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CN-122009266-A - Trailer compartment mechanical claw, coal conveying open wagon unhooking robot and operation method thereof

CN122009266ACN 122009266 ACN122009266 ACN 122009266ACN-122009266-A

Abstract

The invention discloses a trailer compartment mechanical claw, a coal conveying open wagon unhooking robot and an operation method thereof, and relates to the technical field of unhooking robots, wherein the robot comprises a walking chassis, a double unhooking assembly, a car coupler identification visual probe and a trailer compartment mechanical claw; an electromagnetic clutch is arranged in a walking chassis, active walking and passive follow-up modes can be switched, a double-unhooking assembly comprises special mechanical claws which are respectively matched with C60 and C70 vehicle types, the trailer compartment mechanical claws are stably connected with an electromagnet through positioning lasers, and a visual probe is used for completing vehicle type identification and coordinate positioning. During operation, the robot automatically positions and hooks the open wagon, drives the corresponding mechanical arm to complete coaxial calibration and follow-up unhooking after the vehicle type is identified, and finally resets.

Inventors

  • YAN FANG
  • SUN CHANGJIE

Assignees

  • 武汉道翔电力科技有限公司

Dates

Publication Date
20260512
Application Date
20260410

Claims (10)

  1. 1. A trailer box mechanical claw (500) is characterized by comprising a trailer box main body (510), an electromagnet (520), a left change gear (530), a right change gear (540), a left positioning laser (550), a right positioning laser (560) and a rotary driving assembly (570) which is arranged on a second supporting column (130) and drives the trailer box main body (510) to rotate relative to the second supporting column (130); the trailer box main body (510) is mounted on the second support column (130) through a rotary hinge, the rotary driving assembly (570) drives the trailer box main body (510) to rotate, the electromagnet (520) is mounted in the middle of the trailer box main body (510) in an embedded mode, and the left positioning laser (550) and the right positioning laser (560) are mounted on the inner sides of the left change gear (530) and the right change gear (540) and the outer sides of the electromagnets (520).
  2. 2. A trailer box gripper (500) according to claim 1, characterized in that the rotary drive assembly (570) comprises a rotary drive motor (570 a) embedded in the second support column (130), a first link (570 b) with one end fixed to the output end of the rotary drive motor (570 a), a second link (570 c) with one end hinged to the other end of the first link (570 b) and the other end hinged to the back of the trailer box body (510).
  3. 3. The trailer box gripper (500) according to claim 1, wherein the trailer box body (510) is of a plate-type or spring-type, wherein the spring-type body is provided with a spring in the middle, is normally planar, and is folded when being articulated.
  4. 4. The utility model provides a coal conveying open wagon unhook robot which characterized in that includes: The walking chassis (100) is arranged on the double rails (H) and is used for walking and pulling a robot, and the top of the walking chassis is provided with a first support column (110); a first unhooking assembly (200) comprising a first six-axis mechanical arm (210) mounted on top of the first support column (110) and a first unhooking gripper (220) mounted at the end of the first six-axis mechanical arm (210); The second unhooking component (300) comprises a second six-axis mechanical arm (310) which is arranged at the top of the walking chassis (100) and is positioned below the first unhooking component (200), and a second unhooking mechanical claw (320) which is arranged at the tail end of the second six-axis mechanical arm (310); The coupler identification visual probe (400) is arranged at the side of the first support column (110) and is used for identifying the type and the position parameters of the coupler A trailer box gripper (500) according to any one of claims 1-3, mounted on the side of the travelling chassis (100), for hitching an open car box prism and moving a robot with the box.
  5. 5. The coal conveying open car unhooking robot according to claim 4, wherein the walking chassis (100) further comprises a walking assembly (120) driving the walking chassis (100); The walking assembly (120) comprises a driving clamping wheel (120 a) and a driven clamping wheel (120 b) which are arranged on the double tracks (H), the driving clamping wheel (120 a) is connected with an electromagnetic clutch (120 c), the electromagnetic clutch (120 c) is connected with a speed reducer (120 d), and the speed reducer (120 d) is connected with a main servo motor (120 e); the electromagnetic clutch (120 c), the speed reducer (120 d) and the main servo motor (120 e) are all built in the walking chassis (100), the main servo motor (120 e) drives the walking chassis (100) to move when the electromagnetic clutch (120 c) is electrified, and the electromagnetic clutch (120 c) realizes the passive follow-up of the robot along with the open wagon through the hanging of the mechanical claws of the trailer box when the electromagnetic clutch (120 c) is deenergized, so that the unhooking operation along with the wagon is completed.
  6. 6. The coal conveying open wagon unhooking robot according to claim 4, wherein the first unhooking mechanical claw (220) comprises a first mechanical arm butt flange (220 a), a first folding arm (220 b), a zigzag L-shaped frame (220 c), a round bar type U-shaped hook head (220 d) and a U-shaped hook groove (220 c-1), the first folding arm (220 b) is vertically arranged in the center of the flange, the zigzag L-shaped frame (220 c) is vertically welded to the tail end of the first folding arm (220 b) in a normal direction, and the zigzag L-shaped frame and the first U-shaped groove (220 c-1) form a first U-shaped hook.
  7. 7. The coal conveying open wagon unhooking robot of claim 4, wherein the second unhooking gripper (320) comprises a second mechanical arm butt flange (320 a), a second folding arm (320 b), a plate-type sleeve hook (320 c) and a half-arc lifting column (320 d); The center of a semicircular arc bottom of the semicircular arc lifting column (320 d) and the center of a second mechanical arm butt flange (320 a) are collinear with the center line of a top cross rod (320 b-1) of the second folding arm (320 b), the top cross rod (320 b-1) of the second folding arm (320 b) is perpendicular to the normal direction of the plate type sleeve hook (320 c), the tail end of the plate type sleeve hook (320 c) forms a U-shaped hook head (320 c-1), and the U-shaped hook head and the first U-shaped groove (320 c-2) form a second U-shaped hook.
  8. 8. The coal conveying open car unhooking robot of claim 4 wherein the car coupler identification vision probe (400) comprises a strut (410) vertically mounted on a side wall of the first support column (110) and an image collector (420) mounted on the strut (410).
  9. 9. The coal conveying open wagon unhooking robot according to claim 4, wherein a lithium battery and a controller are arranged in the walking chassis (100), communication is WiFI CPE, and the communication is in wireless connection with a WIFI AP of a line.
  10. 10. A method for operating the unhooking robot of the coal conveying open wagon according to any one of claims 4 to 9, characterized by comprising the following specific operation steps: S1, the robot moves to an initial position, the distance between the left positioning laser (550) and the right positioning laser (560) of the compartment mechanical claw (500) and the open wagon prism is calibrated, the measurement deviation is less than or equal to 10mm as a judgment standard, the position is adjusted by the robot in a slow speed advancing and retreating mode in the calibration process, the distance between the left change gear (530) and the right change gear (540) is 5mm wider than that between the open wagon prism, the positioning deviation adaptation range is +/-30 mm, the electromagnetic clutch (120 c) is disconnected after the positioning is finished, and the rotary driving assembly (570) drives the trailer compartment mechanical claw (500) to rotationally hang the open wagon prism and switch on the electromagnet (520); s2, a coupler identification visual probe (400) is started to identify the coupler type, and the coupler type is determined to be a C60 or C70 vehicle type; S3, according to the matching of the vehicle types, the corresponding first unhooking mechanical claw (220) or second unhooking mechanical claw (320) is used for adjusting the first six-axis mechanical arm (210) or the second six-axis mechanical arm (320) to a working position, and hooking the coupler shank after being abutted against the compartment of the open wagon, so that the coaxial position adjustment is completed; S4, dragging the open wagon to an unhooking position, controlling the corresponding first unhooking mechanical claw (220) or second unhooking mechanical claw (320) to rotate by a preset angle to finish unhooking, triggering a unhooking signal, then disconnecting the electromagnet (520), and resetting the trailer compartment mechanical claw (500); s5, after the open wagon is confirmed to be separated, the first unhooking component (200) or the second unhooking component (300) returns, the electromagnetic clutch (120 c) is electrified, and the robot returns to the initial position to stop running.

Description

Trailer compartment mechanical claw, coal conveying open wagon unhooking robot and operation method thereof Technical Field The invention relates to the technical field of unhooking robots, in particular to a trailer compartment mechanical claw, a coal conveying open wagon unhooking robot and an operation method thereof. Background The automatic unhooking technology of coal conveying open wagon is an important innovation in the railway transportation field, and the development background mainly comes from a plurality of problems existing in the traditional manual unhooking operation. In the process of transporting bulk materials such as coal, ore and the like, the car dumper system basically realizes automation, but a carriage unhooking link depends on manual operation for a long time, and becomes the only bottleneck affecting unattended operation. The unhooking operation needs to be carried out in a special space which is narrow and compact between two carriages, and is often accompanied by low-speed running of the open wagon, and has higher safety risks. Severe environments such as dust, noise and the like on the site of the dumper cause serious damage to the health of operators, and working conditions of high temperature in summer and low temperature in winter are frosted on snow. The unhooking work requires three shifts of cyclic work, and has high labor intensity and low efficiency. When the quantity of coal transported is large and the quantity of open cars is large, the low-automation unhooking mode can seriously obstruct the efficiency of the car dumper. Disclosure of Invention This section is intended to outline some aspects of embodiments of the application and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description of the application and in the title of the application, which may not be used to limit the scope of the application. Therefore, the invention aims to provide the trailer compartment mechanical claw, the coal conveying open wagon unhooking robot and the operation method thereof, which can realize the automatic unhooking and the unhooking of C60 and C70 vehicle types and are suitable for unhooking operation of the coal conveying open wagon with ultra-narrow channels. The mechanical claws of the trailer carriage enable the robot to move along with the carriage, so that anthropomorphic follow-up unhooking operation is realized, the separation action time of the coal conveying open wagon is short, and the operation efficiency of the wagon dumper is effectively ensured. In order to solve the technical problems, according to one aspect of the present invention, the following technical solutions are provided: The trailer box mechanical claw comprises a trailer box main body, an electromagnet, a left change gear, a right change gear, left positioning laser, right positioning laser and a rotary driving assembly which is arranged on a second supporting column and drives the trailer box main body to rotate relative to the second supporting column; The trailer box main body is mounted on the second support column through a rotary hinge, the rotary driving assembly drives the trailer box main body to rotate, the electromagnet is mounted in the middle of the trailer box main body in an embedded mode, and the left positioning laser and the right positioning laser are mounted on the inner sides of the left change gear and the right change gear and the outer sides of the electromagnet. As a preferable mode of the trailer box mechanical claw of the invention, the rotary driving assembly comprises a rotary driving motor embedded in the second supporting column, a first connecting rod with one end fixed at the output end of the rotary driving motor, and a second connecting rod with one end hinged with the other end of the first connecting rod and the other end hinged with the back of the trailer box main body. As a preferable scheme of the trailer box mechanical claw, the trailer box main body is of a whole plate type or a spring type, wherein a spring is arranged in the middle of the spring type main body, and is normally a plane, and a folded surface is formed during hanging. A coal conveying open car unhooking robot, comprising: the walking chassis is arranged on the double rails and used for walking and pulling the robot, and the top of the walking chassis is provided with a first support column; the first unhooking assembly comprises a first six-axis mechanical arm arranged at the top of the first support column and a first unhooking mechanical claw arranged at the tail end of the first six-axis mechanical arm; the second unhooking component comprises a second six-axis mechanical arm which is arranged at the top of the walking chassis and is positioned below the first unhooking component, and a second unhooking mechanical claw which is arranged at the tail end of the second six-axis mechanical arm; The coupler identif