阅读说明：本技术 火车车厢门解锁机器人 (Railway carriage door unlocking robot ) 是由 方海涛 黄曙光 项江 崔玉华 姚欣 张彦召 李岩 王为耀 于 2021-09-10 设计创作，主要内容包括：本发明公开了一种火车车厢门解锁机器人,包含：机架；位置调节模块,位置调节模块与机架相连,用于进行位置调节；执行模块,执行模块与位置调节模块的一侧相连,用于对外部的车厢门的锁扣进行剪切和夹持。本发明能够采用机器人的形式自动断开车厢门上绑扎的钢丝,并且自动解开车厢门搭扣,无需人为,保护人员健康、提高人身安全性,提高无人化程度,更加的具备智能化。(The invention discloses a train carriage door unlocking robot, comprising: a frame; the position adjusting module is connected with the rack and used for adjusting the position; and the execution module is connected with one side of the position adjusting module and is used for shearing and clamping the lock catch of the external carriage door. The invention can automatically disconnect the steel wires bound on the carriage door in a robot mode, automatically release the carriage door hasp, does not need human, protects the health of personnel, improves the personal safety, improves the unmanned degree and has intellectualization.)

1. The utility model provides a train carriage door unblock robot which characterized in that contains:

a frame;

the position adjusting module is connected with the rack and used for adjusting the position;

and the execution module is connected with one side of the position adjusting module and is used for shearing and clamping the lock catch of the external carriage door.

2. The railway car door unlocking robot as claimed in claim 1, wherein the position adjusting module comprises:

the first main module is arranged on the rack;

one end of the first mechanical arm is connected with the output end of the first main module;

one end of the second mechanical arm is connected with the other end of the first mechanical arm;

one end of the third mechanical arm is connected with the other end of the second mechanical arm, and the other end of the third mechanical arm is connected with one side of the execution module;

the first driving assembly is arranged at the joint of the first mechanical arm and the first main module, the joint of the first mechanical arm and the second mechanical arm, the joint of the second mechanical arm and the third mechanical arm and the joint of the third mechanical arm and the execution module.

3. The railway car door unlocking robot as claimed in claim 2, wherein the first driving assembly is a first driving joint, and the first driving joint is disposed at a joint of the first robot arm and the first main module, a joint of the first robot arm and the second robot arm, a joint of the second robot arm and the third robot arm, and a joint of the third robot arm and the execution module.

4. The railway car door unlocking robot as claimed in claim 1, wherein the position adjusting module comprises:

the second main module is arranged on the rack;

the first sub-module is connected with the output end of the second main module;

the second secondary module is connected with the output end of the first secondary module and one side of the execution module;

and the second driving component is arranged at the joint of the output end of the second secondary module and one side of the execution module.

5. The railway car door unlocking robot as claimed in claim 4, wherein the second driving assembly is a second driving joint, and the second driving joint is disposed at a connection between the output end of the second sub-module and one side of the execution module.

6. The railway car door unlocking robot as claimed in claim 1, wherein the executing module comprises:

the shell is connected with one side of the position adjusting module;

the clamping jaw is arranged on one side of the interior of the shell;

the shearing knife is arranged on the other side of the interior of the shell;

and the driving device is arranged at the bottom of the shell and is used for driving the clamping jaw and the shearing knife to move.

7. The railway car door unlocking robot as claimed in claim 6, wherein the jaw and the shear knife are disposed in parallel with each other.

Technical Field

The invention relates to the technical field of loading and unloading of bulk materials of trains, in particular to a railway carriage door unlocking robot.

Background

The existing train carriage residual coal cleaning work mostly adopts manual cleaning, and has the disadvantages of high labor intensity, severe working environment and low efficiency. An important step in manual cleaning is to open the side doors of the car, and sometimes to open multiple car doors. The compartment door is closed by a hasp structure, each compartment door is provided with two sets of hasps, and the hasps are bound by steel wires in order to avoid loosening of the hasps caused by long-term vibration. When the carriage door needs to be opened, the binding steel wires need to be manually cut off at the outer side of the carriage, and the hasps are turned and unbuckled, so that the door can be opened at the inner side of the carriage, and the cleaned accumulated coal is removed from the door opening. Not only occupies manpower, has large dust in the working environment, is manually operated in the carriage moving process, but also has certain potential safety hazard.

Disclosure of Invention

According to an embodiment of the present invention, there is provided a train car door unlocking robot, including:

a frame;

the position adjusting module is connected with the rack and used for adjusting the position;

and the execution module is connected with one side of the position adjusting module and is used for shearing and clamping the lock catch of the external carriage door.

Further, the position adjustment module includes:

the first main module is arranged on the rack;

one end of the first mechanical arm is connected with the output end of the first main module;

one end of the second mechanical arm is connected with the other end of the first mechanical arm;

one end of the third mechanical arm is connected with the other end of the second mechanical arm, and the other end of the third mechanical arm is connected with one side of the execution module;

and the first driving assembly is arranged at the joint of the first mechanical arm and the first main module, the joint of the first mechanical arm and the second mechanical arm, the joint of the second mechanical arm and the third mechanical arm and the joint of the third mechanical arm and the execution module.

Further, the first driving component is a first driving joint, and the first driving joint is arranged at the joint of the first mechanical arm and the first main module, the joint of the first mechanical arm and the second mechanical arm, the joint of the second mechanical arm and the third mechanical arm, and the joint of the third mechanical arm and the execution module.

Further, the position adjustment module includes:

the second main module is arranged on the rack;

the first sub-module is connected with the output end of the second main module;

the second sub-module is connected with the output end of the first sub-module and one side of the execution module;

and the second driving assembly is arranged at the joint of the output end of the second sub-module and one side of the execution module.

Furthermore, the second driving component is a second driving joint, and the second driving joint is arranged at the joint of the output end of the second sub-module and one side of the execution module.

Further, the execution module includes:

the shell is connected with one side of the position adjusting module;

the clamping jaw is arranged on one side inside the shell;

the shearing knife is arranged on the other side inside the shell;

and the driving device is arranged at the bottom of the shell and is used for driving the clamping jaw and the shearing knife to move.

Further, the clamping jaw and the shearing knife are arranged in parallel.

According to the train compartment door unlocking robot provided by the embodiment of the invention, the steel wires bound on the compartment door can be automatically disconnected in a robot mode, and the compartment door hasp is automatically unlocked, so that no human is needed, the health of personnel is protected, the personal safety is improved, the unmanned degree is improved, and the intelligent function is realized.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and are intended to provide further explanation of the claimed technology.

Drawings

Fig. 1 is a schematic perspective view of a railway car door unlocking robot according to a first embodiment of the present invention.

Fig. 2 is a front view structural schematic diagram of a railway carriage door unlocking robot according to a first embodiment of the present invention.

Fig. 3 is a left side view structural schematic diagram of a railway carriage door unlocking robot according to a first embodiment of the present invention.

Fig. 4 is a schematic top view of a railway carriage door unlocking robot according to a first embodiment of the present invention.

Fig. 5 is an enlarged structural schematic view of an actuating module of the railway carriage door unlocking robot according to the first embodiment of the present invention.

Fig. 6 is a schematic perspective view of an actuating module of a railway carriage door unlocking robot according to a second embodiment of the present invention.

Fig. 7 is a schematic front view of an executing module of the railway carriage door unlocking robot according to a second embodiment of the present invention.

Fig. 8 is a left side view structural diagram of an execution module of the railway carriage door unlocking robot according to the second embodiment of the present invention.

Fig. 9 is a schematic top view of an executing module of the railway carriage door unlocking robot according to the second embodiment of the present invention.

Fig. 10 is a schematic structural view of the train compartment door unlocking robot when the train compartment door is unbound according to the present invention.

Fig. 11 is a structural schematic diagram of the binding of steel wires to the car door.

Fig. 12 is a schematic view of the structure of the car door buckle at the time of buckling and at the time of unbuckling.

Detailed Description

The present invention will be further explained by describing preferred embodiments of the present invention in detail with reference to the accompanying drawings.

First, a train carriage door unlocking robot according to an embodiment of the present invention will be described with reference to fig. 1 to 9, which is used for automatic unlocking and opening of a train carriage door and has a wide application range.

As shown in fig. 1 to 9, a train car door unlocking robot according to an embodiment of the present invention includes: the device comprises a frame 1, a position adjusting module and an execution module 4.

Specifically, as shown in fig. 1-9, in this embodiment, frame 1 plays the effect of support, position control module links to each other with frame 1, be used for carrying out position control, drive execution module 4 and carry out linear motion in X, Y, Z coordinate systems, make execution module 4 can move to the operating position, can also make execution module 4 carry out rotary motion, can reach optional position and satisfy work user demand, execution module 4 links to each other with one side of position control module, be used for cutting and the centre gripping to the hasp of outside carriage door, realize the automatic unbuckling of train carriage door.

Further, as shown in fig. 1 to 5, in the present embodiment, the position adjusting module includes: a first master module 21, a first robot 22, a second robot 23, a third robot 24, and a first drive assembly. The first main module 21 is arranged on the rack 1, the first main module 21 is used for providing a driving force in the X-axis direction and indirectly driving the execution module 4 to move in the X-axis direction, one end of a first mechanical arm 22 is connected with the output end of the first main module 21, one end of a second mechanical arm 23 is connected with the other end of the first mechanical arm 22, one end of a third mechanical arm 24 is connected with the other end of the second mechanical arm 23, the other end of the third mechanical arm 24 is connected with one side of the execution module 4, the second mechanical arm 23 and the third mechanical arm 24 are used for Y, Z-axis direction movement through a first driving component arranged on the first mechanical arm 22, the first main module 21, the first mechanical arm 22, the second mechanical arm 23, the third mechanical arm 24 and the third mechanical arm 24, a first drive assembly at the connection of the third robotic arm 24 to the implement module 4 is used to rotate the implement module 4.

Further, as shown in fig. 1 to 5, in the present embodiment, the first driving component is a first driving joint 251, the first driving joint 251 is disposed at a connection position between the first robot 22 and the first main module 21, a connection position between the first robot 22 and the second robot 23, a connection position between the second robot 23 and the third robot 24, and a connection position between the third robot 24 and the execution module 4, the first driving joint 251 can drive the first robot 22, the second robot 23, and the third robot 24 to perform Y, Z-axis movement on the execution module 4, and the execution module 4 can also perform rotational movement, so that the execution module 4 can reach any position, meet work and use requirements, and improve convenience.

Further, as shown in fig. 6 to 9, in the present embodiment, the position adjusting module includes: a second master module 31, a first slave module 32, a second slave module 33 and a second driving component. The second main module 31 is arranged on the frame 1, the second main module 31 is used for providing a driving force in the X-axis direction and indirectly driving the execution module 4 to move in the X-axis direction, the first sub module 32 is connected with the output end of the second main module 31, the first sub module 32 is used for providing a driving force in the Y-axis direction and indirectly driving the execution module 4 to move in the Y-axis direction, the second sub module 33 is connected with the output end of the first sub module 32 and one side of the execution module 4, the second sub module 33 is used for providing a driving force in the Z-axis direction and indirectly driving the execution module 4 to move in the Z-axis direction, the second driving component is arranged at the connection position of the output end of the second sub module 33 and one side of the execution module 4, the second driving component is used for providing a rotating force and driving the execution module 4 to rotate, so that the execution module 4 can move and rotate in the X, Y, Z-axis direction, the execution module 4 can reach any position, the working and using requirements are met, and convenience is improved.

Further, as shown in fig. 6 to 9, in this embodiment, the second driving component is a second driving joint 341, the second driving joint 341 is disposed at a connection between the output end of the second sub-module 33 and one side of the executing module 4, and the second driving joint can drive the executing module 4 to rotate, so as to adjust the direction of the executing module 4, thereby improving convenience for opening the train compartment door.

Further, as shown in fig. 5, in the present embodiment, the execution module 4 includes: a housing 41, a jaw 42, a shear blade 43, and a drive 44. The shell 41 is connected with one side of the position adjusting module, the shell 41 is used for supporting the clamping jaw 42, the shearing knife 43 and the driving device 44, the clamping jaw 42 is arranged on one side inside the shell 41 and used for automatically tripping a hasp of a train carriage door, the shearing knife 43 is arranged on the other side inside the shell 41, the shearing knife 43 is used for shearing steel wires bound on the train carriage door, the driving device 44 is arranged at the bottom of the shell 41 and used for driving the clamping jaw 42 and the shearing knife 43 to move, and the driving device 44 can be driven by a motor or pneumatically.

Further, as shown in fig. 5, in the present embodiment, the clamping jaw 42 and the shearing blade 43 are disposed in parallel to each other, so as to prevent mutual interference during moving work, and ensure smoothness of use.

When the automatic opening device is used, firstly, the position adjusting module is used for adjusting the X, Y, Z axial direction and the rotating direction of the execution module 4, then the driving device 44 is used for driving the shearing knife 43 to operate, the binding steel wire of the train carriage door is cut off, then the driving device 44 is used for driving the clamping jaw 42 to operate, and the hasp on the train carriage door is unlocked, so that the automatic opening of the train carriage door is realized.

The train compartment door unlocking robot according to the embodiment of the invention is described above with reference to fig. 1 to 12, and can automatically disconnect steel wires bound on a compartment door in a robot mode and automatically unlock a compartment door hasp without human, so that the health of personnel is protected, the personal safety is improved, the unmanned degree is improved, and the robot is more intelligent.

It should be noted that, in the present specification, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.