阅读说明：本技术 一种铁路驼峰作业机器人火车共速装置 (Railway hump operation robot train common speed device ) 是由 邓平平 于旺 王琛 张德华 于 2021-07-21 设计创作，主要内容包括：本发明公开的一种铁路驼峰作业机器人火车共速装置,包括地基、钢轨、机器人框架、火车共速检测装置、火车速度检测装置和扫描车缝机构,地基设于火车轨道一侧,钢轨平行于火车轨道设于地基上,机器人框架山设于钢轨上,火车轨道上设有火车车厢,火车速度检测装置设于火车车厢底板和火车车轮之间,扫描车缝机构设于机器人框架上,火车共速检测装置设于机器人框架上中部。本发明属于铁路运输摘钩技术领域,具体是一种利用火车速度检测装置,使主控室通过装置实时检测到火车速度；利用火车共速检测装置,使机器人与火车共速后的到反馈的铁路驼峰作业机器人火车共速装置。(The invention discloses a railway hump operation robot train common-speed device which comprises a foundation, a steel rail, a robot frame, a train common-speed detection device, a train speed detection device and a scanning stitching mechanism, wherein the foundation is arranged on one side of a train track, the steel rail is arranged on the foundation in parallel to the train track, the robot frame is arranged on the steel rail, a train carriage is arranged on the train track, the train speed detection device is arranged between a bottom plate of the train carriage and train wheels, the scanning stitching mechanism is arranged on the robot frame, and the train common-speed detection device is arranged in the middle of the upper portion of the robot frame. The invention belongs to the technical field of railway transportation unhooking, in particular to a train speed detection device which enables a master control room to detect the speed of a train in real time through the device; the common speed detection device of the train is utilized to enable the common speed of the robot and the train to be fed back to the common speed device of the railway hump operation robot.)

1. The utility model provides a railway hump operation robot train is quick-witted altogether which characterized in that: the device comprises a foundation, a steel rail, a robot frame, a train common speed detection device, a train speed detection device and a scanning stitching mechanism, wherein the foundation is arranged on one side of a train track, the steel rail is arranged on the foundation in parallel with the train track, the robot frame is arranged on the steel rail, a train carriage is arranged on the train track, the train speed detection device is arranged between a train carriage bottom plate and train wheels, the scanning stitching mechanism is arranged on the robot frame, the train common speed detection device is arranged in the middle of the robot frame, the train common speed detection device comprises a cylinder, a cylinder rear fixing piece, a cylinder front fixing piece, a guide rail sliding block, a cylinder guide rail connecting plate, an angle detection encoder, an encoder mounting plate and a nylon contact rod, the cylinder front fixing piece and the cylinder rear fixing piece are oppositely arranged on a steel plate of the robot frame, and the cylinder is arranged between the cylinder front fixing piece and the cylinder rear fixing piece, the cylinder is connected with cylinder guide rail connecting plate, guide rail slider locates on the cylinder guide rail connecting plate, guide rail slider front end is located to the encoder mounting panel, the angle detects on the encoder installation board, the nylon connecting rod is located in the pivot of angle detection encoder.

2. The railway hump working robot train common speed device according to claim 1, characterized in that: the train speed detection device comprises a fixed clamping plate, an extension clamping plate, a speed detection encoder, a rubber roller, a rotating shaft rod, a roller fixing washer and an encoder fixing piece, wherein the fixed clamping plate is arranged on a bottom plate of a train carriage, the fixed clamping plate is connected with a connecting plate, the connecting plate is connected with the extension clamping plate, the extension clamping plate is connected with the rotating shaft rod, the rotating shaft rod is connected with the encoder fixing piece, the speed detection encoder is arranged on the encoder fixing piece, a rotating shaft of the speed detection encoder is connected with the rubber roller, the train carriage is provided with a train bogie, and the rubber roller is in contact with the surface of a wheel of the train bogie.

3. The railway hump working robot train common speed device according to claim 1, characterized in that: the scanning sewing mechanism comprises a rear laser radar and a front laser radar.

Technical Field

The invention belongs to the technical field of railway transportation unhooking, and particularly relates to a railway hump operation robot train common-speed device.

Background

Railway transportation is an indispensable link in the road transportation industry in China, and the railway transportation bears the transportation of large goods or goods which cannot be transported on roads. Because the train carriages have heavy dead weight, the two carriages are connected by a mechanical coupler for no carriage to stably run on the track. The uncoupling work at the marshalling yard is thus performed manually. The unhooking process comprises the following steps: and (4) the unhooking operator holds the freight record list with one hand, finds the unhooking compartment required to be unhooked of the train at the current train, moves to the unhooking position, carries out the unhooking action with one hand by the other hand, needs to carry out the unhooking process for a certain distance, and finally finishes the unhooking process and records.

The manual unhooking working condition is complex, the operation is difficult, and the unhooking time needs to be mastered by an operator according to working experience to judge. The train section needing to be unhooked is only recorded in a freight note held by an operator, and the condition that the operator mistakenly picks or misses the train section due to the influence of weather or other external factors can be received in outdoor operation. When the situation occurs, the train needs to be pulled back again to check the situation again, so that the efficiency of the decoupling work of the marshalling station is reduced.

The comprehensive railway decoupling technology research at home and abroad shows that; the railway unhooking technology researched abroad is not suitable for domestic marshalling station operation, and the domestic research result is not suitable for field requirements. Some of the cost of the results and technical reasons cannot be applied or widely used. The prior unhooking technology has the following difficulties in combination:

1. the vehicle coupler is in a structural form. The vehicle coupler of the domestic vehicle is not uniformly adjusted due to various types of vehicles in China. The shape of the hook and the position of the hook are different, so that the robot cannot perform simple and repeated operation to complete the unhooking operation.

2. The vehicle couplers differ in shape. The train which is used in the marshalling station in China at present is not partially used for a long time, the hook ring has certain goods loss, and the hook handle has certain deformation, so that the robot is more difficult to automatically unhook.

3. The running speed of the train is not used in running. During the unhooking process at a marshalling station, it is difficult to ensure that the train speeds are the same. In the unhooking operation, an operator needs to perform the unhooking operation at the same speed of the train, and if the unhooking operation is too early, the coupler knuckle can automatically fall down, so that the train can not be separated.

4. The single hook lifting time is short. The running speed of the train is about 3-5km/h and the unhooking distance is about 8-10 meters in the process of unhooking, so that a unhooking person needs to unhook the hook in a short time. The use of robots instead of human unhooking presents certain difficulties.

5. The number of train unhooking sections is complex. The train enters the marshalling station approximately, the train section has 15-25 carriages, wherein the carriages needing unhooking operation only have 1 to 4 sections, and the robot is required to identify and judge the position of the unhooking train section. This situation presents certain technical difficulties in automatic unhooking.

The existing train unhooking clamping system has the following defects: rigid collision contact is carried out between the train bogie and the arm-holding mode, the train bogie is clamped front and back to realize the speed sharing with the train, certain risk exists, equipment is easy to damage, and the stability is poor; the clamping driving mode is pneumatic, and the air storage required by rigid collision contact with the train bogie is greatly required to be provided with a larger air pipe. Occupies a great space; the train normally used in China is various in types, the types of the bogie are various, the contact plane is not always the beat plane, and the clamping mode is single in use type.

Disclosure of Invention

Aiming at the situation and overcoming the defects of the prior art, the invention provides a railway hump operation robot train common-speed device which mainly comprises a train speed detection device and a train common-speed detection device. The train speed detection device mainly comprises a connecting plate, an extension fixture, a rotating shaft rod, an encoder fixing piece, a speed detection encoder and a rubber roller, so that a main control room can detect the speed of a train in real time through the device; the train common-speed detection device composed of the cylinder, the guide rail sliding block, the cylinder guide rail connecting plate, the angle detection encoder, the encoder mounting plate and the nylon contact rod is utilized to feed back the robot and the train after the robot and the train are in common speed.

The technical scheme adopted by the invention is as follows: a railway hump operation robot train common-speed device comprises a foundation, a steel rail, a robot frame, a train common-speed detection device, a train speed detection device and a scanning stitching mechanism, wherein the foundation is arranged on one side of a train track, the steel rail is arranged on the foundation in parallel to the train track, the robot frame is arranged on the steel rail, a train carriage is arranged on the train track, the train speed detection device is arranged between a bottom plate of the train carriage and train wheels, the scanning stitching mechanism is arranged on the robot frame, the train common-speed detection device is arranged in the middle of the robot frame, the train common-speed detection device comprises an air cylinder, an air cylinder rear fixing piece, an air cylinder front fixing piece, a guide rail sliding block, an air cylinder guide rail connecting plate, an angle detection encoder, an encoder mounting plate and a nylon contact rod, the air cylinder front fixing piece and the air cylinder rear fixing piece are oppositely arranged on a steel plate of the robot frame, the cylinder is arranged between the cylinder front fixing piece and the cylinder rear fixing piece, the cylinder is connected with a cylinder guide rail connecting plate, the guide rail sliding block is arranged on the cylinder guide rail connecting plate, the front end of the guide rail sliding block is arranged on the encoder mounting plate, the angle detection encoder is arranged on the encoder mounting plate, and the nylon connecting rod is arranged on a rotating shaft of the angle detection encoder.

Further, the train speed detection device comprises a fixed clamping plate, an extension clamping plate, a speed detection encoder, a rubber roller, a rotating shaft rod, a roller fixing washer and an encoder fixing piece, wherein the fixed clamping plate is arranged on a bottom plate of the train carriage, the fixed clamping plate is connected with a connecting plate, the connecting plate is connected with the extension clamping plate, the extension clamping plate is connected with the rotating shaft rod, the rotating shaft rod is connected with the encoder fixing piece, the speed detection encoder is arranged on the encoder fixing piece, a rotating shaft of the speed detection encoder is connected with the rubber roller, the train carriage is provided with a train bogie, and the rubber roller is in contact with the surface of a wheel of the train bogie.

Further, the scanning sewing mechanism comprises a rear laser radar and a front laser radar.

After adopting the structure, the invention has the following beneficial effects: the invention relates to a railway hump operation robot train common-speed device which has the accuracy of detecting the number of carriages. Before the unhooking operation starts, the unhooking compartment can be ensured to be an accurate compartment; can ensure the motion synchronism with the train. In order to complete the hook lifting action, the robot completes the hook picking operation under the condition of the same speed as the train, and the hook picking operation is completed by a hook picking person or the robot under a relatively static motion state with the train. (if the synchronism is high, the result is that the unhooking robot performs the unhooking operation on the static train); when the rigidity and strength required by unhooking operation are met, the design is lighter as much as possible, so that the speed can be increased; and flexible collision is adopted at the same speed. The use of rigid collisions during common speeds can result in damage to the robotic equipment, excessive time and cost to perform repairs, and the need to halt the unhooking operation of this line for marshalling stations. Thus, flexible collision or contactless detection is possible when the design needs to avoid rigid collisions between the equipment and the railway car.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.

FIG. 1 is a schematic diagram of the overall structure of a railway hump operation robot train common speed device of the invention;

FIG. 2 is an enlarged view of portion A of FIG. 1;

FIG. 3 is a schematic structural diagram of a train common speed detection device of the railway hump operation robot train common speed device of the invention;

fig. 4 is a schematic structural diagram of a train speed detection device of a railway hump operation robot train common speed device.

In the drawings: 1. the device comprises a foundation, 2, a steel rail, 3, a robot frame, 4, a train common speed detection device, 5, a train speed detection device, 6, a scanning stitching mechanism, 7, a train carriage, 8, a cylinder, 9, a cylinder rear fixing piece, 10, a cylinder front fixing piece, 11, a guide rail sliding block, 12, a cylinder guide rail connecting plate, 13, an angle detection encoder, 14, an encoder mounting plate, 15, a nylon contact rod, 16, a fixed clamping plate, 17, an extension clamping plate, 18, a speed detection encoder, 19, a rubber roller, 20, a rotating shaft rod, 21, a roller fixing gasket, 22, an encoder fixing piece, 23, a rear laser radar, 24, a front laser radar, 25, a connecting plate, 26, a reinforcing rib, 27, a clamping screw, 28, a train carriage bottom plate, 29, a train bogie, 30 and stitching.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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.

As shown in figures 1-4, a railway hump operation robot train common speed device comprises a foundation 1, a steel rail 2, a robot frame 3, a train common speed detection device 4, a train speed detection device 5 and a scanning stitching mechanism 6, wherein the foundation 1 is arranged on one side of a train track, the steel rail 2 is arranged on the foundation 1 in parallel to the train track, the robot frame 3 is arranged on the steel rail 2, a train carriage 7 is arranged on the train track, the train speed detection device 5 is arranged between a bottom plate of the train carriage 7 and train wheels, the scanning stitching mechanism 6 is arranged on the robot frame 3, the train common speed detection device 4 is arranged in the middle of the robot frame 3, the train common speed detection device 4 comprises a cylinder 8, a cylinder rear fixing piece 9, a cylinder front fixing piece 10, a guide rail sliding block 11, a cylinder guide rail connecting plate 12, an angle detection encoder 13, Encoder mounting panel 14 and nylon contact bar 15, cylinder front fixing 10 and cylinder back fixing 9 are relative setting and locate robot frame 3 on the steel sheet, cylinder 8 is located between cylinder front fixing 10 and cylinder back fixing 9, cylinder 8 is connected with cylinder guide rail connecting plate 12, guide rail slider 11 is located on cylinder guide rail connecting plate 12, guide rail slider 11 slides along cylinder 8 flexible direction and locates on robot frame 3's the steel sheet and locate cylinder 8 one side, encoder mounting panel 14 locates guide rail slider 11 front end, angle detection encoder 13 locates on encoder installation board, the nylon connecting rod is located on angle detection encoder 13's the pivot, when train speed detection device 5 detects train speed, and when installing laser radar (install the rear on the robot) and detect the seam that needs unhook position on the robot, the robot starts to move towards the advancing direction of the train, the air cylinder 8 in the train common speed detection device 4 extends out, when the nylon contact rod 15 is contacted with the plane of the front end of the train bogie 29 and the angle detection encoder 13 rotates for 30 degrees, the robot and the train are at the same speed, and whether the robot and the train are at the same speed is detected through the angle value transmitted by the angle detection encoder 13.

Wherein, the train speed detection device 5 comprises a fixed clamping plate 16, an extension clamping plate 17, a speed detection encoder 18, a rubber roller 19, a rotating shaft rod 20, a roller fixing washer 21 and an encoder fixing piece 22, the fixed clamping plate 16 is arranged on the bottom plate of the train carriage 7, the fixed clamping plate 16 is connected with a connecting plate 25, the connecting plate 25 is connected with the extension clamping plate 17, the extension clamping plate 17 is connected with the rotating shaft rod 20, the rotating shaft rod is connected with the encoder fixing piece 22, the speed detection encoder 18 is arranged on the encoder fixing piece 22, the rotating shaft of the speed detection encoder 18 is connected with the rubber roller 19, the train carriage 7 is provided with a train bogie 29, the rubber roller 19 is contacted with the wheel surface of the train bogie 29, the device is arranged on the bottom plate of the train carriage 7 through the connecting plate 25, and is connected with an upper threaded hole, the clamping is realized through a clamping screw, a gap is arranged in the middle of one end of the extension clamping plate 17 and is clamped on the connecting plate 25 through threads, the mounting position is convenient to detach and adjust, the rotating shaft rod 20 is arranged at the other end of the extension clamping plate 17 and is fixed through the nuts by rotating the threads on the shaft rod 20, and the roller fixing washer 21 is arranged on the rubber roller 19. The micro tail end of a rotating shaft rod 20 is connected with a speed detection encoder 18 fixed on an encoder fixing part 22, a rubber roller 19 is arranged on a rotating shaft of the speed detection encoder 18, the rubber roller 19 is contacted with the wheel surface of a train bogie 29, when a train starts to move, when train wheels start to rotate, the rubber roller 19 contacted with the train rollers starts to rotate to drive the rotating shaft of the speed detection encoder 18 to start to rotate, function proportion replacement is carried out in a program to convert the rotating speed of the small rubber roller 19 into the speed of the train, and the obtained train speed is transmitted to a robot; the scanning sewing mechanism 6 comprises a rear laser radar 23 and a front laser radar 24, and the scanning sewing mechanism scans the train sewing through the laser radars to count. With laser radar side, make its scanning range for scanning on the vertical direction, laser radar can launch the angle 270 degrees, thickness 40cm, the regional of length 10m, and this region has non-transparent object just can feed back the signal. When the carriage is scanned, a high level signal is displayed, when a seam is scanned, no obstacle exists in a scanning area, the high level is converted into a low level, the falling edge is counted, and the front laser radar and the rear laser radar calculate addition and subtraction through the sequence of scanning the seam in sequence.

When the robot is used specifically, the robot frame 3 is arranged on the steel rails 2, the two steel rails 2 are parallel to the two rails of the train, and the steel plate is welded on the robot frame 3 to provide an installation platform; one clamping end of the speed measuring fixed clamping plate 16 is arranged in a U shape, the other end of the speed measuring fixed clamping plate 16 and the connecting plate 25 are arranged in a T shape, and a reinforcing rib 26 is arranged between the other end of the speed measuring fixed clamping plate 16 and the connecting plate 25; firstly, the train starts to move, the rubber roller 19 contacted with the train roller rotates along with the train roller to drive the rotating shaft of the speed detection encoder 18 to start to rotate, and the function proportion substitution is carried out in the program to convert the rotating speed of the small rubber roller 19 into the speed of the train, so as to obtain the speed of the train. The obtained train speed is transmitted to the robot, when a laser radar (arranged on the rear of the robot) arranged on the robot detects a seam at a position needing unhooking, the robot starts to move towards the advancing direction of the train, the robot accelerates from a static state, meanwhile, an air cylinder 8 arranged on a steel plate extends out, an angle detection encoder 13 at the front end of a guide rail sliding block 11 extends out, and when a nylon contact rod 15 is in contact with the plane of the front end of a train bogie and the angle detection encoder 13 rotates for 30 degrees, the robot and the train rotate at the same speed. The robot can carry out unhooking operation.

The utility model provides a train is fast detection device drive mode altogether among railway hump work robot train is fast device adopts pneumatic mode, and its advantage lies in can carrying out quick reaction, and the required time is shorter in railway unhook operation in-process, adopts pneumatic drive can save time as far as possible, short train and robot time of speeding altogether to when the proruption situation appears, adopt pneumatic mode can withdraw fast and guarantee can not damage.

The utility model provides a train is quick-witted detection device and train bogie contact part of speeding altogether in railway hump work robot train adopt the contact lever of nylon material to the angle detects the encoder and can carry out 360 degrees rotations, and forms flexible collision between the train bogie, and when the proruption condition appears, the angle detects the encoder and can carry out 360 degrees rotations, guarantees that equipment can not be with the train with the motion and the damage of coming.

The utility model provides a train speed detection device adopts the screw mode to press from both sides tightly among railway hump work robot train common speed device, can be convenient for install and adjust corresponding position. The rotating shaft can rotate by 360 degrees, a certain angle is formed between the rotating shaft and the train roller during installation, the rubber roller can be always in contact with the train roller during train movement, and the condition of suspension or falling cannot occur.

The utility model provides a locomotive quantity is less in marshalling station decombined operation among the railway hump work robot train common speed device, should use novel well speed detection device install locomotive department can, equipment produced cost is lower. The encoder is adopted to supply power to the train locomotive, the network bridge is adopted to transmit data, the data can be disconnected and cannot be read when the data exceeds a certain range, and therefore interference among equipment can be avoided after a plurality of locomotives are installed, and stability is good.

The whole train speed measuring device in the railway hump operation robot train speed sharing device is arranged on a locomotive bottom plate, before an entire train carriage enters a unhooking operation area, personnel are required to detect the removal of an air pipe, and the personnel only need to carry and fix the bottom devices of a plurality of fixed locomotives; and the device adopts a plurality of sections to be arranged on maintenance and overhaul, so that the disassembly and the assembly are more convenient.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.