JPS6044175B2 - Freight car coupler automatic unlocking device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a comprehensive device for automatically unlocking a freight car coupler in a freight car operation yard where freight cars are disassembled and rearranged.

At the freight car operation yard, car organization work is carried out to sort freight cars gathered from nearby freight car handling stations into destinations.

For this reason, in large-scale freight car operation yards, conventionally the freight cars are pushed up onto a slightly elevated slope several meters in height by a pushing locomotive, where the freight car couplers are unlocked according to the sorting classification, and then the freight cars are individually moved. Vehicles are organized by rolling the freight cars to the corresponding sorting line. Conventionally, the work of unlocking such freight car couplers has generally been done manually, but this work requires a high degree of skill as it must be completed while the freight car is running and within a limited time. In addition, the working environment is not good and it is dangerous. Furthermore, in order to increase the number of vehicles that can be disassembled, there has been a recent trend toward increasing the speed of work, but if the pushing-up speed becomes too high, manually unlocking the coupler becomes more dangerous.

For this reason, a few attempts have been made to create automatic devices for unlocking the coupler.

This is an endless system in which a robot device is freely suspended on a traveling rail installed above the freight car in parallel with the rails of the freight car, and after the robot device is accelerated by a hydraulic pusher, it is rotated in synchronization with the speed of the freight car. It is hooked onto a chain and brought to the freight car coupler position, and the coupler is unlocked by robot operation. however,
Such automatic equipment has considerable drawbacks in operability and reliability, such as the fact that the traveling rail and the freight car coupler are located at a considerable distance, making it difficult to operate the robot, and it is also difficult to synchronize the endless chain with the traveling speed of the freight car. Moreover, the equipment was complicated and expensive.

Therefore, in view of these circumstances, the present invention aims to prevent danger and improve efficiency in the work of unlocking a freight car coupler, and provides a device that automatically and reliably performs the work of unlocking a freight car coupler. It is.

An embodiment of the present invention will be described below based on the drawings.

FIG. 1 shows the overall configuration of the device of this embodiment. 1 shows the running rail of the freight car.The freight car is carried by a push-up locomotive from the right side of the figure to the peak A at the top of the slope, and the freight car separated from the locomotive at the peak A is moved to each sorting line. It is a downward slope that seems to move by gravity towards the target.

3 is a running rail for the robot car 2, which includes a coupler unlocking section (straight section A-C shown in the figure) laid parallel to the freight car rail 1, and a downward slope in a curved shape from the end of the section. The return section reaches the lowest point B through the underground ditch 3a covered by the free upper cover 3b, and the steep rise rises from the lowest point B to the start point C of the coupler unlocking section. It is constructed in a loop shape with the lifting section.

Reference numeral 4 denotes a lifting device installed at the bottom of the traveling rail 3 in the lifting section B-C.

The lifting device 4 has a structure in which a single hook is attached to an endless chain driven by an induction motor. When receiving a control command from the central control device 6, the chain rotates, and one part of the robot vehicle 2 is attached to the hook. The robot vehicle 2 is pulled up from the lowest point B to the starting point C by hooking the parts. A pusher 5 is installed at the bottom of the running rail 3 at the starting point C. The pusher 5
is composed of a linear motor, and when the field coil of the motor is energized by a control command from the central controller 6, the aluminum plate attached to the lower part of the robot vehicle 2
A magnetic force is generated between the robot car 2 and the robot car 2, and the robot car 2 is started and accelerated to the freight car traveling speed. A power supply overhead line 3c for supplying power to the robot vehicle 2 is attached to the coupler unlocked section A-C.

Moreover, the traveling rail 1 between the pulling device 4 and the pusher 5
, 3 are installed on the ground on both sides. The detection device 7 consists of three pairs of light transmitters and receivers 7a and 7b, which are installed opposite to each other on an upright pillar.
A freight car passing through the installation point of the detection device 7 blocks or transmits the light beam emitted from the light beam that reaches the light receiver 7b, thereby converting the presence or absence of a passing vehicle into an electrical signal and sending it to the processing section. It is configured to process the signals, count the number of freight cars, and transmit this information to the central control unit 6 through relay contacts built into the processing section. Next, the configuration of the robot vehicle 2 will be explained based on FIG. 2.

The robot vehicle 2 consists of a wheel capture vehicle 2A (hereinafter referred to as the first vehicle) equipped with a wheel capture device E and a coupler unlocking vehicle 2B (hereinafter referred to as the second vehicle) equipped with a coupler unlocking device F. It consists of connected structures whose relative distances can be freely controlled. However, the first car 2
Both the A and second vehicles 2B may be constructed integrally, and only the coupler unlocking device F and the wheel capturing device E may be constructed to freely control the relative distance. As shown in the figure, the wheel catching device E has a pair of wheel catching devices 10 and 11 installed on the side end surface of the wheel catching vehicle 2A.

The traps 10 and 11 are provided at the tips of actuating cylinders 10a and 11a that freely protrude in the direction of the wheels W of the freight car, and main rollers 10b and 11b that freely rotate while facing the wheels w, and on both sides below the main rollers. It is constructed by attaching a pair of guide rollers 10c and 11c. Each roller 10b, 11b, 10
c, 11c is a rigid body 10 having a supporting axis at the apex of a triangle.
d and 11d are rotatably supported. The traps 10 and 11 having such a configuration are normally drawn to the end of the first car 2A, but when the traps are captured, the compressed air from the air compressor 13 stored in the first car 2A is directed forward in the forward direction of the freight car (second
(on the left side of the figure), the trap 10 is introduced into the operating cylinder 10a of the trap 10 of
As soon as the wheel W collides with the main roller 10b, the rear wheel catcher 11 is immediately moved to the running rail 1 behind the wheel W.
The wheel W is pushed upward, and the two main rollers 10b and 11b capture the wheel W from both sides. For this reason, the robot car 2 is configured to follow the freight car T and move forward by rotating the main roller 10b while facing the wheels W.
In this case, the guide rollers 10c and 11c are the main roller 10.
The guide rollers 10c, 11c rotate in contact with the freight car running rail 1 to receive the vertical component force that the wheels b, 11b receive from the wheels W, and the catchers 10, 11 can follow the wheels W smoothly. Therefore, there is an advantage that no unnecessary additions are made to the working cylinders 10a, 11a. Although not shown, a hydraulic shock absorber is incorporated in the operating cylinder 10a in order to absorb the collision energy when a wheel comes into impactful contact with the main roller 10b.

The relative distance between the first vehicle 2A and the second vehicle 2B is controlled by the drive device of the positioning device G.

That is, the drive device is an operating cylinder 14 mounted on the second vehicle 2B.
, and the output rod 14A of the cylinder 14 is connected to the first wheel 2.
Connected to A. Therefore, since the output rod 14A expands and contracts due to the operation of the actuating cylinder 14, the first wheel 2A and the second
A relative movement with the car 2B is made. An air vibrator 15 supplies air from an air compressor 13 mounted on the first vehicle 2A to various operating cylinders such as the aforementioned operating cylinder 14 of the second vehicle 2B, which will be described later. It is composed of an expansion joint consisting of multiple vibrators that can be expanded and contracted accordingly.

The positioning device G is further equipped with a coupler unlocking device F for two freight cars T.
, a first position detecting device is provided for detecting that the second wheel 2B is located approximately in the middle of the second wheel 2B and restricting movement of the second wheel 2B to the left in the figure by the drive device.

In this embodiment, this detection device is configured as a connection surface detection device that detects the connection surfaces T and t'' of two freight cars T and 1. 1, and a reflector plate 18 installed above the ground in front of the starting point C to block sunlight. The car 2B moves to the left in the figure due to the operation of the actuating cylinder 14, and the first
By increasing the distance from the car 2A, when both light transmitters and receivers 16 and 17 are located on the connecting surface of the freight cars T and D, the light projected from the light transmitters and receivers 16 and 17 is reflected on the reflection plate 18. Since it receives this reflected light, the operation of the operating cylinder 14 is stopped at this time to ensure complete operation of the coupler unlocking device F. The purpose of blocking sunlight by the reflecting plate 18 is to prevent the light transmitters and receivers 16 and 17 from receiving light other than those projected by themselves. In addition, the light transmitter/receiver 16, 1
The reason why two 7s are provided is that if only one is provided, there will be a delay in response to the stop of the drive device due to the detection signal from the light transmitter/receiver, and the second vehicle may go too far to the left. If two light transmitters/receivers are provided, both of the two light transmitters/receivers can be stopped at a position where they can detect the freight car couplers T, t''.

The coupler unlocking device F is composed of a dog-shaped arm mechanism rotatably supported on a fixed shaft of the second wheel 2B, and a wrist for operating a release lever that is pivotally supported on a support shaft at the tip of the arm. .

In the arm mechanism, an upper arm 21 and a lower arm 22 are rotatably connected by a connecting shaft 25 in a dogleg shape.

A base end of a rotating lever 24 that is rotatably connected to the output rod of an operating cylinder 23 is integrally fixed to the lower end of the lower arm 22. The lower arm 22 is rotated around the fixed shaft 31. The lower arm 22 is hollow and has a bevel gear mechanism inserted therein. and upper and lower arms 21
, 22 are always folded onto the second vehicle, and the second vehicle itself is extremely compact. As shown schematically in FIG. 3, the bevel gear mechanism has idle gears 27 and 28 fixed to both ends of a gear shift 26 that passes through the lower arm 22.
One of the fixed gears 29 that meshes with each of the idle gears 27 and 28 at a rotation angle of 900 is pivotally attached to the fixed shaft 31 of the second wheel 2B, and the other driven gear 30 is connected to the upper arm 21.
It is pivoted to the connecting shaft 25. Therefore, when the lower arm 22 rotates around the fixed shaft 31 due to the operation of the operating cylinder 23, the driven gear 30 rotates through the idle gears 27 and 28 with the same rotation angle as the lower arm 22. Rotate. Therefore, the lower arm 22 and the upper arm 21
The angles α and α″ (α=α″) with respect to the horizontal direction are always the same, and the wrist portion 33 supported by the upper support shaft 32 of the upper arm 21 always moves up and down in the vertical direction. That is, the above-mentioned bevel gear mechanism can be said to be a vertical drive device. The upper and lower arms 21, 22 have a parallel movement mechanism that always keeps the wrist portion 33 in a constant direction regardless of the operation of the vertical drive device.

The parallel movement mechanism includes a link 34 installed parallel to the upper arm 21 and a link 35 installed parallel to the lower arm 22.
It consists of The link 34 connects one end of the wrist portion 33 to the support shaft 32.
The bell crank 36 is rotatably connected to a lever portion 33a extending to the opposite side thereof, and to one end of a bell crank 36 which is rotatably connected to the connecting shaft 25. One end of the other link 35 is rotatably supported by the other end of the bell crank 36, and the other end is slidably supported in the axial direction by a bracket (not shown) fixed to the second wheel 2A. A compression spring 38 is interposed between the bracket and a spring receiver 37 provided on the link 35. When the arm mechanism rotates, the wrist portion 33 provided at the tip moves vertically up and down while maintaining a constant direction unless an external force is applied to the wrist portion 33 due to the action of the parallel movement mechanism, and the hook of the wrist portion 33 moves up and down vertically due to the action of the parallel movement mechanism. The release lever of the coupler can be gripped securely.

The link 35 releases the compression spring 38 only when an external force is applied.
By sliding the bracket against the force of
Rotation around the support shaft 32 of No. 3 is allowed. The positioning device G further moves the second car 2B by actuation of the actuation cylinder 14 and moves to a second position where it detects that the wrist portion 33 of the coupler unlocking device F is located directly below the release lever 40 of the freight car coupler J. It has a detection device. In this embodiment, the detection device is a freight car T.
The underframe end face detector is configured to detect the underframe end face 41 of the underframe end face. In this detection device, two parallel links 51 and 52, each having a detector 50 connected to the upper end thereof, are rotatably supported at the tip of the upper arm 21 (one is supported rotatably on a support shaft 32 at the wrist). ), the upper arm 21 is attached to the middle part of one link 52.
The output end of the actuating cylinder 53 fixed to is rotatably supported.

The actuating cylinder 53 communicates with the links 34 and 35 of the vibrator-like parallel movement mechanism, and compressed air from the air compressor 13 is supplied through the links 34 and 35 and the inside of these connecting portions. The end face detector 50 is normally kept folded in parallel with the upper arm 21 and made compact by the operation of the actuating cylinder 53, but at the time of detection, it is
It is configured so that it is placed in an upright position. The contact 50a at the tip of the detector 50 is shaped like a coil spring, and when the tip comes into contact with the end face 41 of the frame, it slides in the axial direction to activate the switch of the detector 50, and in the unlikely event that the contact 50a is placed at right angles to the contact 50a. The structure is such that deformation is absorbed when an external force is applied in this direction. Next, the operation process of the apparatus of this embodiment having the above configuration will be sequentially explained.

Although four robot cars 2 are used in this embodiment, several to ten or more robot cars may be used depending on the speed of disassembling the freight cars, and they are always assembled at the lowest point B below the lifting device 4.

In the control device 6, a disassembly table of freight trains for one stage is stored in advance in the computer. Then, each time one train starts to be disassembled, power is input to the lifting device 4 in response to a command signal from the central control device 6, and the endless chain of the lifting device 4 rotates, and the hook attached to the chain is attached to a part of the robot car 2. The robot vehicle 2 is pulled up to the starting point C and put on standby. At this time, when the robot vehicle 2 passes the ground member 6-1 installed on the running rail 3 between the lifting device 4 and the pusher 5, a standby completion signal is transmitted to the central control device 6. When the train of freight cars is pushed up the traveling rail 1 by the push-up locomotive while the robot car 2 is in a standby state, the number of freight cars detecting device 7 counts the number of cars by the action of the light transmitter/receiver, and transmits this information one by one to the center. The information is transmitted to the control device 6.

The central control unit 6 checks the information against a pre-stored disassembly table, unlocks the coupler, and learns which freight cars are to be disassembled. When the corresponding freight car passes the detection device 7, power is input to the linear motor of the pusher 5, the waiting robot car 2 is activated, and the robot car 2 is accelerated to a speed close to that of the freight car. At this time, the lifting device 4 is activated and the next robot car 2 is moved.
Pull up to starting point C. When the robot vehicle 2 started by the pusher 5 passes the ground element 6-2, the robot vehicle receives the passing signal, outputs a signal to the wheel capture device E, and operates one of the operating cylinders 10a to move the wheels W. A wheel catcher 10 projects onto the running rail 1 in front.

When the wheel W hits the main roller 10b, the other actuating cylinder 11a is actuated to project the catcher 11 onto the running rail 1 behind the wheel W, and the main rollers 10b and 11b catch the wheel W from both sides. From then on, the robot car 2 follows the freight car T and moves forward. When the capture of the wheel W is completed in this way, the control unit in the robot vehicle 2 operates (the following robot operations are performed according to commands from this control unit), and drives the positioning actuating cylinder 14, starting from the first vehicle 2A. Second
When the car 2B is moved away, the connecting surface detection device detects the freight car T and the connecting surface T, t'' with the above configuration, and when it is confirmed that there is no problem with the operation of the coupler unlocking device F, the detection signal is emitted. Then, the vertical drive device of the coupler unlocking device F moves upward by the drive of the actuating cylinder 23, and the hook portion of the wrist portion 33 at the tip of the upper arm 21 releases the freight car coupler J. When the lever 40 rises to approximately the height of the lower end, an arm position detection switch (not shown) incorporated in the bearing portion of the lower arm 22 operates to temporarily stop the arm from rising.

At the same time as the above-mentioned vertical upward movement of the wrist starts, the upper arm 2
The underframe end face detector 50 attached to the underframe 1 stands up by driving the actuating cylinder 53. Next, when the arm position detection switch detects that the wrist portion 33 has risen to the specified position, the positioning actuating cylinder 14 is driven (pull operation) in response to the detection signal to move the second wheel 2B to the first wheel 2.
A, and the underframe end face detector 5.0 is brought close to the underframe end face 41 of the freight car T and brought into contact with the end face 41. The positioning actuating cylinder 14 is stopped by a signal that the contact 50a of the detector 50 has come into contact with the underframe end surface 41, that is, a signal that the wrist portion 33 has come directly under the coupler release lever 40, and the positioning is completed. When the end face detection is completed, the underframe end face detector 50 is folded in parallel to the upper arm 21 by the actuation cylinder 53.

The upper and lower arms 21 and 22 start their upward movement again by the actuation of the actuating cylinders 2 and 3, and as shown in FIGS.
Grasp and lift the lever rotation stopper 55 of the lever insertion hole 55a of the lever support bracket 55 installed on the end face of the freight car.
Remove from b.

When the arm further rises, the upper surface 40b of the release lever 40 comes into contact with the old surface 55c of the lever insertion hole 55a, and the vertical upward movement of the release lever 40 is stopped, so a component of force in a direction perpendicular to the end surface of the freight car is generated, and this component of force is applied to the wrist. 33, the lever portion 40a of the release lever 40 is rotated clockwise (up to about 600 degrees) in the drawing against the spring force of the compression spring 38 via the links 34 and 35 of the parallel movement mechanism. (Figure 4 C, D
) By turning the lever portion 40a, the locking pin of the coupler attached to the tip of the release lever is pulled up, and the coupler is unlocked. When the locking is completed in this way, the wrist part 33
The lifting operation of the arm is stopped by a turning angle detection switch (not shown) provided in the figure. The robot car 2 continues to run with the lock unlocked, and when it passes the ground element 6-3 installed in the running rail 3 about 20 meters away from the starting point C, a signal is sent from the robot car 2 to the central control unit 6. Transmits a signal indicating that the coupler has been unlocked. When the robot vehicle 2 travels to the top A of the slope, it passes the ground element 6-4 installed in the traveling rail 3, and upon receiving this signal, the coupler unlocking device F of the robot vehicle 2 operates in the opposite manner to the above. The freight car wheels are folded compactly onto the second car, and at the same time, the wheel catching device E is retracted and the freight car wheels are released. Since the traveling rail 3 in the return section from the apex A to the lowest point B has a downward slope, the robot vehicle 2 returns to the origin, that is, the lowest point B after passing the apex A.
It will be driven back by itself. As mentioned above, this return path is a ditch and is covered with a top cover, so it does not interfere with the security of the robot vehicle or surface traffic, and is convenient for maintenance and inspection of the robot. , and it is simpler and cheaper than installing a ball above the ground and laying a rail. FIG. 5 shows a control signal system diagram of this embodiment.

This figure also shows that the number of input/output signal exchanges between the robot vehicle 2 and the central control device 6 is small, and the reliability of the control is high. In addition to the above description, the characteristic effects of this embodiment are enumerated as follows.

The acceleration force transmission of the robot vehicle 2 by the pusher 5 uses magnetic force without any mechanically operating parts, so the structure is simple and highly reliable.

The wheels of the freight car are captured by the wheel capture car, and the wheels of the freight car are moved together by the running force of the freight car, and the coupler is unlocked during this time, so the robot car's travel drive system and freight car speed detection device can be used. , there is no need for a device to synchronize the robot car with the speed of the freight car, making the operation simple and highly reliable.

Also, the protruding position of the main roller does not require much precision;
The relative speed between the main roller and the wheels may also be rough in accuracy. Since the positioning device captures the vehicle connection surface, it does not require a servo mechanism, is simple, and has high reliability.

In the vertical drive device in the coupler unlocking device, the bearing portion and the joint portion are all rotary motions, so that the bearing can be oil-free.

Since the end face detector is set so that everything other than the detector is set back, it does not interfere with the unlocking operation.

As described above, the present invention allows the dangerous work of unlocking the freight car coupler, which has conventionally been relied on manually at the freight car operation yard, to be automatically performed under the control of the control device, which improves not only safety but also reliability. It is effective in that it has a high efficiency and leads to labor saving.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a plan view and front view showing the overall configuration of an embodiment of the device according to the present invention, FIG. 2 is a plan view, front view, and side view of the robot vehicle, and FIG. 3 is a diagram showing the arm. FIG. 4 is a diagram showing the internal structure of the bevel gear mechanism, FIG. 4 is a stroke chart showing the unlocking operation of the freight car coupler at the wrist, and FIG. 5 is a diagram showing the control signal system of the device of this embodiment.

1... Freight car running rail, 2... Robot car (2A... Wheel catching car (first car), 2
B... Couple unlocking vehicle (second vehicle)), 3...
...Robot vehicle running rail, 4...Lifting device, 5...Pusher, 6...Central control unit, A...Vertex, B... ...Lowest point, C...Start point, A-C...Connector unlocked section, A-B...Return section, B-C・
... Pulling section, E ... Wheel catching device, F ... Couple unlocking device, W ... Freight car wheel, G ...... Positioning device, J... Freight car coupler.

Claims (1)

[Scope of Claims] 1. A wheel capture device that captures and releases the wheels of a freight car; a coupler unlocking device that unlocks a coupler of the freight car; and 2.
a positioning device that controls the relative position of the two devices;
The robot car is configured to include at least a robot car that runs on a traveling rail parallel to the freight car while the coupler is unlocked; a control device that exchanges information with these devices and issues control commands; and a control signal of the control device. The wheel capturing device captures and follows the wheels of the corresponding freight car, the positioning device brings the coupler unlocking device to the corresponding coupler position, and the unlocking device unlocks the coupler. A freight car coupler automatic unlocking device featuring: 2 The robot car has a first car equipped with a wheel capture device,
The freight car coupler automatic according to claim 1, characterized in that the second car is connected to the first car in a variable relative distance and is equipped with a coupler unlocking device. unlocking device. 3. The automatic freight car coupler according to claim 1, wherein the robot vehicle is equipped with a wheel capture device and a coupler unlocking device connected to the wheel capture device in a variable relative distance. unlocking device. 4. The wheel catching device has a wheel catching device that is pushed out onto the freight car rail by an actuator from the robot car when capturing, and the wheel catching device has a main roller that rotatably contacts the wheel road surface and a pair of wheel catching devices that rotate on the freight car rail. A freight car coupler automatic according to any one of claims 1 to 3, characterized in that the rollers are pivotally supported by a rigid body so as to be located at the apex positions of a triangle. unlocking device. 5. The wheel catching device has a pair of wheel catching devices that are in contact with the front wheel tread and the rear tread, respectively, and after one wheel catching device comes into contact with the front wheel tread, the other wheel catching device is pushed out to the rear wheel tread, The automatic freight car coupler unlocking device according to any one of claims 1 to 4, characterized in that it is configured to lock from both the front and rear sides of a wheel. 6. The freight car according to any one of claims 1 to 5, wherein the wheel capturing device incorporates a hydraulic shock absorber for absorbing collision energy when capturing the freight car wheels. Coupler automatic unlocking device. 7. The coupler unlocking device has a release lever operating wrist part that can be rotated against a spring force around a support shaft that moves vertically up and down by a vertical drive device, and when the wrist part is raised, Claims 1 to 6 are characterized in that the locking pin of the coupler is removed from the locked position by grasping, lifting and rotating the release lever. The freight car coupler automatic unlocking device described in . 8. The vertical drive device comprises an arm mechanism in which an upper arm having the support shaft and a lower arm rotatably supported by the robot vehicle are pivoted in a dogleg shape, and the arm mechanism is bent by the actuating cylinder. 8. The automatic freight car coupler unlocking device according to claim 7, characterized in that the support shaft is vertically raised by extension. 9 The vertical drive device has a built-in bevel gear mechanism,
The bevel gear mechanism is constructed by fixing two idle gears to both ends of a gear shift built in the lower arm, which mesh with a driven gear fixed to the upper arm and a fixed gear fixed to the robot vehicle, respectively. 9. The automatic freight car coupler unlocking device according to claim 8, wherein the upper arm rotates at an angle equal to the rotation angle of the lower arm upon activation. 10 The vertical drive device consists of a parallel movement mechanism that forms a parallelogram with the upper arm and the lower arm as one side, and the link on one side parallel to the lower arm is substantially moved against the robot vehicle against the spring force. The links on each side of the parallel movement mechanism of the upper and lower arms, which are supported to freely slide in the axial direction and include the rotation support shafts of the upper and lower arms, are rigidly connected;
The automatic freight car coupler unlocking device according to claim 8 or 9, characterized in that the wrist portion is configured as an extension of a link on one side of the parallel movement mechanism of the upper arm including the support shaft of the wrist portion. . 11 The positioning device includes a drive device that moves the wheel capture device and the coupler unlocking device relative to each other, a first position detection device that detects that the coupler unlocking device is located approximately in the middle of two freight cars, and a coupler. A freight car coupler according to any one of claims 1 to 10, characterized in that the unlocking device is comprised of a second position detection device that detects that the unlocking device is located directly below the freight car coupler. automatic unlocking device. 12 The robot vehicle is configured to include a first vehicle equipped with a wheel capture device and a second vehicle equipped with a coupler unlocking device, and a drive device controls the distance between the two vehicles. 12. The automatic freight car coupler unlocking device according to any one of claims 1 to 11, characterized in that the automatic unlocking device is an actuating cylinder connected to a freight car coupler. 13 The robot vehicle includes a first vehicle equipped with a wheel capture device and a second vehicle equipped with a coupler unlocking device, and the first vehicle and second vehicle are each equipped with fluid for driving each device. According to any one of claims 1 to 12, there is a pressure-actuated system, and the pipe connecting the fluid-pressure-actuated system is an expansion joint made of two or more cylindrical multiple pipes. Freight car coupler automatic unlocking device. 14. The automatic freight car coupler unlocking device according to claim 11, wherein the first position detection device comprises a connecting surface detecting device for detecting connecting surfaces of two adjacent freight cars. 15 The connecting surface detection device consists of two sets of light transmitters and receivers that are separated in the direction of travel of the robot car, and a reflection device is installed so that the light emitted from each light transmitter passes through the freight car joint space to the outside to block sunlight. 15. The automatic freight car coupler unlocking device according to claim 14, wherein the automatic unlocking device for a freight car coupler is configured to detect a connecting surface of a freight car by receiving the reflected light reflected by the plate and a light receiver. 16. The second position detection device is an underframe end surface detection device that is installed in the coupler unlocking device and has a detection tip formed in the shape of a coil spring, and detects when the tip comes into contact with the underframe end surface of the freight car. A freight car coupler automatic unlocking device according to any one of claims 11 to 15. 17. The automatic freight car coupler unlocking device according to claim 16, wherein the underframe end surface detection device is configured to take an operating position only when a detection operation is performed by an operating cylinder, and to take a stored position at other times. 18 The control device includes a central control unit that inputs and outputs signals to and from each device according to a setting program, and a central control unit that transmits input signals from the central control unit to each part of the robot vehicle to operate it, and also controls each part. It has a robot car control unit that outputs the completion of operation to the central control unit, and a wheel capture device captures the wheels of the corresponding freight car to make the robot follow the freight car, and a positioning device controls the connection surface of the corresponding freight car. When detected, the position of the corresponding coupler is detected, the coupler is unlocked by the coupler unlocking device, and after the above operation is restored, the robot car is separated from the freight car. A freight car coupler automatic unlocking device according to any one of claims 1 to 17. 19. The automatic freight car coupler unlocking device according to claim 18, wherein the control device is configured to detect the corresponding freight car to be captured by the capturing device based on the signal from the freight car number detection device. . 20 The freight car number detection device consists of a plurality of light transmitters and receivers and a processing section. 20. The automatic freight car coupler unlocking device according to claim 19, characterized in that it is configured to detect. 21 A wheel capture device that captures and releases the wheels of a freight car, a coupler unlocking device that unlocks a coupler of the freight car, and a positioning device that controls the relative positions of the two devices, and at least A robot car that runs on the rail parallel to the freight car during the coupler unlocking operation; A control device that exchanges information with these devices and issues control commands; Accelerates the robot car in synchronization with the freight car running speed. The pusher accelerates and starts the robot car to a speed synchronized with the freight car in response to a control signal from the control device, the wheel capture device captures and follows the wheels of the corresponding freight car, and the positioning device An automatic freight car coupler unlocking device characterized in that the unlocking device is configured to unlock a coupler when the unlocking device is brought to a corresponding coupler position. 22 The pusher consists of a linear motor installed on a part of the traveling rail and an aluminum plate installed on the robot vehicle.The field coil of the linear motor is energized by a command from the control device, and it exerts a magnetic force on the aluminum plate of the robot device. 22. The automatic freight car coupler unlocking device according to claim 21, characterized in that the automatic unlocking device for a freight car coupler is configured to accelerate startup. 23 The control device includes a central control unit that inputs and outputs signals to and from each device according to a setting program, and a central control unit that transmits input signals from the central control unit to each part of the robot vehicle to operate it, and also controls the operation of each part. A robot car control unit outputs completion information to the central control unit, a pusher control unit operates the pusher by exchanging signals with the central control unit, and the pusher controls the robot car to reach the speed of the corresponding freight car when passing the corresponding freight car. The robot car starts and accelerates, and the freight car vehicle capture device captures the wheels of the corresponding freight car to make the robot car follow the freight car. When the positioning device detects the corresponding freight car connection surface, the corresponding coupler position is detected and the robot car is connected. Claims 21 to 21 are characterized in that the robot car is separated from the freight car after the coupler is unlocked by the device unlocking device and the above-mentioned operation is restored.
The freight car coupler automatic unlocking device according to item 22. 24. Claim 23, characterized in that the control device is configured to detect a corresponding freight car to be captured by the capturing device based on a signal from the freight car number detection device, and to start the robot vehicle by a pusher. Freight car coupler automatic unlocking device as described in . 25 A wheel capture device that captures and releases the wheels of a freight car, a coupler unlocking device that unlocks a coupler of the freight car, and a positioning device that controls the relative positions of the two devices, and at least A robot vehicle that travels on a traveling rail parallel to the freight car during the coupler unlocking operation; A control device that exchanges information with these devices and issues control commands; A coupler unlock section that is parallel to the freight car rail and the section. The robot vehicle travels in a loop shape, consisting of a return section that slopes downward in a loop shape from the end of the road to the lowest point, and a pull-up section that ascends with an upward slope from the lowest point to the start point of the coupler unlocking section. Rail and;
The robot car is pulled up by a control signal from a control device, and includes a lifting device that lifts the robot car to the starting point in the lifting section of the robot car travel rail; and a pusher that accelerates the robot car in synchronization with the freight car travel speed. The device pulls the robot car at the lowest point to the starting point and makes it standby, the pusher accelerates the robot car to a speed synchronized with the freight car, the wheel capture device captures and follows the wheels of the corresponding freight car, and the positioning device releases the coupler. 1. An automatic freight car coupler unlocking device, characterized in that the lock device is brought to a corresponding coupler position and the unlocking device unlocks the coupler. 26 A patent characterized in that the lifting device is configured such that one hook is attached to an endless chain driven by an induction machine, and a part of the robot vehicle is hooked to the hook and pulled up. Claim No. 25
Freight car coupler automatic unlocking device as described in . 27. The automatic freight car coupler unlocking device according to claim 25 or 26, characterized in that the traveling rail is provided with a power feeder line that supplies power to the robot car in the freight car coupler unlocking section. . 28 A wheel capture device that captures and releases the wheels of a freight car, a coupler unlocking device that unlocks a coupler of the freight car, and a positioning device that controls the relative positions of the two devices, and at least a robot vehicle that travels on a traveling rail parallel to the freight car during the coupler unlocking operation; a control device that exchanges information with these devices and issues control commands; a coupler unlock section that is parallel to the rail of the freight car; A return section that runs from the end of the section to the lowest point through an underground ditch that is at least partly covered by a top cover that can be opened and closed, forming a downward slope in a loop shape, and from the lowest point. A loop-shaped robot car running rail consisting of a lifting section that rises at a steep slope to the start point of the coupler unlocking section; A lifting device that pulls up the robot car to the starting point in the lifting section of the robot car running rail; The robot car is configured to include a pusher that accelerates the robot car in synchronization to the traveling speed of the freight car, and a pulling device pulls up the robot car at the lowest point to the starting point and waits according to the control signal from the control device, and the pusher accelerates the robot car to the speed synchronized with the freight car. An automatic freight car coupler characterized in that the robot vehicle is accelerated and started, the wheel catching device brings a coupler unlocking device to a corresponding coupler position, and the unlocking device unlocks the coupler. unlocking device.