阅读说明：本技术 一种火车车钩用机器人自动脱钩系统 (Automatic unhooking system of robot for train coupler ) 是由 欧阳小伟 雒金强 王运航 李阳 李传涛 于 2019-11-26 设计创作，主要内容包括：本发明涉及工业机器人技术,具体涉及一种火车车钩用机器人自动脱钩系统,包括机器人本体、夹紧装置、网络通讯模块、图像采集识别模块,激光测距传感器和控制模块；机器人本体安装在需要脱钩的工位,夹紧装置安装在机器人本体上,网络通讯模块用于传递各设备及各模块间的信息；图像采集识别模块用于采集火车车钩图像并确定车钩类型是上作用式或下作用式,再将确定的车钩类型通过网络通讯模块传递给控制模块；激光测距传感器安装在机器人本体上,用于确定夹紧装置的夹紧位置；控制模块依据各模块及设备反馈的信息为机器人本体选择合适的路径动作。该系统实现火车车钩自动脱开,降低了人工成本,提高了铁路系统运行效率,同时还保障了操作人员安全。(The invention relates to the industrial robot technology, in particular to a robot automatic unhooking system for a train coupler, which comprises a robot body, a clamping device, a network communication module, an image acquisition and identification module, a laser ranging sensor and a control module, wherein the robot body is provided with a clamping device; the robot body is arranged at a station needing unhooking, the clamping device is arranged on the robot body, and the network communication module is used for transmitting information among all equipment and all modules; the image acquisition and identification module is used for acquiring an image of the train coupler, determining the type of the train coupler to be an upper acting type or a lower acting type and transmitting the determined type of the train coupler to the control module through the network communication module; the laser ranging sensor is arranged on the robot body and used for determining the clamping position of the clamping device; and the control module selects a proper path action for the robot body according to the information fed back by each module and the equipment. The system realizes automatic disengagement of the train coupler, reduces labor cost, improves the running efficiency of a railway system, and simultaneously ensures the safety of operators.)

1. A robot automatic unhooking system for train couplers is characterized by comprising a robot body, a clamping device, a network communication module, an image acquisition and identification module, a laser ranging sensor and a control module; the robot body is arranged at a station needing unhooking and is used for executing unhooking action; the clamping device is arranged on the robot body and used for clamping a coupler lifting rod; the network communication module is used for transmitting information among the devices and the modules; the image acquisition and identification module is used for acquiring an image of the train coupler, determining the type of the coupler as an upper acting type or a lower acting type and transmitting the determined type of the coupler to the control module through the network communication module; the laser ranging sensor is arranged on the robot body, acts along with the action of the robot body together with the clamping device and is used for determining the clamping position of the clamping device; and the control module selects a proper path for the robot body to act according to the information fed back by each device and module.

2. The automatic robot unhooking system for train couplers of claim 1, wherein the network communication module comprises a communication cable and a switch.

3. The automatic robot unhooking system for the train coupler according to claim 1, wherein the image acquisition and recognition module comprises a camera, a communication cable, a mounting bracket and image processing software; the camera is installed on the installing support.

4. The automatic robot unhooking system for the train coupler of claim 1, wherein the control module comprises an industrial personal computer, a robot controller and PLC hardware.

Technical Field

The invention belongs to the technical field of industrial robots, and particularly relates to a robot automatic unhooking system for a train coupler.

Background

With the reduction of the cost of industrial robots and complete equipment and the increase of labor cost, the demands of the industry on automation and intelligent modification are increased day by day, the application range of industrial robots in factories is wider and wider, the realized functions are more and more, and the industrial robot plays a vital role in replacing direct production manpower and completing simple and repeated actions without tiredness.

At present, the types of couplers used for mounting railway wagons in China are mainly 13, 13A, 13B, 16 and 17, wherein about 90 percent of wagons use 13 and 13A type couplers; the 17-type car hook is initially used on a truck for unloading of the tipper in cooperation with the 16-type car hook. In view of the excellent performance of the 17-type coupler in use, the 17-type coupler becomes a 70 t-grade main coupler in China. The coupler device is used as an important part for realizing coupling and transmitting traction force and impact force between a locomotive and a vehicle or between the vehicle and the vehicle, generally comprises a coupler lifting rod, a lifting hook chain, a coupler lock part, a hook head, an impact seat, a hook body joist and other parts, and in the uncoupling process, the coupler lifting rod is lifted to drive the coupler lock part to act, so that the coupler is disengaged from a locking position. At the present stage, the operation is mostly carried out manually, the actions are simple and repeated, the labor force of personnel is excessively wasted, and certain potential safety hazards exist. Therefore, a set of automatic unhooking system is urgently needed to be built to replace manual train unhooking.

Disclosure of Invention

The invention aims to provide a robot automatic unhooking system capable of replacing manual on-site unhooking operation.

In order to achieve the purpose, the invention adopts the technical scheme that: a robot automatic unhooking system for train couplers comprises a robot body, a clamping device, a network communication module, an image acquisition and identification module, a laser ranging sensor and a control module; the robot body is arranged at a station needing unhooking and is used for executing unhooking action; the clamping device is arranged on the robot body and used for clamping a coupler lifting rod; the network communication module is used for transmitting information among the devices and the modules; the image acquisition and identification module is used for acquiring an image of the train coupler, determining the type of the train coupler to be an upper acting type or a lower acting type and transmitting the determined type of the train coupler to the control module through the network communication module; the laser ranging sensor is arranged on the robot body, acts along with the action of the robot body together with the clamping device and is used for determining the clamping position of the clamping device; and the control module selects a proper path for the robot body to act according to the information fed back by each device and module.

In the automatic unhooking system for the robot for the train coupler, the network communication module comprises a communication cable and a switch.

In the automatic unhooking system of the robot for the train coupler, the image acquisition and identification module comprises a camera, a communication cable, a mounting bracket and image processing software; the camera is installed on the installing support.

In the automatic unhooking system of the robot for the train coupler, the control module comprises an industrial personal computer, a robot controller and PLC hardware.

The invention has the beneficial effects that: the invention utilizes the laser ranging sensor to determine the clamping position of the clamping device, thereby improving the reliability of the outdoor operation of the system; the image acquisition and identification module is used for determining the type of the car coupler, so that the application range of the system is expanded, the time for determining a clamping position is shortened, and the operation efficiency of the system is improved; the unhooking action is completed by using the robot, the simple and repetitive labor is replaced by manpower, the labor cost is reduced, the personal safety of personnel is guaranteed, the operation efficiency of a railway system is improved, and the economic benefit of an enterprise is obviously improved.

Drawings

FIG. 1 is a block diagram of a robotic automatic unhooking system for a train coupler according to one embodiment of the present invention;

FIG. 2 is a schematic diagram of a layout of a robot automatic unhooking system for a train coupler according to an embodiment of the present invention;

the system comprises a railway carriage 1, a coupler lifting rod 2, a clamping device 3, a robot body 4, a laser ranging sensor 5, a mounting support 6, a camera 7 and a coupler 8.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

The embodiment is realized by the following technical scheme: a robot automatic unhooking system for train couplers comprises: the robot comprises a robot body, a clamping device, a network communication module, an image acquisition and identification module, a laser ranging sensor and a control module, wherein the robot body is arranged at a station needing unhooking and is used for executing unhooking action; the clamping device is arranged on the robot body and used for clamping a coupler lifting rod; the network communication module is used for transmitting information among all devices and modules; the image acquisition and identification module is used for acquiring a coupler image, determining whether the coupler type is an upper-acting type or a lower-acting type, and transmitting the determined coupler type to the control module through the network communication module; the laser ranging sensor is mounted on the robot body, can act along with the action of the robot body together with the clamping device and is used for determining the clamping position of the clamping device; and the control module selects a proper path action for the robot body according to the information fed back by each module and equipment.

And, the network communication module mainly comprises communication cable and switch.

And the image acquisition and identification module mainly comprises a camera, a communication cable, a mounting bracket and image processing software.

And the control module mainly comprises an industrial personal computer, a robot controller and PLC hardware.

And the camera is installed on the mounting bracket.