阅读说明：本技术 用于轨道运输的全自动摘挂销-链-保险绳系统及方法 (Full-automatic pin-chain-safety rope picking and hanging system and method for rail transportation ) 是由 安旭 魏仪昌 宋华 于 2021-01-13 设计创作，主要内容包括：本发明揭示了一种用于轨道运输的全自动摘挂销-链-保险绳系统及方法,包括双向阻车器,至少用于将车辆锁止,并能够与车辆一起沿轨道移动,直至车辆上的指定插销位到达理想位置；能视觉检测系统,至少用于实时检测指定插销位的实际位置,将实际位置和理想位置比较,再控制移动车辆直至指定插销位到达理想位置；摘挂销-链-保险绳装置,至少用于在理想位置将指定插销位中的连接销取出,并摘除及相应环链,以解除车辆中相邻车厢之间的连接,或者在理想位置向指定插销位内插入连接销,并设置相应环链,以使所述车辆中相邻车厢相互连接,或者将首节车辆上的保险绳绳头摘除或固定。本发明顺利实现了串车环链保险绳摘挂自动化,减少了操作人员。(The invention discloses a full-automatic pin-chain-safety rope removing and hanging system and a method for rail transportation, which comprises a bidirectional car arrester, a chain-safety rope removing and hanging device and a safety rope safety device, wherein the bidirectional car arrester is at least used for locking a car and can move along a rail together with the car until a designated pin position on the car reaches an ideal position; the visual detection system is at least used for detecting the actual position of the specified plug pin position in real time, comparing the actual position with the ideal position, and then controlling the moving vehicle until the specified plug pin position reaches the ideal position; the hanging pin-chain-safety rope removing device is at least used for removing the connecting pin in the appointed plug pin position at an ideal position and removing the connecting pin and the corresponding ring chain so as to release the connection between adjacent carriages in the vehicle, or inserting the connecting pin into the appointed plug pin position at the ideal position and arranging the corresponding ring chain so as to mutually connect the adjacent carriages in the vehicle, or removing or fixing the safety rope head on the first section of the vehicle. The invention successfully realizes the automation of the string vehicle loop chain safety rope picking and hanging and reduces the operators.)

1. A fully automatic hook pin-chain-safety rope removal system for rail transport, comprising:

the bidirectional car arrester is used for locking the vehicle and can move along the track together with the vehicle until a designated bolt position on the vehicle reaches an ideal position;

the intelligent visual detection system is at least used for detecting the actual position of the specified plug pin position in real time, comparing the actual position of the specified plug pin position with the ideal position, and then controlling the bidirectional car arrester to move the car until the specified plug pin position reaches the ideal position;

and the hanging pin-chain-safety rope removing device is at least used for removing the connecting pin in the appointed plug pin position at the ideal position and removing the corresponding chain to remove the connection between the adjacent carriages in the vehicle, or inserting the connecting pin into the appointed plug pin position at the ideal position and arranging the corresponding chain to connect the adjacent carriages in the vehicle, or removing or fixing the safety rope head on the first section of vehicle.

2. The fully automatic hitch pin-chain-safety rope system for rail transport of claim 1, further comprising: the safety rope fixing device is arranged on each vehicle in the middle and comprises a fixed module and a movable module, an elastic reset mechanism is arranged between the fixed module and the movable module, the movable module comprises a roller, the roller is provided with a rope groove for accommodating a rope, the rope can slide in the rope groove along the length direction of the rope, the movable module can be driven by a set external force to be away from the fixed module and reach a first position, and can move from the first position to the fixed module and reach the second position under the driving of the reset force provided by the elastic reset mechanism, wherein in the first position the mouth of the rope groove is exposed and the rope is allowed to freely pass into and out of the mouth of the rope groove, and at the second position, the fixed module is combined with the movable module and closes the notch of the rope groove.

3. The fully automatic hitch pin-chain-safety rope system for rail transport of claim 2, wherein: the fixed module comprises a main body part and a pressing plate part, the pressing plate part is matched with the rope groove at the second position to seal the notch of the rope groove, the main body part is connected with a connecting rod part, and the movable module is movably matched with the connecting rod part;

and/or the movable module comprises a movable pressing block, the movable pressing block is in sliding fit with the connecting rod part and can reciprocate along the connecting rod part, and the roller is arranged on the movable pressing block through a rotating shaft;

and/or, the elastic reset mechanism comprises a compression spring, when the movable module is at the first position, the compression spring is in a compressed state, and when the movable module is at the second position, the compression spring restores to a natural state.

4. The fully automatic hitch pin-chain-safety rope system for rail transport of claim 3, wherein: the safety rope head is fixed on the first section of vehicle through a safety rope head fixing mechanism, and the safety rope head fixing mechanism comprises a rope head fixing part, a first clamping plate and a second clamping plate which are matched with each other; the rope end fixing piece is arranged between the first clamping plate and the second clamping plate and comprises a ring-shaped piece fixedly connected with the rope end of the safety rope;

and/or the tail end of the safety rope is fixed on the hook head vehicle through the rope winder;

and/or the first clamping plate and the second clamping plate are respectively provided with a through hole, the two through holes are matched with the through holes on the ring-shaped piece to form a pin hole, and the pin hole is used for being matched with a pin shaft of a mine car lock head;

and/or more than one cushion block is arranged between the first clamping plate and the second clamping plate and symmetrically distributed on two sides of the annular member;

and/or one end of the first clamping plate is also provided with a first notch, the first notch can be spliced with a second notch arranged at one end of the second clamping plate to form a limiting hole, and the limiting hole can be penetrated by a safety rope; the other ends of the first clamping plate and the second clamping plate are T-shaped, and a plurality of cushion blocks matched with the rope end fixing piece are symmetrically arranged at the other ends of the first clamping plate and the second clamping plate;

and/or one end of the first clamping plate extends along the direction parallel to the axis of the ring-shaped member and forms a first step structure, the first step structure is provided with the first notch, one end of the second clamping plate extends along the direction parallel to the axis of the ring-shaped member and forms a second step structure, and the second step structure is provided with the second notch.

5. The fully automatic hitch pin-chain-safety rope system for rail transport of claim 4, wherein: the hanging pin-chain-safety rope picking device comprises a working head arranged above the track, and a pin picking mechanism, a chain picking mechanism and a rope picking mechanism which are arranged on the working head, wherein the rope picking mechanism is arranged above the pin picking mechanism, and the chain picking mechanism is arranged below the pin picking mechanism; the working head is in transmission connection with the driving mechanism and is used for controlling the working head to freely move in the horizontal direction; the pin removing mechanism is at least used for clamping and fixing the connecting pin and taking out the connecting pin from the connecting pin seat or inserting the connecting pin into the connecting pin seat; the chain removing mechanism is at least used for clamping and fixing the ring chain, moving out from or placing between adjacent carriages in the vehicle along the direction vertical to the length direction of the track or at least used for clamping and fixing the safety rope head fixing mechanism, and moving out from or placing between a first section of vehicle and the adjacent carriages along the direction vertical to the length direction of the track; the rope picking mechanism is at least used for clamping and fixing the safety rope and taking out the safety rope from the rope groove of the safety rope fixing device or putting the safety rope into the rope groove of the safety rope fixing device.

6. The fully automatic hitch pin-chain-safety rope system for rail transport of claim 5, wherein: the pin removing mechanism comprises a lifting assembly, a rotating assembly and a clamping assembly matched with a pin, wherein the rotating assembly is installed on the lifting assembly, and the clamping assembly is installed on the rotating assembly; and/or the chain picking mechanism comprises a clamping jaw assembly and a clamping jaw driving assembly which are matched with the ring chain or safety rope head fixing mechanism, so that the clamping jaw assembly can clamp or loosen the ring chain or safety rope head fixing mechanism under the driving of the clamping jaw driving assembly; and/or, the rope picking mechanism comprises a lifting component, a pushing component and a clamping component matched with the safety rope, the clamping component is installed on the lifting component, the pushing component is fixed on the working head and at least used for pushing the connecting rod part of the safety rope fixing device.

7. The fully automatic hitch pin-chain-safety rope system for rail transport of claim 1, wherein: the intelligent visual detection system detects the coordinate of the specified bolt in a set coordinate system in real time so as to obtain the actual position of the specified bolt position;

and/or the intelligent visual detection system comprises a video detection mechanism and a control unit connected with the video detection mechanism, and the control unit is also connected with a bidirectional car arrester and a hanging pin-chain-safety rope device.

8. A fully automatic pin-chain-safety-rope-removing method for rail transportation, which is implemented based on the fully automatic pin-chain-safety-rope-removing system of claims 1 to 7, wherein the fully automatic pin-chain-safety-rope-removing method comprises:

driving the vehicle to move along a first direction or a second direction on the track by using a cart robot until the vehicle reaches an initial position, wherein the initial position is the position of the bidirectional car arrester;

locking the vehicle with a bidirectional car arrester at the initial position;

detecting the actual position of the specified plug pin position in real time by an intelligent visual detection system, comparing the actual position of the specified plug pin position with a preset ideal position, and controlling the bidirectional car arrester to move the car until the specified plug pin position reaches the ideal position;

and moving the pin-chain-safety rope removing device to a position between adjacent carriages and above the connecting pin in the vehicle, and sequentially completing pin removing, chain removing, rope removing or pin inserting, chain hanging and rope hanging.

9. A fully automatic hitch pin-chain-safety-line method for rail transport as claimed in claim 8, comprising:

setting a coordinate system by an intelligent visual detection system, and setting the ideal position in the coordinate system;

and detecting the coordinates of the appointed bolt position in real time by an intelligent visual detection system so as to obtain the actual position of the appointed bolt on the track.

10. A fully automatic hitch pin-chain-safety-line method for rail transport as claimed in claim 9, comprising:

and in the process of transporting the vehicle to the ideal position, continuously detecting the coordinate of the specified plug pin position by a visual detection mechanism of the intelligent visual detection system, and sending the coordinate to a control unit of the intelligent visual detection system for processing in real time, so that the control unit can regulate and control the working state of the bidirectional car arrester in real time until the coordinate of the specified plug pin position is coincided with the ideal position.

Technical Field

The invention belongs to the technical field of rail transportation, and particularly relates to a full-automatic pin-chain-safety rope picking and hanging system and a method for rail transportation.

Background

When the bunching vehicles are bunched and separated, the three-ring chains of the connecting vehicles need to be picked and hung together. The existing three-ring chain picking and hanging operation is finished manually, when the inclined shaft is transported, a safety rope is picked and hung, one end of the safety rope is hung in a lock head at the front end of a stringing car, and the other end of the safety rope is hung in a lock head at the rear end of the stringing car.

Under the condition of 'personnel reduction and safety increase and personnel reduction and efficiency increase' signals sent by national coal mine related departments, automatic picking and hanging of a three-ring chain and a safety rope of a train is realized in the underground transportation process, and underground operators are reduced, so that the method becomes an urgent task.

Therefore, there is a great need to design a full-automatic pin-chain-safety rope picking system for rail transportation.

Disclosure of Invention

The invention mainly aims to provide a full-automatic pin-chain-safety rope picking and hanging system and a method for rail transportation, so as to overcome the defects in the prior art.

In order to achieve the above object, the embodiment of the present invention adopts a technical solution comprising:

the embodiment of the invention provides a full-automatic pin-chain-safety rope picking and hanging system for rail transportation, which comprises:

the bidirectional car arrester is used for locking the vehicle and can move along the track together with the vehicle until a designated bolt position on the vehicle reaches an ideal position;

the intelligent visual detection system is at least used for detecting the actual position of the specified plug pin position in real time, comparing the actual position of the specified plug pin position with the ideal position, and then controlling the bidirectional car arrester to move the car until the specified plug pin position reaches the ideal position;

and the hanging pin-chain-safety rope removing device is at least used for removing the connecting pin in the appointed plug pin position at the ideal position and removing the corresponding chain to remove the connection between the adjacent carriages in the vehicle, or inserting the connecting pin into the appointed plug pin position at the ideal position and arranging the corresponding chain to connect the adjacent carriages in the vehicle, or removing or fixing the safety rope head on the first section of vehicle.

Further, the full-automatic hook pin-chain-safety rope system for rail transportation further comprises: the safety rope fixing device is arranged on each vehicle in the middle and comprises a fixed module and a movable module, an elastic reset mechanism is arranged between the fixed module and the movable module, the movable module comprises a roller, the roller is provided with a rope groove for accommodating a rope, the rope can slide in the rope groove along the length direction of the rope, the movable module can be driven by a set external force to be away from the fixed module and reach a first position, and can move from the first position to the fixed module and reach the second position under the driving of the reset force provided by the elastic reset mechanism, wherein in the first position the mouth of the rope groove is exposed and the rope is allowed to freely pass into and out of the mouth of the rope groove, and at the second position, the fixed module is combined with the movable module and closes the notch of the rope groove.

Furthermore, the fixed module comprises a main body part and a pressing plate part, the pressing plate part is matched with the rope groove at the second position to seal the notch of the rope groove, a connecting rod part is connected to the main body part, and the movable module is movably matched with the connecting rod part.

Furthermore, the movable module comprises a movable pressing block, the movable pressing block is in sliding fit with the connecting rod part and can move back and forth along the connecting rod part, and the roller is mounted on the movable pressing block through a rotating shaft.

Still further, the resilient return mechanism includes a compression spring that is compressed when the movable module is in the first position and returns to a natural state when the movable module is in the second position.

Furthermore, the safety rope head is fixed on the first section of vehicle through a safety rope head fixing mechanism, and the safety rope head fixing mechanism comprises a rope head fixing part, a first clamping plate and a second clamping plate which are matched with each other; rope fastening spare is installed between first splint and second splint, rope fastening spare is including being used for with insurance rope fag end fixed connection's loop forming element.

Furthermore, the tail end of the safety rope is fixed on the hook head vehicle through a rope winder.

Further, the hanging pin-chain-safety rope picking device comprises a working head arranged above the track, and a pin picking mechanism, a chain picking mechanism and a rope picking mechanism which are arranged on the working head, wherein the rope picking mechanism is arranged above the pin picking mechanism, and the chain picking mechanism is arranged below the pin picking mechanism; the working head is in transmission connection with the driving mechanism and is used for controlling the working head to freely move in the horizontal direction; the pin removing mechanism is at least used for clamping and fixing the connecting pin and taking out the connecting pin from the connecting pin seat or inserting the connecting pin into the connecting pin seat; the chain removing mechanism is at least used for clamping and fixing the ring chain, moving out from or placing between adjacent carriages in the vehicle along the direction vertical to the length direction of the track or at least used for clamping and fixing the safety rope head fixing mechanism, and moving out from or placing between a first section of vehicle and the adjacent carriages along the direction vertical to the length direction of the track; the rope picking mechanism is at least used for clamping and fixing the safety rope and taking out the safety rope from the rope groove of the safety rope fixing device or putting the safety rope into the rope groove of the safety rope fixing device.

Furthermore, the intelligent visual detection system detects the coordinate of the specified bolt in the set coordinate system in real time, so as to obtain the actual position of the specified bolt position.

The embodiment of the invention also provides a full-automatic pin-chain-safety rope removing method for rail transportation, which is implemented based on the full-automatic pin-chain-safety rope removing system, and the full-automatic pin-chain-safety rope removing method comprises the following steps:

driving the vehicle to move along a first direction or a second direction on the track by using a cart robot until the vehicle reaches an initial position, wherein the initial position is the position of the bidirectional car arrester;

locking the vehicle with a bidirectional car arrester at the initial position;

detecting the actual position of the specified plug pin position in real time by an intelligent visual detection system, comparing the actual position of the specified plug pin position with a preset ideal position, and controlling the bidirectional car arrester to move the car until the specified plug pin position reaches the ideal position;

and moving the pin-chain-safety rope removing device to a position between adjacent carriages and above the connecting pin in the vehicle, and sequentially completing pin removing, chain removing, rope removing or pin inserting, chain hanging and rope hanging.

Compared with the prior art, the invention has the following beneficial effects:

(1) the invention relates to a full-automatic pin-chain-safety rope removing and hanging system and a method for rail transportation, which drag a vehicle to the position of a bidirectional car arrester and lock the vehicle through the bidirectional car arrester, meanwhile, the actual position of the connecting pin on the vehicle is detected in real time through an intelligent visual detection system, and the actual position of the connecting pin on the vehicle is compared with the preset ideal position, then the bidirectional car arrester is controlled to transport the vehicle to the ideal position, after the vehicle is accurately positioned, the bidirectional car arrester is positioned, and finally the hanging pin-chain-safety rope removing device is moved to a position between adjacent carriages and above the connecting pin in the car, so that the pin removing, the chain removing, the rope removing or the bolt, the chain hanging and the rope hanging are sequentially completed, the automation of the hanging and the hanging of the safety rope of the serial car ring chain can be smoothly realized, the number of operators is reduced, and the invention is also suitable for being applied to special working environments such as inclined shaft transportation and the like.

(2) The invention relates to a full-automatic pin-chain-safety rope picking and hanging system and a method for rail transportation, wherein, the pin-chain-safety rope picking and hanging device firstly extends the working head to the upper part of the connecting pin, the chain picking mechanism firstly fixes the ring chain, the pin picking mechanism moves downwards to grab and lift the connecting pin, (the connecting pin is not pulled out of the connecting pin seat) the ring chain picking and hanging mechanism moves the ring chain out of between two vehicles and places the ring chain on a fixed ring chain tray, then the two connecting pins descend and return to the original positions, the process of removing the chain of the ring chain is finished, the process of hanging the chain of the ring chain is opposite to the process of hanging the chain, the safety rope is removed and hung, the rope end is picked and hung according to the picking and hanging actions of the endless chain, the rope is picked and hung through the matching of the pushing assembly and the safety rope fixing device, the picked safety rope is collected in the rope winder on the hook head vehicle, and then the picking and hanging automation of the safety rope of the endless chain of the tandem vehicle is smoothly realized.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a fully automatic hook pin-chain-safety rope system for rail transportation according to an embodiment of the present application.

Fig. 2 is a specific structure diagram of the safety rope head fixing mechanism in fig. 1.

Fig. 3 is a detailed structural view of the safety cord fixing device of fig. 1.

FIG. 4 is a general view of a pin-chain connection for a mine car according to an embodiment of the present application.

Fig. 5 is an enlarged view of the connecting pin-chain portion of the mine car of fig. 4.

FIG. 6 is a schematic illustration of the divided link chain of FIG. 4.

Fig. 7 is a schematic view of the structure of the decoupling pin-chain-safety-rope device in fig. 1.

Fig. 8 is an enlarged view of a portion of the breakaway pin-chain-safety-cord arrangement of fig. 7.

Description of reference numerals: 1. a track, 2, a bidirectional car arrester, 3, an intelligent visual detection system, 4, a pin-chain-safety rope picking and hanging device, 41, a working head, 42, a pin picking mechanism, 421, a lifting component, 422, a rotating component, 423, a clamping component, 43, a chain picking mechanism, 431, a clamping jaw component, 432, a clamping jaw driving component, 44, a rope picking mechanism, 441, a lifting component, 442, a pushing component, 443, a clamping component, 5, a vehicle, 6, a safety rope, 7, a safety rope head fixing mechanism, 71, a ring component, 72, a first clamping plate, 721, a first step structure, 722, a first gap, 73, a second clamping plate, 731, a second step structure, 732, a second gap, 74, a through hole, 75, a cushion block, 76, a threaded connector, 8, a safety rope fixing device, 81, a main body part, 82, a pressing plate part, 83, a roller, 831, a rope groove, 84 and a movable pressing block, 86. a connecting rod part 87, a rotating shaft 88, a compression spring 9, a rope winder 10, a hook head vehicle 11, a connecting pin 12 and a ring chain.

Detailed Description

The present invention will be more fully understood from the following detailed description, which should be read in conjunction with the accompanying drawings. Detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which can be embodied in various forms. Therefore, specific functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed embodiment.

In view of the problem that a plurality of ground high-performance automatic devices cannot be used due to the special working environment of inclined shaft transportation in the prior art, the inventor develops the full-automatic pin-chain-safety rope detaching and suspending system and the method for rail transportation through long-term research and a large amount of practice, can smoothly realize the automation of detaching and suspending the underground serial vehicle ring chain safety rope, and reduces underground operators.

The technical solution, its implementation and principles, etc. will be further explained as follows.

An aspect of an embodiment of the present invention provides a full-automatic hook pin-chain-safety rope system for rail transportation, including:

the bidirectional car arrester is used for locking the vehicle and can move along the track together with the vehicle until a designated bolt position on the vehicle reaches an ideal position;

the intelligent visual detection system is at least used for detecting the actual position of the specified plug pin position in real time, comparing the actual position of the specified plug pin position with the ideal position, and then controlling the bidirectional car arrester to move the car until the specified plug pin position reaches the ideal position;

and the hanging pin-chain-safety rope removing device is at least used for removing the connecting pin in the appointed plug pin position at the ideal position and removing the corresponding chain to remove the connection between the adjacent carriages in the vehicle, or inserting the connecting pin into the appointed plug pin position at the ideal position and arranging the corresponding chain to connect the adjacent carriages in the vehicle, or removing or fixing the safety rope head on the first section of vehicle.

In some preferred embodiments, the fully automatic hook pin-chain-safety rope system for rail transportation further includes: the safety rope fixing device is arranged on each vehicle in the middle and comprises a fixed module and a movable module, an elastic reset mechanism is arranged between the fixed module and the movable module, the movable module comprises a roller, the roller is provided with a rope groove for accommodating a rope, the rope can slide in the rope groove along the length direction of the rope, the movable module can be driven by a set external force to be away from the fixed module and reach a first position, and can move from the first position to the fixed module and reach the second position under the driving of the reset force provided by the elastic reset mechanism, wherein in the first position the mouth of the rope groove is exposed and the rope is allowed to freely pass into and out of the mouth of the rope groove, and at the second position, the fixed module is combined with the movable module and closes the notch of the rope groove.

In some more preferred embodiments, the fixed module includes a main body portion and a pressing plate portion, in the second position, the pressing plate portion is engaged with the rope groove to close the notch of the rope groove, a link portion is connected to the main body portion, and the movable module is movably engaged with the link portion.

In some more preferred embodiments, the movable module includes a movable pressing block, the movable pressing block is slidably engaged with the connecting rod portion and can reciprocate along the connecting rod portion, and the roller is mounted on the movable pressing block through a rotating shaft.

In some more preferred embodiments, the resilient return mechanism comprises a compression spring that is in a compressed state when the movable module is in the first position and returns to a natural state when the movable module is in the second position.

In some preferred embodiments, the safety rope head is fixed on the first section of vehicle through a safety rope head fixing mechanism, the safety rope head fixing mechanism comprises a rope head fixing piece, and a first clamping plate and a second clamping plate which are matched with each other; rope fastening spare is installed between first splint and second splint, rope fastening spare is including being used for with insurance rope fag end fixed connection's loop forming element.

In some preferred embodiments, the end of the safety rope is fixed on the hook head vehicle through a rope winder.

In some preferred embodiments, the first clamping plate and the second clamping plate are respectively provided with a through hole, the two through holes are matched with the through holes on the annular member to form a pin hole, and the pin hole is used for being matched with a pin shaft of the mine car lock head.

In some preferred embodiments, more than one cushion block is arranged between the first clamping plate and the second clamping plate and symmetrically distributed on two sides of the annular member.

In some preferred embodiments, one end of the first clamping plate is further provided with a first notch, the first notch can be spliced with a second notch arranged at one end of the second clamping plate to form a limiting hole, and the limiting hole can be penetrated by a safety rope; the other ends of the first clamping plate and the second clamping plate are T-shaped, and a plurality of cushion blocks matched with the rope end fixing piece are symmetrically arranged at the other ends of the first clamping plate and the second clamping plate.

In some more preferred embodiments, one end of the first clamping plate extends in a direction parallel to the axis of the ring member and forms a first stepped structure, the first stepped structure having the first notch formed therein, and one end of the second clamping plate extends in a direction parallel to the axis of the ring member and forms a second stepped structure, the second stepped structure having the second notch formed therein.

In some preferred embodiments, the hanging pin-chain-safety rope removing device comprises a working head arranged above the track, and a pin removing mechanism, a chain removing mechanism and a rope removing mechanism which are arranged on the working head, wherein the rope removing mechanism is arranged above the pin removing mechanism, and the chain removing mechanism is arranged below the pin removing mechanism; the working head is in transmission connection with the driving mechanism and is used for controlling the working head to freely move in the horizontal direction; the pin removing mechanism is at least used for clamping and fixing the connecting pin and taking out the connecting pin from the connecting pin seat or inserting the connecting pin into the connecting pin seat; the chain removing mechanism is at least used for clamping and fixing the ring chain, moving out from or placing between adjacent carriages in the vehicle along the direction vertical to the length direction of the track or at least used for clamping and fixing the safety rope head fixing mechanism, and moving out from or placing between a first section of vehicle and the adjacent carriages along the direction vertical to the length direction of the track; the rope picking mechanism is at least used for clamping and fixing the safety rope and taking out the safety rope from the rope groove of the safety rope fixing device or putting the safety rope into the rope groove of the safety rope fixing device.

In some more preferred embodiments, the pin removing mechanism comprises a lifting assembly, a rotating assembly and a clamping assembly for cooperating with a latch, the rotating assembly being mounted on the lifting assembly, and the clamping assembly being mounted on the rotating assembly.

In some more preferred embodiments, the chain picking mechanism comprises a clamping jaw assembly and a clamping jaw driving assembly which are matched with the ring chain or the safety rope head fixing mechanism, so that the clamping jaw assembly can clamp or release the ring chain or the safety rope head fixing mechanism under the driving of the clamping jaw driving assembly.

In some more preferred embodiments, the rope picking mechanism comprises a lifting assembly, a pushing assembly and a clamping assembly for cooperating with the safety rope, the clamping assembly is mounted on the lifting assembly, and the pushing assembly is fixed on the working head and at least used for pushing the connecting rod part of the safety rope fixing device.

In some preferred embodiments, the intelligent visual inspection system detects the coordinates of the designated bolt in the set coordinate system in real time, so as to obtain the actual position of the designated bolt position.

In some more preferred embodiments, the intelligent visual inspection system comprises a video inspection mechanism and a control unit connected with the video inspection mechanism, and the control unit is also connected with a bidirectional car arrester and a hitch pin-chain-safety rope device.

Another aspect of the embodiments of the present invention further provides a full-automatic pin-chain-safety-rope removing method for rail transportation, which is implemented based on the above-mentioned full-automatic pin-chain-safety-rope removing system, and the full-automatic pin-chain-safety-rope removing method includes:

driving the vehicle to move along a first direction or a second direction on the track by using a cart robot until the vehicle reaches an initial position, wherein the initial position is the position of the bidirectional car arrester;

locking the vehicle with a bidirectional car arrester at the initial position;

detecting the actual position of the specified plug pin position in real time by an intelligent visual detection system, comparing the actual position of the specified plug pin position with a preset ideal position, and controlling the bidirectional car arrester to move the car until the specified plug pin position reaches the ideal position;

and moving the pin-chain-safety rope removing device to a position between adjacent carriages and above the connecting pin in the vehicle, and sequentially completing pin removing, chain removing, rope removing or pin inserting, chain hanging and rope hanging.

In some preferred embodiments, the fully automatic hook pin-chain-safety rope method for rail transportation includes:

setting a coordinate system by an intelligent visual detection system, and setting the ideal position in the coordinate system;

and detecting the coordinates of the appointed bolt position in real time by an intelligent visual detection system so as to obtain the actual position of the appointed bolt on the track.

In some preferred embodiments, the fully automatic hook pin-chain-safety rope method for rail transportation includes:

and in the process of transporting the vehicle to the ideal position, continuously detecting the coordinate of the specified plug pin position by a visual detection mechanism of the intelligent visual detection system, and sending the coordinate to a control unit of the intelligent visual detection system for processing in real time, so that the control unit can regulate and control the working state of the bidirectional car arrester in real time until the coordinate of the specified plug pin position is coincided with the ideal position.

The full-automatic pin-chain-safety rope removing and hanging system and the method for rail transportation provided by the embodiment of the invention drag the vehicle to the position of the bidirectional car arrester, lock the vehicle through the bidirectional car arrester, meanwhile, the actual position of the connecting pin on the vehicle is detected in real time through an intelligent visual detection system, and the actual position of the connecting pin on the vehicle is compared with the preset ideal position, then the bidirectional car arrester is controlled to transport the vehicle to the ideal position, after the vehicle is accurately positioned, the method comprises the steps of positioning a bidirectional car arrester, moving a hanging pin-chain-safety rope removing device to a position between adjacent carriages and above a connecting pin in a vehicle, and sequentially completing pin removing, chain removing, rope removing or bolt removing, chain hanging and rope hanging, so that automation of hanging and removing of the safety rope of the chain link chain of the tandem car can be smoothly realized, operators are reduced, and the method and the device are also suitable for being applied to special working environments such as inclined shaft transportation and the like.

The technical solution, the implementation process and the principle thereof will be further explained with reference to the drawings.

Examples

Referring to fig. 1, an embodiment of the present invention provides a full-automatic hook pin-chain-safety rope removing system for rail transportation, which includes a rail 1, two bidirectional car stoppers 2 installed on the rail at intervals along the length direction of the rail, an intelligent visual detection system 3, and a hook pin-chain-safety rope removing device 4, wherein the bidirectional car stoppers 2 are used for locking a vehicle 5 and can move along the rail 1 together with the vehicle 5 until a designated insertion position on the vehicle 5 reaches a desired position.

In the implementation process, the rope heads of the safety ropes 6 are fixed on the first section of the vehicle 5 through the safety rope head fixing mechanism 7, the middle safety rope 6 is fixed on each middle section of the vehicle 5 through the safety rope fixing device 8, and the tail ends of the safety ropes 6 are fixed on the hook head vehicle 10 through the rope winder 9.

In the specific implementation process, the specific structure of the safety rope end fixing mechanism 7, as shown in fig. 2, includes a rope end fixing member arranged on the first section of vehicle pin, and a first clamping plate 72 and a second clamping plate 73 which are matched with each other; the rope end fixing member is installed between the first clamping plate 72 and the second clamping plate 73, and comprises a ring-shaped member 71 for fixedly connecting with the rope end of the safety rope.

In this embodiment, a through hole 74 is further distributed on the first clamping plate 72 and the second clamping plate 73, and the two through holes 74 are matched with the through hole on the ring-shaped member 71 to form a pin hole which is used for being matched with a pin shaft of the mine car lock head.

In the specific implementation process, the rope end fixing piece is fixedly combined with the second clamping plate 73 through the threaded connecting piece 76, one end of the first clamping plate 72 extends in the direction parallel to the axis of the ring-shaped piece 71 to form a first stepped structure 721, a first notch 722 is formed on the first stepped structure 721, one end of the second clamping plate 73 extends in the direction parallel to the axis of the ring-shaped piece 71 to form a second stepped structure 731, a second notch 732 is formed on the second stepped structure 731, the first notch 722 and the second notch 732 arranged at one end of the second clamping plate 73 can be spliced to form a limiting hole, and the limiting hole can be penetrated by a safety rope; the other ends of the first clamping plate 72 and the second clamping plate 73 are T-shaped, and more than two cushion blocks 75 matched with the rope end fixing piece are symmetrically arranged at the other ends of the first clamping plate 72 and the second clamping plate 73 and are symmetrically distributed at two sides of the annular piece 71; wherein the spacer 75 is cylindrical and the axis of the cylinder is parallel to the axis of the ring 71.

The specific structure of the safety rope fixing device 8, see fig. 3, comprises a fixed module and a movable module, an elastic reset mechanism is arranged between the fixed module and the movable module, and the movable module is connected with or separated from the fixed module through the elastic reset mechanism; in this embodiment, the fixed module includes a main body 81 and a pressing plate 82, the movable module includes a roller 83 and a movable pressing block 84, a rope groove 831 capable of accommodating the safety rope 6 is disposed on the roller 83, the safety rope 6 can slide in the rope groove 831 along the length direction thereof, the movable module can be driven by a set external force to be away from the fixed module and reach a first position, and can be driven by a reset force provided by the elastic reset mechanism to move from the first position to the fixed module and reach a second position, wherein at the first position, the notch of the rope groove 831 is exposed to the outside, and the safety rope 6 can freely enter and exit the notch of the rope groove 831, and at the second position, the fixed module and the movable module are combined and close the notch of the rope groove 831.

At the second position, the pressing plate part 82 of the fixed module is matched with the rope groove 831 to close the notch of the rope groove 831, the main body part 81 is connected with a connecting rod part 86, the movable pressing block 84 of the movable module is movably matched with the connecting rod part 86 and can move back and forth along the connecting rod part 86, and the roller 83 is arranged on the movable pressing block 84 through a rotating shaft 87; in the implementation process, the elastic reset mechanism comprises a compression spring 88, the compression spring 88 is sleeved on the connecting rod portion 86, when the movable module is at the first position, the compression spring 88 is in a compression state, and when the movable module is at the second position, the compression spring 88 restores to a natural state.

The intelligent visual detection system 3 is at least used for detecting the actual position of the specified plug pin position in real time, comparing the actual position of the specified plug pin position with an ideal position, controlling the bidirectional car arrester 2 to move the car until the specified plug pin position reaches the ideal position, and detecting the coordinate of the specified plug pin in a set coordinate system in real time by the intelligent visual detection system 3 so as to obtain the actual position of the specified plug pin position; specifically, the intelligent visual detection system 3 comprises a video detection mechanism and a control unit connected with the video detection mechanism, and the control unit is further connected with the bidirectional car arrester 2 and the hanging pin-chain-safety rope device 4.

The hanging pin-chain-safety rope removing device 4 is at least used for removing the connecting pin 11 in the appointed plug position at an ideal position and removing the corresponding ring chain 12 to release the connection between the adjacent carriages in the vehicle, or inserting the connecting pin 11 into the appointed plug position at the ideal position and arranging the corresponding ring chain 12 to connect the adjacent carriages in the vehicle or removing or fixing the safety rope head on the first section of the vehicle 5, as shown in fig. 4, 5 or 6; the concrete structure of the hanging pin-chain-safety rope removing device 4, as shown in fig. 7, comprises a working head 41 arranged above the track 1, and a pin removing mechanism 42, a chain removing mechanism 43 and a rope removing mechanism 44 arranged on the working head 41, wherein the rope removing mechanism 44 is arranged above the pin removing mechanism 42, and the chain removing mechanism 43 is arranged below the pin removing mechanism 42; the working head 41 is in transmission connection with the driving mechanism and is used for controlling the working head 41 to freely move in the horizontal direction; a pin removing mechanism 42 for holding and fixing at least the connection pin 11 and taking out the connection pin from or inserting the connection pin into the connection pin holder; the chain removing mechanism 43 is at least used for clamping and fixing the endless chain 12, moving the endless chain out of the adjacent carriages in the vehicle 5 along the direction vertical to the length direction of the track 1 or placing the endless chain into the adjacent carriages in the vehicle 5 or at least used for clamping and fixing the safety rope head fixing mechanism 7, and moving the endless chain out of or placing the endless chain in the direction vertical to the length direction of the track 1 from the first section of vehicle and the adjacent carriages; and a rope-picking mechanism 44 for holding and fixing at least the safety rope 5, and taking out the safety rope from the rope groove 831 of the safety rope fixing device 8 or putting the safety rope into the rope groove 831 of the safety rope fixing device 8.

In a specific implementation process, as shown in fig. 8, the pin removing mechanism 42 includes a lifting component 421, a rotating component 422, and a clamping component 423 for cooperating with a pin, the lifting component 421 is installed on the working head 41, the rotating component 422 is installed on the lifting component 421, and the clamping component 423 is installed on the rotating component 422; the chain picking mechanism 43 comprises a clamping jaw assembly 431 and a clamping jaw driving assembly 432 which are matched with the endless chain 12 or the safety rope end fixing mechanism 7, so that the clamping jaw assembly 431 can clamp or loosen the endless chain 12 or the safety rope end fixing mechanism 7 under the driving of the clamping jaw driving assembly 432; the rope-picking mechanism 44 comprises a lifting component 441, a pushing component 442 and a clamping component 443 matched with the safety rope, wherein the lifting component 441 is mounted on the working head 41, the clamping component 443 is mounted on the lifting component 441, and the pushing component 442 is fixed on the working head 41 and at least used for pushing the connecting rod portion 86 of the safety rope fixing device 8.

The embodiment of the invention also provides a full-automatic pin-chain-safety rope removing method for rail transportation, which is implemented based on the full-automatic pin-chain-safety rope removing system, and the full-automatic pin-chain-safety rope removing method comprises the following steps:

(1) the cart robot drives the vehicle 5 to move on the track 1 along the first direction or the second direction until the initial position is reached, and the initial position is the position of the bidirectional car arrester 2;

(2) locking the vehicle with the bidirectional car arrester 2 at the initial position;

(3) detecting the actual positions of the bolt positions on the first vehicle 5 and the second vehicle 5 in real time by using an intelligent visual detection system 3, comparing the actual positions of the bolt positions with a preset ideal position, and controlling a bidirectional car arrester 2 to respectively transport the first vehicle 5 and the second vehicle 5 to the ideal position; in the process of enabling the bidirectional car arrester 2 to transport the vehicle 5 to an ideal position, continuously detecting the coordinates of the pin position on the vehicle by a visual detection mechanism of the intelligent visual detection system 3, and sending the coordinates to a control unit of the intelligent visual detection system 3 for processing in real time, so that the control unit can regulate and control the working state of the bidirectional car arrester 2 in real time until the coordinates of the pin position on the vehicle 5 coincide with the ideal position;

(4) the hanging pin-chain-safety rope removing device 4 acts by firstly extending the working head 41 to the upper part of the connecting pin 11, firstly fixing the ring chain 12 by the chain removing mechanism 43, downwards moving the pin removing mechanism 42 to catch and lift the connecting pin 11, (the connecting pin 11 is not pulled out of the connecting pin seat) moving the ring chain out of the space between the two vehicles, placing the ring chain on a fixed ring chain tray, then lowering the two connecting pins 11 to return to the original position, finishing the ring chain removing process, and reversing the ring chain hanging process and removing the safety rope, wherein the rope head is removed and hung according to the removing and hanging action of the ring chain, the rope is removed and hung through the matching of the pushing component 442 and the safety rope fixing device 8, and the removed safety rope is collected in the rope winder 9 on the hook head vehicle 10, so that the automation of removing and hanging the safety rope of the string vehicle ring chain is smoothly realized;

(5) and (5) repeating the steps (1) to (4), and sequentially removing the rest chains and the safety ropes.

The aspects, embodiments, features and examples of the present invention should be considered as illustrative in all respects and not intended to be limiting of the invention, the scope of which is defined only by the claims. Other embodiments, modifications, and uses will be apparent to those skilled in the art without departing from the spirit and scope of the claimed invention.

The use of headings and chapters in this disclosure is not meant to limit the disclosure; each section may apply to any aspect, embodiment, or feature of the disclosure.

Throughout this specification, where a composition is described as having, containing, or comprising specific components or where a process is described as having, containing, or comprising specific process steps, it is contemplated that the composition of the present teachings also consist essentially of, or consist of, the recited components, and the process of the present teachings also consist essentially of, or consist of, the recited process steps.

Unless specifically stated otherwise, use of the terms "comprising", "including", "having" or "having" is generally to be understood as open-ended and not limiting.

It should be understood that the order of steps or the order in which particular actions are performed is not critical, so long as the teachings of the invention remain operable. Further, two or more steps or actions may be performed simultaneously.

In addition, the inventors of the present invention have also made experiments with other materials, process operations, and process conditions described in the present specification with reference to the above examples, and have obtained preferable results.

While the invention has been described with reference to illustrative embodiments, it will be understood by those skilled in the art that various other changes, omissions and/or additions may be made and substantial equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from its scope. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed for carrying out this invention, but that the invention will include all embodiments falling within the scope of the appended claims. Moreover, unless specifically stated any use of the terms first, second, etc. do not denote any order or importance, but rather the terms first, second, etc. are used to distinguish one element from another.