Key Technologies Research On Automatic Uncoupling System Of Hump Pushing

Since the 1970 s,the research on automatic hook removal technology has appeared in china and abroad.Many types of research schemes,such as suspension type,track type and rope type,have been put forward successively.These studies have greatly enriched the research results of this technology and accumulated valuable experience for future generations to carry out relevant research.The purpose of this paper is to put forward a research scheme which can be widely used in the field and does not change the current situation of the existing hook stripping operation environment as much as possible.The following actual conditions shall be met for the on-site operation of the automatic hook removal equipment.1.Convenient maintenance;After equipment failure,it is easy to withdraw and repair,and shall not affect the transportation and on-site hook lifting operation.2.The impact of invasion is small;It is inevitable to use the mechanical arm to insert the hook lifting rod to remove the hook during the hook removal process,resulting in foreign matter intrusion.However,in case of equipment failure or abnormality,the equipment shall leave between vehicles to ensure the safety of railway transportation.3.Little impact on site environment;At the initial stage when the automatic hook removal equipment is put into operation,it can not completely replace the manual operation to realize unmanned hook removal,which requires the assistance of the hook removal personnel.Therefore,it is necessary to minimize the impact on the site environment and reduce the adverse impact on the operation of the hook removal personnel.The automatic hook removal equipment that can be put into use on site shall be studied in accordance with the above principles.The main research contents of this paper are as follows: 1.A trackless free wheel type automatic uncoupling robot car is proposed,and the uncoupling path planning and related algorithms of the robot car are studied,and the uncoupling path,charging path,maintenance path and other path planning are proposed;2.The coupler model and vehicle number are identified by using quick image recognition algorithms such as Yolo.The data set collected on site is trained and tested on the verification set;3.The forward kinematics and inverse kinematics of the 6-DOF manipulator are solved,and the manipulator is simulated with the robot simulation software;4.The overall structure of the automatic hook removal system and the structure of the robot car are proposed,and the functions of each part of the system are explained.