阅读说明：本技术 一种用于轨道运输的全自动摘挂销-链系统及方法 (Full-automatic pin-chain picking and hanging system and method for rail transportation ) 是由 安旭 魏仪昌 宋华 于 2020-06-22 设计创作，主要内容包括：本发明揭示了一种用于轨道运输的全自动摘挂销-链系统及方法。所述全自动摘挂销-链系统包括安装在轨道上的两个双向阻车器,用于将车辆锁止,并能够与车辆一起沿轨道移动,直至到达理想位置；双向拖车机构用于矿车的初定位,设置于两个双向阻车器之间,用于使车辆在轨道上沿第一方向或第二方向移动,直至到达其中一个双向阻车器所在位置；智能视觉检测系统,用于实时检测指定插销位的实际位置,并和理想位置比较,再控制双向阻车器移动车辆直至指定插销位到达理想位置；摘挂销-链装置,用于将车辆相邻车厢之间连接的环链摘下或挂上。本发明提供的用于轨道运输的全自动摘挂销-链系统及方法,顺利实现了串车环链摘挂自动化,减少了操作人员。(The invention discloses a full-automatic pin-chain picking and hanging system and a method for rail transportation. The full-automatic hanging pin-chain removing system comprises two bidirectional car stoppers which are arranged on a track and used for locking a car and can move along the track together with the car until an ideal position is reached; the bidirectional trailer mechanism is used for initial positioning of a mine car, is arranged between the two bidirectional car stoppers and is used for enabling the car to move along the first direction or the second direction on the track until the position of one of the bidirectional car stoppers is reached; the intelligent visual detection system is used for detecting the actual position of the specified plug pin position in real time, comparing the actual position with the ideal position, and then controlling the bidirectional car arrester to move the car until the specified plug pin position reaches the ideal position; and the hanging pin-chain device is used for hanging or hanging the ring chain connected between the adjacent carriages of the vehicle. The full-automatic pin-chain picking and hanging system and method for rail transportation smoothly realize the automation of picking and hanging of the chain of the tandem car and reduce operators.)

1. A fully automatic pick and hang pin-chain system for rail transport, comprising:

the bidirectional car arrester is used for locking the vehicle and can move along the track together with the vehicle until a designated bolt position on the vehicle reaches an ideal position;

the bidirectional trailer mechanism is used for initial positioning of the mine car, is arranged between the two bidirectional car stoppers and is at least used for enabling the car to move on the track along the first direction or the second direction until the position of one of the bidirectional car stoppers is reached;

the intelligent visual detection system is at least used for detecting the actual position of the specified plug pin position in real time, comparing the actual position of the specified plug pin position with the ideal position, and then controlling the bidirectional car arrester to move the car until the specified plug pin position reaches the ideal position;

and the hanging pin-chain device is at least used for taking out the connecting pin in the appointed plug pin position at the ideal position and removing the connecting pin and the corresponding chain to release the connection between the adjacent carriages in the vehicle, or inserting the connecting pin into the appointed plug pin position at the ideal position and arranging the corresponding chain to enable the adjacent carriages in the vehicle to be connected with each other.

2. The fully automatic hitch pin-chain system for rail transportation of claim 1, wherein each bidirectional car arrester includes:

the two car stopping assemblies are distributed at intervals along the length direction of the track, are respectively used for stopping vehicles from a first direction and a second direction and are fixedly connected with each other, and the first direction is opposite to the second direction;

the jacking positioning assembly is arranged corresponding to the two car stopping assemblies and at least used for jacking the car stopped by any one of the car stopping assemblies;

the two car stopping assemblies and the jacking positioning assembly are also in transmission connection with driving equipment, so that the two car stopping assemblies, the jacking positioning assembly and the vehicle lifted by the jacking positioning assembly can freely move along the length direction of the track under the driving of the driving equipment;

and/or the car stopping assembly comprises car stopping mechanisms symmetrically distributed on two sides of the track, and the car stopping mechanisms are connected with the controller; and/or the car stopping mechanism comprises a base, a mandrel, a car stopper jaw, a spring, an oil cylinder, a transmission shaft, a linkage disc and a pull rod, wherein the mandrel is fixed on the base, the car stopper jaw is hinged with the mandrel, the spring is sleeved on the mandrel and is in contact with the bottom of the car stopper jaw, and the other end of the spring is provided with a spring baffle; one end of the oil cylinder is connected with the controller, the other end of the oil cylinder is connected with the transmission shaft, the linkage disc is sleeved on the transmission shaft, one end of the pull rod is connected with the linkage disc, the other end of the pull rod is hinged with the car arrester jaw, and the oil cylinder can drive the car arrester jaw to rotate around the mandrel through the transmission shaft, the linkage disc and the pull rod.

3. The fully automatic pick-off pin-chain system for rail transport of claim 1, characterized in that: the bidirectional trailer mechanism comprises a pin tooth chain row fixedly connected with the guide rail and two trailer hooks arranged on the guide rail, wherein the two trailer hooks are arranged at intervals along the length direction of the guide rail; a reversing component is arranged between the two trailer couplers, and the reversing component can be at least selectively connected with any one of the two trailer couplers and separated from the other one of the two trailer couplers; and when the reversing assembly is coupled to one of the trailing couplers, the trailing coupler is in the armed position to avoid contact with a vehicle in the first orientation and the other trailing coupler is in the operative position to engage a vehicle in the second orientation.

4. A fully automatic pick pin-chain system for rail transport according to claim 3, characterized in that: the reversing assembly can be connected with both the tow hooks, so that both the tow hooks are in a position to be parked; and/or the reversing assembly comprises a reversing locking plate, the reversing locking plate is in transmission connection with the shifting fork mechanism and can freely move in the direction vertical to the length direction of the guide rail under the driving of the shifting fork mechanism; and/or the guide rail is also in transmission connection with a driving device and can freely move in the length direction under the driving of the driving device; and/or the driving device comprises a pin gear in transmission connection with the power equipment, and the pin gear can be matched with the pin gear row; and/or, the power equipment adopts a hydraulic motor, the pin gear is fixedly connected on a main shaft of the hydraulic motor, and the hydraulic motor and the pin gear are fixedly connected on a pin gear support.

5. The fully automatic pick-off pin-chain system for rail transport of claim 1, characterized in that: the intelligent visual detection system detects the coordinate of the specified bolt in a set coordinate system in real time so as to obtain the actual position of the specified bolt position.

6. The fully automatic pick-off pin-chain system for rail transport of claim 1, characterized in that: the intelligent visual detection system comprises a video detection mechanism and a control unit connected with the video detection mechanism, and the control unit is further connected with a bidirectional trailer mechanism, a bidirectional car arrester and a hitch pin chain detaching device.

7. The fully automatic pick-off pin-chain system for rail transport of claim 1, characterized in that: the hanging pin-chain picking device comprises a working head arranged above the track, and a pin picking mechanism and a chain picking mechanism which are arranged on the working head, wherein the chain picking mechanism is arranged below the pin picking mechanism; the working head is in transmission connection with the driving mechanism and is used for controlling the working head to freely move in the vertical direction; the pin removing mechanism is at least used for clamping and fixing the connecting pin and taking out the connecting pin from the connecting pin seat or inserting the connecting pin into the connecting pin seat; the chain picking mechanism is at least used for clamping and fixing the ring chain and moving the ring chain out of or placing the ring chain into adjacent carriages in the vehicle along the direction perpendicular to the length direction of the track; and/or the pin removing mechanism comprises a lifting assembly, a rotating assembly and a clamping assembly matched with a plug pin, wherein the rotating assembly is arranged on the lifting assembly, and the clamping assembly is arranged on the rotating assembly; and/or the chain picking mechanism comprises a clamping jaw assembly and a clamping jaw driving assembly which are matched with the endless chain, so that the clamping jaw assembly can clamp or release the endless chain under the driving of the clamping jaw driving assembly.

8. A fully automatic pick pin-chain method for rail transport, implemented on the basis of the fully automatic pick pin-chain system of claims 1-7, characterized in that it comprises:

driving the vehicle to move along a first direction or a second direction on the track by using a bidirectional trailer mechanism until an initial position is reached, wherein the initial position is the position of the bidirectional car arrester;

locking the vehicle with a bidirectional car arrester at the initial position;

detecting the actual position of the specified plug pin position in real time by an intelligent visual detection system, comparing the actual position of the specified plug pin position with a preset ideal position, and controlling the bidirectional car arrester to move the car until the specified plug pin position reaches the ideal position;

and moving the pin-chain removing and hanging device to a position between adjacent carriages and above the connecting pin in the vehicle to sequentially complete pin removing, chain removing or pin and chain hanging.

9. The fully automatic hitch pin-chain method of claim 8, comprising:

setting a coordinate system by an intelligent visual detection system, and setting the ideal position in the coordinate system;

and detecting the coordinates of the appointed bolt position in real time by an intelligent visual detection system so as to obtain the actual position of the appointed bolt on the track.

10. A fully automatic hitch pin-chain method as claimed in claim 9, comprising:

and in the process of enabling the bidirectional car arrester to transport the car to the ideal position, continuously detecting the coordinate of the specified plug pin position by a visual detection mechanism of an intelligent visual detection system, and sending the coordinate to a control unit of the intelligent visual detection system for processing in real time, so that the control unit can regulate and control the working state of the bidirectional car arrester in real time until the coordinate of the specified plug pin position is coincided with the ideal position.

Technical Field

The invention belongs to the technical field of rail transportation, and particularly relates to a full-automatic pin-chain picking and hanging system and method for rail transportation.

Background

In the underground transportation operation of the coal mine, the hook is taken off, which is a heavy work and also a labor waste. According to the general guidelines of the state on the reduction of personnel safety and the reduction of personnel efficiency, the importance of underground transportation automation, particularly automatic hook picking, is increasingly shown.

Different from coal mining, belt transportation and other operations, a transportation system has many uncertain factors, so that many works need to be carried out manually. Such as: the connection pins between the hanging vehicles, the three-link chain between the vehicles, or the movement of the vehicles and the positioning of the vehicles under the unpowered condition, etc. all need manual participation at present.

Therefore, there is a great need to design a fully automatic pick-and-hang pin-chain system for rail transportation.

Disclosure of Invention

The present invention is directed to a fully automatic pick and hang pin-chain system and method for rail transportation that overcomes the deficiencies of the prior art.

In order to achieve the above object, the embodiment of the present invention adopts a technical solution comprising:

an embodiment of the present invention provides a full-automatic pick-and-hang pin-chain system for rail transportation, which includes:

the bidirectional car arrester is used for locking the vehicle and can move along the track together with the vehicle until a designated bolt position on the vehicle reaches an ideal position;

the bidirectional trailer mechanism is used for initial positioning of the mine car, is arranged between the two bidirectional car stoppers and is at least used for enabling the car to move on the track along the first direction or the second direction until the position of one of the bidirectional car stoppers is reached;

the intelligent visual detection system is at least used for detecting the actual position of the specified plug pin position in real time, comparing the actual position of the specified plug pin position with the ideal position, and then controlling the bidirectional car arrester to move the car until the specified plug pin position reaches the ideal position;

and the hanging pin-chain device is at least used for taking out the connecting pin in the appointed plug pin position at the ideal position and removing the connecting pin and the corresponding chain to release the connection between the adjacent carriages in the vehicle, or inserting the connecting pin into the appointed plug pin position at the ideal position and arranging the corresponding chain to enable the adjacent carriages in the vehicle to be connected with each other.

Further, each bidirectional car arrester comprises

The two car stopping assemblies are distributed at intervals along the length direction of the track, are respectively used for stopping vehicles from a first direction and a second direction and are fixedly connected with each other, and the first direction is opposite to the second direction;

the jacking positioning assembly is arranged corresponding to the two car stopping assemblies and at least used for jacking the car stopped by any one of the car stopping assemblies;

the two car stopping assemblies and the jacking positioning assembly are further in transmission connection with driving equipment, so that the two car stopping assemblies, the jacking positioning assembly and the vehicle supported by the jacking positioning assembly can freely move along the length direction of the track under the driving of the driving equipment.

Furthermore, the bidirectional trailer mechanism comprises a pin tooth chain row fixedly connected with the guide rail and two trailer hooks arranged on the guide rail, wherein the two trailer hooks are arranged at intervals along the length direction of the guide rail; a reversing component is arranged between the two trailer couplers, and the reversing component can be at least selectively connected with any one of the two trailer couplers and separated from the other one of the two trailer couplers; and when the reversing assembly is coupled to one of the trailing couplers, the trailing coupler is in the armed position to avoid contact with a vehicle in the first orientation and the other trailing coupler is in the operative position to engage a vehicle in the second orientation.

Furthermore, the intelligent visual detection system detects the coordinate of the specified bolt in the set coordinate system in real time, so as to obtain the actual position of the specified bolt position.

Further, the hanging pin and chain picking device comprises a working head arranged above the track, and a pin picking mechanism and a chain picking mechanism which are arranged on the working head, wherein the chain picking mechanism is arranged below the pin picking mechanism; the working head is in transmission connection with the driving mechanism and is used for controlling the working head to freely move in the vertical direction; the pin removing mechanism is at least used for clamping and fixing the connecting pin and taking out the connecting pin from the connecting pin seat or inserting the connecting pin into the connecting pin seat; and the chain removing mechanism is at least used for clamping and fixing the ring chain and moving the ring chain out of or placing the ring chain into the adjacent carriages in the vehicle along the direction perpendicular to the length direction of the track.

The embodiment of the invention also provides a full-automatic pin-chain picking and hanging method for rail transportation, which is implemented based on the full-automatic pin-chain picking and hanging, and the full-automatic pin-chain picking and hanging method comprises the following steps:

driving the vehicle to move along a first direction or a second direction on the track by using a bidirectional trailer mechanism until an initial position is reached, wherein the initial position is the position of the bidirectional car arrester;

locking the vehicle with a bidirectional car arrester at the initial position;

detecting the actual position of the specified plug pin position in real time by an intelligent visual detection system, comparing the actual position of the specified plug pin position with a preset ideal position, and controlling the bidirectional car arrester to move the car until the specified plug pin position reaches the ideal position;

and moving the pin-chain removing and hanging device to a position between adjacent carriages and above the connecting pin in the vehicle to sequentially complete pin removing, chain removing or pin and chain hanging.

Further, a coordinate system is set by an intelligent visual detection system, and the ideal position is set in the coordinate system;

and detecting the coordinates of the appointed bolt position in real time by an intelligent visual detection system so as to obtain the actual position of the appointed bolt on the track.

Furthermore, in the process of enabling the bidirectional car arrester to transport the car to the ideal position, the visual detection mechanism of the intelligent visual detection system is used for continuously detecting the coordinates of the specified plug pin position and sending the coordinates to the control unit of the intelligent visual detection system for processing in real time, so that the control unit can regulate and control the working state of the bidirectional car arrester in real time until the coordinates of the specified plug pin position coincide with the ideal position.

Compared with the prior art, the invention has the following beneficial effects:

(1) the invention relates to a full-automatic pin-chain picking and hanging system and a method for rail transportation, wherein a bidirectional trailer mechanism drags a vehicle to the position of a bidirectional car arrester, the vehicle is locked by the bidirectional car arrester, meanwhile, the actual position of a connecting pin on the vehicle is detected in real time by an intelligent visual detection system, the actual position of the connecting pin on the vehicle is compared with a preset ideal position, the bidirectional car arrester is controlled to transport the vehicle to the ideal position, the bidirectional car arrester is positioned after the actual position is accurately reached, and finally, a pin-chain picking and hanging device is moved between two vehicles and above the connecting pin to finish pin picking, chain picking or pin picking and chain hanging in sequence.

(2) The invention relates to a full-automatic pin-chain removing and hanging system and a method for rail transportation, wherein a bidirectional trailer mechanism reverses trailer hooks through a reversing component, so that one trailer hook is positioned at a waiting (horizontal) position, and the other trailer hook is positioned at a working position, and the working state conversion of the two trailer hooks is realized through the reversing action between the two trailer hooks, thereby realizing bidirectional trailer and further smoothly realizing bidirectional towing of vehicles.

(3) The invention relates to a full-automatic pin-chain picking and hanging system and a method for rail transportation, wherein a bidirectional car arrester can block vehicles in two directions from passing, when the vehicles are stopped by a car arresting component, a jacking positioning component jacks upwards to jack up an axle, and meanwhile, an integral car arresting device is driven by driving equipment to move moderately along the length direction of a sliding rail with the movement precision of +/-0.5 mm, so that the precise positioning of the vehicles along the length direction of the sliding rail can be realized.

(4) The invention relates to a full-automatic pin-chain picking and hanging system and a method for rail transportation, wherein a pin-chain picking and hanging device extends a working head to the upper part of a connecting pin, a chain picking mechanism fixes a chain firstly, the pin picking mechanism moves downwards to grab and lift the connecting pin, the chain picking mechanism (the connecting pin is not pulled out of a connecting pin seat) moves the chain out from between two vehicle items, the chain is placed on a fixed chain tray, then the two connecting pins descend and return to the original position, the chain picking process is finished, the chain picking process is opposite to the chain hanging process, and the automation of the chain picking and hanging of a string vehicle is smoothly realized.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural view of a fully automatic pick-and-hang pin-chain system for rail transportation according to an embodiment of the present application.

FIG. 2 is a schematic diagram of an ideal location point of the smart vision inspection system and two connecting pins according to an embodiment of the present application.

Fig. 3 is a schematic structural view of the bidirectional trailer mechanism of fig. 1.

Fig. 4 is a schematic structural view of the bidirectional car arrester in fig. 1.

Fig. 5 is a schematic view of the structure of the decoupling pin-chain apparatus of fig. 1.

Fig. 6 is a schematic structural view of a three-link chain pallet according to an embodiment of the present application.

Detailed Description

The present invention will be more fully understood from the following detailed description, which should be read in conjunction with the accompanying drawings. Detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which can be embodied in various forms. Therefore, specific functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed embodiment.

In view of the problem that in the prior art, due to the special working environment of the underground coal mine, a lot of ground high-performance automatic equipment cannot be used, through long-term research and a great deal of practice, the inventor develops the full-automatic pin-chain detaching and hanging system and the method for rail transportation, can smoothly realize the automation of detaching and hanging the underground serial vehicle endless chain, and reduces underground operators.

The technical solution, its implementation and principles, etc. will be further explained as follows.

The embodiment of the invention provides a full-automatic hanging pin-chain picking system for rail transportation, which comprises:

the bidirectional car arrester is used for locking the vehicle and can move along the track together with the vehicle until a designated bolt position on the vehicle reaches an ideal position;

the bidirectional trailer mechanism is used for initial positioning of the mine car, is arranged between the two bidirectional car stoppers and is at least used for enabling the car to move on the track along the first direction or the second direction until the position of one of the bidirectional car stoppers is reached;

the intelligent visual detection system is at least used for detecting the actual position of the specified plug pin position in real time, comparing the actual position of the specified plug pin position with the ideal position, and then controlling the bidirectional car arrester to move the car until the specified plug pin position reaches the ideal position;

and the hanging pin-chain device is at least used for taking out the connecting pin in the appointed plug pin position at the ideal position and removing the connecting pin and the corresponding chain to release the connection between the adjacent carriages in the vehicle, or inserting the connecting pin into the appointed plug pin position at the ideal position and arranging the corresponding chain to enable the adjacent carriages in the vehicle to be connected with each other.

In some preferable aspects of the embodiments of the present invention, each of the bidirectional car stoppers includes

The two car stopping assemblies are distributed at intervals along the length direction of the track, are respectively used for stopping vehicles from a first direction and a second direction and are fixedly connected with each other, and the first direction is opposite to the second direction;

the jacking positioning assembly is arranged corresponding to the two car stopping assemblies and at least used for jacking the car stopped by any one of the car stopping assemblies;

the two car stopping assemblies and the jacking positioning assembly are further in transmission connection with driving equipment, so that the two car stopping assemblies, the jacking positioning assembly and the vehicle supported by the jacking positioning assembly can freely move along the length direction of the track under the driving of the driving equipment.

In some preferred embodiments, the car stopping assembly comprises car stopping mechanisms symmetrically distributed on two sides of the track, and the car stopping mechanisms are connected with the controller.

In some preferred embodiments, the car arrester mechanism comprises a base, a mandrel, a car arrester jaw, a spring, an oil cylinder, a transmission shaft, a linkage disc and a pull rod, wherein the mandrel is fixed on the base, the car arrester jaw is hinged with the mandrel, the spring is sleeved on the mandrel and is in contact with the bottom of the car arrester jaw, and the other end of the spring is provided with a spring baffle; one end of the oil cylinder is connected with the controller, the other end of the oil cylinder is connected with the transmission shaft, the linkage disc is sleeved on the transmission shaft, one end of the pull rod is connected with the linkage disc, the other end of the pull rod is hinged with the car arrester jaw, and the oil cylinder can drive the car arrester jaw to rotate around the mandrel through the transmission shaft, the linkage disc and the pull rod.

In some preferable solutions of the embodiments of the present invention, the bidirectional trailer mechanism includes a pin sprocket row fixedly connected to the guide rail and two trailer hooks mounted on the guide rail, the two trailer hooks being arranged at intervals along a length direction of the guide rail; a reversing component is arranged between the two trailer couplers, and the reversing component can be at least selectively connected with any one of the two trailer couplers and separated from the other one of the two trailer couplers; and when the reversing assembly is coupled to one of the trailing couplers, the trailing coupler is in the armed position to avoid contact with a vehicle in the first orientation and the other trailing coupler is in the operative position to engage a vehicle in the second orientation.

In some preferred embodiments, the reversing assembly is connectable to both tow hooks such that both tow hooks are in the armed position.

In some preferred embodiments, the reversing assembly comprises a reversing locking piece which is in transmission connection with the shifting fork mechanism and can move along the direction perpendicular to the length direction of the guide rail under the driving of the shifting fork mechanism; the shifting fork mechanism may include, but is not limited to, any one of a hydraulic telescopic assembly and a pneumatic telescopic assembly.

In some preferred embodiments, the guide rail is also in transmission connection with a driving device and can freely move in the length direction under the driving of the driving device, wherein the driving device comprises a pin gear in transmission connection with the power equipment, and the pin gear can be matched with the pin gear chain row.

Furthermore, the power equipment adopts a hydraulic motor, the pin gear is fixedly connected to a main shaft of the hydraulic motor, and the hydraulic motor and the pin gear are fixedly connected to a pin gear support.

In some preferable solutions of the embodiments of the present invention, the intelligent visual inspection system detects coordinates of the designated pin in a set coordinate system in real time, so as to obtain an actual position of the designated pin position.

In some preferred embodiments, the intelligent visual inspection system comprises a video inspection mechanism and a control unit connected with the video inspection mechanism, and the control unit is further connected with a bidirectional trailer mechanism, a bidirectional car arrester and a hitch pin chain device.

In some preferred schemes of the embodiments of the present invention, the chain-removing and hanging device includes a working head disposed above the track, and a chain-removing mechanism disposed on the working head, and the chain-removing mechanism is disposed below the chain-removing mechanism; the working head is in transmission connection with the driving mechanism and is used for controlling the working head to freely move in the vertical direction; the pin removing mechanism is at least used for clamping and fixing the connecting pin and taking out the connecting pin from the connecting pin seat or inserting the connecting pin into the connecting pin seat; and the chain removing mechanism is at least used for clamping and fixing the ring chain and moving the ring chain out of or placing the ring chain into the adjacent carriages in the vehicle along the direction perpendicular to the length direction of the track.

In some preferred embodiments, the pin removal mechanism comprises a lifting assembly, a rotating assembly mounted on the lifting assembly, and a gripping assembly for cooperating with a connecting pin, the gripping assembly being mounted on the rotating assembly.

In some preferred embodiments, the chain picking mechanism comprises a gripper assembly and a gripper drive assembly cooperating with the endless chain such that the gripper assembly can grip or release the endless chain under the urging of the gripper drive assembly.

The embodiment of the invention also provides a full-automatic pin-chain picking and hanging method for rail transportation, which is implemented based on the full-automatic pin-chain picking and hanging, and the full-automatic pin-chain picking and hanging method comprises the following steps:

driving the vehicle to move along a first direction or a second direction on the track by using a bidirectional trailer mechanism until an initial position is reached, wherein the initial position is the position of the bidirectional car arrester;

locking the vehicle with a bidirectional car arrester at the initial position;

detecting the actual position of the specified plug pin position in real time by an intelligent visual detection system, comparing the actual position of the specified plug pin position with a preset ideal position, and controlling the bidirectional car arrester to move the car until the specified plug pin position reaches the ideal position;

and moving the pin-chain removing and hanging device to a position between adjacent carriages and above the connecting pin in the vehicle to sequentially complete pin removing, chain removing or pin and chain hanging.

In some preferred embodiments, a coordinate system is set by the intelligent visual inspection system, and the ideal position is set in the coordinate system;

and detecting the coordinates of the appointed bolt position in real time by an intelligent visual detection system so as to obtain the actual position of the appointed bolt on the track.

In some preferred embodiments, during the process of enabling the bidirectional car arrester to transport the car to the ideal position, the visual detection mechanism of the intelligent visual detection system continuously detects the coordinates of the specified plug pin position, and sends the coordinates to the control unit of the intelligent visual detection system for processing in real time, so that the control unit can regulate and control the working state of the bidirectional car arrester in real time until the coordinates of the specified plug pin position coincide with the ideal position.

The full-automatic pin-chain picking and hanging system and the method for rail transportation provided by the embodiment of the invention have the advantages that a bidirectional trailer mechanism drags a vehicle to the position of a bidirectional car arrester, the vehicle is locked through the bidirectional car arrester, meanwhile, the actual position of a connecting pin on the vehicle is detected in real time through an intelligent visual detection system, the actual position of the connecting pin on the vehicle is compared with a preset ideal position, the bidirectional car arrester is controlled to transport the vehicle to the ideal position, the bidirectional car arrester is positioned after the actual position is accurately reached, finally, a pin-chain picking and hanging device is moved between two vehicles and above the connecting pin, and pin picking, chain picking or pin and chain hanging are sequentially completed, so that automation of picking and hanging of a chain ring chain can be smoothly realized, and operators are reduced.

The technical solution, the implementation process and the principle thereof will be further explained with reference to the drawings.