CN111573320A - A box car bagged material loading and unloading equipment - Google Patents

Abstract

The invention discloses a box car bagged material loading and unloading equipment, comprising a chassis, a traverse bracket, a traverse sliding table, a traverse belt conveyor, a telescopic belt conveyor, a scanning module and a material grabbing mechanism. The traverse bracket is fixed on the chassis , the traverse sliding table is connected to the traverse bracket and can slide laterally in the chute of the traverse bracket, the traverse belt conveyor is connected to one end of the traverse sliding table, and the telescopic belt conveyor is connected to the traverse At the other end of the sliding table, the scanning module is fixed on the end of the telescopic belt conveyor, and the grabbing mechanism is fixed on both sides of the telescopic belt conveyor. The chassis driving system of the present invention adopts a mature automobile driving system, which is convenient for operation and maintenance. During operation, the traverse sliding table slides laterally. The first-position slewing bearing and the first-position chute drive the telescopic belt conveyor to rotate and penetrate into the boxcar, and the second-position slewing bearing The traversing belt conveyor and the telescopic belt conveyor are lapped by the chute at position II, and the scanning module and the grabbing mechanism can start loading or unloading in the boxcar. The invention can realize the automatic loading and unloading of bagged materials in the boxcar.

Description

A box car bagged material loading and unloading equipment

technical field

The invention relates to a device for loading and unloading bagged materials, in particular to a device for loading and unloading bagged materials in a railway boxcar.

Background technique

The door of the railway boxcar is located in the middle of the boxcar, and other positions are closed. Due to the limitation of the boxcar structure, it is difficult to mechanize and automate the loading and unloading of bagged materials.

At present, the loading and unloading of bagged materials in railway boxcars is mainly done by manpower, supplemented by small forklifts. There are limitations such as forklifts stacking materials in boxcars, such as not being able to welt, not stacking in high places, and easily causing damage to bagged materials. The station on the platform is not available, in addition, the forklift cannot unload directly from the boxcar. The boxcar loading and unloading at some stations adopts a loader. When the bagged materials are loaded into the boxcar, the belt conveyor of the loader and the unloader transports the bagged materials to the door of the boxcar, and manually transports the bagged materials to the designated position in the boxcar for stacking. When the bagged materials in the boxcar are transported out, the belt conveyor of the loader and unloader is waiting at the door of the boxcar, and the bagged materials are manually transported to the belt conveyor, and the loader and the unloader transport the bagged materials to the outside of the boxcar. To sum up, in the process of loading and unloading the bagged materials in the existing boxcar, manual handling and stacking of the bagged materials are required, which is labor-intensive and the working environment is harsh.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the above-mentioned deficiencies of the existing methods of loading and unloading bagged materials in a boxcar, and provide a boxcar bagged material loading and unloading device that can move freely and can automatically load and unload bagged materials in the boxcar.

In order to achieve the above purpose, the present invention adopts the following technical scheme: a box car bagged material loading and unloading equipment, including a chassis, a traverse bracket, a traverse sliding table, a traverse belt conveyor, a telescopic belt conveyor, a scanning module and a material grabbing mechanism, so The traverse bracket is fixed on the chassis, the traverse slide table is connected to the traverse bracket, and can slide laterally in the chute of the traverse bracket, and the traverse belt conveyor is connected to one end of the traverse slide table, so the The telescopic belt conveyor is connected to the other end of the traverse sliding table, the scanning module is fixed on the end of the telescopic belt conveyor, and the grabbing mechanism is fixed on both sides of the telescopic belt conveyor.

In the above technical solution, the chassis includes a running system, a chassis bracket and hydraulic outriggers. The running system adopts a mature automobile running system. The chassis bracket is used to provide installation interfaces for other components on the chassis and support the weight of the equipment. The hydraulic outriggers are installed On the chassis bracket, it is used to ensure that the equipment does not overturn during work.

In the above technical solution, the traverse bracket is fixed on the first position end of the chassis, the traverse bracket is composed of a frame and a traverse chute, the frame is fixed on the chassis, and the two traverse chutes are respectively fixed on both sides above the frame .

In the above technical solution, the traverse slide table is connected to the traverse bracket and can slide in the traverse chute of the traverse bracket. It is composed of support, I-position chute, II-position chute and traverse support wheel. I-position slewing bearing and II-position slewing bearing are located at the I-position end and II-position end of the slide bracket, respectively. I-position chute and II-position chute They are respectively fixed on the I-position slewing bearing and the II-position slewing support, and a traverse support wheel is also arranged below one end of the traverse bracket.

In the above technical solution, the traverse belt conveyor includes a sliding base, a belt conveyor and a swinging oil cylinder, the sliding base is connected to the Ⅱ position chute of the traverse sliding table, and the traverse belt conveyor can be in the Ⅱ position chute Sliding back and forth, one end of the swing oil cylinder is fixed on the sliding base, and the other end is fixed on the belt conveyor. The extension or shortening of the swing oil cylinder can drive the belt conveyor to swing up and down. It can rotate in the horizontal plane, and the traverse belt conveyor itself can also swing up and down.

In the above technical solution, the telescopic belt conveyor is a multi-stage belt conveyor, which is connected to the I-position chute of the traverse sliding table. The telescopic belt conveyor can slide in the I-position chute and rotate on the I-position of the transverse sliding table. Under the support drive, the telescopic belt conveyor can rotate in the horizontal plane, the telescopic belt conveyor itself can be extended and shortened, the end of the telescopic belt conveyor is arranged with a connecting bracket, and the end of the telescopic belt conveyor is also arranged with a support wheel, when the telescopic belt conveyor is extended and shortened. It can be supported on the bottom surface to avoid overturning.

In the above technical solution, the scanning module is fixed on the end of the telescopic belt conveyor, and the scanning module adopts a mature binocular stereo vision system, which is used to scan the stacking state of bagged materials in the boxcar.

In the above technical solution, the grabbing mechanism is fixed on the connecting bracket at the end of the telescopic belt conveyor, and is used to grab the bagged materials in the boxcar, and can also stack the bagged materials conveyed by the telescopic belt conveyor on the Inside the boxcar.

Compared with the prior art, the present invention fully shows its advantages: on the one hand, by integrating each execution module on the chassis, the flexible movement of the bagged material loading and unloading equipment in the boxcar is realized, and the requirements for loading and unloading bagged materials at different positions are met; On the other hand, through the unique belt arrangement and grabbing module structure, it not only has the function of neatly stacking bagged materials on the boxcar, but also can grab bagged materials that are randomly stacked on the boxcar.

Description of drawings

FIG. 1 is a schematic front view of the structure of the device according to the present invention in the state of being retracted.

FIG. 2 is a schematic isometric view of the structure of the device of the present invention when the vehicle is retracted.

Fig. 3 is a schematic diagram of an isometric structure (extension of the telescopic belt conveyor) under the loading operation state of the equipment of the present invention.

FIG. 4 is a schematic diagram of an isometric structure in the unloading operation state of the equipment of the present invention (the telescopic belt conveyor is shortened).

Fig. 5 is a schematic diagram 1 of an isometric structure of the equipment of the present invention, which cooperates with a boxcar and a conveyor belt in a charging operation state.

FIG. 6 is a second isometric structural schematic diagram of the equipment of the present invention in cooperation with the boxcar and the conveyor belt in the unloading operation state.

In the figure, 1. Chassis, 101. Driving system, 102. Chassis bracket, 103. Hydraulic outrigger, 2. Traverse bracket, 201. Frame, 202. Traverse chute, 3. Traverse slide table, 301. Slider Table bracket, 302. I-position slewing bearing, 303. II-position slewing bearing, 304. I-position chute, 305. II-position chute, 306. Traverse support wheel, 4. Traverse belt conveyor, 401. Sliding base , 402. Belt conveyor, 403. Swing cylinder, 5. Telescopic belt conveyor, 501. Level 1 belt conveyor, 502. Level 2 belt conveyor, 503. Level 3 belt conveyor, 504. Level 4 belt conveyor, 505. Connecting bracket, 506. Support wheel, 6. Scanning module, 7. Grabbing mechanism, 701. Swivel base, 702. Outer arm of telescopic arm, 703. Inner arm of telescopic arm, 704. Telescopic cylinder, 705. Lifting cylinder, 706. Slewing deceleration Machine, 707. Grab Module, 801. Conveyor Belt, 802. P70 Boxcar.

Detailed ways

In order to make the above objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific implementation disclosed below.

It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is considered to be "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

As shown in FIGS. 1 to 6 , an embodiment of the present invention provides a box car bagged material loading and unloading equipment, including a chassis 1, a traverse bracket 2, a traverse slide table 3, a traverse belt conveyor 4, a telescopic belt conveyor 5, a scanning Module 6, material grabbing mechanism 7. For the convenience of description, one end of the present invention is defined as the I position end, and the other end is defined as the II position end.

The above chassis 1 includes a driving system 101, a chassis bracket 102 and a hydraulic outrigger 103. The driving system 101 adopts a mature automobile driving system. The chassis bracket 102 is used to provide installation interfaces for other components on the chassis 1 and support the weight of the equipment. The hydraulic outriggers 103 It is installed on the chassis bracket 102 to ensure that the equipment does not overturn during operation.

The above-mentioned traverse bracket 2 is fixed on the first position end of the chassis 1. The traverse bracket 2 is composed of a frame 201 and a traverse chute 202. The frame 201 is fixed on the chassis 1 by welding or other methods, and the two traverse chute 202 are respectively It is fixed on both sides above the frame 201 .

The above-mentioned traverse sliding table 3 is composed of a sliding table bracket 301, a position I slewing bearing 302, a position Ⅱ slewing bearing 303, a position I chute 304, a position II chute 305 and a traverse supporting wheel 306. On the sliding chute 202, other components installed on the sliding table bracket 301 can be driven to slide back and forth in the transverse sliding chute 202. The I-position slewing bearing 302 is fixed on the I-position end of the sliding table support 301, and the I-position chute 304 is fixed. On the I-position slewing bearing 302, the I-position chute 304 can be rotated in the horizontal plane under the driving of the I-position slewing bearing 302, the II-position slewing bearing 303 is fixed on the II-position end of the sliding table bracket 301, and the II-position chute 305 is fixed On the slewing bearing 303 at position II, the chute 305 at position II can rotate in the horizontal plane under the driving of the slewing bearing 303 at position II. The traverse support wheel 306 is a telescopic support wheel, and the traverse support wheel 306 is extended to support during operation. On the ground, when the vehicle is retracted, it is retracted and locked, and the traverse support wheel 306 is fixed at the lower part of the I-position end of the carriage bracket 301 to avoid the risk of overturning when the traverse carriage 3 extends out of the chassis 1 for too long.

The above-mentioned traverse belt conveyor 4 includes a sliding base 401, a belt conveyor 402 and a swing oil cylinder 403. The sliding base 401 is connected to the Ⅱ position chute 305 of the traverse sliding table 3, and the traverse belt conveyor 4 can be in the Ⅱ position chute. 305 slides back and forth. One end of the swing cylinder 403 is fixed on the sliding base 401, and the other end is fixed on the belt conveyor 402. The extension or shortening of the swing cylinder 403 can drive the belt conveyor 402 to swing up and down. Driven by the slewing bearing 303 of position II of the traverse sliding table, the traverse belt conveyor 4 can rotate in the horizontal plane, and the traverse belt conveyor 4 itself can also swing up and down.

The above-mentioned telescopic belt conveyor 5 is a four-level belt conveyor, including a first-level belt conveyor 501, a second-level belt conveyor 502, a third-level belt conveyor 503, a fourth-level belt conveyor 504, a connecting bracket 505 and a support wheel 506, and the first-level belt conveyor 501 is connected On the I-position chute 304 of the traverse slide table 3, the telescopic belt conveyor 5 can slide in the I-position chute 304. Driven by the I-position slewing bearing 302 of the traverse slide table 3, the telescopic belt conveyor 5 can slide in the horizontal plane Internal rotation, the connecting bracket 5 is fixed on the end of the fourth-stage belt conveyor 504, which is used to fix the grabbing mechanism 7. The support wheel 506 is a retractable support wheel. When working, the support wheel 506 is extended and supported on the ground, and is retracted and locked when the car is retracted. , the support wheel 506 is fixed on the bottom of the four-stage belt conveyor 504 to avoid the risk of overturning when the telescopic belt conveyor is extended.

The above-mentioned scanning module 6 is fixed at the end of the fourth-stage belt conveyor 504 of the telescopic belt conveyor 5. The scanning module 6 uses a mature binocular stereo vision system to three-dimensionally locate the bagged materials, and obtain the stacking model of the bagged materials on the boxcar.

The above-mentioned grabbing mechanism 7 includes a revolving base 701, an outer telescopic arm 702, an inner telescopic arm 703, a telescopic oil cylinder 704, a lifting oil cylinder 705, a rotary reducer 706 and a grabbing module 707. The rotary base 701 of the grabbing mechanism 7 is fixed on the On the connecting bracket 505 of the telescopic belt conveyor 5, two grabbing mechanisms 7 are distributed on both sides of the telescopic belt conveyor 5. The telescopic arm outer arm 702 is connected to the revolving base 701, and the revolving base 701 can drive the telescopic arm outer arm 702 and its The upper part rotates, the inner arm 703 of the telescopic arm is sheathed in the outer arm 702 of the telescopic arm, one end of the telescopic cylinder 704 is fixed at the end of the outer arm 702 of the telescopic arm, and the other end is fixed at the end of the inner arm 703 of the telescopic arm, and the telescopic cylinder 704 is extended or The shortening can drive the telescopic arm inner arm 703 and its upper parts to expand and contract, one end of the lift cylinder 705 is fixed on the slewing base 701, and the other end is fixed on the telescopic arm outer arm 702, the lift cylinder 705 can be extended or shortened to drive the telescopic arm outer arm 702 and its upper parts swing up and down, the rotary reducer 706 is connected to the inner arm 703 of the telescopic arm, and the grabbing module 707 uses a mature suction cup mode to suck the bagged materials, which is mainly composed of a suction cup, an air duct and a fan. The module 707 is connected under the rotary reducer 706. The rotary reducer 706 can rotate according to the direction of the bagged material to ensure that the direction of the grabbing module 707 is consistent with the direction of the bagged material. The rotary base 701, the telescopic cylinder 704, the lifting cylinder 705 and the The combined action of the rotary reducer 706 can move the grabbing module 707 to a designated position.

During the loading and unloading operation of the present invention, other conveyor belt conveyors 801 are required to cooperate with the traverse belt conveyor 4 of the present invention to input the bagged materials to the traverse belt conveyor 4 or transfer the bagged materials on the traverse belt conveyor 4 transport away.

The bagged material loading process of the present invention is as follows:

1. When loading the P70 boxcar 802 according to the present invention, firstly, start stacking from the bottom of one end of the P70 boxcar 802, and stack 6 bags of bagged materials in one layer. After the first layer is full, start to push the second layer until the 11th layer is stacked. The first column at the end of the boxcar 802 is stacked; after the first column is stacked, the second column is stacked against the first column. After the second column is full, the third column is stacked until one end of the boxcar is full; then the same Stack the other end of the P70 boxcar 802 in the same order. After the two ends of the boxcar are full, start to stack the P70 boxcar 802 at the door. Start stacking from the opposite side of the door, with 7 bags in one layer and 10 layers in a row. The column starts to stack the second column, and a total of 3 columns are stacked;

2. The driver drives the present invention to the door of P70 boxcar 802, and stops the vehicle steadily;

3. The hydraulic outriggers 103 are extended and supported on the ground;

4. The traverse support wheel 306 and the support wheel 506 are supported on the ground, the traverse slide table 3 moves to the I-position end, and the I-position slewing bearing 302 rotates to drive the telescopic belt conveyor 5 to enter one end of the P70 boxcar 802;

5. The telescopic belt conveyor 5 is extended, driving the two grabbing mechanisms 7 to reach the end of the boxcar;

6. The conveyor belt 801 is docked with the traverse belt conveyor 4 of the present invention, and the position of the belt conveyor 402 is adjusted so that the conveyor belt conveyor 801 is located above the belt conveyor 402, and the belt conveyor 402 is located above the primary belt conveyor 501;

7. The scanning module 6 scans the inside of the P70 boxcar 802 to obtain the stacking situation of bagged materials;

8. The conveyor belt conveyor 801 conveys the bagged material to the belt conveyor 402, the belt conveyor 402 is conveying the bagged material to the telescopic belt conveyor 5, and the telescopic belt conveyor 5 conveys the bagged material to the end of the fourth-stage belt conveyor 504, waiting to be caught. Feeding mechanism 7 sucks;

9. The grabbing module 707 is moved above the bagged material, the fan of the grabbing module 707 is started, and the suction cup of the grabbing module 707 sucks the bagged material;

10. According to the bagged material stacking model, the grabbing module 707 drives the bagged material to move, and stacks the bagged material at the designated position of the boxcar;

11. Repeat the above steps 7-10, and start stacking from the first layer at the end of the P70 boxcar 802 in the order of step 1. After one row is full, the telescopic belt conveyor 5 moves back a distance of one row, and starts to stack the first layer of the next row. Until one end of the P70 boxcar 802 is full;

12. After one end of the P70 boxcar 802 is full, the traverse bracket 2 drives the telescopic belt conveyor 4 and its upper parts to enter the other end of the boxcar according to steps 4-6, and repeats the above steps 7-11 to fill the other end of the P70 boxcar 802;

13. After the two ends of the P70 boxcar 802 are full, the telescopic belt conveyor 5 rotates 90°, so that the telescopic belt conveyor 5 and the traverse belt conveyor 4 are in the same direction. At this time, the traverse belt conveyor 4 is located above the telescopic belt conveyor 5;

14. Repeat the above steps 7-10, and fill the door of the P70 boxcar 802 according to the sequence of step 1. So far, the present invention has completed the loading operation of the bagged materials in the boxcar.

The bagged material unloading process of the present invention is as follows:

1. When unloading the P70 boxcar 802 in the present invention, the material is first unloaded at the door, and three rows of bag materials are unloaded at the door at one time; after the door is unloaded, the bagged material at one end of the P70 boxcar 802 is unloaded, and the other end is unloaded after unloading one end. , until the bagged materials in the boxcar are unloaded;

2. The driver drives the present invention to the door of the P70 boxcar 802, and stops the vehicle steadily;

3. The hydraulic outriggers 103 are extended and supported on the ground;

4. The traverse support wheel 306 and the support wheel 506 are supported on the ground, and the grabbing mechanism 7 is located near the door bag material of the P70 boxcar 802;

5. The conveyor belt 801 is docked with the traverse belt conveyor 4 of the present invention, and the position of the belt conveyor 402 is adjusted so that the conveyor belt conveyor 801 is located below the belt conveyor 402 and the belt conveyor 402 is located above the primary belt conveyor 501;

6. The scanning module 6 scans the inside of the P70 boxcar 802 to obtain the stacking of bagged materials;

7. According to the bagged material stacking model, the grabbing module 707 moves to the top of the bagged material to be grabbed, the fan of the grabbing module 707 starts, the suction cup of the grabbing module 707 sucks the bagged material, and stacks the bagged material on the belt conveyor 402 on;

8. The belt conveyor 402 transports the bag material to the conveyor belt conveyor 801;

9. Repeat the above steps 6-8 to unload the bags around the door 802 of the P70 boxcar;

10. The traverse sliding table 3 moves to the end of position I, and at the same time, the slewing bearing 302 of position I rotates, which drives the telescopic belt conveyor 5 to enter the end of the P70 boxcar 802. The belt conveyor 402 moves to the I-position end along the Ⅱ-position chute 304, so that the end of the belt conveyor 402 is located below the rear of the telescopic belt conveyor 5;

11. The scanning module 6 scans the inside of the P70 boxcar 802 to obtain the stacking of bagged materials;

12. According to the bagged material stacking model, the grabbing module 707 moves above the bagged material to be grabbed, the fan of the grabbing module 707 starts, the suction cup of the grabbing module 707 sucks the bagged material, and stacks the bagged material on the telescopic belt machine 5;

13. The telescopic belt conveyor 5 transports the bag material to the belt conveyor 402, and the belt conveyor 402 transports the bag material to the conveyor belt conveyor 801;

14. Repeat the above steps 11-13 to unload the bag material at one end of the P70 boxcar 802;

15. After one end of the P70 boxcar 802 is unloaded, the traverse bracket 2 drives the telescopic belt conveyor 4 and its upper parts to enter the other end of the boxcar according to step 10, and repeats the above steps 11-13 to unload the other end of the P70 boxcar 802. So far, the present invention The unloading of the bagged materials in the boxcar was completed.

The content not described in detail in this specification belongs to the prior art known to those skilled in the art.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. Substitutions should be covered within the protection scope of the present invention.

Claims (8)

1. The utility model provides a boxcar bagged materials handling equipment, includes chassis, sideslip support, sideslip slip table, sideslip belt feeder, flexible belt feeder, scanning module and grabs the material mechanism, its characterized in that: the sideslip support is fixed on the chassis, sideslip slip table is connected on the sideslip support to can be in the spout of sideslip support lateral sliding, sideslip belt feeder is connected in sideslip slip table one end, flexible belt feeder is connected in the other one end of sideslip slip table, scanning module fixes at flexible belt feeder tip, it fixes in flexible belt feeder both sides to grab material mechanism.

2. The boxcar bagged material handling apparatus according to claim 1, wherein: the chassis comprises a running system, a chassis support and hydraulic support legs, wherein the running system is an automobile running system, the chassis support is used for providing mounting interfaces for other parts on the chassis and supporting the weight of equipment, and the hydraulic support legs are mounted on the chassis support and used for ensuring that the equipment does not overturn during working.

3. The boxcar bagged material handling apparatus according to claim 1, wherein: the transverse moving support is fixed at the I-position end of the chassis and consists of a frame and transverse moving chutes, the frame is fixed on the chassis, and the two transverse moving chutes are respectively fixed on two sides above the frame.

4. The boxcar bagged material handling apparatus according to claim 1, wherein: the sideslip slip table is connected on the sideslip support to can slide in the sideslip spout of sideslip support, the sideslip slip table is by the slip table support, I position slewing bearing, II position slewing bearing, I position spout, II position spouts and sideslip support wheel are constituteed, I position slewing bearing and II position slewing bearing fix respectively at I position end and the II position end of slip table support, I position spout and II position spouts are fixed respectively on I position slewing bearing and II position slewing bearing, sideslip support wheel has still been arranged to sideslip support one end tip below.

5. The boxcar bagged material handling apparatus according to claim 1, wherein: the sideslip belt feeder contains base, belt feeder and the swing hydro-cylinder of sliding, and the base of sliding is connected on II position spouts of sideslip slip table, and the sideslip belt feeder can make a round trip to slide in II position spouts, and swing hydro-cylinder one end is fixed on the base of sliding, and one end is fixed on the belt feeder in addition, and the swing hydro-cylinder extension or shorten can drive the belt feeder luffing motion, and under the drive of II position slewing bearing of sideslip slip table, the sideslip belt feeder can be at the horizontal plane internal rotation, and sideslip belt feeder self still.

6. The boxcar bagged material handling apparatus according to claim 1, wherein: the flexible belt feeder is multistage belt feeder, connects on I position spout of sideslip slip table, and flexible belt feeder can slide in I position spout, and under I position slewing bearing drive of sideslip slip table, flexible belt feeder can be at the horizontal plane internal rotation, and flexible belt feeder self is extensible to be shortened, and linking bridge has been arranged to flexible belt feeder tip, and the supporting wheel has still been arranged to flexible belt feeder tip.

7. The boxcar bagged material handling apparatus according to claim 1, wherein: the scanning module is fixed at the end part of the telescopic belt conveyor, adopts a binocular stereoscopic vision system and is used for scanning the piling state of bagged materials in the box wagon.

8. The boxcar bagged material handling apparatus according to claim 1, wherein: the gripping mechanism is used for gripping bagged materials in the box wagon, the bagged materials conveyed by the telescopic belt conveyor can also be stacked in the box wagon according to requirements, the gripping mechanism comprises a rotary base, a telescopic arm outer arm, a telescopic arm inner arm, a telescopic oil cylinder, a lifting oil cylinder, a rotary speed reducer and a gripping module, the rotary base of the gripping mechanism is fixed on a connecting support of the telescopic belt conveyor, two gripping mechanisms are distributed at two sides of the telescopic belt conveyor, the telescopic arm outer arm is connected on the rotary base, the rotary base can drive the telescopic arm outer arm and an upper part thereof to rotate, the telescopic arm inner arm is sleeved in the telescopic arm outer arm, one end of the telescopic oil cylinder is fixed at the end part of the telescopic arm outer arm, the other end of the telescopic oil cylinder is fixed at the end part of the telescopic arm inner arm, the telescopic oil cylinder can drive the telescopic arm inner arm and an upper part thereof to stretch or shorten, and the other end of the lifting oil cylinder is fixed on the outer arm of the telescopic arm, the lifting oil cylinder can drive the outer arm of the telescopic arm and the upper part of the outer arm to swing up and down when being extended or shortened, the rotary speed reducer is connected to the inner arm of the telescopic arm, the grabbing module adopts a sucking disc mode to suck bagged materials, the grabbing module is connected below the rotary speed reducer, and the rotary speed reducer can rotate according to the direction of the bagged materials to ensure that the direction of the grabbing module is consistent with the direction of the bagged materials.

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