The invention provides a multifunctional train unhooking robot system and a control method thereof, relates to the field of rail transit automation, and aims to solve the technical problem that carriages of a traditional train cannot be dynamically and automatically separated. The system is composed of a bearing vehicle body and a recognizing and grabbing assembly, the bearing vehicle body adopts a double-straddle type frame design, and the front end and the rear end of a chassis are each provided with a set of chassis; the recognition grabbing assembly comprises a six-degree-of-freedom mechanical arm, a laser radar, a depth camera and a multifunctional integrated claw, the mechanical arm and an electric control cabinet of the mechanical arm are installed in the middle of the vehicle body, the claw with the functions of an air pulling rod, a switch angle cock, an air picking pipe and an air picking hook is installed at the tail end of the vehicle body, and a follow-up depth camera is arranged at the flange end of the claw. And a depth camera is additionally arranged at the front end of the mechanical arm base, and a lens of the depth camera faces one side of the train. The requirements of automatic wind pulling rods, angle cock opening and closing, wind pipe picking and hook picking in train operation can be met.
本发明提供了一种多功能火车摘钩机器人系统及其控制方法,涉及轨道交通自动化领域,旨在解决传统火车无法动态自动化分离车厢的技术难题。系统由承载车体和识别抓取组件构成,承载车体采用双跨座式车架设计,底盘前后端各设有一组;识别抓取组件包含六自由度机械臂、激光雷达、深度相机及多功能一体化爪手,机械臂及其电控柜安装于车体中部,末端安装有具备拉风杆、开关折角塞门、摘风管及摘车钩功能的爪手,并在爪手法兰端配备随动深度相机。车体前后端设置激光雷达实现环境感知,机械臂基座前端另设有深度相机,镜头面向火车一侧。本发明可满足火车运行中自动化拉风杆、开关折角塞门、摘风管和摘钩的需求。
Multifunctional train unhooking robot system and control method thereof
一种多功能火车摘钩机器人系统及其控制方法
2025-05-06
Patent
Electronic Resource
Chinese
IPC: | B61G Kupplungen besonders ausgebildet für Eisenbahnfahrzeuge , COUPLINGS SPECIALLY ADAPTED FOR RAILWAY VEHICLES |
Automatic unhooking robot for separating train carriages
European Patent Office | 2024
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