, and the two ends of the tension spring are respectively connected to the frame and the connecting frame. The frame and the connecting frame are respectively provided with mutually compatible mating parts. One mating part is constructed with an insertion part, and the other mating part is constructed with a guide cavity adapted to the insertion part. The insertion part is inserted into the guide cavity and can move and rotate relative to the guide cavity. As the insertion part moves in the direction away from the guide cavity, the elastic potential energy of the tension spring increases.

2. The hook removal device according to claim 1, characterized in that, The cross-sectional structure of the insertion part is circular, the cross-sectional structure of the guide cavity is circular, and the outer diameter of the insertion part is smaller than the inner diameter of the guide cavity.

3. The hook-removing device according to claim 1, characterized in that, The hook is located at the front end of the frame; The mounting part includes mounting holes, connecting posts, or quick-connect couplings.

4. The hook removal device according to claim 1, characterized in that, It also includes a connecting cylinder, the guide cavity being constructed in the connecting cylinder, and the connecting cylinder being connected to the frame or base.

5. The hook-removing device according to claim 4, characterized in that, It also includes a limiting part for limiting the insertion depth of the insertion part. Initially, the tension spring has elastic potential energy, and the connecting cylinder abuts against the limiting part under the elastic force of the tension spring, or the insertion part abuts against the limiting part under the elastic force of the tension spring.

6. The hook-removing device according to claim 5, characterized in that, An extension is connected to the end of the insertion part that is away from the connecting cylinder. A step is formed between the insertion part and the extension to fit the connecting cylinder. Initially, the end of the connecting cylinder abuts against the step, which is used to limit the insertion depth of the insertion part.

7. The hook removal device according to claim 6, characterized in that, The extension has a circular cross-sectional structure, and the maximum outer diameter of the extension is smaller than the inner diameter of the tension spring. The tension spring is sleeved on the outside of the connecting cylinder and the insertion part, and covers the connecting cylinder and the insertion part; The extension is detachably connected to the frame or base.

8. The hook removal device according to claim 6, characterized in that, One end of the connecting cylinder is also equipped with a connecting plate, which has multiple connecting holes in the circumference direction. The connecting plate can be detachably connected to the frame or base by fasteners that fit the connecting holes. And / or, one end of the extension is also provided with a positioning head, the outer diameter of the positioning head being smaller than the outer diameter of the extension, and the insertion part, the positioning head, and the extension are coaxial; the frame or base is provided with a positioning hole adapted to the positioning head; the positioning head is inserted into the positioning hole and fixed in the positioning hole.

9. The hook-removing device according to any one of claims 1-8, characterized in that, A constriction section is also constructed between the end of the insertion part and the outer side of the insertion part, and the inner diameter of the constriction section gradually decreases along the direction close to the end of the insertion part.

10. A hook removal device, comprising a robotic arm, characterized in that, It also includes the hook removal device according to any one of claims 1-9, wherein the connecting frame is detachably mounted on the robotic arm, and the robotic arm is used to drive the hook removal device to perform the hook removal action.

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