阅读说明：本技术 一种铁路驼峰作业提钩行走装置 (Hook lifting and traveling device for railway hump operation ) 是由 王琛 于旺 邓平平 张德华 于 2021-11-12 设计创作，主要内容包括：本发明公开的一种铁路驼峰作业提钩行走装置,包括机器人底盘框架、行走供电装置和行走运动装置,机器人框架设于H型钢轨上,行走供电装置设于机器人底盘框架上,行走运动装置设于机器人底盘框架上,行走运动装置包括主动轮组件、从动轮组件、拉紧轮组件、限位轮和激光雷达检测组件,主动轮组件和从动轮组件呈相对设置设于机器人底盘框架前后两端器设于H型钢轨上端面上。本发明属于铁路提钩技术领域,具体是一种实现了设备的轻量化,制动刹车时的停止的准确性高,采用H型钢做为轨道,作为导向。质量较轻,并且可以二次加工其滑动表面,使机器人在运行过程更加平稳可靠的铁路驼峰作业提钩行走装置。(The invention discloses a hook lifting and traveling device for railway hump operation, which comprises a robot chassis frame, a traveling power supply device and a traveling motion device, wherein the robot frame is arranged on an H-shaped steel rail, the traveling power supply device is arranged on the robot chassis frame, the traveling motion device comprises a driving wheel component, a driven wheel component, a tension wheel component, a limiting wheel and a laser radar detection component, and the driving wheel component and the driven wheel component are oppositely arranged at the front end and the rear end of the robot chassis frame and are arranged on the upper end surface of the H-shaped steel rail. The invention belongs to the technical field of railway lifting hooks, and particularly relates to a lifting hook which realizes light weight of equipment and high stopping accuracy during braking, and adopts H-shaped steel as a rail as guidance. The weight is lighter, and the sliding surface can be processed for the second time, so that the robot can more stably and reliably lift the hook walking device in the operation process of the railway hump.)

1. The utility model provides a railway hump operation lifting hook running gear which characterized in that: the robot comprises a robot chassis frame, a walking power supply device and a walking movement device, wherein the robot frame is arranged on an H-shaped steel rail, the walking power supply device is arranged on the robot chassis frame, the walking movement device comprises a driving wheel component, a driven wheel component, a tension wheel component, a limiting wheel and a laser radar detection component, the driving wheel component and the driven wheel component are oppositely arranged on the upper end surface of the H-shaped steel rail, the front end and the rear end of the robot chassis frame are respectively provided with a device, the tension wheel component is arranged on the robot chassis frame, the tension wheel component is symmetrically arranged on the side wall of the H-shaped steel rail in pairs, the limiting wheel is symmetrically arranged in pairs, the limiting wheel is in contact with the upper end of the side wall of the H-shaped steel rail, and the laser radar detection component is arranged on the robot chassis frame, the driving wheel assembly comprises a driving wheel frame, a motor fixing plate, a driving wheel motor, a driving wheel speed reducer, a rigid eight-screw rigid coupling, a self-aligning roller bearing and a driving shaft, the motor fixing plate is arranged at one end of the chassis frame of the robot far away from the inner side of the H-shaped steel rail, the driving wheel motor is arranged on the motor fixing plate, the driving wheel motor is connected with a driving wheel speed reducer, the driving wheel speed reducer is connected with a rigid eight-screw coupling, the rigid coupling of the eight rigid screws is connected with a driving shaft, the driving shaft is connected with a driving wheel, the driving wheel frame is arranged on the chassis frame of the machine, the driving wheel is arranged in the driving wheel frame, the driving wheel is arranged on the upper end surface of the H-shaped steel rail, the driving wheel speed reducer adopts a right-angle form, the self-aligning roller bearing is arranged on the driving wheel, and one end of the driving shaft is arranged on the self-aligning roller bearing.

2. The railway hump operation lifting hook walking device according to claim 1, characterized in that: the driven wheel assembly comprises a driven wheel, a driven wheel frame and an encoder, the driven wheel frame is arranged on the chassis frame of the robot, the driven wheel is arranged on the driven wheel frame, the driven wheel is arranged on the upper end face of the H-shaped steel rail, and the encoder is arranged on the driven wheel frame.

3. The railway hump operation lifting hook walking device according to claim 1, characterized in that: the tensioning wheel assembly comprises a tensioning rod, disc springs, a tensioning wheel, clamping wheel shafts and tensioning wheel shafts, the tensioning rod is symmetrically arranged on the robot chassis frame, the disc springs are arranged on the tensioning rod, the clamping wheel shafts are arranged between the bottoms of the tensioning rod, the tensioning wheel shafts penetrate through the clamping wheel shafts, and the tensioning wheel is arranged on the tensioning wheel shafts.

4. The railway hump operation lifting hook walking device according to claim 1, characterized in that: laser radar determine module includes laser radar mount and infrared laser radar, the chassis frame of robot is located to the laser radar mount and is close to the inboard department of H shaped steel rail, infrared laser radar locates on the laser radar mount.

Technical Field

The invention belongs to the technical field of railway lifting hooks, and particularly relates to a lifting hook walking device for railway hump operation.

Background

With the development of society, the transportation industry becomes more and more important, and the transportation of large goods and goods which cannot be transported on roads is undertaken as an indispensable link for the important railway transportation in the transportation industry. The four-way and eight-reach railway line in China are realized, and the one-time transportation cost of trains is higher, so that more cargos need to be transported once, and therefore, all cargos need to be sent to one area in one-time train transportation, and the cargos need to be decomposed, compiled and recombined at corresponding stations, so that the train hook lifting marshalling station is generated.

Because the train carriages have heavy dead weight, each carriage stably runs on the track, and the two carriages are connected by a mechanical coupler. Therefore, the car needing to be subjected to unwoven knitting is separated by carrying out the hook lifting operation, and enters different lanes for performing the separate knitting. The existing hooking and unhooking operations in the railway freight station are all operated manually.

The manual operation hook lifting and de-editing process comprises the following steps: the train central control room sends the serial numbers and the section numbers of the carriages to be subjected to the de-coding of each train and truck to a hook lifting de-coding site, and field hook lifting operators perform de-coding operation according to the punched de-coding list; before the train wagon enters the hump operation platform, the air pipes below the train carriages are manually checked and removed, if the train carriages without the air pipes removed cannot be separated, the carriages are pushed into the hump operation platform by the locomotive, and the locomotive operator can push the carriages forward at different speeds according to field signal lamps. After the train enters a hump operation platform, a lifting hook operator needs to check an air pipe at a corresponding position and find a corresponding carriage needing to be disassembled, then the lifting hook operator is used for disassembling and disassembling the lifting hook, hook protection operation is needed for a certain distance, and the carriage can be ensured to slide in a sliding slope to a marshalling station, and then a carriage coupler can be loosened.

The working condition of manual hook lifting and knitting off operation is complex, the places needing to be observed are more, and the judgment of the hook protection time and the hook lifting point position in the hook lifting process all needs the self experience of a hook lifting operator to judge. Outdoor operation is easily affected by weather, if the train carriage is missed to pick or is picked by mistake due to weather or the self-reason of an operator, the train carriage can only be stopped by calling, and then the locomotive pulls the carriage picked by mistake back to a hump operation platform from a marshalling station for carrying out re-decompiling operation, so that the hooking work efficiency 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. hump work platforms have limited space. In most railway stations, the de-coding platform has two de-coding peak tracks. The distance between the two peak tracks is the operable area of the hook lifting robot. And the condition of dead hook can occur in the operation process, and in the operation process of the robot, the space of personnel needs to be reserved, so that the condition that the robot cannot solve is solved.

2. 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.

3. 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.

4. 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.

In the prior art, a double-track unhooking robot walking system and a tractor type unhooking robot walking system have the following defects:

the device adopts a double-track RGV mode to walk, adopts a gear transmission mode to walk and move, has larger volume, needs to arrange a rack and a trolley line between two tracks side by side, has larger distance between the two tracks, increases the space for a telephone station arranged on a hump site, and has less movable area of personnel; the single wheel drive is adopted, the rest traction is performed, the motor adopts direct current brushless, and the control is difficult in the moving process.

Disclosure of Invention

Aiming at the situation, in order to overcome the defects of the prior art, the invention provides the hook lifting walking device for railway hump operation, which realizes the light weight of equipment and high stopping accuracy during braking and adopts H-shaped steel as a track as guidance. The weight is lighter, and the sliding surface can be processed for the second time, so that the robot is more stable and reliable in the operation process.

The technical scheme adopted by the invention is as follows: a lifting hook walking device for railway hump operation comprises a robot chassis frame, a walking power supply device and a walking motion device, wherein the robot frame is arranged on an H-shaped steel rail, the walking power supply device is arranged on the robot chassis frame, the walking motion device comprises a driving wheel component, a driven wheel component, a tension wheel component, a limiting wheel and a laser radar detection component, the driving wheel component and the driven wheel component are oppositely arranged and arranged on the upper end surface of the H-shaped steel rail at the front end and the rear end of the robot chassis frame, the tension wheel component is arranged on the robot chassis frame, the tension wheel component is symmetrically arranged on the side wall of the H-shaped steel rail in pairs, the limiting wheel is symmetrically arranged in pairs, the upper end of the side wall of the H-shaped steel rail is in contact with the upper end of the side wall of the H-shaped steel rail, and the laser radar detection component is arranged on the robot chassis frame, the driving wheel assembly comprises a driving wheel frame, a motor fixing plate, a driving wheel motor, a driving wheel speed reducer, a rigid eight-screw rigid coupling, a self-aligning roller bearing and a driving shaft, the motor fixing plate is arranged at one end of the chassis frame of the robot far away from the inner side of the H-shaped steel rail, the driving wheel motor is arranged on the motor fixing plate, the driving wheel motor is connected with a driving wheel speed reducer, the driving wheel speed reducer is connected with a rigid eight-screw coupling, the rigid coupling of the eight rigid screws is connected with a driving shaft, the driving shaft is connected with a driving wheel, the driving wheel frame is arranged on the chassis frame of the machine, the driving wheel is arranged in the driving wheel frame, the driving wheel is arranged on the upper end surface of the H-shaped steel rail, the driving wheel speed reducer adopts a right-angle form, the self-aligning roller bearing is arranged on the driving wheel, and one end of the driving shaft is arranged on the self-aligning roller bearing.

Further, follow driving wheel subassembly is including following driving wheel, driven wheel frame and encoder, the driven wheel frame is located on the chassis frame of robot, follow driving wheel is located on the driven wheel frame, locate H shaped steel rail up end from the driving wheel, the encoder is located on the driven wheel frame, detects through the encoder, can real-time detect the vault and grab the rotational speed from the driving wheel. The numerical value can be fed back in real time, and the deviation is reduced.

Furthermore, the tensioning wheel assembly comprises a tensioning rod, a disc spring, a tensioning wheel, a clamping wheel shaft and a tensioning wheel shaft, the tensioning rod is symmetrically arranged on the robot chassis frame, the disc spring is arranged on the tensioning rod, the clamping wheel shaft is arranged between the bottoms of the tensioning rods, the tensioning wheel shaft penetrates through the clamping wheel shaft, the tensioning wheel is arranged on the tensioning wheel shaft, and the tensioning wheel is also provided with an aluminum alloy wheel hub and a polyurethane rubber scraping wheel to increase friction. The disc spring is adopted to replace a compression spring, and the disc spring has the advantages of larger load, shorter stroke and smaller occupied space. The main function of the tension wheel limits the upper limit of the robot, so that the robot can not shake upwards in the moving process.

Further, laser radar determine module includes laser radar mount and infrared laser radar, the robot chassis frame is located to the laser radar mount and is close to the inboard department of H shaped steel rail, on infrared laser radar located the laser radar mount, detect discernment and feedback through infrared laser radar to reach the real-time speed of train, thereby realize with the operation of speeding altogether of train.

Furthermore, the limiting wheel consists of a cam follower and an outer ring wheel frame. The device has the advantages that the device is prevented from shaking left and right in the movement process, the limiting wheels can rotate along with the steel rail in the movement process of the device, and hard friction is avoided.

After adopting the structure, the invention has the following beneficial effects: according to the hook lifting walking device for railway hump operation, the size and the weight of the whole equipment are reduced to a great extent, the light weight of the equipment is realized, and by reducing the size and the weight of the whole equipment, the selected parameters of the equipment can be selected to be smaller under the condition that the original realization speed is not changed, so that the cost can be reduced; the motor is adopted to drive the polyurethane wheel to replace a gear rack for transmission, so that the whole equipment can have higher speed and acceleration, and the polyurethane can be used for increasing the friction force and increasing the stopping accuracy when the equipment brakes; h-shaped steel is used as a track and as a guide. The weight is lighter, and the sliding surface can be processed for the second time, so that the robot is more stable and reliable in the operation process.

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 view of the overall structure of a lifting hook walking device for railway hump operation;

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

FIG. 3 is a schematic structural view of a driving wheel assembly of the lifting hook walking device for railway hump operation of the present invention;

FIG. 4 is a schematic structural view of a tension wheel assembly of the lifting hook walking device for railway hump operation according to the present invention;

fig. 5 is a schematic structural diagram of a limiting wheel of the lifting hook walking device for railway hump operation.

In the drawings: 1. robot chassis frame, 2, walking power supply unit, 3, walking telecontrol equipment, 4, H type rail, 5, action wheel subassembly, 6, driven wheel subassembly, 7, taut wheel subassembly, 8, spacing wheel, 9, laser radar detection component, 10, action wheel frame, 11, motor fixed plate, 12, the action wheel, 13, action wheel motor, 14, action wheel speed reducer, 15, rigid eight screw rigid coupling, 16, self-aligning roller bearing, 17, the driving shaft, 18, from the driving wheel, 19, driven wheel frame, 20, the encoder, 21, the straining rod, 22, the dish spring, 23, taut wheel, 24, the pinch roller axle, 25, the laser radar mount, 26, infrared laser radar, 27, taut wheel axle.

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 fig. 1-5, a railway hump operation lifting hook walking device comprises a robot chassis frame 1, a walking power supply device 2 and a walking movement device 3, wherein the robot frame is arranged on an H-shaped steel rail 4, the walking power supply device 2 is arranged on the robot chassis frame 1, the walking movement device 3 comprises a driving wheel component 5, a driven wheel 18 component 6, a tension wheel 23 component 7, a limit wheel 8 and a laser radar detection component 9, the driving wheel component 5 and the driven wheel 18 component 6 are oppositely arranged on the upper end surface of the H-shaped steel rail 4 at the front end and the rear end of the robot chassis frame 1, the tension wheel 23 component 7 is arranged on the robot chassis frame 1, the tension wheel 23 components 7 are symmetrically arranged on the side wall of the H-shaped steel rail 4 in pairs, the limit wheels 8 are symmetrically arranged in pairs, the limiting wheel 8 is in contact with the upper end of the side wall of the H-shaped steel rail 4, the laser radar detection assembly 9 is arranged on the robot chassis frame 1, the driving wheel assembly 5 comprises a driving wheel frame 10, a motor fixing plate 11, a driving wheel 12, a driving wheel motor 13, a driving wheel speed reducer 14, a rigid eight-screw rigid coupling 15, a self-aligning roller bearing 16 and a driving shaft 17, the motor fixing plate 11 is arranged at one end, far away from the inner side of the H-shaped steel rail 4, of the robot chassis frame 1, the driving wheel motor 13 is arranged on the motor fixing plate 11, the driving wheel motor 13 is connected with the driving wheel speed reducer 14, the driving wheel speed reducer 14 is connected with the rigid eight-screw rigid coupling 15, the rigid eight-screw rigid coupling 15 is connected with the driving shaft 17, the driving shaft 17 is connected with the driving wheel 12, the driving wheel frame 10 is arranged on the robot chassis frame, the action wheel 12 is arranged in the action wheel frame 10, the action wheel 12 is arranged on the upper end surface of the H-shaped steel rail 4, the action wheel speed reducer 14 adopts a right-angle form, the self-aligning roller bearing 16 is arranged on the action wheel 12, one end of the driving shaft 17 is arranged on the self-aligning roller bearing 16, and the action wheel 12 and the driving shaft 17 are connected through a steel eight-screw rigid coupling, so that power can be provided through the action wheel motor 13. The driving wheel 12 is made of aluminum alloy, the outer ring of the driving wheel is made of polyurethane, and a layer of rubber grease is formed, so that the driving wheel 12 moves on the H-shaped steel rail 4 to increase friction force, and the braking effect is better. The joint of the driving wheel 12 and the driving wheel motor 13 adopts a steel eight-screw rigid coupling, and the performance of the coupling is firmer than that of a common aluminum alloy material because the coupling is made of 45-grade steel and is subjected to blackening treatment. Larger torque transmission can be accepted, and the use is safer and more reliable. The driving wheel speed reducer 14 is in a right-angle form, so that the occupied transverse size can be reduced as much as possible, and the driving wheel motor 13 can be closer to the robot frame, so that the driving wheel motor can move on the H-shaped single steel rail more stably. Self-aligning roller bearing 16 is selected from the bearings of the driving wheel 12, because the self-aligning roller bearing 16 has a self-aligning function, in the long-term operation process of the equipment, the driving wheel 12 and the H-shaped steel rail 4 are rubbed for a long time, the driving wheel 12 is certainly slightly worn, the situation that the center of the shaft is asymmetric is caused, the self-aligning roller bearing 16 can normally operate through the automatic adjusting function between the rollers and the spherical track, and the service life of the equipment is prolonged.

Wherein, follow driving wheel subassembly 6 includes from driving wheel 18, driven wheel frame 19 and encoder 20, follow driving wheel frame 19 and locate robot chassis frame 1 on, follow driving wheel 18 and locate on driven wheel frame 19, follow driving wheel 18 and locate H shaped steel rail 4 up end, encoder 20 is located on driven wheel frame 19, detects through encoder 20, can real-timely detection vault grab the rotational speed of following driving wheel 18. The numerical value can be fed back in real time, and the deviation is reduced; the tensioning wheel component 7 comprises a tensioning rod 21, a disc spring 22, a tensioning wheel 23, a clamping wheel shaft 24 and a tensioning wheel shaft 27, the tensioning rod 21 is symmetrically arranged on the robot chassis frame 1, the disc spring 22 is arranged on the tensioning rod 21, the clamping wheel shaft 24 is arranged between the bottoms of the tensioning rod 21, the tensioning wheel shaft 27 penetrates through the clamping wheel shaft 24, the tensioning wheel 23 is arranged on the tensioning wheel shaft 27, and the tensioning wheel 23 is also provided with an aluminum alloy wheel hub and a polyurethane rubber scraping wheel to increase friction. The use of the disc spring 22 instead of a compression spring has the advantage that it can be loaded more and has a shorter stroke and takes up less space. The tension wheel 23 has the main function of limiting the upper limit of the robot, so that the robot can not shake upwards in the moving process; the laser radar detection assembly 9 comprises a laser radar fixing frame 25 and an infrared laser radar 26, the laser radar fixing frame 25 is arranged at the inner side, close to the H-shaped steel rail 4, of the robot chassis frame 1, the infrared laser radar 26 is arranged on the laser radar fixing frame 25, and detection, identification and feedback are carried out through the infrared laser radar 26, so that the real-time speed of a train is achieved, and the common-speed operation with the train is realized; the limiting wheel 8 consists of a cam follower and an outer ring wheel frame. The device is not only ensured not to shake left and right during the movement process, but also the limiting wheel 8 can rotate along the steel rail during the movement process of the device, and hard friction is not caused;

during the specific use, when whole equipment is automatic state, infrared laser radar 26 begins work, when first train carriage gets into laser radar scanning angle, laser radar begins the count, in order to come the record through the train bogie number of times and count, when appointing the carriage that will carry out the hook lifting operation, laser radar can be through the bogie wheel of scanning carriage, detect laser radar and bogie wheel distance transmission data and give the control room, data processing changes into an instantaneous speed through the control room and conveys PLC, will speed this moment through PLC convey servo driver in, control servo motor begins work, with this speed forward motion with the robot is whole, and speed can be updated with a very short time frequency, finally realize that robot and train carriage accomplish the common speed.

When the laser radar detects that the carriage needs to be hooked, the driving wheel motor 13 starts to drive the driving wheel 12 to start to move through information provided by the laser radar, and because the motor adopts a pulse mode, the encoder 20 at the driven wheel 18 can directly read the current speed and feed the current speed back to the control room. After the robot and the train carriage are at the same speed, the robot can modify acceleration and deceleration at any time according to data fed back by the laser radar so as to keep synchronization with the train speed all the time. When all the hook lifting processes on the manipulator are completed and all the hook lifting processes are restored to the initial positions, the driving wheel motor 13 of the robot starts to stop and then rotates reversely at the maximum speed to return to the hook lifting starting point to prepare for the next hook lifting operation.

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.