CN115140650A - Rigid anti-swing container unloading equipment system and working method thereof - Google Patents

Abstract

The invention provides a rigid anti-swing container unloading equipment system and a working method thereof, and the rigid anti-swing container unloading equipment system comprises an electric control system, a rigid anti-swing unloading mechanism, a container spreader, a cart running mechanism and a trolley running mechanism, wherein the electric control system has a visual identification and positioning function; the cart running mechanism is used for realizing the movement of the whole system, the trolley running mechanism moves on the cart running mechanism and is used for realizing that the rigid anti-swing unloading mechanism drives the container spreader and the container to move, and the rigid anti-swing unloading mechanism is used for realizing that the container spreader drives the container to lift and realizing the unmanned operation of lifting, unloading and homing of the container. The mechanism of the invention has the advantages of simple and reasonable structure, low failure rate and high automation degree, improves the unloading efficiency of the unloading line, reduces the manual operation intensity and reduces the production cost of manufacturers.

Description

A rigid anti-sway container unloading equipment system and its working method

technical field

The invention relates to the technical field of anti-sway unloading of train line containers, in particular, to a rigid anti-sway container unloading equipment system and a working method thereof.

Background technique

In the existing grain depot container unloading system, the traditional electric winch is used to pull the wire rope wound on the pulley block to drive the container spreader to perform the unloading operation. During the whole process of lifting, unloading and homing, there will be a lot of shaking, and the operator needs to adjust the control and landing accuracy for a long time, resulting in low work efficiency and potential safety hazards.

In the process of container hoisting, in order to reduce its shaking, an anti-sway device is usually designed. Currently, the most commonly used electronic anti-sway system is the electronic anti-sway system. This method is greatly affected by the external environment and actual working conditions, and its accuracy is low and not very stable. This kind of anti-sway method cannot satisfy the grain container loading on the train line, and its frequent short-distance hoisting, unloading and homing operation conditions during the unloading process, and its operating environment is dusty and windy, which will affect its accuracy and stability. sex.

In order to solve the problems of inaccurate positioning, low efficiency, and potential safety hazards of the existing grain depot train line container unloading system, the present invention develops a rigid anti-shake container unloading equipment system, which improves the work efficiency and reduces the It reduces the intensity of manual work and eliminates potential safety hazards to ensure construction safety.

SUMMARY OF THE INVENTION

According to the technical problems such as inaccurate positioning, low efficiency and potential safety hazards of the existing grain depot train line container unloading system proposed above, a rigid anti-sway container unloading equipment system and its working method are provided. The invention mainly adopts the unique rigid anti-sway unloading mechanism of the system, and is matched with a container spreader, a cart running mechanism, a trolley running mechanism and a visual recognition system, so as to realize intelligent, safe and efficient control of the load on the train line and on the flatbed. Containers carry out lifting, unloading and homing operations. The system of the invention integrates hoisting and unloading, improves efficiency, reduces costs, reduces the workload of workers and eliminates potential safety hazards.

The technical means adopted in the present invention are as follows:

A rigid anti-sway container unloading equipment system, comprising: an electric control system, a rigid anti-sway unloading mechanism connected with the electric control system, a container spreader, a cart operating mechanism and a trolley operating mechanism, and the electronic control system is capable of visual identification and positioning Function, the trolley running mechanism is installed on the cart running mechanism, the rigid anti-sway unloading mechanism is installed on the trolley running mechanism, and the lower part is connected with the container spreader, the container spreader is connected with the container, and the cart running mechanism is used to realize The movement of the whole system, the trolley running mechanism moves on the cart running mechanism, is used to realize the rigid anti-sway unloading mechanism to move with the container spreader and the container, and the rigid anti-sway unloading mechanism is used to realize the container lifting. The tool lifts the container with it, so as to realize the unmanned operation of lifting, unloading and homing of the container.

Further, the rigid anti-sway unloading mechanism is installed on the frame of the trolley running mechanism, and includes two rigid anti-sway bars, two sets of hoisting pulleys, two sets of hoisting and hoisting mechanisms, two sets of guide support wheels and two sets of High-strength short chains, two rigid anti-sway bars arranged at intervals pass through the frame, the bottom of each rigid anti-sway bar is connected to the container spreader through a set of high-strength short chains, and two sets of hoisting and hoisting mechanisms are installed on the frame It is located between the two rigid anti-sway bars, the two sets of hoisting and hoisting mechanisms are respectively connected with the two sets of hoisting pulley sets, and the two sets of hoisting pulley sets are respectively connected with the two rigid anti-sway bars. The rigid anti-sway bar can be moved up and down; a set of guide support wheels are arranged around the connection between each rigid anti-sway bar and the frame for positioning.

Further, the rigid anti-sway bar is welded by steel plates, the lower part is a trapezoid, the upper part is a hollow rectangular structure with a long slot hole, the length is about 7m, the lower part is connected with a high-strength short chain through a pin shaft, and the upper part penetrates through it. The frame of the trolley running mechanism, and the periphery of the rigid anti-sway bar at the penetration point is positioned by the guide support wheel, which can move up and down.

Further, the hoisting pulley block is composed of a set of fixed pulleys and a set of movable pulleys, the fixed pulleys are fixed on the upper part of the frame of the trolley running mechanism through pins and brackets, and the movable pulleys are fixed on the lower part of the rectangular structure of the rigid anti-sway bar. On the pin, it can move up and down with the rigid anti-sway bar. The hoisting and hoisting mechanism is connected with the fixed pulley and the movable pulley through the wire rope. The hoisting pulley block can reduce the pulling force of the hoisting and hoisting mechanism by three-quarters;

The lifting capacity of the hoisting and hoisting mechanism is about 8t, and it can hoist the wire rope wound on the hoisting pulley block as required. The actual lifting weight of the winch is 48t, which can meet the lifting and unloading requirements of containers under 40t.

Further, there are 16 guide support wheels in each group, which are fixed on the guide support wheel bracket of the trolley running mechanism frame, and 8 guide support wheels are arranged on the upper and lower sides of the frame and are distributed on the four rectangles of the rigid anti-sway bar. The four rectangular surfaces of the rigid anti-roll bar each have two guide support wheels fixed on a guide support wheel bracket, and the rigid anti-roll bar is positioned while the rigid anti-roll bar moves up and down, so that the rigid anti-roll bar can be positioned The joystick does not shake.

Further, the length of the high-strength short chain is about 0.5m, and both ends are provided with chain shoe rings, and the two ends are respectively connected with the pins on the rigid anti-sway bar above and the pins on the container spreader below through the chain shoe rings. The connection is used to achieve a flexible connection within a certain range when the container spreader and the container hoisting hole are aligned.

Further, the container spreader is connected to the top corner fittings of the container through the twist locks at the four corners of the end beam, and the opening and closing of the twist lock is controlled by the electronic control system to carry out container loading and unloading operations; the container spreader adopts a fixed type. The container spreader is used for loading and unloading containers of 20 yards. The container spreader has no special power device. The ratchet mechanism drives the rotation of the twist lock through the lifting of the wire rope, and realizes the automatic opening and closing of the twist lock pin by the mechanical movement of the steel wire rope; The container spreader is provided with a guide device to ensure that the twist lock is accurately inserted into the lock hole.

Further, the cart operating mechanism is composed of a gantry and a first operating mechanism, the gantry legs stand on the cart tracks on both sides, and the second operating mechanism drives the gantry to run on the cart tracks, the tracks spanning two sides. For train lines, the cart operating mechanism can move within 40m of the train running direction, meeting the unloading requirements for the two train lines;

The trolley running mechanism is composed of a frame and a second running mechanism, which is installed between the beams of the trolley running mechanism, the beam is provided with a track, and the second running mechanism drives the wheels to run along the track; the trolley running mechanism is in the trolley running mechanism. It can move within 9m on the beam to meet the unloading requirements of two train lines with a spacing of 8m.

Further, the electronic control system realizes the precise positioning of the target container through the reference object set on the train line, the ruler set on the beam of the cart running mechanism and the set camera, and the visual recognition system is used. The unmanned operation of container lifting, unloading and homing is realized; the visual recognition system adopts image processing technology.

The present invention also provides a working method of a rigid anti-sway container unloading equipment system, comprising the following steps:

Step 1. Through the visual recognition system, locate the coordinate position of the container on the train line or on the flatbed car, and then the rigid anti-sway unloading mechanism will be controlled by the electric control system based on this coordinate through the control of the cart operating mechanism and the trolley operating mechanism. When transported to the top of the container, ensure that the twist lock on the container spreader is correctly aligned with the lock hole of the container, and control the rigid anti-sway unloading mechanism to descend, so that the container spreader connected with the high-strength short chain is dropped, and the container spreader is equipped with it. Some guiding devices ensure that the twist lock is accurately inserted into the lock hole and locks the lock pin;

Step 2. Two 8t hoisting and hoisting mechanisms are used to pull the wire rope wound on the hoisting pulley block, which can drive the two rigid anti-sway bars to lift synchronously, lift the container to the specified height, and then transport it to the container by the trolley running mechanism. Above the hopper, the worker opens the container door; the visual recognition system can determine the position of the container's door-opening side, and based on this, the rigid anti-sway bar on the non-door-opening side is controlled by the electronic control system, and is driven by a single hoisting hoisting mechanism. 2m journey, at this time the container inclination angle is 20°, all the grain materials can be dumped into the hopper. After the dumping is completed, the container is restored to the level, and the container door is manually closed; then the electronic control system returns the empty container to the original position according to the original path. ;The whole operation of the whole system is controlled by the electronic control system with the function of visual identification and positioning, including the alignment of the lifting of the full container and the reset of the empty container, the lifting of the rigid anti-sway bar after the manual door is opened, and the rigid anti-sway bar after the manual door is closed. Falling reset is done automatically.

Compared with the prior art, the present invention has the following advantages:

The rigid anti-sway container unloading equipment system and its working method provided by the present invention use a unique rigid anti-sway unloading mechanism as a core component, and are assisted by a container spreader, a running mechanism for large and small vehicles, and an electronic control system with visual identification and positioning. Finally, the purpose of safe and efficient unloading can be achieved, the mechanism is simple and reasonable, the failure rate is low, and the degree of automation is high, which improves the unloading efficiency of the unloading line, reduces the intensity of manual work, and reduces the production cost of manufacturers.

In conclusion, the application of the technical solution of the present invention can solve the problems of inaccurate positioning, low efficiency, and potential safety hazards of the existing grain depot train line container unloading system.

Based on the above reasons, the present invention can be widely promoted in the fields of anti-sway unloading of train line containers and the like.

Description of drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

Fig. 1 is a system diagram of the rigid anti-sway container lifting and unloading equipment according to the present invention.

FIG. 2 is a schematic structural diagram of the rigid anti-sway lifting and unloading mechanism of the present invention.

In the figure: 1. Rigid anti-sway unloading mechanism; 2. Container spreader; 3. Cart operating mechanism; 4. Trolley operating mechanism; 5. Container; 6. Train; 7. Hopper; 8. Lifting and hoisting mechanism; 9. Rigid anti-sway bar; 10. Lifting pulley block; 11. Guide support wheel; 12. High-strength short chain.

Detailed ways

It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is only a part of the embodiments of the present invention, but not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and/or combinations thereof.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the invention unless specifically stated otherwise. Meanwhile, it should be understood that, for the convenience of description, the dimensions of various parts shown in the accompanying drawings are not drawn in an actual proportional relationship. Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the authorized specification. In all examples shown and discussed herein, any specific values should be construed as illustrative only and not limiting. Accordingly, other examples of exemplary embodiments may have different values. It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further discussion in subsequent figures.

In the description of the present invention, it should be understood that the orientations indicated by orientation words such as "front, rear, top, bottom, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" etc. Or the positional relationship is usually based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and these orientation words do not indicate or imply the indicated device or element unless otherwise stated. It must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as a limitation on the scope of protection of the present invention: the orientation words "inside and outside" refer to the inside and outside relative to the contour of each component itself.

For ease of description, spatially relative terms, such as "on", "over", "on the surface", "above", etc., may be used herein to describe what is shown in the figures. The spatial positional relationship of one device or feature shown to other devices or features. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or features would then be oriented "below" or "over" the other devices or features under its device or structure". Thus, the exemplary term "above" can encompass both an orientation of "above" and "below." The device may also be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood to limit the scope of protection of the present invention.

In order to solve the problems of inaccurate positioning, low efficiency and potential safety hazards of the existing grain depot train line container unloading system, as shown in the figure, the present invention provides a rigid anti-sway container unloading equipment system, which improves the Work efficiency, at the same time reduce the intensity of manual work, but also eliminate potential safety hazards to ensure construction safety. In the process of unloading grain from containers on grain depot train lines, the invention adopts rigid anti-shake unloading equipment system to lift and transport the containers filled with grain from the train carriages or train flatbeds on the train line to the top of the hopper at the designated position. The entire process of dumping the grain into the hopper and then hoisting the empty container back to its starting position. The invention belongs to the technical field of anti-sway unloading of train line containers.

The rigid anti-sway container unloading equipment system includes: an electric control system, a rigid anti-sway unloading mechanism connected to the electric control system, a container spreader, a cart operating mechanism and a trolley operating mechanism, and the electronic control system has visual identification and positioning. Function, the trolley operating mechanism is installed on the cart operating mechanism, the rigid anti-sway unloading mechanism is installed on the trolley operating mechanism, and the lower part is connected with the container spreader, and the container spreader is connected with the container; the cart operating mechanism is used to realize The movement of the whole system, the trolley running mechanism moves on the cart running mechanism, is used to realize the rigid anti-sway unloading mechanism to move with the container spreader and the container, and the rigid anti-sway unloading mechanism is used to realize the container lifting. The tool lifts the container with it, so as to realize the unmanned operation of lifting, unloading and homing of the container.

Example 1

As shown in Figure 1-2, a rigid anti-sway container unloading equipment system, namely a rigid anti-sway container lifting and unloading equipment system, consists of a rigid anti-sway unloading mechanism 1, a special container spreader 2, a large It is composed of a car running mechanism 3, a trolley running mechanism 4 and an electronic control system with visual identification and positioning function.

(1) Rigid anti-sway unloading mechanism: It is mainly composed of two sets of rigid anti-sway bars 9, two sets of hoisting pulley sets 10, two sets of hoisting and hoisting mechanisms 8, two sets of guide support wheels 11, and two sets of high-strength short chains 12, etc. . The two rigid anti-sway bars arranged at intervals pass through the frame of the trolley running mechanism. The bottom of each rigid anti-sway bar is connected to the container spreader through a set of high-strength short chains, and two sets of hoisting and hoisting mechanisms are installed on the frame. It is located between the two rigid anti-sway bars, the two sets of hoisting and hoisting mechanisms are respectively connected with the two sets of hoisting pulley sets, and the two sets of hoisting pulley sets are respectively connected with the two rigid anti-sway bars. The rigid anti-sway bar can be moved up and down; a set of guide support wheels are arranged around the connection between each rigid anti-sway bar and the frame for positioning.

(1.1) The rigid anti-sway bar is welded by steel plates, the lower part is trapezoidal, the upper part is a hollow rectangular structure with long slot holes, and the length is about 7m. The frame of the running mechanism is positioned around the rigid anti-sway bar at the penetration point by the guide support wheel, which can move up and down.

(1.2) The lifting pulley block consists of a set of fixed pulleys and a set of movable pulleys, two of which are fixed on the upper part of the trolley frame through pins and brackets (the brackets are fixed on the frame, and the fixed pulleys are installed on the bracket through pins ), the two movable pulleys are fixed on the lower pin shaft inside the rectangular structure of the rigid anti-sway bar, and can move up and down with the anti-sway bar.

(1.3) The lifting capacity of the hoisting and hoisting mechanism is about 8t, which can hoist the wire rope wound on the hoisting pulley block as required. Through the increase of the hoisting pulley block, the actual lifting capacity of each hoisting and hoisting mechanism is about 24t. The actual lifting weight of the two sets of winches is 48t, which can meet the hoisting and unloading requirements of 5 containers under 40t.

(1.4) Guide support wheels, 16 in each group, fixed on the guide support wheel bracket of the frame of the trolley running mechanism, 8 on the upper and lower sides of the frame, and two on each of the four rectangular surfaces of each rigid anti-sway bar A guide support wheel is fixed on a bracket. Its function can not only satisfy the up and down movement of the rigid anti-sway bar, but also prevent the rigid anti-sway bar from shaking.

(1.5) The high-strength short chain is about 0.5m long, with chain hoof rings at both ends. The two ends of the high-strength short chain are connected with the rigid anti-sway bar pin at the upper end and the pin shaft on the container spreader at the lower end respectively through the chain shoe ring. Its function is to provide a flexible connection within a certain range when the container spreader is aligned with the container hoisting hole, and can also perform a small-scale alignment adjustment while protecting the equipment. It can also ensure that the amplitude of shaking during container lifting is small and the time is short.

(2) Container spreader: refers to a special spreader for loading and unloading containers. It is connected to the top corner fittings of the container through the twist locks at the four corners of the end beam, and the opening of the twist lock is controlled by the control system (electric control system). closed for container loading and unloading. This system uses a fixed container spreader, which can only load and unload containers of 20 yards. The action principle of the container spreader: There is no special power device. The ratchet mechanism drives the twist lock to rotate through the lifting of the wire rope, so as to realize the automatic opening and closing of the lock pin by the mechanical movement of the wire rope. The container spreader is equipped with a guide device to ensure that the twist lock is accurately inserted into the lock hole. The guide device is a rigid and inclined guide block attached to the outside of the four twist lock points of the container spreader frame, which can make the twist lock at the guide inclination angle. It can be accurately inserted into the lock hole within the range. The spreader is simple in structure and light in weight.

(3) Cart operating mechanism: a cart operating mechanism of a full gantry crane composed of a gantry and a first operating mechanism. The cart runs within the main span. The gantry legs stand on the cart tracks on both sides, and the tracks span two trains with 6 lines. The cart can move within a range of 40m in the running direction of the train, which can meet the unloading needs of the two train lines.

(4) Trolley running mechanism: It is composed of a frame and a second running mechanism, which is installed between the beams of the cart. The second running mechanism drives the wheels to run along the track, and the rigid anti-sway unloading mechanism is integrated on the frame. Cooperate with the cart operating mechanism to realize the process requirements of spreader alignment and hoisting and unloading. The trolley moves within a range of 9m on the beam of the cart, which can meet the unloading requirements of two train lines with a spacing of 8m.

(5) Electronic control system with visual identification and positioning function: through the reference objects set on the train line (such as the benchmarks standing on both sides of the rail in the working area, the fluorescent signs sprayed on the container lifting holes, etc.), set on the cart The ruler on the beam and the camera set at the necessary position use the visual recognition control algorithm to realize the precise positioning of the target container, so as to control the system equipment through the electronic control system, and carry out the unmanned lifting, unloading and homing of the container. operation to achieve safe, efficient and intelligent control.

working principle:

The main components of the visual recognition system include data collection equipment, data transmission equipment, and data sorting equipment. The main working principle is to convert the collected video signal into a digital signal. After standardizing the digital signal industry requirements, it communicates with the PLC of the host system to provide data support and action guarantee for process actions.

There are two main technical routes for visual recognition: one is a dedicated image acquisition chip, using two image sensing technologies, CCD and CMOS, to automatically complete the image acquisition frame storage address generation and image refresh. The other is the 3D holographic modeling technology based on laser scanning. The 2-dimensional X and Y axes are detected by the laser scanner, and the height of the axis Z is detected by the radar ultrasonic technology. The two kinds of data are transmitted to the signal processing center for processing. A 3D model is built to determine the real-time state of the measured object. The present invention adopts image processing technology to carry out the design of this project.

The working method of the rigid anti-sway container unloading equipment system of the present invention: through the visual recognition system, locate the coordinate position of the container on the train line or on the flatbed car, and then the electronic control system according to the coordinates, through the operation mechanism of the cart and the cart. The control of the mechanism, the rigid anti-sway unloading mechanism is transported to the top of the container, to ensure that the twist lock on the container spreader is in the correct position with the lock hole of the container, and the rigid anti-sway unloading mechanism is controlled to descend, and the container is connected by a high-strength short chain. When the spreader falls, the spreader is equipped with a guide device to ensure that the twist lock is accurately inserted into the lock hole and locks the lock pin.

Two 8t hoisting and hoisting mechanisms pull the wire rope wound on the hoisting pulley block, which can drive two rigid anti-sway bars to lift synchronously, lift the container to the specified height, and then transport it to the top of the hopper 7 by the trolley operating mechanism , the container door is opened by the worker. The visual recognition system can determine the position of the container on the door-opening side. Based on this, the rigid anti-sway bar on the non-door-opening side is controlled by the electronic control system, and the single lifting and hoisting mechanism drives the independent lifting, and the lifting travel is about 2m. At this time, the inclination of the container is about 20°, all the grain materials can be dumped into the hopper. After the dumping is over, the container is restored to the level, and the container door is manually closed. Then the electronic control system puts the empty container back in its original position.

The whole operation of the system is controlled by an electronic control system with visual identification and positioning function, including the alignment of the lifting of the full container and the reset of the empty container, the lifting of the unloading anti-sway bar after the manual door is opened, and the lowering of the anti-sway bar after the manual door is closed. Reset, etc., are automatically completed.

The invention adopts the rigid anti-sway lifting and unloading mechanism as the core component, and finally achieves the purpose of safe and efficient unloading through the assistance of special container spreaders, large and small car running mechanisms, and an electronic control system with visual identification and positioning.

At present, the occasions involving unloading of train containers at home and abroad can be used as the implementation site of the system of the present invention, and the market prospect is very broad.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.

Claims (10)

1. A rigid anti-sway container unloading equipment system, characterized in that, comprising: an electric control system and a rigid anti-sway unloading mechanism (1) connected with the electric control system, a container spreader (2), a cart operating mechanism (3) and the trolley running mechanism (4), the electronic control system has the function of visual identification and positioning, the trolley running mechanism (4) is installed on the trolley running mechanism (3), and the rigid anti-sway unloading mechanism (1) is installed on the trolley running mechanism (1). The upper and lower parts of the mechanism (4) are connected with the container spreader (2), and the container spreader (2) is connected with the container (5). The running mechanism (4) moves on the cart running mechanism (3), so that the rigid anti-sway unloading mechanism (1) moves with the container spreader (2) and the container (5). The feeding mechanism (1) is used to realize the lifting and lowering of the container spreader (2) with the container (5), so as to realize the unmanned operation of lifting, unloading and homing of the container (5). 2. The rigid anti-sway container unloading equipment system according to claim 1, wherein the rigid anti-sway unloading mechanism (1) is installed on the frame of the trolley running mechanism (4), comprising two rigid Anti-sway bar (9), two sets of hoisting pulleys (10), two sets of hoisting and hoisting mechanisms (8), two sets of guide support wheels (11), two sets of high-strength short chains (12), two rigid anti-sway bars (9) all run through the frame, the lower part of each rigid anti-sway bar (9) is connected to the container spreader (2) through a set of high-strength short chains (12), and two sets of hoisting and hoisting mechanisms (8) are installed on the vehicle The two sets of hoisting and hoisting mechanisms (8) are respectively connected with the two sets of hoisting pulley sets (10), and the two sets of hoisting pulley sets (10) are respectively connected with the two rigid anti-sway bars (9). The anti-sway bars (9) are connected, and the rigid anti-sway bars (9) can be moved up and down through the hoisting and hoisting mechanism (8) and the hoisting pulley block (10). A set of guide support wheels (11) are arranged around the periphery for positioning. 3. The rigid anti-sway container unloading equipment system according to claim 2, characterized in that, the rigid anti-sway bar (9) is welded by steel plates, the lower part is trapezoidal, and the upper part is a long slot hole. The hollow rectangular structure has a length of 7m. The lower part is connected with a high-strength short chain (12) through a pin shaft. (11) For positioning, it can move up and down. 4. The rigid anti-sway container unloading equipment system according to claim 2, wherein the lifting pulley block (10) is composed of a set of fixed pulleys and a set of movable pulleys, and the fixed pulleys are fixed on the On the upper part of the frame of the trolley running mechanism (4), the movable pulley is fixed on the lower pin shaft inside the rectangular structure of the rigid anti-sway bar (9), and can move up and down with the rigid anti-sway bar (9) to lift the hoisting mechanism (8). ) is connected with the fixed pulley and the movable pulley through the wire rope, and the hoisting pulley block (10) can reduce the pulling force of the hoisting and hoisting mechanism (8) by three-quarters; The hoisting and hoisting mechanism (8) has a lifting capacity of about 8t, and can hoist the wire rope wound on the hoisting pulley block (10) as required. ) The actual lifting capacity is about 24t; the actual lifting weight of the two sets of winches is 48t, which can meet the lifting and unloading requirements of containers (5) below 40t. 5. The rigid anti-sway container unloading equipment system according to claim 2 or 3, characterized in that, each group of the guide support wheels (11) is provided with 16, which are fixed on the frame of the trolley running mechanism (4). On the guide support wheel (11) bracket, eight guide support wheels (11) are arranged on each of the upper and lower sides of the frame and are distributed on the four rectangular surfaces of the rigid anti-sway bar (9), that is, the four rectangles of the rigid anti-sway bar (9). There are two guide support wheels (11) on each surface, which are fixed on a guide support wheel (11) bracket, and the rigid anti-sway bar (9) is positioned while satisfying the up and down movement of the rigid anti-sway bar (9), so that the rigid The anti-roll bar (9) does not shake. 6. The rigid anti-sway container unloading equipment system according to claim 2, characterized in that the length of the high-strength short chain (12) is 0.5m, both ends are provided with chain shoe rings, and the high-strength short chain (12) ) are respectively connected with the pins on the upper rigid anti-sway bar (9) and the pins on the lower container spreader (2) through chain shoe rings, so as to realize the connection between the container spreader (2) and the container (5) When the hoisting holes are aligned, they play a role of flexible connection within a certain range. 7. The rigid anti-sway container unloading equipment system according to claim 1, wherein the container spreader (2) is connected to the top corner fittings of the container (5) through the twist locks at the four corners of the end beam, The opening and closing of the twist lock is operated and controlled by the electronic control system to carry out the loading and unloading operation of the container (5). The container spreader (2) has no special power device, and the ratchet mechanism is driven by the lifting of the wire rope to drive the twist lock to rotate, so as to realize the automatic opening and closing of the twist lock pin by the mechanical movement of the wire rope; the container spreader (2) is equipped with There are guides to ensure that the twistlock is correctly inserted into the lock hole. 8. The rigid anti-sway container unloading equipment system according to claim 1, characterized in that, the cart running mechanism (3) is composed of a gantry and a first operating mechanism, and the gantry outriggers stand on both sides. On the train track, the second running mechanism drives the gantry to run on the cart track, the track spans two train lines, and the cart running mechanism (3) can move within 40m in the running direction of the train (6), which satisfies the requirements for two trains. Unloading needs of train lines; The trolley running mechanism (4) is composed of a vehicle frame and a second running mechanism, which is installed between the beams of the trolley running mechanism (3), the beam is provided with a track, and the second running mechanism drives the wheels to run along the track; the trolley runs The mechanism (4) moves within a range of 9m on the beam of the cart running mechanism (3) to meet the unloading requirements of two train lines with a spacing of 8m. 9 . The rigid anti-sway container unloading equipment system according to claim 1 , wherein the electric control system is connected to a reference object on the train line, a cross beam of a cart running mechanism (3), and a The ruler and the camera installed on the device, and the visual recognition system is used to realize the precise positioning of the target container (5), and realize the unmanned operation of lifting, unloading and homing of the container (5); the visual recognition system adopts the image processing technology. 10. A working method of the rigid anti-sway container unloading equipment system according to any one of claims 1-9, characterized in that, comprising the following steps: Step 1: Through the visual recognition system, locate the coordinate position of the container (5) on the carriage on the train line or on the flatbed car, and then according to the coordinates by the electronic control system, through the adjustment of the cart operating mechanism (3) and the trolley operating mechanism (4). Control, transport the rigid anti-sway unloading mechanism (1) to the top of the container (5), ensure that the twist lock on the container spreader (2) is correctly aligned with the keyhole of the container (5), and operate the rigid anti-sway unloading The mechanism (1) descends, so that the container spreader (2) connected with the high-strength short chain (12) falls, and the guide device provided on the container spreader (2) ensures that the twistlock is accurately inserted into the lock hole and locks the lock pin ; Step 2: Two 8t hoisting and hoisting mechanisms (8) are used to pull the wire rope wound on the hoisting pulley block (10), which can drive the two rigid anti-sway bars (9) to lift synchronously, and lift the container (5). It rises to the specified height, and is transported to the top of the hopper (7) by the trolley operating mechanism (4), and the door of the container (5) is opened by the worker; the visual recognition system can determine the position of the door of the container (5), which is based on the electronic control system. The system controls the rigid anti-sway bar (9) located on the non-opening side, and is driven by a single hoisting hoisting mechanism (8) to lift independently, with a lifting stroke of 2m. At this time, the inclination angle of the container (5) is 20°, and all the grain materials can be dumped into Inside the funnel (7), after the dumping is completed, the container (5) is restored to the level, and the door of the container (5) is manually closed; then the electronic control system puts the empty container (5) back in its original position according to the original path; the whole system runs throughout the whole process All are controlled by an electronic control system with visual identification and positioning function, including the alignment of the lifting of the fully loaded container (5) and the reset of the empty container (5), the lifting of the rigid anti-sway bar (9) after manually opening the door, and the lifting of the rigid anti-sway bar (9) after manual door closing. The lowering and reset of the rigid anti-sway bar (9) is automatically completed.

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