CN118270059B

CN118270059B - A traction hanger and an industrial robot equipped with the traction hanger

Info

Publication number: CN118270059B
Application number: CN202410394843.8A
Authority: CN
Inventors: 谭胜虎; 赵超; 戴海康; 罗鹏; 汪晓兴; 陈兴风
Original assignee: Beijing Watman Intelligent Technology Co ltd
Current assignee: Beijing Watman Intelligent Technology Co ltd
Priority date: 2024-04-02
Filing date: 2024-04-02
Publication date: 2025-02-11
Anticipated expiration: 2044-04-02
Also published as: CN118270059A

Abstract

The present application discloses a traction hanger and an industrial robot equipped with the traction hanger, the hanger comprising a hanger base and a safety hook installed thereon, the safety hook being an L-shaped structure consisting of a first hook body and a second hook body, the first hook body being provided with a mounting slot for installing the second hook body, two slot walls arranged opposite to each other forming mounting holes for installing a safety pin, the safety pin can be tightened by a locking member to tighten the mounting slot to limit the second hook body from rotating relative to the first hook body, thereby ensuring the bent hook shape of the safety hook; in the present application, the safety pin will automatically break when the force load borne by the safety pin reaches the target breaking extreme value, thereby protecting the user or the robot, and having high safety; the hanger provided by the present application can not only adapt to the upper and lower acting hook-removing scenes of the train, but also can disconnect the air pipes between the trains through the safety hook, and has multiple uses and complete functions; a hook-removing robot equipped with the hanger can complete unmanned automatic hook-removing operations.

Description

Traction hanger and industrial robot provided with traction hanger

Technical Field

The application relates to the technical field of hanging devices, in particular to a traction hanger which can be applied to the field of uncoupling and recoupling of train couplers.

Background

The coupler is a connecting component for realizing the connection and the hanging between adjacent carriages of the rail train, transmitting traction force and impact force and keeping a certain distance between the vehicles.

Railway vehicles are commonly used in the energy industry for transporting coal, and railway carriages are reliably connected through a jamb type coupler stroke. When the coal is unloaded by the dumper, the front and rear train carriages are required to be unhooked by the air pipe and the coupler, and the disconnected carriages are required to be reconnected after the coal is unloaded by the dumper. The above relates to the uncoupling and recoupling of two train car couplers and the dismantling of the air duct, which is simply referred to in the industry as "uncoupling and recoupling" of the train car.

The coupler comprises three parts of a coupler head, a coupler body and a coupler tail, wherein the thick part at the front end of the coupler is called the coupler head, and a coupler knuckle, a coupler knuckle pin, a lock lifting pin, a coupler knuckle push iron and a coupler lock iron are arranged in the coupler head. The rear part of the coupler is called a coupler tail, and a vertical flat lock hole is formed on the coupler tail so as to be connected with a coupler tail frame. In order to achieve the hooking or unhooking of vehicles, the couplers have the following three positions, namely three states:

1. the locking position is that the coupler knuckle of the coupler is blocked by the coupler lock iron and cannot be outwards rotated;

2. The unlocking position is the position where the hook lock iron is lifted and the hook tongue can be outwards rotated only by pulling force. The mode of lifting the coupler yoke can be divided into an upper acting mode and a lower acting mode, wherein the upper acting mode is started through a lifting mechanism at the upper part of the coupler yoke, and the lower acting mode is started through the action of pushing a lever at the lower part of the coupler yoke.

3. The fully open position, i.e., the position in which the knuckle has been fully rotated outwardly.

The current tools for unhooking hooks cannot cope with emergency situations, and safety risks exist in the use process.

Disclosure of Invention

The application provides a traction hanger and an industrial robot with the traction hanger, which are used for solving the problem that the current hanging device cannot cope with emergency and has safety risks.

In order to achieve the above object, the present application provides the following technical solutions:

The application provides a traction hanger which comprises a hanger base body, wherein a safety hook is arranged on the hanger base body and comprises a first hook body and a second hook body, a mounting clamping groove is formed in the first end of the first hook body, the first end of the second hook body is adaptively arranged in the mounting clamping groove and is connected with the first hook body through a rotating shaft, mounting holes for mounting a safety pin are formed in two opposite groove walls of the mounting clamping groove, the safety pin is inserted into the mounting holes and is locked through locking pieces, the mounting clamping groove is tightened, the second hook body is limited to rotate relative to the first hook body, the first hook body and the second hook body form a hook, and the diameter parameter and/or the material of the safety pin are designed, and the safety pin is automatically broken when the force load born by the safety pin reaches a target breaking limit value, so that the second hook body rotates relative to the first hook body.

In one embodiment of the present application, the second end of the first hook body is rotatably connected to the hanger base.

In one embodiment of the present application, a rotation limit baffle is installed on the hanger base, and the rotation limit baffle is located at one side of the safety hook and is used for limiting the safety hook to rotate towards the rotation limit baffle.

In one embodiment of the application, a first reset spring is mounted on the hanger base body, the first reset spring is connected with the second hook body, the first reset spring is located below the rotation limit baffle, and the first reset spring is used for pulling the safety hook to reset towards the rotation limit baffle.

In one embodiment of the application, a sliding baffle is arranged on the hanger base body, the sliding baffle and the safety hook are oppositely arranged on two sides of the rotation limiting baffle, the sliding baffle can slide on the hanger base body, when the sliding baffle is positioned at a first position, the sliding baffle and the safety hook are arranged in parallel, and when the sliding baffle slides to a second position, the sliding baffle and the safety hook are arranged in a dislocation mode.

In one embodiment of the application, a mounting channel for mounting the sliding baffle is formed on the hanger base body, the sliding baffle can slide along the mounting channel, one or more lugs are arranged on the sliding baffle, the lugs are connected with the hanger base body through guide rods, the length direction of the guide rods is parallel to the moving direction of the sliding baffle, second return springs are sleeved on the guide rods, and when the sliding baffle slides along the mounting channel, the second return springs are compressed to deform, and the second return springs are used for assisting the sliding baffle to return.

In one embodiment of the application, the diameter of the safety pin ranges from 1.9mm to 2.5mm.

In one embodiment of the application, the hanger base is provided with a connecting seat, and the connecting seat is used for being connected with the execution tail end of the six-axis robot in an adaptive manner.

In one embodiment of the application, a sensor assembly is mounted on the hanger base, the sensor assembly is in signal connection with a control system of the six-axis robot, and the sensor assembly is used for monitoring the position and the state of the safety hook.

On the other hand, the application provides an industrial robot, which comprises a six-axis robot, wherein the traction hanging tool is arranged at the execution tail end of the six-axis robot.

Compared with the prior art, the application has at least the following beneficial effects:

1. the application provides a traction hanger, which is characterized in that a safety hook is arranged on a hanger base body, the safety hook is of an L-shaped structure formed by a first hook body and a second hook body, a mounting clamping groove for mounting the second hook body is arranged on the first hook body, mounting holes for mounting a safety pin are formed in two opposite groove walls of the mounting clamping groove, the safety pin can tighten the mounting clamping groove after being locked by a locking piece, the second hook body is limited to rotate relative to the first hook body, the hook shape of the safety hook is ensured, and the use function of the safety hook is ensured.

2. According to the application, the first hook body of the safety hook is rotationally connected with the hanger base body, so that the safety hook can rotate relative to the hanger base body, the use angle of the safety hook is convenient to adjust, the safety hook is suitable for more application scenes, and the safety hook does not need to rotate a driving part, and can adjust the use angle of the safety hook by means of gravity and rotation of the hanger base body, so that the rotatable safety hook is simple in structure and low in cost.

3. The rotating limit baffle arranged in one embodiment of the application can enable the safety hook to rotate towards one side, the rotating limit baffle can limit the safety hook when in use, and the hanger base body is rotated, so that the safety hook is horizontally overlapped on the rotating limit baffle, thereby realizing the fixation of the use angle of the safety hook and being convenient to operate and use.

4. In one embodiment of the application, the safety hook is pulled by the first reset spring, so that the problem that the safety hook is difficult to reset normally due to friction force at the joint of the first hook body and the second hook body can be avoided.

5. The sliding baffle is arranged in the embodiment of the application and is connected with the hanger base body in a sliding way, the sliding baffle is arranged in parallel with the safety hook when in a first position, shielding protection is formed for the safety hook, when the traction hanger is used for the upper-action type unhooking, the sliding baffle needs to avoid the coupler, so that the hanger base body needs to be rotated to enable the sliding baffle to slide to be staggered with the safety hook, then the corresponding part of a lifting mechanism at the upper part of the coupler head of the safety hook is hooked for unhooking operation, when the traction hanger is used for the lower-action type unhooking, the sliding baffle slides to be staggered with the safety hook, and a rocker below the coupler is lifted upwards, so that the rocker can be pulled by the safety hook after the rocker is separated from a flat groove on the coupler.

6. In one embodiment of the application, the second reset spring is arranged on the sliding baffle, and when the sliding baffle slides relative to the hanger base body, the reset spring can pull the sliding baffle to reset, so that the normal reset of the sliding baffle is prevented from being influenced by the friction force of the channel.

7. According to the embodiment of the application, the connecting seat is arranged on the hanger base body, and can be connected with the execution tail end of the six-axis robot in an adaptive manner, so that the machine is used for replacing manual work, and the industrial automation of hook picking and restoring operation is realized.

8. The sensor component is arranged on the hanger base body, can monitor the position and the state of the safety hook, is connected with a control system signal of the six-axis robot, can realize information connection of the hanger and the industrial robot according to use requirements, and realizes automatic control and unmanned hook picking operation.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art. It should be understood that the specific shapes and configurations shown in the drawings are not generally considered to be limiting conditions in implementing the present application, and that, for example, those skilled in the art will be able to make conventional adjustments or further optimization of the addition/subtraction/attribution division, specific shapes, positional relationships, connection manners, dimensional proportion relationships, etc. of certain units (components) based on the technical concepts and exemplary drawings disclosed in the present application.

Fig. 1 is a schematic structural diagram of a traction hanger according to the present application in an embodiment;

FIG. 2 is a schematic view of the safety hook of FIG. 1;

fig. 3 is a schematic structural diagram of a traction hanger according to another embodiment of the present application;

Fig. 4 is a schematic structural dimension diagram of the arm length of each force-bearing component of the protection hook according to an embodiment, wherein the unit of the length value and the diameter value is mm.

Reference numerals illustrate:

1. the device comprises a hanger matrix, 11, a first substrate, 12, a second substrate, 13, a third substrate, 14, a fourth substrate, 15, a fifth substrate, 16 and a connecting column;

2. Safety hook 21, first hook body 22, mounting shaft 23, mounting slot 24, second hook body 25, rotating shaft 26 and safety pin;

3. rotating the limit baffle;

4. 41 parts of sliding baffle, 41 parts of ear seat, 42 parts of guide rod;

5. A first return spring; 6, a second reset spring, 7, a flange plate, 8, a sensor assembly and 9, a lifting hook handle.

Detailed Description

The application will be further described in detail by means of specific embodiments with reference to the accompanying drawings.

In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more. The terms "first," "second," "third," and the like in this disclosure are intended to distinguish between the referenced objects and not to have a special meaning in terms of technical connotation (e.g., should not be construed as emphasis on degree or order, etc.). The expressions "comprising", "including", "having", etc. also mean "not limited to" (certain units, components, materials, steps, etc.).

The existing coupler has the defects that when the existing coupler needs to be separated, because gaps between adjacent carriages, coupler buckling positions, train advancing speed, frictional resistance and the like are greatly different under different actual conditions, the existing coupler uncoupling operation still needs to be carried out by manually lifting the coupler to finish the uncoupling operation, the working efficiency is low, the labor cost is high, and because the uncoupling time is not fixed, safety accidents caused by fatigue or careless operation occur in the actual operation process of workers, and therefore the operation safety of the workers is always a risk point of manual operation. In addition, current unhooking tools are inconvenient to use, and may present a safety risk for workers in error or in other emergency situations.

Based on further analysis and research on the problems in the prior art, the application realizes that under the condition of industrial innovation, the robot is used for replacing manual work to realize the hook picking and restoring work of the carriage, so that the labor cost can be reduced, the economic benefit is brought, and the safety production risk can be reduced to the greatest extent. Therefore, the inventor performs analysis and research on the structural characteristics of the existing jan coupler and the operation condition of the existing unhooking operation, and provides a traction hanger which can be used for unhooking operation of a carriage of a coal-carrying vehicle, and the structural principle of the traction hanger is described in detail below.

In one embodiment, referring to fig. 1 and 2, the traction hanger of the present application includes a hanger base 1, a safety hook 2 is mounted on the hanger base 1, the safety hook 2 includes a first hook body 21 and a second hook body 24, a mounting slot 23 is formed at a first end of the first hook body 21, a first end of the second hook body 24 is adapted to be mounted in the mounting slot 23 and connected to the first hook body 21 through a rotation shaft 25, mounting holes for mounting a safety pin 26 are formed on two opposite slot walls of the mounting slot 23, the safety pin 26 is inserted in the mounting holes and locked through locking members to tighten the mounting slot, and the second hook body 24 is restricted from rotating relative to the first hook body 21, so that the first hook body 21 and the second hook body 24 form a hook, and the diameter parameter and/or material of the safety pin 26 are designed so that the force load born by the safety pin 26 reaches a target limit value, and then the second hook body 24 automatically breaks when breaking, and rotates relative to the first hook body 21. Therefore, the safety hook can keep the hook structure under the action of the safety pin, ensure the use function of the safety hook as the hook, and automatically break under the action of impact if the hanger is subjected to the action of a large impact load in the use process, so that the automatic unhooking is realized, namely the hanger has the overload protection function.

In one embodiment, the safety hook 2 is in an L-shaped hook structure, referring to fig. 2, the first hook body 21 is in a straight rod structure, a mounting slot 23 is formed at a first end of the first hook body 21, a second end of the first hook body is rotatably connected with the hanger base body through a mounting shaft 22, and a first end of the second hook body 24 is adaptively mounted in the mounting slot 23 and rotatably connected with the mounting slot 23 through a rotating shaft 25. In a specific embodiment, the second hook 24 includes a first straight rod section integrally formed with the first hook 21 and a second straight rod section connected to one end of the first straight rod section, wherein the other end of the first straight rod section is connected to the first hook 21, and the second straight rod section is disposed opposite to the first hook 21 and has a length smaller than that of the first hook 21.

In one embodiment, the width of the mounting slot 23 is slightly larger than the width of the rotating connection end of the second hook body 24, so as to ensure that the first hook body 21 and the second hook body 24 can keep an L-shaped shape after being mounted, and have a hook function, and in order to automatically break to realize overload protection when the hanger is subjected to a large impact load, the application sets a safety pin 26 at the mounting slot 23 of the first hook body 21, and after the safety pin 26 is locked by a locking member, the mounting slot 23 can be tightened to ensure that the first hook body 21 and the second hook body 24 are relatively fixed, and the first hook body 21 and the second hook body 24 cannot rotate, thereby realizing the L-shaped hook function. In use, if the hanger is subjected to a large impact load and the force load borne by the safety pin 26 reaches the target breaking limit value, the safety pin 26 automatically breaks, the second hook body 24 rotates relative to the first hook body 21, the L-shaped hook shape is changed, and the safety hook 2 automatically unhooks.

In one embodiment, the second end of the first hook 21 is rotatably connected to the hanger base 1.

In a specific embodiment, the second end of the first hook body 21 is provided with a mounting hole, the hanger substrate is provided with a mounting shaft 22 matched with the mounting hole, the safety hook 2 can rotate relative to the mounting shaft 22, the use angle of the safety hook is convenient to adjust, more application scenes can be adapted, and the safety hook does not need to rotate a driving part, and can adjust the use angle of the safety hook by means of gravity and rotation of the hanger substrate, so that the rotatable safety hook is simple in structure and low in cost.

In one embodiment, the hanger base 1 is provided with a rotation limit baffle 3, and the rotation limit baffle 3 is located at one side of the safety hook 2 and is used for limiting the safety hook 2 to rotate towards the rotation limit baffle 3. When the safety hook is used, the safety hook can be limited by the rotary limiting baffle, the hanger base body is rotated, the safety hook is horizontally overlapped on the rotary limiting baffle, the safety hook is prevented from always keeping a vertical downward posture under the action of gravity, the fixing of the use angle of the safety hook is realized, and the safety hook is convenient to operate and use.

In one embodiment, a first return spring 5 is mounted on the hanger base, the first return spring 5 is connected with the second hook body, the first return spring 5 is located below the rotation limit stop 3, and the first return spring 5 is used for pulling the safety hook 2 to return towards the rotation limit stop 3. The safety hook is pulled by the first reset spring, so that the problem that the safety hook is difficult to reset normally due to friction force at the joint of the first hook body and the second hook body can be avoided.

In one embodiment, the hanger substrate is provided with a sliding baffle 4, the sliding baffle 4 and the safety hook 2 are oppositely arranged at two sides of the rotation limiting baffle 3, and the sliding baffle 4 can slide on the hanger substrate. When the sliding baffle 4 is located at the first position, the sliding baffle 4 and the safety hook 2 are arranged in parallel, and when the sliding baffle 4 slides to the second position, the sliding baffle 4 and the safety hook 2 are arranged in a staggered mode. The sliding baffle and the safety hook are arranged in parallel to form shielding protection for the safety hook, when the traction hanger is used for acting on the unhooking hook, the sliding baffle needs to avoid the coupler, so that the hanger base body needs to be rotated to enable the sliding baffle to slide to be staggered with the safety hook, and then the safety hook is used for hooking the corresponding part of the lifting mechanism on the upper part of the coupler head of the coupler for unhooking operation. When the traction hanger is used for unhooking under the action, the sliding baffle slides to be staggered with the safety hook, and the rocker below the coupler is pushed upwards, so that the rocker is separated from the flat groove on the coupler, and unhooking can be realized by pulling the rocker through the safety hook.

In addition, when the traction hanger provided by the application is used for completing the wind pipe disconnecting operation, the L-shaped safety hook can be used for hooking the wind pipe to disconnect the two wind pipes connected between the two carriages.

Therefore, the safety hook in the application can adapt to the scene of the action type and the lower action type of the picking and restoring hooks on the train, and can also hook the air pipe through the safety hook on the hanger to disconnect the air pipe between the trains, so that the safety hook has multiple purposes, complete functions and convenient operation and use.

In one embodiment, a mounting channel for mounting the sliding baffle 4 is formed on the hanger substrate, the sliding baffle 4 can slide along the mounting channel, one or more lugs 41 are arranged on the sliding baffle 4, the lugs 41 are connected with the hanger substrate 1 through guide rods 42, the length direction of the guide rods 42 is parallel to the moving direction of the sliding baffle 4, second return springs 6 are sleeved on the guide rods 42, and when the sliding baffle 4 slides along the mounting channel, the second return springs are compressed to deform, and the second return springs are used for assisting the sliding baffle 4 to return.

In a specific embodiment, the hanger base body is a frame structure formed by a plurality of plates, which is beneficial to the integrated installation of other components. The hanger base body comprises a first substrate 11, a second substrate 12, a third substrate 13, a fourth substrate 14, a fifth substrate 15 and a connecting column 16, wherein the first substrate 11 is a horizontal rectangular panel, the second substrate 12, the third substrate 13 and the fourth substrate 14 are vertically connected to the bottom surface of the first substrate 11, the second substrate 12 and the third substrate 13 are adjacently arranged and connected to the edge of the first substrate 11, the fourth substrate 14 is positioned in the middle of the bottom surface of the first substrate 11, and the fourth substrate 14 and the second substrate 12 are relatively parallel and are arranged at intervals, as shown in fig. 1.

A first channel is formed in the end face of the bottom of the second substrate 12, a fifth substrate 15 is arranged right below the second substrate 12, the second substrate 12 and the fifth substrate 15 are fastened and connected through a connecting column 16 which is arranged vertically, a second channel is formed in the end face of the fifth substrate 15, which faces the second substrate 12, the distance between the first channel and the second channel is matched with the size of the sliding baffle 4, the upper end and the lower end of the sliding baffle 4 are respectively connected with the first channel and the second channel in an adaptive manner, and the sliding baffle 4 can reciprocate along the first channel and the second channel.

The rotatable safety hook 2 is arranged below the substrate IV 14, the substrate IV 14 is fixedly provided with a rotary limit baffle 3 on the surface facing the substrate II 12, the rotary limit baffle 3 is a rectangular panel with the bottom protruding out of the substrate IV 14, and the rotary limit baffle 3 is positioned on one side of the safety hook 2, so that the safety hook 2 can only rotate towards one side. The sliding baffle 4 and the rotatable safety hook 2 are oppositely arranged at two sides of the rotation limiting baffle 3.

A first return spring 5 for pulling the safety hook 2 to rotate and return is arranged on the surface of the base plate five 15 facing the safety hook 2, and the first return spring 5 is connected to a second hook body 24 of the safety hook 2.

The above-mentioned sliding baffle 4 is installed two ear seats 41 on the face that deviates from the safety hook 2, as shown in fig. 1, two guide rods 42 are installed on the connecting column 16, one guide rod is connected with one ear seat in an adapting way, the second return spring 6 is installed on the bolt, two ends of the second return spring 6 in the initial state are respectively abutted with the ear seat and the connecting column 16, and when the sliding baffle 4 is in the first position, the second return spring 6 is also in the initial state and is not stretched or compressed. When the sliding baffle 4 is in the second position, the second reset spring 6 is compressed, and when the hanger substrate is rotated to enable the sliding baffle 4 to slide and reset, the second reset spring 6 can assist the gravity of the sliding baffle 4 to slide downwards, so that the friction sliding and resetting of the channel are overcome.

In one embodiment, the safety pin 26 used in the present application is a cylindrical rod, preferably a cylindrical rod, and the locking member for locking the safety pin may be a nut that is fitted to the safety pin 26. In other embodiments, the safety pin 26 may also be a square or other polygonal cylindrical structure.

In one embodiment, the diameter range of the safety pin 26 may be designed based on the targeted breaking limit of the safety pin, and the safety pin is sized to automatically break when subjected to a large impact load, such as during a rolling motion, thereby providing the purpose of automatically breaking the safety hook and protecting the user.

In one embodiment, the arm length of each force-bearing component of the safety hook is shown in fig. 4, wherein the unit of the length value and the diameter value is mm. It can be seen that, first, the force of the lifting hook handle 9 acting on the safety hook 26 will be as followsThe amplification factor of (a) acts on the safety pin.

Secondly, considering that the impact load acting coefficient is minimum to be 2, namely the contact moment, the minimum acting impact load on the safety pin is 4.54 times of the acting force of the lifting hook handle to the safety hook;

The shear pin selected is a M3 x 25 (12.9 grade) socket head cap screw having a minimum diameter of 2.46mm and a minimum cross-sectional area of:

under the action of 120KG thrust, the shear force of the section of the safety pin is Because the 12.9-grade bolt is selected, the shearing force is calculated as follows:

It is known from the calculation that under an impact load of about 120KG, the bolt shear stress is near the maximum allowable shear stress, and the bolt is likely to shear, thereby protecting the device. If the impact is large, the bolt is necessarily sheared, so that the device is protected.

Therefore, the safety pin can be made by selecting screws with different specifications according to different requirements. However, the high strength bolts of 12.9 and 10.9 are selected as much as possible, and the bolt is more suitable for the shear protection device because of high brittleness and small elastic deformation.

In a specific embodiment, according to the design and use requirements, if the target fracture extremum of the design safety pin is 450MPa, the safety pin made of alloy steel with the diameter of 1.9mm can be selected. A pin of larger cross section is generally able to withstand greater forces under the same forces.

In another specific embodiment, if the design of the safety pin has a target fracture extremum of 582MPa, a 2.5mm diameter safety pin of alloy steel may be used. In the application process, when the force load born by the safety pin reaches the target fracture extremum, the safety pin automatically breaks and the safety hook automatically unhooks.

In one embodiment, the hanger base is provided with a connecting seat through which the hanger base can be connected with other actuators.

In a specific embodiment, the above-mentioned connection seat may be a flange 7, see fig. 3. The flange plate can be connected with the execution tail end of the six-axis robot in an adaptive way, and the robot is used for replacing manual work, so that the industrial automation of the hook picking and restoring operation is realized.

In another specific embodiment, the flange 7 can be connected with the handle structure, a worker can use the traction hanger provided by the application to carry out the unhooking operation and the wind pipe dismantling operation by holding the handle, the hanger does not need to be replaced in the use process, and of course, the switch button of the rotary driving part can also be arranged on the hanger base body 1 or the handle structure, and the worker can automatically adjust the hanger state through the switch button, so that the use is convenient.

In one embodiment, the hanger base 1 is further provided with a sensor assembly 8, see fig. 3, so that the information connection between the hanger and the industrial robot can be realized according to the use requirement, and the automatic control and unmanned hook picking and restoring operation can be realized. According to the hanger provided by the application, a driving part for driving the safety hook to rotate is not required, the angle adjustment of the safety hook can be realized by rotating the hanger base body through the six-axis robot, and the angle fixation is realized by limiting through the rotation limiting baffle, so that the sensor component 8 is arranged on the hanger base body 1, the signal acquisition can be conveniently carried out on the real-time position and the use state of the safety hook, and the adjustment control of the six-axis robot on the hanger is facilitated.

In one embodiment, the application also provides an industrial robot provided with the traction hanger, which can realize automatic hook picking and restoring operation. The industrial robot includes a six-axis robot, and the sixth axis of the six-axis robot is an execution end of the robot, and the traction hanger can be mounted on the execution end of the six-axis robot.

The flange 7 on the hanger base body 1 of the traction hanger can form rigid connection with the execution tail end of the six-axis robot, namely, the six-axis robot replaces manual work to carry out the unhooking and re-hooking work. The sensor component 8 arranged on the hanger base body 1 can be connected with a control system signal of the six-axis robot, so that the control system can conveniently obtain the action state of the traction hanger in real time, and the action control of the traction hanger can be conveniently realized.

In summary, the application provides a traction hanger suitable for a six-axis robot in series, and the single hanger can be used for completing the work of uncoupling an air pipe, uncoupling and uncoupling an upper-acting coupler and pulling a pin of a lower-acting coupler, has strong working adaptability, and can realize the protection of the six-axis robot in an automatic uncoupling mode when a train is running.

The traction hanger provided by the application provides technical support for unmanned operation of unhooking and re-hooking operation, and can be matched with a laser radar, an industrial camera and the like to realize automatic identification under the addition and holding of an algorithm, automatically execute automatic processes such as action and the like, realize unmanned operation, ensure operation safety and improve economic benefit when in application.

Any combination of the features of the above embodiments may be used (as long as there is no contradiction between the combinations of the features), and for brevity of description, all of the possible combinations of the features of the above embodiments are not described, and all of the embodiments not explicitly described are also to be considered as being within the scope of the description.

The application has been described above with particularity and detail in connection with general description and specific embodiments. It should be understood that, based on the technical concept of the present application, several conventional modifications and further innovations may be made to these specific embodiments, but those conventional modifications and further innovations may also fall within the scope of the claims of the present application as long as they do not depart from the technical concept of the present application.

Claims

1. A traction hanger is characterized by comprising a hanger base body (1), wherein a safety hook (2) is arranged on the hanger base body (1), the safety hook (2) comprises a first hook body (21) and a second hook body (24), a mounting clamping groove (23) is formed in the first end of the first hook body (21), the first end of the second hook body (24) is adaptively arranged in the mounting clamping groove (23) and is connected with the first hook body (21) through a rotating shaft (25), mounting holes for mounting a safety pin (26) are formed in two groove walls of the mounting clamping groove (23) which are oppositely arranged, the safety pin (26) is inserted into the mounting holes and is locked through a locking piece, the mounting clamping groove is tightened, the second hook body (24) is limited to rotate relative to the first hook body (21), the first hook body (21) and the second hook body (24) form a hook, and the diameter parameter and/or the material of the safety pin are/is designed to enable the second hook body (24) to achieve a fracture limit value when the safety pin is subjected to an automatic fracture load, and the first hook body (24) is relatively broken.

2. A traction hanger according to claim 1, characterized in that the second end of the first hook body (21) is rotatably connected to the hanger base.

3. The traction hanger according to claim 2, wherein a rotation limit baffle (3) is mounted on the hanger base body, and the rotation limit baffle (3) is located at one side of the safety hook (2) and is used for limiting the safety hook (2) to rotate towards the rotation limit baffle (3).

4. A traction hanger according to claim 3, wherein a first return spring (5) is mounted on the hanger base body, the first return spring (5) is connected with the second hook body, the first return spring (5) is located below the rotation limit baffle (3), and the first return spring (5) is used for pulling the safety hook (2) to return towards the rotation limit baffle (3).

5. A traction hanger according to claim 3, characterized in that a sliding baffle (4) is mounted on the hanger base, the sliding baffle (4) and the safety hook (2) are arranged on two sides of the rotation limiting baffle (3) opposite to each other, and the sliding baffle (4) can slide on the hanger base;

when the sliding baffle (4) is positioned at the first position, the sliding baffle and the safety hook (2) are arranged in parallel;

When the sliding baffle (4) slides to the second position, the sliding baffle and the safety hook (2) are arranged in a dislocation mode.

6. The traction hanger of claim 5, wherein said hanger base has a mounting channel formed thereon for mounting said sliding closure (4), said sliding closure (4) being slidable along said mounting channel;

be provided with one or more ear seat (41) on slide damper (4), ear seat (41) with the hanger base member passes through guide bar (42) and links to each other, the length direction of guide bar (42) with the direction of motion of slide damper (4) is parallel, the cover is equipped with second reset spring (6) on guide bar (42), works as slide damper (4) are followed when the mounting channel slides, compress second reset spring produces deformation, second reset spring is used for assisting slide damper (4) reset.

7. The traction hanger of claim 1, wherein the diameter of the safety pin (26) ranges from 1.9mm to 2.5mm.

8. Traction hanger according to any one of claims 1-6, characterized in that a connection socket is mounted on the hanger base body (1) for adapting connection with the execution end of a six-axis robot.

9. The traction hitch of any one of claims 1-6, characterized in that a sensor assembly (8) is mounted on the hitch base (1), the sensor assembly (8) being in signal connection with a control system of a six-axis robot, the sensor assembly (8) being adapted to monitor the position and status of the safety hook.

10. An industrial robot comprising a six-axis robot having the traction hitch of any one of claims 1-9 mounted at an actuation end thereof.