CN103922160B - Cargo train Load System - Google Patents

Abstract

The invention relates to a freight train loading system, comprising: a bulk building for loading bulk goods into train carriages; and a mechanical arm for loading bagged goods into the train carriages; the bulk building and the mechanical arms are sequentially arranged along the railway. The train carriages pass through the bulk building and the mechanical arm in sequence, so as to realize the loading of bulk goods on the train carriages and bagged goods on the train carriages, thereby improving the efficiency of train loading. At the same time, the automation of loading operations saves labor resources and liberates workers from high-intensity labor and harsh working environments.

Description

freight train loading system

technical field

The invention relates to the rail freight field, in particular to a freight train loading system.

Background technique

In the prior art, when freight trains are loaded, warehouses are built on both sides of the railway, the train carriages are driven into the warehouse, the parking position of the train carriages is manually controlled, and then the workers load goods into the train carriages. This manual loading method not only Efficiency is slow, and there are security risks. For this reason, mechanized loading has also been formed, and the train carriages are driven into the warehouse, and the goods are loaded by machinery. But there are many train cars, and the machinery for loading goods can not be designed to be equivalent to the length of the whole train car. Therefore, the train car needs to be moved forward for every several cars loaded, so that the subsequent cars can be driven into the loading position. Loading like this is time-consuming and laborious, and the efficiency is not high. In addition, when the train carriage transports grains such as soybeans, the soybeans are generally packed into the train carriage in bulk, and then the inner net is covered, and then the bagged soybeans are loaded on the inner net to increase the loading capacity. However, there is no loading system that can efficiently complete the operations of "bulk", "laying nets" and "bags". Most of them are bulk packed by machinery, and then the nets are laid manually and the bagged goods are manually moved. The efficiency is low and there are potential safety hazards.

Contents of the invention

A brief overview of the invention is given below in order to provide a basic understanding of some aspects of the invention. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to identify key or critical parts of the invention nor to delineate the scope of the invention. Its purpose is merely to present some concepts in a simplified form as a prelude to the more detailed description that is discussed later.

The purpose of the present invention is to provide a freight train loading system, which can efficiently complete the loading of bulk goods, laying nets and loading bagged goods; efficiently complete all bulk goods; and efficiently complete all bagged goods.

In order to achieve the above object, a freight train loading system provided by the present invention includes: a bulk building for loading bulk goods into the compartment; and a mechanical arm for loading bagged goods into the compartment; the bulk building and the mechanical arm are sequentially set up.

Compared with the prior art, the beneficial effect of the present invention is that the train carriages pass through the bulk building and the mechanical arm sequentially, so that the carriages are loaded with bulk goods and bagged goods, and the loading efficiency of the train carriages is improved. At the same time, the automation of loading operations saves labor resources and liberates workers from high-intensity labor and harsh working environments.

Description of drawings

The above and other objects, features and advantages of the present invention will be more easily understood with reference to the following description of the embodiments of the present invention in conjunction with the accompanying drawings. The components in the drawings are only to illustrate the principles of the invention. In the drawings, the same or similar technical features or components will be denoted by the same or similar reference numerals.

Fig. 1 is the whole schematic diagram of freight train loading system of the present invention;

Fig. 2 is a partial side view of the position of the mechanical arm in the freight train loading system of the present invention;

Fig. 3 is the schematic diagram of mechanical arm in the freight train loading system of the present invention;

Fig. 4 is a schematic diagram of a flat car in the freight train loading system of the present invention.

detailed description

Embodiments of the present invention will be described below with reference to the drawings. Elements and features described in one drawing or one embodiment of the present invention may be combined with elements and features shown in one or more other drawings or embodiments. It should be noted that representation and description of components and processes that are not related to the present invention and known to those of ordinary skill in the art are omitted from the drawings and descriptions for the purpose of clarity.

Referring to Fig. 1, freight train loading system of the present invention comprises: bulk building 1 and mechanical arm 3, they are arranged along railway successively, and wherein, bulk building 1 is used for loading bulk goods to train carriage, and mechanical arm 3 is used for to train The compartment is loaded with bagged goods. Through the freight train loading system of the present invention, the train carriages pass through the bulk building 1 and the mechanical arm 3 in sequence, so that the carriages are loaded with bulk goods and the carriages with bagged goods, improving the efficiency of train carriage loading. Of course, it should be understood that when all bulk goods are needed, the bulk building works, and the robot arm does not need to work; when all bagged goods are needed, the bulk building does not need to work, and the robot arm works.

In one embodiment, referring to FIG. 4 , there is also a flat car 2 (not shown in FIG. 1 ) between the bulk building and the robot arm. Taking the direction of the train as the front, the leveling device 2 is arranged in front of the bulk building. When the compartment is loaded with bulk goods, it will pass through the leveling device 2 to flatten the uneven goods loaded in the compartment. Of course, the flat car 2 can be fixedly connected to the bulk building through the connecting arm, but it should be understood that the position of the flat car is only an optional way. It should be understood that the height of the connecting arm connecting the flat car is adjustable to adapt to train carriages of different heights. Of course, the height of the connecting arm can also be changed to better level the goods. The leveler can be located above the train carriage, and the leveler can at least level the goods that are higher than a part of the train carriage; it can also be adjusted by the height of the connecting arm, extending into the train carriage for adjustment.

The above flat car device is only an optional embodiment of the present invention, other forms, the flat car device that can complete the leveling of goods can also be used in the present invention, for example, bulk goods are installed in the train car, and the flat car device advances in the train car Swipe back and forth in the direction to achieve the purpose of leveling the cargo.

Referring to Fig. 2, the mechanical arm 3 of above-mentioned freight train loading system of the present invention is fixed on the base 4 that is arranged on both sides of the railway, certainly, can be that a plurality of mechanical arms 3 are fixed on a base 4, also can be one The base 4 only fixes a mechanical arm 3 . For example, in an optional embodiment, bases 4 are respectively provided on both sides of the railway, and three mechanical arms 3 are provided equidistantly on each base. In another embodiment, three bases can be arranged on both sides of the railway, and one mechanical arm 3 can be arranged on each base. Of course, there are six mechanical arms 3 in these two embodiments, but this is not used to limit the present invention, and other reasonable numbers of mechanical arms 3 can also be used in the present invention. Further, no matter which of the above two optional implementations, there are three mechanical arms 3 on both sides of the railway. In the direction extending along the railway, the mechanical arms 3 on one side of the railway and the other The mechanical arms 3 on one side are staggered from each other. That is to say, the mechanical arms 3 on opposite sides are staggered from each other instead of facing each other. This can ensure that when loading bagged goods, the robotic arm 3 can cover all positions to the greatest extent, avoiding dead angles that cannot be reached by the robotic arm 3, and can also prevent the working range of multiple robotic arms 3 from overlapping too much. It takes a long time to avoid and reduces the operating efficiency.

It should be understood that the aforementioned three mechanical arms on both sides of the railway are just an implementation manner, and are not intended to limit the present invention. In order to facilitate the loading of the robotic arm, or to adjust the way of loading bagged goods according to different types of train carriages, the robotic arm can also be fixed on the base through slide rails, and the robotic arm can be adjusted according to the needs of loading and stacking bagged goods. own position.

Further, the total height of the mechanical arm 3 and the base is higher than the height of the train carriage. to meet loading needs. It can be understood that the optional base of the present invention is a reinforced concrete base, which can ensure good stability. In one embodiment, the height of the base is substantially equal to the height of the train carriage. It should be understood that because the height of the train carriage does not Not exactly the same, so the height of the base is basically equal to the height of the train carriage. In some cases, the base can also be lower than the height of the train carriage, as long as the sum of the height of the base and the mechanical arm 3 is higher than the train carriage. It should be understood that the requirement for the height of the base and the mechanical arm 3 is to meet the loading requirements. According to the above-mentioned freight train loading system of the present invention, it should be known that a bulk building 1 is also set in front of the mechanical arm 3 of the present invention. The bagged goods are loaded by the mechanical arm 3 only after the compartments are filled with bulk goods, that is to say, the bagged goods are often loaded on the top of the train compartment. higher than the height of the train carriage. When all the bagged goods are loaded, the robot arm 3 cannot put the bagged goods lightly on the bottom of the compartment, but puts the goods down at a certain height.

Referring to Fig. 3, in an optional embodiment, the above-mentioned mechanical arm 3 includes a connecting shaft 5, a connecting arm 6 and a gripper, wherein the connecting shaft 5 is perpendicular to the base, and one end of the connecting shaft 5 is rotatably connected to the On the base, the other end of the connecting shaft 5 is pivotally connected to one end of the connecting arm 6 , and the handle is rotatably connected to the other end of the connecting arm 6 . This mode can also be described as: the connecting shaft 5 is perpendicular to the base 4, and one end is rotatably connected to the base; one end of the connecting arm 6 is pivotally connected to the end of the connecting shaft 5 away from the base 4; The hand is rotatably connected to the end of the connecting arm 6 away from the connecting shaft 5 . It should be understood that the above-mentioned connecting shaft 5 can have a shaft seat 51 and a shaft body 50, the shaft body can rotate along the axis connected to the shaft seat, and the shaft seat and the base are fixed by means of bolt connection or the like, so as to realize the connecting shaft 5 and the shaft body. Base rotatable connection. Of course, this is only a preferred embodiment. Through the above connection methods, the movement of the mechanical arm 3 can be realized to meet the loading requirements. Other configurations, such as the connection shaft and the connection arm 6, are connected by a cardan shaft, and the two are controlled by a hydraulic cylinder. Movement, as long as it can meet the requirements of making the mechanical arm 3 move, it can be applied to the present invention to complete the loading of bagged goods. It should also be understood that the "handle" mentioned in the present invention does not necessarily refer to a structure with a clip shape, nor does it necessarily mean that the bagged goods are loaded by "grabbing", for example, it can be pushing or scooping It is also possible to bag goods and load them into train cars. Therefore, the handle is not intended to limit the present invention to only clip-shaped structures.

Continuing to refer to FIG. 3 , the shaft body 50 includes a fixed portion 520 , a first rotating portion 530 and a second rotating portion 510 , and both the first rotating portion 530 and the second rotating portion 510 are hingedly connected to the fixing portion 520 ; The first rotating part 530 is also hinged with the fixed end of a lever 522, and the two moment arms of the lever are respectively hinged with the fixed part 520 through the first connecting rod 521 and connected with the gripper through the second connecting rod 523. Hinged: the connecting arm 6 is pivotally connected to the first rotating part 530 , and the connecting arm 6 is also hinged to the second rotating part 510 through a third connecting rod 511 .

It can also be understood that the fixed part 520 of the shaft body 50 is rotatably connected to the base, and the fixed part 520 is also hinged to the first rotating part 530 and the second rotating part 510 respectively, and the second rotating part 510 is also connected to the third connecting rod One end of the connecting rod 511 is hinged, the other end of the third connecting rod 511 is hinged with the connecting arm 6, and the connecting arm 6 is also hinged with the first rotating part 530. The junction point between the connecting arm 6 and the first rotating part 530 is different from that The hinge point of the third link 511. The second rotating part 510 drives the connecting arm 6 to move through the third connecting rod 511 .

The fixing part 520 is hinged with one end of the first connecting rod 521, the other end of the first connecting rod 521 is hinged with a moment arm of the lever 522, the other moment arm of the lever 522 is hinged with one end of the second connecting rod 523, and the other end of the lever 523 is hinged with one end of the second connecting rod 523. The fixed end is hinged to the first rotating part 530 .

The rotation of the first rotating part 530 drives the fixed end of the lever to move, and one moment arm of the lever is hinged with the fixed part through the first connecting rod. At this time, the second connecting rod connected to the other moment arm of the lever will drive Gripper movement. Because the rotation of the first moving part will also drive the connecting arm 6 to move, and meanwhile, the connecting arm 6 will move under the driving of the second rotating part, so the connecting arm 6 will complete the movement under the common driving of the two rotating parts.

Certainly, these are only a preferred way of driving the mechanical arm, and other modes, or other forms of mechanical arms, can be used in the present invention as long as they can complete the loading of bagged goods to the train vehicle.

Further, in order to meet the control requirements of the freight train loading system, a truck card signal recognizer is also set up to judge the type of train model, so as to control the quantity of bulk cargo loaded from the bulk building 1 to the compartment, and to control the mechanical arm 3 to the compartment The quantity of loaded bagged goods also includes confirming the parking position of the train car when loading bulk goods and bagged goods according to the determined type of the train car. For example, the car card signal recognizer is installed on the railway line before the train car enters the bulk building 1. Using radio frequency identification technology, the target car is automatically identified through the radio frequency signal and relevant data is obtained. The identification work does not require manual intervention, and the car model is judged based on the signal , to further control the work of the bulk building 1, the mechanical arm 3 and other components. Of course, there are many ways to obtain the models of various cars, such as the above-mentioned radio frequency identification device, or serial number coding, as long as the type of the car is distinguished.

It should be understood that the train carriages are dispatched by the shunting equipment, so after the above-mentioned truck signal recognizer judges the carriage type, it will send the carriage type to the shunting equipment, and the shunting equipment dispatches the train carriages according to the carriage type.

In order to meet the control requirements, a positioning detection device, an encoder and a loading control system are also installed. The positioning detection device is used to judge whether the train carriage has reached the designated position. After reaching the designated position, the loading control system controls the bulk building 1, The work start and/or stop of mechanical arm 3, net laying station. The above-mentioned positioning point refers to the position where the train carriage is parked during operations such as loading bulk cargo and bagged cargo. Because the size of the train car will vary, the parking location will vary according to the size of the train car. Further, the encoder controls the distance that the shunting equipment moves the train carriages, so that carriages of different sizes can reach the designated positions. The working process of the present invention is described in detail below. In an optional embodiment, the train car can be an ordinary railway open car, and the train car is transferred by shunting equipment. Building 1 and robot arm 3 complete the loading and other processes. Of course, according to the relevant regulations on railway freight transportation, it is necessary to lay an inner net on the carriage, so in the railway carriage loading system of the present invention, a net laying station is provided between the bulk building 1 and the mechanical arm 3, which is used to provide the railway carriage For laying the inner net, the net laying station can lay the inner net manually, or it can be laid with mechanical assistance.

The shunting machine pulls the first car to the bulk building 1, and the bulk building 1 loads bulk goods (such as bulk soybeans) to the first car, and at this time the shunting machine separates from the first car, returns to the starting point, and pulls the second car The train carriage moves forward. After the first carriage is loaded in the bulk building 1, the shunting machine pulls the second carriage and simultaneously pushes the first carriage until the second carriage is pulled to the bulk building 1. The shunting machine and The second car disengages and continues to push the first car until it reaches the position where the laying station is located. After the first carriage enters the net laying station, the shunting machine is separated from the first carriage, returns to the starting point, and pulls the third carriage forward. After the first carriage completes the net laying at the net laying station, the second carriage After the bulk cargo is loaded at the bulk building 1, the shunting machine pulls the third carriage to the bulk building 1. At this time, the shunting machine also pushes the second carriage to advance to the net laying station. At the same time, the second carriage Push the first car to advance towards the mechanical arm 3. The shunting machine pulls the third carriage to the bulk building 1, separates from it, and continues to push the first and second carriages to reach the mechanical arm 3 and the net laying station respectively, and then return to the starting point. After repeating many carriages in this way, until the last carriage reaches the bulk building 1, it is loaded. At this time, the shunting machine also returns to the starting point, and then pushes all the previous carriages forward by means of pushing, and makes all the carriages in the bulk building. 1. The laying station and the robot arm complete their respective processes. Finally, the entire train carriage is transferred from the loading line to start the loading operation of the next train. It can be transferred by locomotive or shunting machine.

It should be understood that the above-mentioned working process is an optional method corresponding to this system. Other methods, such as connecting each section of the train carriages, being driven by the shunting machine to advance together, and completing procedures such as loading and netting in turn, can also be implemented. of.

Although the present invention and its advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made hereto without departing from the spirit and scope of the invention as defined by the appended claims. Moreover, the scope of the present application is not limited to the specific embodiments of the procedures, devices, means, methods and steps described in the specification. Those of ordinary skill in the art will readily appreciate from the disclosure of the present invention that existing and future devices that perform substantially the same function or obtain substantially the same results as the corresponding embodiments described herein can be used in accordance with the present invention. The developed process, device, means, method or steps. Accordingly, the appended claims are intended to include within their scope such processes, means, means, methods or steps.

Claims (9)

1. A cargo train loading system, characterized in that, comprising: Bulk building for loading bulk cargo into train carriages; Robotic arms for loading bagged goods into train carriages; The truck card signal recognizer, the signal recognizer is set on the side of the bulk building away from the mechanical arm, used to distinguish the type of train carriage, confirm the parking position of the train carriage when carrying bulk goods and bagged goods, so as to control The quantity of bulk goods loaded into the compartment by the bulk building and the quantity of bagged goods loaded by the mechanical arm into the compartment; The train shunting equipment, according to the identification of the carriage type by the truck card signal identifier, dispatches the train carriage to a designated location; The positioning detection device is used to judge whether the carriage is transferred to the designated position; An encoder for controlling the moving distance of the train carriages dispatched by the shunting equipment; The bulk building and the mechanical arms are arranged sequentially along the railway, and a plurality of the mechanical arms are arranged on both sides of the railway, each of which is staggered from each other, and the number of mechanical arms on each side is the same and at least three; There is also a leveler between the bulk building and the mechanical arm, and the height of the connecting arm of the leveler is adjustable for leveling the bulk goods in the train compartment. 2. The freight train loading system according to claim 1, characterized in that, A net laying station is also arranged between the bulk building and the mechanical arm, and the inner net is laid on the train carriage. 3. The freight train loading system according to claim 1, characterized in that, The two sides of the railway are provided with bases, and the mechanical arms are installed on the bases; The total height of the mechanical arm and the base is higher than the height of the train carriage. 4. The freight train loading system according to claim 3, characterized in that, One said base is arranged on both sides of said railway, and three said mechanical arms are arranged at equal intervals on each said base, and, in the direction extending along said railway, arranged on one side of said railway The mechanical arm on the base is staggered from the mechanical arm on the base on the other side of the railway. 5. The freight train loading system according to claim 3, characterized in that, At least three bases are provided on each side of the railway, and one mechanical arm is provided on each base. In the direction extending along the railway, the mechanical arm provided on the base on one side of the railway, The mechanical arms on the base on the other side of the railway are staggered from each other. 6. The freight train loading system according to any one of claims 3-5, characterized in that, The mechanical arm has a connecting shaft, a connecting arm and a gripper; wherein, The connecting shaft is perpendicular to the base, and one end is rotatably connected to the base; One end of the connecting arm is pivotally connected to an end of the connecting shaft away from the base; The handle is rotatably connected to the end of the connecting arm away from the connecting shaft. 7. The freight train loading system according to claim 6, characterized in that, The connecting shaft includes a shaft seat and a shaft body, the shaft seat is connected to the shaft body, and the shaft body can rotate along the axis connected to the shaft seat, and the shaft seat is fixed to the base connect. 8. The freight train loading system according to claim 7, characterized in that, The shaft body includes a fixed part, a first rotating part and a second rotating part, and both the first and second rotating parts are hingedly connected to the fixed part; The first rotating part is also hinged to a fixed end of a lever, and the two moment arms of the lever are respectively hinged to the fixed part through a first connecting rod and hinged to the gripper through a second connecting rod; The connecting arm is pivotally connected to the first rotating part, and the connecting arm is also hinged to the second rotating part through a third connecting rod. 9. Freight train loading system according to claim 2, characterized in that, The freight train loading system also has: The loading control system controls the bulk building, the mechanical arm and the net laying station to start or stop working.