阅读说明：本技术 一种铁路驼峰作业自动提钩行走机器人 (Automatic lifting hook walking robot for railway hump operation ) 是由 张德华 于旺 邓平平 王琛 于 2021-07-27 设计创作，主要内容包括：本发明公开的一种铁路驼峰作业自动提钩行走机器人,包括机器人主体框架、行走机构、H型钢轨、两轴运动机构和提钩机器人机械手机构,行走机构设于H型钢轨上,机器人主体框架设于行走机构上,两轴运动机构设于机器主体框架上,两轴运动机构设有相机固定板,提钩机器人机械手机构设于相机固定板上,提钩机器人机械手机构包括翻转组件、斜插组件和提钩组件。本发明属于铁路提钩技术领域,具体是一种能够在轨道上可以稳定的行走,能够实现机器人系统和火车车厢的共速,能够对提钩机器人系统中提钩机械手进行二轴移动,通过多个电机和机械机构实现整体提钩机械手完成自动化提钩的铁路驼峰作业自动提钩行走机器人。(The invention discloses an automatic hook lifting walking robot for railway hump operation, which comprises a robot main body frame, a walking mechanism, an H-shaped steel rail, a two-shaft movement mechanism and a hook lifting robot manipulator mechanism, wherein the walking mechanism is arranged on the H-shaped steel rail, the robot main body frame is arranged on the walking mechanism, the two-shaft movement mechanism is arranged on the robot main body frame, the two-shaft movement mechanism is provided with a camera fixing plate, the hook lifting robot manipulator mechanism is arranged on the camera fixing plate, and the hook lifting robot manipulator mechanism comprises a turning assembly, an inclined insertion assembly and a hook lifting assembly. The invention belongs to the technical field of railway lifting hooks, and particularly relates to an automatic lifting hook walking robot for railway hump operation, which can stably walk on a track, can realize the common speed of a robot system and a train carriage, can perform two-axis movement on a lifting hook manipulator in the lifting hook robot system, and can realize the automatic lifting hook of the integral lifting hook manipulator through a plurality of motors and mechanical mechanisms.)

1. The utility model provides an automatic hook walking robot that carries of railway hump operation which characterized in that: including robot main body frame, running gear, H type rail, diaxon motion and lifting hook robot manipulator mechanism, running gear locates on the H type rail, robot main body frame locates on the running gear, diaxon motion locates on the robot main body frame, diaxon motion is equipped with the camera fixed plate, lifting hook robot manipulator mechanism locates on the camera fixed plate, lifting hook robot manipulator mechanism includes upset subassembly, inserts subassembly and lifting hook subassembly to one side, the upset subassembly is located on the camera fixed plate, the upset subassembly is connected with the upset arm, the upset arm is connected with inserts the subassembly to one side, the lifting hook subassembly is located to one side and is inserted the subassembly to one side, insert the subassembly to one side and include insert servo motor, insert the connecting plate to one side, insert intermediate lamella, finger mechanism trigger, finger link mechanism, finger mechanism extension rod, inclined insertion rod, The oblique-insertion type automatic transmission mechanism comprises an oblique-insertion thickened plate, a finger trigger piece, an oblique-insertion contact rod, a displacement sensor, an oblique-insertion ball screw, an oblique-insertion driven synchronous belt wheel, an oblique-insertion synchronous belt, an oblique-insertion driving synchronous belt wheel and an anti-collision rotating chain block, wherein the overturning mechanical arm is connected with the anti-collision rotating chain block, the oblique-insertion connecting plate is arranged on the anti-collision rotating chain block, a guide rail sliding block is arranged on the oblique-insertion connecting plate, an oblique-insertion intermediate plate is arranged on the guide rail sliding block, an oblique-insertion rod is arranged on the oblique-insertion connecting plate, a finger mechanism trigger, a finger link mechanism, a finger extending mechanism and a finger trigger piece are arranged on the oblique-insertion rod, a groove is formed in the oblique-insertion rod, the guide rail sliding block is arranged in the groove, the oblique-insertion contact rod is arranged on the guide rail sliding block, the oblique-insertion servo motor is arranged on the oblique-insertion intermediate plate, and the output end of the oblique-insertion servo motor is connected with the oblique-insertion driving synchronous belt wheel, insert ball to one side and locate to insert the intermediate lamella bottom to one side, insert hold-in range one end to one side and locate to insert driving synchronous pulley to one side, insert the hold-in range other end to one side and be connected with to insert driven synchronous pulley to one side, insert driven synchronous pulley to one side and be connected with to insert ball to one side, insert the thickening plate to one side and locate to one side on the inserted bar.

2. The railway hump operation automatic lifting hook walking robot as claimed in claim 1, characterized in that: the lifting hook assembly comprises a lifting hook rotating and telescoping center, a lifting hook rotating and telescoping rod, a lifting hook chain, a lifting hook rod, a lifting hook platform, a lifting hook lifting connecting rod, a lifting hook screw rod, a lifting hook motor fixing block, a lifting hook coupler, a lifting hook screw rod support and a lifting hook servo motor, wherein a lifting hook mounting seat is arranged on the side surface of the inclined insertion middle plate, a guide rail slide block is mounted on the lifting hook mounting seat, the lifting hook screw rod support is arranged on the guide rail slide block, the lifting hook screw rod is arranged on the lifting hook screw rod support, the lifting hook motor fixing block and the lifting hook screw rod support seat are arranged at the two ends of the lifting hook mounting seat, the lifting hook screw rod support seat is arranged close to the inclined insertion contact rod, one end of the lifting hook screw rod is arranged on the lifting hook screw rod support seat, the lifting hook servo motor is arranged on the lifting hook motor fixing block, the lifting hook servo motor is connected with a lifting hook coupler, and the lifting hook screw rod is connected with the lifting hook screw rod, the lifting hook lifting connecting rod is arranged between the lifting hook screw rod support and the lifting hook screw rod supporting seat, the lifting hook platform is arranged on the lifting hook lifting connecting rod, the lifting hook rod is arranged on the lifting hook platform, the lifting hook rod is connected with a connecting telescopic connecting plate, a lifting hook rotating telescopic center is arranged on the connecting telescopic connecting plate, a lifting hook chain is connected to one end of the lifting hook rotating telescopic rod, and the other end of the lifting hook rotating telescopic rod is arranged in a penetrating through lifting hook rotating telescopic center.

3. The railway hump operation automatic lifting hook walking robot as claimed in claim 1, characterized in that: the two-axis movement mechanism comprises a hook-lifting robot vertical module and a hook-lifting robot transverse separation type second-stage telescopic module, the hook-lifting robot vertical module is arranged on a robot main body frame and is perpendicular to or in the direction of a traveling rail, the hook-lifting robot transverse separation type second-stage telescopic module is arranged on the hook-lifting robot vertical module and comprises a connecting plate, a motor fixing end plate, a first-stage guide rail fixing plate, a second-stage guide rail fixing plate, a middle-stage driven synchronous pulley, a tail-end driven synchronous pulley, a tail-end bottom plate, a Z-axis servo motor, a driving wheel fixing plate, a synchronous belt, a driving plate, a coupler, a Z-axis reducer and a synchronous belt tail end tensioner, the connecting plate is arranged on the hook-lifting robot vertical module, and the connecting plate is connected with a supporting plate, the support plate is connected with a motor fixing end plate, the motor fixing end plate and the connecting plate are oppositely arranged, the driving wheel fixing plate is arranged on the support plate, the Z-axis servo motor is arranged on the motor fixing end plate, the Z-axis servo motor is connected with a Z-axis reducer, the Z-axis reducer is connected with a coupler, the coupler is connected with a driving wheel, the driving wheel is arranged on the driving wheel fixing plate, the connecting plate and the motor fixing end plate are mutually provided with a primary guide rail slider at the lower part of one side wall, the primary guide rail fixing plate is arranged on the primary guide rail slider, two sides of the primary guide rail fixing plate are arranged on a primary guide rail matched with the primary guide rail slider, the secondary guide rail fixing plate is arranged at the bottom of the primary guide rail fixing plate, the secondary guide rail fixing plate is arranged in a U shape, two sides of the secondary guide rail fixing plate are provided with secondary guide rails, the two-stage guide rail is internally provided with a two-stage guide rail sliding block, the tail end base plate is arranged on the two-stage guide rail sliding block, the second-stage guide rail sliding block is provided with a tail end lateral plate and a tail end base plate, the driven synchronous pulley is arranged at one end of the first-stage guide rail fixing plate, which is far away from the connecting plate, and is arranged in the second-stage guide rail fixing plate, the intermediate-stage driven synchronous pulley is arranged in the second-stage guide rail fixing plate, the tail end driven synchronous pulley is arranged at the bottom of the second-stage guide rail fixing plate, one end of the synchronous belt is arranged on the driving wheel, the other end of the synchronous belt sequentially surrounds the driven synchronous pulley, the intermediate-stage synchronous pulley and the tail end driven synchronous pulley, the other end of the synchronous belt is connected with a synchronous belt tail end pulling device, the second-stage guide rail fixing plate is provided with a mechanical organ trigger, the motor end fixing plate is provided with a mechanical buckle, the mechanical buckle and the mechanical organ trigger are positioned on the same horizontal plane, and the front end of the secondary guide rail fixing plate is provided with a secondary mechanical fastener.

4. The railway hump operation automatic lifting hook walking robot as claimed in claim 1, characterized in that: the walking mechanism comprises a driving wheel fixing frame, a rubberizing driving wheel, a rubberizing driven wheel, a driven wheel fixing frame, a lateral limiting wheel mechanism, a straining wheel mechanism, a walking servo motor speed reducer, a steel eight-double diaphragm coupler and a servo motor encoder, wherein the driving wheel fixing frame and the driven wheel fixing frame are arranged on a robot main body frame, the rubberizing driving wheel is arranged on the driving wheel fixing frame, the rubberizing driven wheel is arranged on the driven wheel fixing frame, the rubberizing driving wheel and the rubberizing driven wheel are in contact with an H-shaped steel rail, the lateral limiting wheel mechanism is arranged on the robot main body frame and is connected with the side surface of the H-shaped steel rail, the straining wheel mechanism is arranged on the robot main body frame and is connected with the inner surface of the side of the H-shaped steel rail, the walking servo motor is arranged on the robot main body frame, and the walking servo motor is connected with the walking servo motor speed reducer, the walking servo motor speed reducer is connected with a steel eight-double diaphragm coupler, and the steel eight-double diaphragm coupler is connected with a rubberizing driving wheel.

5. The railway hump operation automatic lifting hook walking robot as claimed in claim 1, characterized in that: the walking mechanism is provided with a power system, and the robot main body frame is provided with a laser radar.

Technical Field

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

Background

At present, the hook lifting operation of the hump operation site of the marshalling yard in China is completely finished manually. The working process comprises the following steps: the railway control room sends the car number and the corresponding number of the sections of the car to be unscrambled through an internal network, and then a grappler holds the printed list to wait beside the peak road. The train of carriages needing to be unbundled is pushed into a peak road by a locomotive, and a hitcher starts to observe the train number of the corresponding carriage needing to be subjected to the hitching operation at the corresponding position and needs to check whether a wind pipe below the carriage is removed. Then the lifting hook person needs to move along with the carriage, then the car coupler receiver is held by a hand to quickly lift the car coupler, then the lifting hook person needs to judge and rotate the car coupler according to experience to lift the coupler knuckle, then the lifting hook person needs to keep the action to finish the hook protection operation for a certain distance, finally the car coupler is released when the carriage starts to slide down, the carriage which is finished by the unfolding operation can enter a marshalling station from a sliding slope due to the self gravity, and then all the lifting hook operation is finished.

The manual unhooking working condition is complex, the labor intensity is high, and the safety accident occurrence probability is high. Due to outdoor operation, various severe weather such as rain and snow have great influence on field operation, so that the operation difficulty is increased and the danger degree is increased. And the condition that the operator takes the wrong or misses the pick is caused by the influence of weather or other external factors. 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.

6. The space is relatively limited. Most of hump operation platforms in marshalling stations in China run on double tracks, automatic equipment can only be installed on the left side of the single track, namely, the left side of the single track is opposite to the side of a manual unhooking hook, so that the field for installing and fixing equipment is limited, and the occupied space of the whole equipment is small.

7. The side of the car coupler is provided with a shield. The railway carriages used in China are various in types, and the side direction of a car coupler of a part of carriages, namely the direction parallel to a rail, is shielded by a carriage edge or a ladder.

The prior art has the following defects:

1. the fixed installation mode can only be applied to two carriages in the unmoving process. The device can only be applied to a carriage which has a small number of vehicles and does not move in a power plant or a mine field.

2. The coupler position is found from the carriage for carrying out the hook lifting operation, if the carriage has an outer edge, the coupler of the carriage is completely shielded, and the collision between the whole device and the train carriage can be caused or the hook lifting operation cannot be finished.

3. The double-track type moving machine adopts double-track type motion and is driven by a gear rack type, although the stability is good, the double-track type moving machine can be better applied to a moving carriage, the size is large, the occupied space in a marshalling station is large, the processing cost of the whole equipment is high, and the carrying and the transportation are difficult and the cost is high.

4. The equipment arranged on the carriage can avoid the problems of shielding and common speed, but an independent unhooking device is arranged on each carriage. The number of train carriages operated in a marshalling station in China is 91.2 thousands of carriages when the marshalling station is only used in a small mine field or a power plant. Installation and equipment costs are extremely high.

Disclosure of Invention

Aiming at the situation and overcoming the defects of the prior art, the invention provides the automatic hook lifting walking robot for railway hump operation, which can stably walk on a track, utilizes a laser radar to detect wheels of a train bogie to realize the common speed of a robot system and a train carriage, utilizes a ball screw module and a two-stage separation type telescopic module to finish the two-axis movement of a hook lifting manipulator in the hook lifting robot system, and realizes the automatic hook lifting of the integral hook lifting manipulator through a plurality of motors and mechanical mechanisms.

The technical scheme adopted by the invention is as follows: the utility model provides an automatic hook walking robot that carries of railway hump operation, includes robot main body frame, running gear, H type rail, diaxon motion and hook robot manipulator mechanism, running gear locates on the H type rail, robot main body frame locates on the running gear, diaxon motion locates on the robot main body frame, diaxon motion is equipped with the camera fixed plate, hook robot manipulator mechanism locates on the camera fixed plate, hook robot manipulator mechanism includes upset subassembly, inserts subassembly and hook assembly to one side, the upset subassembly is located on the camera fixed plate, the upset subassembly is connected with the upset arm, the upset arm is connected with inserts the subassembly to one side, the hook assembly locates to one side on the subassembly, insert the subassembly to one side and include insert servo motor, insert the connecting plate to one side, insert intermediate lamella to one side, The turning mechanical arm is connected with an anti-collision rotating chain block, an oblique insertion connecting plate is arranged on the anti-collision rotating chain block, a guide rail sliding block is arranged on the oblique insertion connecting plate, an oblique insertion intermediate plate is arranged on the guide rail sliding block, a displacement sensor is arranged on the oblique insertion intermediate plate, an oblique insertion rod is arranged on the oblique insertion connecting plate, a finger mechanism trigger, a finger connecting rod mechanism, a finger mechanism extension rod and a finger trigger are arranged on the oblique insertion rod, a groove is formed in the oblique insertion rod, a guide rail sliding block is arranged in the groove, the oblique insertion contact rod is arranged on the guide rail sliding block, an oblique insertion servo motor is arranged on the oblique insertion intermediate plate, insert the servo motor output to one side and be connected with and insert driving synchronous pulley to one side, insert ball to one side and locate to insert the intermediate lamella bottom to one side, insert hold-in range one end to one side and locate to insert driving synchronous pulley to one side, insert the hold-in range other end to one side and be connected with and insert driven synchronous pulley to one side, insert driven synchronous pulley to one side and be connected with and insert ball to one side, insert the thickening plate to one side and locate to one side on the inserted bar.

Further, the lifting hook assembly comprises a lifting hook rotating telescopic center, a lifting hook rotating telescopic rod, a lifting hook chain, a lifting hook rod, a lifting hook platform, a lifting hook lifting connecting rod, a lifting hook screw rod, a lifting hook motor fixing block, a lifting hook shaft coupling, a lifting hook screw rod support and a lifting hook servo motor, wherein a lifting hook mounting seat is arranged on the side surface of the inclined insertion intermediate plate, a guide rail slide block is mounted on the lifting hook mounting seat, the lifting hook screw rod support is arranged on the guide rail slide block, the lifting hook screw rod is arranged on the lifting hook screw rod support, the lifting hook motor fixing block and the lifting hook screw rod support seat are arranged at the two ends of the lifting hook mounting seat, the lifting hook screw rod support seat is arranged close to the inclined insertion contact rod, one end of the lifting hook screw rod is arranged on the lifting hook screw rod support seat, the lifting hook servo motor is arranged on the lifting hook motor fixing block, the lifting hook servo motor is connected with the lifting hook shaft coupling, the lifting hook screw rod is connected with the lifting hook screw rod, the lifting hook lifting connecting rod is arranged between the lifting hook screw rod support and the lifting hook screw rod supporting seat, the lifting hook platform is arranged on the lifting hook lifting connecting rod, the lifting hook rod is arranged on the lifting hook platform and is connected with a connecting telescopic connecting plate, a lifting hook rotating telescopic center is arranged on the connecting telescopic connecting plate, a lifting hook rotating telescopic rod is connected with a lifting hook chain, and the other end of the lifting hook rotating telescopic rod is arranged in a penetrating manner through the lifting hook rotating telescopic center.

Further, the two-axis movement mechanism comprises a hook-lifting robot vertical module and a hook-lifting robot transverse separation type second-stage telescopic module, the hook-lifting robot vertical module is arranged on the robot main body frame and is perpendicular to or in the direction of a traveling rail, the hook-lifting robot transverse separation type second-stage telescopic module is arranged on the hook-lifting robot vertical module and comprises a connecting plate, a motor fixing end plate, a first-stage guide rail fixing plate, a second-stage guide rail fixing plate, a middle-stage driven synchronous pulley, a tail end base plate, a Z-axis servo motor, a driving wheel fixing plate, a synchronous belt, a driving wheel 54, a coupler, a Z-axis reducer and a synchronous belt tail end tensioner, the connecting plate is arranged on the hook-lifting robot vertical module, and the connecting plate is connected with a supporting plate, the support plate is connected with a motor fixing end plate, the motor fixing end plate and the connecting plate are oppositely arranged, the driving wheel fixing plate is arranged on the support plate, the Z-axis servo motor is arranged on the motor fixing end plate, the Z-axis servo motor is connected with a Z-axis reducer, the Z-axis reducer is connected with a coupler, the coupler is connected with a driving wheel, the driving wheel is arranged on the driving wheel fixing plate, the connecting plate and the motor fixing end plate are mutually provided with a primary guide rail slider at the lower part of one side wall, the primary guide rail fixing plate is arranged on the primary guide rail slider, two sides of the primary guide rail fixing plate are arranged on a primary guide rail matched with the primary guide rail slider, the secondary guide rail fixing plate is arranged at the bottom of the primary guide rail fixing plate, the secondary guide rail fixing plate is arranged in a U shape, two sides of the secondary guide rail fixing plate are provided with secondary guide rails, the two-stage guide rail is internally provided with a two-stage guide rail sliding block, the tail end base plate is arranged on the two-stage guide rail sliding block, the second-stage guide rail sliding block is provided with a tail end lateral plate and a tail end base plate, the driven synchronous pulley is arranged at one end of the first-stage guide rail fixing plate, which is far away from the connecting plate, and is arranged in the second-stage guide rail fixing plate, the intermediate-stage driven synchronous pulley is arranged in the second-stage guide rail fixing plate, the tail end driven synchronous pulley is arranged at the bottom of the second-stage guide rail fixing plate, one end of the synchronous belt is arranged on the driving wheel, the other end of the synchronous belt sequentially surrounds the driven synchronous pulley, the intermediate-stage synchronous pulley and the tail end driven synchronous pulley, the other end of the synchronous belt is connected with a synchronous belt tail end pulling device, the second-stage guide rail fixing plate is provided with a mechanical organ trigger, the motor end fixing plate is provided with a mechanical buckle, the mechanical buckle and the mechanical organ trigger are positioned on the same horizontal plane, and the front end of the secondary guide rail fixing plate is provided with a secondary mechanical fastener.

Further, the walking mechanism comprises a driving wheel fixing frame, a rubberizing driving wheel, a rubberizing driven wheel, a driven wheel fixing frame, a lateral limiting wheel mechanism, a straining wheel mechanism, a walking servo motor speed reducer, a steel eight-double-diaphragm coupler and a servo motor encoder, wherein the driving wheel fixing frame and the driven wheel fixing frame are arranged on the robot main body frame, the rubberizing driving wheel is arranged on the driving wheel fixing frame, the rubberizing driven wheel is arranged on the driven wheel fixing frame, the rubberizing driving wheel and the rubberizing driven wheel are contacted with the H-shaped steel rail, the lateral limiting wheel mechanism is arranged on the robot main body frame and is connected with the side surface of the H-shaped steel rail, the straining wheel mechanism is arranged on the robot main body frame and is connected with the inner surface of the H-shaped steel rail side, the walking servo motor is arranged on the robot main body frame, and the walking servo motor is connected with the walking servo motor speed reducer, the walking servo motor speed reducer is connected with a steel eight-double diaphragm coupler, and the steel eight-double diaphragm coupler is connected with a rubberizing driving wheel.

Further, the traveling mechanism is provided with a power system, and the robot main body frame is provided with a laser radar.

After adopting the structure, the invention has the following beneficial effects: according to the automatic hook lifting walking robot for railway hump operation, a single-track operation mode is adopted, the size and the weight of the whole equipment are reduced to the great extent, the light weight of the equipment is realized, and by reducing the size and the weight of the whole equipment, under the condition that the original realization speed is not changed, the selected parameters of the equipment can be selected to be smaller, 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;

an electric driving mode and a synchronous belt transmission mode are adopted. The electric driving mode can ensure that the equipment can be accurately controlled in the operation and can obtain data feedback in real time. The transmission mode of the synchronous belt is relatively stable, and the synchronous belt has the advantages of higher transmission precision, low noise and higher transmission power;

the primary mechanical locking and the secondary mechanical locking are adopted, so that the whole device realizes secondary separated movement by using single drive, and the stability of the position of the equipment is ensured after the equipment reaches the working position;

all the motor driving modes are adopted. All electric modes are adopted. The electric drive is adopted, the required position control can be accurately controlled, and the real-time feedback of the feeding speed and the feeding position can be obtained in the main control room;

the whole uncoupling process is divided into an inclined insertion part, a lifting hook part and a turning part, so that different uncoupling operations can be carried out on different types of car couplers by a manipulator. The diversity of equipment is ensured, and the requirements of large types of train marshalling stations and complex types of car couplers can be met;

the laser radar is adopted to scan the wheels to carry out non-contact speed measurement with the train, and the train runs at the same speed. Only one set of laser radar scanning device needs to be installed on the equipment, so that the requirements can be met, and the cost is reduced to a great extent.

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 an automatic hook lifting walking robot for railway hump operation according to the present invention;

FIG. 2 is a schematic structural view of a traveling mechanism of an automatic hook lifting traveling robot for railway hump operation according to the present invention;

FIG. 3 is an enlarged view of portion A of FIG. 2;

FIG. 4 is a schematic structural view of a two-axis movement mechanism of the automatic hook lifting walking robot for railway hump operation according to the present invention;

FIG. 5 is an enlarged view of portion B of FIG. 4;

FIG. 6 is a schematic structural diagram of a lifting hook robot manipulator mechanism of the automatic lifting hook walking robot for railway hump operation according to the present invention;

fig. 7 is an enlarged view of a portion C of fig. 6.

In the drawings: 1. a robot main body frame, 2, a walking mechanism, 3, an H-shaped steel rail, 4, a two-axis movement mechanism, 5, a hook lifting robot manipulator mechanism, 6, a camera fixing plate, 7, a turning assembly, 8, an oblique insertion assembly, 9, a hook lifting assembly, 10, a turning mechanical arm, 11, an oblique insertion servo motor, 12, an oblique insertion connecting plate, 13, an oblique insertion intermediate plate, 14, a finger mechanism trigger, 15, a finger link mechanism, 16, a finger mechanism extension rod, 17, an oblique insertion thickening plate, 18, a finger trigger, 19, an oblique insertion contact rod, 20, a displacement sensor, 21, an oblique insertion ball screw, 22, an oblique insertion driven synchronous pulley, 23, an oblique insertion synchronous belt, 24, an oblique insertion driving synchronous pulley, 25, an anti-collision rotating chain block, 26, an oblique insertion rod, 27, a hook lifting rotating telescopic center, 28, a hook lifting rotating telescopic rod, 29, a hook lifting chain, 30 and a hook lifting rod, 31. a lifting hook platform, 32, a lifting hook lifting connecting rod, 33, a lifting hook screw rod, 34, a lifting hook motor fixing block, 35, a lifting hook coupler, 36, a lifting hook screw rod support, 37, a lifting hook servo motor, 38, a lifting hook mounting seat, 39, a lifting hook screw rod support seat, 40, a connecting telescopic connecting plate, 41, a lifting hook robot vertical module, 42, a lifting hook robot transverse separation type secondary telescopic module, 43, a connecting plate, 44, a motor fixing end plate, 45, a primary guide rail fixing plate, 46, a secondary guide rail fixing plate, 47, a middle-stage driven synchronous pulley, 48, a tail end driven synchronous pulley, 49, a driven synchronous pulley, 50, a tail end base plate, 51, a Z-axis servo motor, 52, a driving wheel fixing plate, 53, a synchronous belt, 54, a driving wheel, 55, a coupler, 56, a Z-axis reducer, 57, a synchronous belt tail end tensioner, 58, a support plate, 59 and a mechanical type mechanism trigger, 60. mechanical type buckle, 61, second grade mechanical type buckle, 62, action wheel mount, 63, the rubberizing action wheel, 64, the rubberizing follow driving wheel, 65, follow driving wheel mount, 66, side direction limiting wheel mechanism, 67, tight pulley mechanism, 68, laser radar, 69, servo motor encoder, 70, terminal side direction board, 71, walking servo motor, 72, walking servo motor speed reducer, 73, eight two diaphragm couplings of steel.

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. 1-7, an automatic hook lifting walking robot for railway hump operation comprises a robot main body frame 1, a walking mechanism 2, an H-shaped steel rail 3, a two-axis moving mechanism 4 and a hook lifting robot manipulator mechanism 5, wherein the walking mechanism 2 is arranged on the H-shaped steel rail 3, the robot main body frame 1 is arranged on the walking mechanism 2, the two-axis moving mechanism 4 is arranged on the robot main body frame, the two-axis moving mechanism 4 is provided with a camera fixing plate 6, the hook lifting robot manipulator mechanism 5 is arranged on the camera fixing plate 6, the hook lifting robot manipulator mechanism 5 comprises a turning assembly 7, an oblique insertion assembly 8 and a hook lifting assembly 9, the turning assembly 7 is arranged on the camera fixing plate 6, the turning assembly 7 is connected with a turning mechanical arm 10, the turning mechanical arm 10 is connected with the oblique insertion assembly 8, the hook lifting assembly 9 is arranged on the oblique insertion assembly 8, the inclined insertion assembly 8 comprises an inclined insertion servo motor 11, an inclined insertion connecting plate 12, an inclined insertion intermediate plate 13, a finger mechanism trigger 14, a finger link mechanism 15, a finger mechanism extension rod 16, an inclined insertion thickening plate 17, a finger trigger 18, an inclined insertion contact rod 19, a displacement sensor 20, an inclined insertion ball screw 21, an inclined insertion driven synchronous belt pulley 22, an inclined insertion synchronous belt 23, an inclined insertion driving synchronous belt pulley 24 and an anti-collision rotating chain block 25, the turnover mechanical arm 10 is connected with the anti-collision rotating chain block 25, the inclined insertion connecting plate 12 is arranged on the anti-collision rotating chain block 25, a guide rail sliding block is arranged on the inclined insertion connecting plate 12, the inclined insertion intermediate plate 13 is arranged on the guide rail sliding block, the inclined insertion intermediate plate 13 is provided with the displacement sensor 20, the inclined insertion connecting plate 12 is provided with an inclined insertion rod 26, the inclined insertion rod 26 is provided with the finger mechanism trigger 14, the finger link mechanism 15, Finger mechanism extension bar 16 and finger trigger 18, be equipped with the recess in the inserted bar 26 to one side, install the rail block in the recess, insert contact bar 19 to one side and locate on the rail block, insert servo motor 11 to one side and locate to one side and insert on intermediate lamella 13, insert servo motor 11 output to one side and be connected with to one side and insert driving synchronous pulley 24, insert ball 21 to one side and locate to one side and insert intermediate lamella 13 bottom, insert hold-in range 23 one end to one side and locate to one side and insert driving synchronous pulley 24 on, insert hold-in range 23 other end to one side and be connected with to one side and insert driven synchronous pulley 22, insert driven synchronous pulley 22 to one side and be connected with to one side and insert ball 21 to one side, insert thickened plate 17 to one side and locate on oblique inserted bar 26.

Wherein, the lifting hook component 9 comprises a lifting hook rotating telescopic center 27, a lifting hook rotating telescopic rod 28, a lifting hook chain 29, a lifting hook rod 30, a lifting hook platform 31, a lifting hook lifting connecting rod 32, a lifting hook screw 33, a lifting hook motor fixing block 34, a lifting hook coupling 35, a lifting hook screw bracket 36 and a lifting hook servo motor 37, the side surface of the inclined insertion intermediate plate 13 is provided with a lifting hook mounting seat 38, a guide rail slide block is arranged on the lifting hook mounting seat 38, the lifting hook screw bracket 36 is arranged on the guide rail slide block, the lifting hook screw 33 is arranged on the lifting hook screw bracket 36, the lifting hook motor fixing block 34 and the lifting hook screw supporting seat 39 are arranged at the two ends of the lifting hook mounting seat 38, the lifting hook screw supporting seat 39 is arranged close to the inclined insertion contact rod 19, one end of the lifting hook screw 33 is arranged on the lifting hook screw supporting seat 39, the lifting hook servo motor 37 is arranged on the lifting hook motor fixing block 34, the lifting hook servo motor 37 is connected with a lifting hook coupler 35, the lifting hook coupler 35 is connected with a lifting hook screw 33, a lifting hook lifting connecting rod 32 is arranged between a lifting hook screw support 36 and a lifting hook screw support 39, the lifting hook platform 31 is arranged on the lifting hook lifting connecting rod 32, the lifting hook rod 30 is arranged on the lifting hook platform 31, the lifting hook rod 30 is connected with a connecting telescopic connecting plate 40, a lifting hook rotary telescopic center 27 is arranged on the connecting telescopic connecting plate 40, the lifting hook rotary telescopic rod 28 is connected with a lifting hook chain 29 at one end, and the other end of the lifting hook rotary telescopic rod 28 penetrates through the lifting hook rotary telescopic center 27; the two-axis movement mechanism 4 comprises a hook-lifting robot vertical module 41 and a hook-lifting robot transverse separation type two-stage telescopic module 42, the hook-lifting robot vertical module 41 is arranged on the robot main body frame 1, the hook-lifting robot vertical module 41 is perpendicular to or in the direction of a traveling rail, the hook-lifting robot transverse separation type two-stage telescopic module 42 is arranged on the hook-lifting robot vertical module 41, the hook-lifting robot transverse separation type two-stage telescopic module 42 comprises a connecting plate 43, a motor fixing end plate 44, a primary guide rail fixing plate 45, a secondary guide rail fixing plate 46, a middle-stage driven synchronous pulley 47, a tail-end driven synchronous pulley 48, a driven synchronous pulley 49, a tail-end bottom plate 50, a Z-axis servo motor 51, a driving wheel fixing plate 52, a synchronous belt 53, a driving wheel 54, a coupling 55, a Z-axis reducer 56 and a synchronous belt tail-end tensioner 57, the connecting plate 43 is arranged on the hook-lifting robot vertical module 41, the connecting plate 43 is connected with a supporting plate 58, the supporting plate 58 is connected with a motor fixing end plate 44, the motor fixing end plate 44 and the connecting plate 43 are oppositely arranged, the driving wheel fixing plate 52 is arranged on the supporting plate 58, the Z-axis servo motor 51 is arranged on the motor fixing end plate 44, the Z-axis servo motor 51 is connected with a Z-axis reducer 56, the Z-axis reducer 56 is connected with a coupler 55, the coupler 55 is connected with a driving wheel 54, the driving wheel 54 is arranged on the driving wheel fixing plate 52, the connecting plate 43 and the motor fixing end plate 44 are mutually close to the lower part of one side wall and provided with a primary guide rail slider, the primary guide rail fixing plate 45 is arranged on the primary guide rail slider, two sides of the primary guide rail fixing plate 45 are arranged on a primary guide rail matched with the primary guide rail slider, and the secondary guide rail fixing plate 46 is arranged at the bottom of the primary guide rail fixing plate 45, the second grade guide rail fixing plate 46 is arranged in a U shape, two sides of the second grade guide rail fixing plate 46 are provided with second grade guide rails, a second grade guide rail sliding block is arranged in the second grade guide rail, the tail end bottom plate 50 is arranged on the second grade guide rail sliding block, a tail end side plate 70 and a tail end bottom plate 50 are arranged on the second grade guide rail sliding block, the driven synchronous belt pulley 49 is arranged at one end of the first grade guide rail fixing plate 45 far away from the connecting plate 43 and is arranged in the second grade guide rail fixing plate 46, the middle grade driven synchronous belt pulley 47 is arranged in the second grade guide rail fixing plate 46, the tail end driven synchronous belt pulley 48 is arranged at the bottom of the second grade guide rail fixing plate 46, one end of the synchronous belt 53 is arranged on the driving wheel 54, the other end of the synchronous belt 53 is sequentially surrounded on the driven synchronous belt pulley 49, the wheel 53 and the tail end driven synchronous belt pulley 48, the other end of the synchronous belt 53 is connected with a synchronous belt tail end pulling device 57, the secondary guide rail fixing plate 46 is provided with a mechanical organ trigger 59, the motor end fixing plate is provided with a mechanical fastener 60, the mechanical fastener 60 and the mechanical organ trigger 59 are positioned on the same horizontal plane, and the front end of the secondary guide rail fixing plate 46 is provided with a secondary mechanical fastener 61; the walking mechanism 2 comprises a driving wheel fixing frame 62, a rubberizing driving wheel 63, a rubberizing driven wheel 64, a driven wheel fixing frame 65, a lateral limiting wheel mechanism 66, a tensioning wheel mechanism 67, a walking servo motor 71, a walking servo motor reducer 72, a steel eight-double diaphragm coupling 73 and a servo motor encoder 69, the driving wheel fixing frame 62 and the driven wheel fixing frame 65 are arranged on the robot main body frame 1, the rubberizing driving wheel 63 is arranged on the driving wheel fixing frame 62, the rubberizing driven wheel 64 is arranged on the driven wheel fixing frame 65, the rubberizing driving wheel 63 and the rubberizing driven wheel 64 are in contact with the H-shaped steel rail 3, the lateral limiting wheel mechanism 66 is arranged on the robot main body frame and is connected with the side surface of the H-shaped steel rail 3, the tensioning wheel mechanism 67 is arranged on the robot main body frame 1 and is connected with the inner surface of the H-shaped steel rail 3 side, the walking servo motor 71 is arranged on the robot main body frame 1, the walking servo motor 71 is connected with a walking servo motor reducer 72, the walking servo motor reducer 72 is connected with a steel eight-double diaphragm coupling 73, the steel eight-double diaphragm coupling 73 is connected with a rubberizing driving wheel 63, and the servo motor encoder is arranged on a driven wheel fixing frame; the walking mechanism 2 is provided with a power system, and the robot main body frame 3 is provided with a laser radar 68.

When in specific use, the H-shaped steel rail 3 is arranged on a concrete foundation through bolts and a Down's rail press; the driving travelling mechanism 2 consisting of the driving wheel fixing frame 62 and the rubberizing driving wheel 63 and the driven travelling wheel structure consisting of the rubberizing driven wheel 64 and the driven wheel fixing frame 65 are connected with the H-shaped steel rail, so that the robot system can stably run on the H-shaped steel rail 3 and cannot tip over forwards and backwards. The lateral limiting wheel mechanism 66 is connected with the side face of the H-shaped steel rail 3, so that the robot system cannot deviate left and right on the rail. The tension wheel mechanism 67 is connected with the inner surface of the upper side of the H-shaped steel rail 3, so that the robot system cannot be bumped or fluctuated and rocked in the vertical direction due to acceleration and deceleration on the rail. The robot adopts 3H-shaped steel rails with high bearing capacity. The flatness of the rail mounting reduces the occurrence of jolts in the movement of the robot system on the rail.

The servo motor encoder 69 reads data to perform precise position control, and the pulse number is given to control the movement position and speed of the kiss-coating capstan 63. The connection mode that the driving wheel on the surface of polyurethane and the track are in friction running is adopted, so that the robot system has higher speed through increasing the power of the motor, and the robot system and a train are ensured to be synchronous.

When the hook lifting robot is in an automatic state, the laser radar starts to work, when the first train carriage enters a laser radar scanning angle, the laser radar starts to count to record the number of carriages passing through a train bogie, when the carriage to be subjected to hook lifting operation is specified, the laser radar can pass through bogie wheels scanning the carriage, the distance between the laser radar and the bogie wheels is detected to transmit data to a control room, the data are processed and converted into an instantaneous speed to be transmitted to a PLC (programmable logic controller) through the data in the control room, the speed is transmitted to a servo driver through the PLC, a walking servo motor is controlled to start to work, the whole robot moves forwards at a given speed, the speed can be updated at an extremely short time frequency, and the purpose that the robot and the train carriages finish the same speed is finally achieved.

By adopting the two-stage separation type telescopic mechanism, the large extending stroke range of the manipulator can be met, the whole hook lifting robot manipulator can be completely hidden under the Z-axis telescopic module in the initial state of the equipment, the safety limit that the installation position of the robot system on a railway can be close to (14) a train carriage is ensured, and the longitudinal extending stroke of the robot system is not increased and more space volume is not occupied due to the initial extending state of the manipulator.

In the initial state of the device, the first-stage mechanical buckle 60 and the mechanical organ trigger 59 in the first-stage telescopic part are in a dead-locking state, when the driving part drives the driving wheel to move the synchronous belt 53, the first-stage telescopic part is in a fixed state and cannot move, and the second-stage telescopic part is in a movable state and starts to extend. When the second-stage telescopic part reaches the preset end position, the second-stage mechanical buckle 60 is in contact with the tail end lateral plate 70 (the second-stage trigger), so that the tail end lateral plate 70 (the second-stage trigger) moves, and the first-stage mechanical buckle 60 and the mechanical trap trigger 59 are separated from the clamping state. At this time, the tail end lateral plate 70 (secondary trigger) at the front section of the primary expansion plate is displaced, so that the front end of the secondary mechanical trigger enters the clamping groove of the tail end lateral plate 70 and the secondary expansion device enters a fixed state. The primary telescoping section becomes active and begins to move. After the front end manipulator accomplished the hook work flow, the drive division begins to drive hold-in range 53 motion, because the flexible part of second grade is fixed state, so the flexible part of one-level contracts earlier, when the flexible part of one-level reachs predetermined terminal point position, mechanical type buckle 60 and mechanical type organ trigger 59 contact, thereby the second grade mechanical type buckle 60 and the mechanical type trigger that make break away from the card state of dying, anterior segment second grade mechanical type trigger breaks away from in the card groove of terminal side direction board 70 owing to the withdrawal of one-level expansion plate simultaneously here, shift, make the flexible part of second grade become the moving state, then the flexible part of second grade removes, equipment resumes initial condition.

The manual hook lifting action process is decomposed, the corresponding actions are constructed through a mechanical structure and linked together, and the manual operation process is simulated to the maximum extent.

After the Z-axis two-stage separated telescopic module reaches an operation position, an inclined insertion servo motor 11 of an inclined insertion part starts to work to drive an inclined insertion ball screw 21 to rotate, so that an inclined insertion middle plate 13 starts to move forwards, meanwhile, an inclined insertion contact rod 19 is in contact with a train coupler due to the fact that the inclined insertion middle plate 13 extends forwards, the inclined insertion contact rod 19 moves backwards due to the fact that the coupler is in a fixed state and is guided by a guide rail sliding block, and a chain guard plate connected with the inclined insertion contact rod 19 is in contact with a displacement sensor 20, so that the displacement sensor 20 reads the displacement of the coupler entering the inclined insertion part; as the inclined insertion intermediate plate 13 moves forwards, the finger link mechanism 15 arranged on the left side moves forwards along with the inclined insertion intermediate plate, and contacts the finger mechanism trigger 14 fixed on the fixed plate, so that the finger mechanism extension rod extends out, and the front end finger trigger piece 18 is popped out, thereby preventing the coupler from sliding down in the process of connection. Meanwhile, as the chain guard moves backwards, the telescopic rod 28 slides backwards when the lifting hook rotates, and when the lifting hook slides for a certain displacement, the lifting hook rod 30 rotates inwards, so that the phenomenon that the lifting hook rod is too long and contacts a train carriage shackle is avoided.

After the inclined insertion part reaches a designated position, a lifting hook servo motor 37 of the lifting hook part starts to work to drive a lifting hook screw 33 to rotate, a lifting hook platform 31 is lifted to a corresponding height through a lifting hook lifting connecting rod 32, a train car hook is lifted, after the lifting hook part reaches the corresponding position, the overturning servo motor starts to work, the whole front end manipulator rotates anticlockwise through a mechanical arm, the motor adopts a torque mode, the condition of dead hook can be effectively avoided, and the equipment damage probability is reduced. When all the operations are completed, all the mechanism parts are restored to the initial state.

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.