CN-224211067-U - Robot for pulling out pins and wind picking pipe of coupler

CN224211067UCN 224211067 UCN224211067 UCN 224211067UCN-224211067-U

Abstract

The utility model discloses a robot for pulling out pins and picking up air pipes of a car coupler, which comprises a carrier, a pitching swinging module, a telescopic arm, a folding and shrinking operation module and a radar camera, wherein the pitching swinging module is arranged on the carrier, the output end of the pitching swinging module is hinged with the fixed end of the telescopic arm and drives the telescopic arm to conduct pitching action and swinging action, the telescopic end of the telescopic arm is connected with the folding and shrinking operation module, the telescopic arm drives the folding and shrinking operation module to stretch so as to pull out pins and pick up air pipes, the folding and shrinking operation module is used for pulling out pins when being unfolded, the folding and shrinking operation module is used for picking up air pipes when being shrunk, and the radar camera is arranged at the fixed end of the telescopic arm and detects the positions of car coupler lock pins and air pipes. The automatic pin pulling and air picking device can realize automatic pin pulling and air picking operation to replace manual pin pulling and air picking, can realize switching of pin pulling positions and air picking positions without carrier movement, and can realize switching of pin pulling states and air picking states, and the interference damage influence of the pin pulling device on the air pipe during the air picking is avoided.

Inventors

HUANG SHUGUANG
ZHANG YUNFEI
LI YAN
YANG TAO
Yang Xinhang
ZHANG HAOQI

Assignees

北京汇力智能科技有限公司

Dates

Publication Date: 20260508
Application Date: 20250514

Claims (10)

1. The robot for pulling out the pin and the wind picking pipe of the coupler is characterized by comprising a carrier, a pitching swinging module, a telescopic arm, a folding and shrinking operation module and a radar camera; The pitching swinging module is arranged on the carrier, and the output end of the pitching swinging module is hinged with the fixed end of the telescopic arm to drive the telescopic arm to perform pitching and swinging actions; The telescopic end of the telescopic arm is connected with the folding and shrinking operation module, and the telescopic arm drives the folding and shrinking operation module to stretch so as to pull out pins and pick up air pipes; The folding and shrinking operation module performs pin pulling operation when being unfolded and performs air picking operation when being shrunk; The radar camera is arranged at the fixed end of the telescopic arm and used for detecting the positions of the coupler lock pin and the air pipe.
2. The robot for coupler pulling and wind pipe of claim 1, wherein said pitching and rolling module comprises a pitching driving mechanism and a rolling driving mechanism; The pitching driving mechanism is arranged on the carrier, the output end of the pitching driving mechanism is rotationally connected with the fixed end of the telescopic arm, and the pitching driving mechanism drives the telescopic arm to perform pitching action; The swing driving mechanism is arranged at the output end of the pitching driving mechanism, and the output end of the swing driving mechanism is hinged with the fixed end of the telescopic arm to drive the telescopic arm to swing.
3. The robot for pulling pins and wind pipe of coupler according to claim 2, wherein the elevation driving mechanism comprises a main bracket, an elevation motor, a speed reducer and an elevation frame; The main support is fixed on the carrier; The pitching motor and the speed reducer are arranged on the main support, the output end of the pitching motor is connected with the speed reducer, and the output end of the speed reducer is connected with the pitching frame; The swing driving mechanism and the telescopic arm are arranged on the pitching frame, and the fixed end of the telescopic arm is rotationally connected with the pitching frame; The pitching motor drives the pitching frame to rotate and drives the telescopic arm to conduct pitching motion.
4. The robot for pulling a pin and a tube of a car coupler according to claim 2, wherein the swing driving mechanism comprises a push rod bracket and a swing push rod; The push rod bracket is arranged at the output end of the pitching driving mechanism; The swing push rod is arranged on the push rod support, the fixed end of the swing push rod is hinged with the push rod support, and the output end of the swing push rod is hinged with the fixed end of the telescopic arm; The swing push rod stretches out and draws back to drive the telescopic boom swings, drives the telescopic boom to move to a pin pulling position or an air picking pipe position.
5. The robot for pulling a pin and a tube of a coupler of claim 1, wherein the telescopic arm comprises a sleeve, a servo motor, a screw rod, a screw nut, a linear bearing and a telescopic rod; The sleeve is hinged with the pitching swinging module, and the radar camera is arranged on the sleeve; the servo motor is arranged at one end of the sleeve, the screw rod nut and the telescopic rod are all arranged in the sleeve, and the linear bearing is fixed in the sleeve; The output end of the servo motor is connected with the screw rod; the screw rod nut is in threaded connection with the screw rod; One end of the telescopic rod is connected with the screw rod nut, the other end of the telescopic rod is connected with the folding and shrinking operation module, and the linear bearing is sleeved on the telescopic rod; The servo motor drives the screw rod to rotate and drives the screw rod nut to linearly move, so that the telescopic rod is driven to stretch under the guidance of the linear bearing.
6. The robot for pulling out pins and tubes of car coupler according to claim 1, wherein the folding and shrinking operation module comprises a folding and shrinking mechanism, a tube pulling device and a pin pulling device; The folding and shrinking mechanism is obliquely upwards arranged at the telescopic end of the telescopic arm; The pipe picking device is arranged on the folding and shrinking mechanism, and the pin pulling device is arranged at the output end of the folding and shrinking mechanism; When the folding and shrinking mechanism is shrunk, the pin pulling device is driven to be folded, and the pipe picking device is driven to rotate from the horizontal state to the vertical state to pick the air pipe.
7. The robot for pulling a pin and tube of a coupler of claim 6, wherein the tube pulling device is a U-shaped bracket.
8. The robot for pulling pins and duct of couplers of claim 6, wherein the pin pulling means is a jaw.
9. The robot for pulling pins and tube of car coupler according to claim 6, wherein the folding and shrinking mechanism comprises a tailstock, a middle frame, a tube pulling bracket, a pin pulling bracket, a cylinder and a connecting rod; the tail frame is obliquely upwards fixed at the output end of the telescopic arm; One end of the middle frame is hinged with the tail frame, the other end of the middle frame is hinged with the pin pulling support, and the pin pulling support is used for installing the pin pulling device; The pipe picking support is fixed on the middle frame and is used for installing the pipe picking device; The air cylinder is hinged to the tail frame, and the output end of the air cylinder is hinged to the middle frame; one end of the connecting rod is hinged with the tailstock, and the other end of the connecting rod is hinged with the pin pulling device; When the air cylinder stretches out, the middle frame is driven to rotate by 90 degrees around the hinge joint of the middle frame and the tail frame, so that the pipe picking device is driven to rotate from a horizontal state to a vertical state and the pin pulling device stretches out.
10. The robot for pulling a pin and tube of a coupler of claim 1, further comprising a detection bracket and a mounting sleeve; the detection bracket is fixed at the fixed end of the telescopic arm; The mounting sleeve is fixed on the detection bracket; the radar camera is installed in the installation sleeve and used for detecting the positions of the coupler lock pin and the air pipe.

Description

Robot for pulling out pins and wind picking pipe of coupler Technical Field The utility model relates to the technical field of automatic devices, in particular to a robot for pulling out a pin and picking an air pipe of a coupler. Background In the prior art, the coupler is a vehicle part for realizing the connection and the hanging between a locomotive and a carriage or between the carriage and the carriage, transmitting traction force and impact force and keeping a certain distance between the carriages, the coupler body is connected with coupler yoke frames arranged at two ends of the carriage through coupler yoke pins, and the coupler body can swing left and right in a certain range by taking the coupler yoke pins as circle centers so as to adapt to the railway transportation working condition of bending and turning. The coupler consists of three parts of a coupler head, a coupler body and a coupler tail, wherein the thick part at the front end of the coupler is called the coupler head, and a coupler knuckle, a coupler knuckle pin, a lock lifting pin, a coupler knuckle push iron and a coupler lock iron are arranged in the coupler head. The rear part of the coupler is called a coupler tail, and a vertical flat lock hole is formed on the coupler tail so as to be connected with a coupler tail frame. Between the carriages, there are also brake pipes, commonly known as air pipes, connected to and longitudinally extending through the train. Open cars are used in large quantities for the transport of bulk goods such as coal, iron ore, etc., and dumper systems are often used for unloading. The open wagon is pulled into the dumper system after being separated by the unhooking, and the dumper rotates to discharge the open wagon by 160 degrees, so that the automatic degree is high, and the discharging efficiency is high. Before entering the dumper, the dumper needs to be connected and disconnected by unhooking, so that the carriage to be dumped is separated from the train, and the process comprises the operations of ventilation, pin pulling, wind pipe picking and unhooking, and then the dumper can be pulled and separated. The pin pulling and air picking pipe is important as a pre-operation procedure before the hook pulling and the separation, and the patent CN114802335B discloses a pin pulling and air picking pipe robot for a train coupler, which is found in actual use that the pin pulling device and the air picking pipe device are mutually influenced to cause interference damage when the operation is carried out due to the integration of the pin pulling device and the air picking pipe device, and meanwhile, the robot is required to integrally move to the pin pulling position for operation after the air picking pipe is removed due to the different positions of the pin pulling device and the air picking pipe, so that the operation is complex, the time consumption is long and the cost is high. Disclosure of Invention According to the embodiment of the utility model, a robot for pulling out a pin and a wind picking pipe of a car coupler is provided, which comprises a carrier, a pitching swinging module, a telescopic arm, a folding and shrinking operation module and a radar camera; The pitching swinging module is arranged on the carrier, and the output end of the pitching swinging module is hinged with the fixed end of the telescopic arm to drive the telescopic arm to perform pitching and swinging actions; The telescopic end of the telescopic arm is connected with the folding and shrinking operation module, and the telescopic arm drives the folding and shrinking operation module to stretch so as to pull out the pin and pick up the air pipe; the pin pulling operation is performed when the folding and shrinking operation module is unfolded, and the air picking operation is performed when the folding and shrinking operation module is shrunk; the radar camera is arranged at the fixed end of the telescopic arm and used for detecting the positions of the coupler lock pin and the air pipe. Further, the pitching swinging module comprises a pitching driving mechanism and a swinging driving mechanism; The pitching driving mechanism is arranged on the carrier, the output end of the pitching driving mechanism is rotationally connected with the fixed end of the telescopic arm, and the pitching driving mechanism drives the telescopic arm to perform pitching motion; The swing driving mechanism is arranged at the output end of the pitching driving mechanism, and the output end of the swing driving mechanism is hinged with the fixed end of the telescopic arm to drive the telescopic arm to swing. Further, the pitching driving mechanism comprises a main bracket, a pitching motor, a speed reducer and a pitching frame; The main support is fixed on the carrier; The pitching motor and the speed reducer are arranged on the main bracket, the output end of the pitching motor is connected with the speed reducer, and the output end of the speed