Hook removal robot with improved SCARA

Abstract

The invention discloses a hook removal robot with an improved SCARA. The hook removal robot comprises a tri-axis right-angle coordinate moving mechanism, small arms, wrists, claws, a hook position detecting apparatus and a hook shape machine vision identification apparatus, wherein the tri-axis right-angle coordinate moving mechanism is arranged at one side of a rail in parallel; the small arms are hinged to the end, which is close to the rail, of the tri-axis right-angle coordinate moving mechanism by virtue of a vertical shaft and is driven by a fourth motor to rotate around the vertical shaft; the rear end of each wrist is hinged to the other end of the corresponding small arms by virtue of a transverse shaft and driven by a fifth motor to rotate around the transverse shaft; and the claws are installed at the front ends of the wrists and driven by a sixth motor to rotate around a longitudinal shaft of the wrist so as to be opened and closed. The hook removal robot is provided with multiple parts which are successively matched in multiple directions, and is flexible in action, suitable for different real situations, capable of reliably removing a hook, simple in structure, low in cost, and capable of alleviating the labor intensity and improving the working efficiency.

Description

technical field [0001] The invention relates to a robot for automatically removing couplers of trains, which is used for removing couplers between adjacent carriages of rail trains, in particular to a SCARA improved robot for removing couplers. Background technique [0002] The coupler is a connecting part used to realize the connection between adjacent rail train cars, transmit traction and impact force, and keep a certain distance between the cars. The existing couplers can be automatically buckled when they collide, but when they need to be separated, there are large differences in the gap between adjacent cars, the position of the coupler, the speed of the train, and the frictional resistance. Therefore, the present unhooking operation still needs to manually lift the coupler to complete the unhooking operation, and the work efficiency is low. [0003] For the sake of simplicity, the direction parallel to the rails is called the longitudinal direction, the direction per...

AI Technical Summary

Problems solved by technology

The existing couplers can be automatically buckled when they collide, but when they need to be separated, there are large differences in the gap between adjacent cars, the position of the coupler, the speed of the train, and the frictional resistance. Therefore, the current unhooking operation still needs to manually lift the coupler to complete the unhooking operation, and the work efficiency is low

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