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

Abstract

The present invention provides a rigid anti-sway container discharging equipment system and its working method, which includes an electric control system, a rigid anti-sway discharging mechanism, a container spreader, a trolley running mechanism and a gantry running mechanism. The electric control system has a visual recognition and positioning function. The trolley running mechanism is installed on the gantry running mechanism, and the rigid anti-sway discharging mechanism is installed on the trolley running mechanism and is connected to the container spreader below. The container spreader is connected to the container. The gantry running mechanism is used to move the entire system. The trolley running mechanism moves on the gantry running mechanism and is used to move the rigid anti-sway discharging mechanism with the container spreader and the container. The rigid anti-sway discharging mechanism is used to lift and lower the container spreader with the container, realizing unmanned operation of container hoisting, discharging and returning. The mechanism of the present invention is simple and reasonable, with low failure rate, high automation degree, improving the discharging efficiency of the unloading line, reducing the manual labor intensity and lowering the production cost of the manufacturer.

Description

Technical Field

[0001] The present invention relates to the technical field of anti-sway discharging of containers on railway lines, and in particular, to a rigid anti-sway container discharging equipment system and its working method. Background Art

[0002] In the existing grain depot container grain discharging system, a traditional electric winch is used to drive a steel wire rope wound around a pulley block to drive a container spreader for discharging operations. During the entire hoisting, discharging, and homing processes, there will be a large amount of swaying. Operators need a long time to adjust and control the landing accuracy, resulting in low work efficiency and potential safety hazards.

[0003] During the container hoisting process, in order to reduce its swaying, an anti-sway device is usually designed. Currently, the most commonly used is an electronic anti-sway system. This method is greatly affected by the external environment and actual working conditions, with low accuracy and instability. This anti-sway method cannot meet the operating conditions of containers for loading grain on railway lines, such as frequent short-distance hoisting, discharging, and homing operations during the discharging process, and the large dust and strong wind in its operating environment will affect its accuracy and stability.

[0004] To solve the problems of inaccurate positioning, low efficiency, and potential safety hazards in the existing grain depot railway line container grain discharging system, the present invention has developed a rigid anti-sway container discharging equipment system, which improves work efficiency, reduces the labor intensity of manual operations, and eliminates potential safety hazards to ensure construction safety. Summary of the Invention

[0005] In view of the above-mentioned technical problems of inaccurate positioning, low efficiency, and potential safety hazards in the existing grain depot railway line container grain discharging system, a rigid anti-sway container discharging equipment system and its working method are provided. The present invention mainly uses a unique rigid anti-sway discharging mechanism of the system, combined with a container spreader, a trolley running mechanism, a crab running mechanism, and a vision recognition system, to realize intelligent, safe, and efficient operations of hoisting, discharging, and homing of containers in railway carriages and on flat cars. The system of the present invention integrates hoisting and discharging, improves efficiency, reduces costs, reduces the workload of workers, and eliminates potential safety hazards.

[0006] The technical means adopted by the present invention are as follows:

[0007] A rigid anti-sway container discharging equipment system, comprising: an electric control system and a rigid anti-sway discharging mechanism, a container spreader, a trolley running mechanism and a gantry running mechanism connected to the electric control system. The electric control system has a visual recognition and positioning function. The trolley running mechanism is installed on the gantry running mechanism, and the rigid anti-sway discharging mechanism is installed on the trolley running mechanism and is connected to the container spreader below. The container spreader is connected to the container. The gantry running mechanism is used to realize the movement of the whole system. The trolley running mechanism moves on the gantry running mechanism and is used to realize the movement of the rigid anti-sway discharging mechanism with the container spreader and the container. The rigid anti-sway discharging mechanism is used to realize the lifting of the container spreader with the container, so as to realize the unmanned operation of container hoisting, discharging and returning to position.

[0008] Further, the rigid anti-sway discharging mechanism is installed on the frame of the trolley running mechanism and includes two rigid anti-sway rods, two sets of hoisting pulley blocks, two sets of hoisting winch mechanisms, two sets of guiding support wheels and two sets of high-strength short chains. The two rigid anti-sway rods arranged at intervals penetrate through the frame. Each rigid anti-sway rod is connected to the container spreader through a set of high-strength short chains below. The two sets of hoisting winch mechanisms are installed on the frame and located between the two rigid anti-sway rods. The two sets of hoisting winch mechanisms are respectively connected to the two sets of hoisting pulley blocks. The two sets of hoisting pulley blocks are respectively connected to the two rigid anti-sway rods. The rigid anti-sway rods are moved up and down through the hoisting winch mechanisms and the hoisting pulley blocks. A set of guiding support wheels is arranged around the connection of each rigid anti-sway rod and the frame for positioning.

[0009] Further, the rigid anti-sway rod is welded by steel plates, with a trapezoidal lower part and a hollow rectangular structure with a process long slot hole in the upper part. The length is about 7m. The lower part is connected to the high-strength short chain through a pin shaft. The upper part penetrates through the frame of the trolley running mechanism, and the periphery of the rigid anti-sway rod at the penetration is positioned by guiding support wheels and can move up and down.

[0010] Further, the hoisting pulley block is composed of a set of fixed pulleys and a set of movable pulleys. The fixed pulley is fixed to the upper part of the frame of the trolley running mechanism through a pin shaft and a bracket. The movable pulley is fixed to the pin shaft at the lower part inside the rectangular structure of the rigid anti-sway rod and can move up and down with the rigid anti-sway rod. The hoisting winch mechanism is connected to the fixed pulley and the movable pulley through a steel wire rope. The hoisting pulley block can reduce three-quarters of the pulling force of the hoisting winch mechanism;

[0011] The lifting capacity of the hoisting winch mechanism is about 8t, and it can wind the steel wire rope wound on the hoisting pulley block as required. Through the increase of the hoisting pulley block, the actual lifting capacity of each set of hoisting winch mechanisms is about 24t; the actual lifting weight of the two sets of winches is 48t, which can meet the requirements of container hoisting and discharging below 40t.

[0012] Further, each set of the guiding and supporting wheels has 16 wheels, which are fixed on the guiding and supporting wheel brackets of the carriage of the trolley running mechanism. There are 8 guiding and supporting wheels arranged on each of the upper and lower surfaces of the carriage, distributed on the four rectangular surfaces of the rigid anti-sway bar. That is, there are two guiding and supporting wheels fixed on one guiding and supporting wheel bracket on each of the four rectangular surfaces of the rigid anti-sway bar, positioning the rigid anti-sway bar while allowing it to move up and down, and enabling the rigid anti-sway bar not to shake.

[0013] Further, the length of the high-strength short chain is about 0.5 m, and both ends are equipped with chain shackles. The two ends are respectively connected to the pin shafts on the upper rigid anti-sway bar and the pin shafts on the lower container spreader through the chain shackles, which is used to play a flexible connection role within a certain range when aligning the container spreader with the container lifting hole.

[0014] Further, the container spreader is connected to the corner fittings of the container through the twist locks at the four corners of its end crossbeam. The opening and closing of the twist locks are controlled by the electric control system for container loading and unloading operations. The container spreader adopts a fixed-type container spreader for loading and unloading 20-foot standard containers. The container spreader has no dedicated power device, and the lifting of the steel wire rope drives the ratchet mechanism to drive the twist locks to rotate, and the automatic opening and closing of the twist lock pins are realized in the way of the mechanical movement of the steel wire rope. A guiding device is equipped on the container spreader to ensure that the twist locks are accurately inserted into the lock holes.

[0015] Further, the trolley running mechanism consists of a gantry and a first running mechanism. The legs of the gantry stand on the two side trolley tracks, and the second running mechanism drives the gantry to run on the trolley tracks. The tracks span across two train lines, and the trolley running mechanism can move within a range of 40 m in the train running direction to meet the unloading requirements for the two train lines.

[0016] The trolley running mechanism consists of a carriage and a second running mechanism, which is installed between the crossbeams of the trolley running mechanism. Tracks are provided on the crossbeams, and the second running mechanism drives the wheels to run along the tracks. The trolley running mechanism moves within a range of 9 m on the crossbeams of the trolley running mechanism to meet the unloading requirements for two train lines with a spacing of 8 m.

[0017] Further, the electric control system, through the reference objects set on the train lines, the scales set on the crossbeams of the trolley running mechanism, and the cameras set, and using the visual recognition system, realizes the precise positioning of the target container, and realizes the unmanned operation of container hoisting, unloading, and returning. The visual recognition system adopts image processing technology.

[0018] The present invention also provides a working method for a rigid anti-sway container unloading equipment system, including the following steps:

[0019] Step 1: Use the visual recognition system to locate the coordinate position of the container on the train carriage or flatbed truck. Then, based on the coordinate, the electronic control system controls the trolley running mechanism and the small car running mechanism to transport the rigid anti-sway unloading mechanism to the top of the container, ensure that the rotary lock on the container spreader is correctly aligned with the lock hole of the container, operate the rigid anti-sway unloading mechanism to descend, and make the container spreader connected with the high-strength short chain fall. And through the guide device equipped on the container spreader, ensure that the rotary lock is accurately inserted into the lock hole and the lock pin is locked;

[0020] Step 2: Two 8t lifting winches pull the wire rope wound on the lifting 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 top of the hopper by the trolley running mechanism, and the workers open the container door; the visual recognition system can determine the position of the door opening side of the container, and based on this, the rigid anti-sway bar on the non-door opening side is controlled by the electronic control system, and driven by a single lifting winch mechanism to lift independently, with a lifting stroke of 2m. At this time, the container has an inclination angle of 20°, and all the grain materials can be dumped into the hopper. After the dumping is completed, the container returns to the level and the container door is closed manually; then the electronic control system puts the empty container back to its original position along the original route; the entire system operation is controlled by an electronic control system with visual recognition and positioning function, including the alignment of the full container lifting and the empty container resetting, the rigid anti-sway bar lifting after manual door opening, and the rigid anti-sway bar lowering and resetting after manual door closing, all of which are completed automatically.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] The rigid anti-sway container unloading equipment system and the working method thereof provided by the present invention use a unique rigid anti-sway unloading mechanism as a core component, and with the assistance of container spreaders, large and small vehicle operating mechanisms, and an electronic control system with visual recognition and positioning, can ultimately achieve the purpose of safe and efficient unloading. The structure is simple and reasonable, with a low failure rate and a high degree of automation, which improves the unloading efficiency of the unloading line, reduces the intensity of manual work, and reduces the production cost of the manufacturer.

[0023] In summary, the application of the technical solution of the present invention can solve the problems of inaccurate positioning, low efficiency, and potential safety hazards in the existing grain depot railway line container grain unloading system.

[0024] Based on the above reasons, the present invention can be widely promoted in the fields of anti-sway unloading of containers on railway lines, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0026] Figure 1 This is the system diagram of the rigid anti-sway container lifting and discharging equipment of the present invention.

[0027] Figure 2 This is the structural schematic diagram of the rigid anti-sway lifting and discharging mechanism of the present invention.

[0028] In the figure: 1. Rigid anti-sway discharging mechanism; 2. Container spreader; 3. Gantry traveling mechanism; 4. Trolley traveling mechanism; 5. Container; 6. Train; 7. Hopper; 8. Lifting winch mechanism; 9. Rigid anti-sway rod; 10. Lifting pulley block; 11. Guide support wheel; 12. High-strength short chain. Detailed implementation manners

[0029] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The following will refer to the drawings and combine the embodiments to detail the present invention.

[0030] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The description of at least one exemplary embodiment is actually only illustrative and in no way restrictive of the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0031] It should be noted that the terms used herein are only for describing specific implementation manners and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations.

[0032] Unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific values should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0033] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by orientation terms such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom", etc. are generally based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. Without contrary description, these orientation terms do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus should not be construed as limiting the protection scope of the present invention: The orientation terms "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0034] For the convenience of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "above", etc. can be used here to describe the spatial positional relationship between a device or feature shown in the figure and other devices or features. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation described in the figure for the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned as "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above..." can include both the orientations of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations are made for the spatial relative descriptions used here.

[0035] In addition, it should be noted that the use of words such as "first", "second", etc. to limit components is only for the convenience of differentiating the corresponding components. Without additional statements, the above words have no special meanings, and thus should not be construed as limiting the protection scope of the present invention.

[0036] To solve the problems of inaccurate positioning, low efficiency, and potential safety hazards in the existing container unloading system for grain depots' railway lines, as shown in the figure, the present invention provides a rigid anti-sway container unloading equipment system. This system improves work efficiency, reduces the intensity of manual operations, and eliminates potential safety hazards to ensure construction safety. During the process of unloading containers of grain from railway carriages or flatcars on the railway line in a grain depot, the present invention uses a rigid anti-sway unloading equipment system to lift a container full of grain from the railway carriage or flatcar on the railway line to above a funnel at a designated position, pour the grain into the funnel, and then lift the empty container back to the starting position. It belongs to the technical field of anti-sway unloading of containers on railway lines.

[0037] The rigid anti-sway container unloading equipment system includes: an electric control system and a rigid anti-sway unloading mechanism, a container spreader, a trolley running mechanism, and a gantry running mechanism connected to the electric control system. The electric control system has a visual recognition and positioning function. The trolley running mechanism is installed on the gantry running mechanism, the rigid anti-sway unloading mechanism is installed on the trolley running mechanism, and is connected to the container spreader below. The container spreader is connected to the container. The gantry running mechanism is used to move the entire system. The trolley running mechanism moves on the gantry running mechanism and is used to move the rigid anti-sway unloading mechanism with the container spreader and the container. The rigid anti-sway unloading mechanism is used to lift and lower the container spreader with the container, thus realizing unmanned operation of container lifting, unloading, and returning to the original position.

[0038] Embodiment 1

[0039] As Figure 1-2 shown, a rigid anti-sway container unloading equipment system, namely a rigid anti-sway container lifting and unloading equipment system, is composed of a rigid anti-sway unloading mechanism 1, a special container spreader 2, a gantry running mechanism 3, a trolley running mechanism 4, and an electric control system with a visual recognition and positioning function, etc.

[0040] (1) Rigid anti-sway unloading mechanism: It mainly consists of two groups of rigid anti-sway rods 9, two groups of hoisting pulley blocks 10, two groups of hoisting winch mechanisms 8, two groups of guiding support wheels 11, two groups of high-strength short chains 12, etc. Two rigid anti-sway rods arranged at intervals penetrate through the frame of the trolley running mechanism. Below each rigid anti-sway rod, it is connected to the container spreader through a group of high-strength short chains. Two groups of hoisting winch mechanisms are installed on the frame and are located between the two rigid anti-sway rods. The two groups of hoisting winch mechanisms are respectively connected to the two groups of hoisting pulley blocks, and the two groups of hoisting pulley blocks are respectively connected to the two rigid anti-sway rods. The rigid anti-sway rods are moved up and down through the hoisting winch mechanisms and the hoisting pulley blocks. A group of guiding support wheels are arranged around the connection of each rigid anti-sway rod and the frame for positioning.

[0041] (1.1) The rigid anti-oscillation bar is welded by steel plates. It is trapezoidal at the lower part and a hollow rectangular structure with a process long slot hole at the upper part. It is about 7m long. The lower part is connected to the high-strength short chain buckle through a pin shaft. The upper part passes through the frame of the trolley running mechanism. The periphery of the rigid anti-oscillation bar at the penetration is positioned by guide support wheels and can move up and down.

[0042] (1.2) The hoisting pulley block is composed of a set of fixed pulleys and a set of movable pulleys. Among them, two fixed pulleys are fixed to the upper part of the trolley frame through pin shafts and brackets (the brackets are fixed on the frame, and the fixed pulleys are installed on the brackets through pin shafts). Two movable pulleys are fixed to the pin shafts in the lower part inside the rectangular structure of the rigid anti-oscillation bar and can move up and down with the anti-oscillation bar. The hoisting pulley block can reduce the pulling force of the hoisting winch mechanism by three-quarters.

[0043] (1.3) The hoisting winch mechanism has a lifting capacity of about 8t and can wind the steel wire rope wound on the hoisting pulley block as required. Through the amplification of the hoisting pulley block, the actual lifting capacity of each hoisting winch mechanism is about 24t. The actual lifting weight of the two winches is 48t, which can meet the lifting and discharging requirements of containers below 40t for 5 times.

[0044] (1.4) There are 16 guide support wheels in each group, which are fixed on the guide support wheel brackets of the trolley running mechanism frame. 8 are arranged on each of the upper and lower sides of the frame. There are two guide support wheels fixed on one bracket on each of the four rectangular surfaces of each rigid anti-oscillation bar. Its function is not only to meet the up and down movement of the rigid anti-oscillation bar but also to prevent the rigid anti-oscillation bar from shaking.

[0045] (1.5) The high-strength short chain is about 0.5m long and has chain shoe rings at both ends. The two ends of the high-strength short chain are respectively connected to the pin shaft of the rigid anti-oscillation bar at the upper end and the pin shaft on the container spreader at the lower end through the chain shoe rings. Its function is to play a flexible connection within a certain range when aligning between the container spreader and the container lifting hole, protecting the equipment while also enabling small-range alignment adjustment. It can also ensure that the amplitude of shaking during container hoisting is small and the time is short.

[0046] (2) Container spreader: It refers to a special spreader for loading and unloading containers. It is connected to the corner fittings of the container through the twist locks at the four corners of its end crossbeam. The opening and closing of the twist locks are controlled by the control system (electric control system) to perform container loading and unloading operations. The fixed container spreader is adopted in this system, and it can only load and unload 20-yard standard containers. The action principle of the container spreader: It has no special power device. It drives the twist locks to rotate through the lifting of the steel wire rope to drive the ratchet mechanism, so as to realize the automatic opening and closing of the locking pins in the way of the mechanical movement of the steel wire rope. The container spreader is equipped with a guiding device to ensure that the twist locks accurately insert into the lock holes. The guiding device is a rigid inclined guiding block attached to the outside of the four twist lock points of the container spreader frame, which can make the twist locks accurately insert into the lock holes within the guiding inclination range. This kind of spreader has a simple structure and a light weight.

[0047] (3) Gantry traveling mechanism: A gantry traveling mechanism of a full gantry crane composed of a gantry and a first traveling mechanism. The gantry travels within the main span. Its gantry legs stand on both sides of the gantry tracks, and the tracks span across six lines of two trains. The gantry can move within a range of 40 m in the train running direction, which can meet the unloading requirements for two train lines.

[0048] (4) Hoist traveling mechanism: Composed of a frame and a second traveling mechanism, it is installed between the gantry beams. The second traveling mechanism drives the wheels to run along the tracks, and a rigid anti-sway unloading mechanism is integrated on the frame. It cooperates with the gantry traveling mechanism to meet the technological requirements of sling alignment and hoisting and unloading. The hoist can move within a range of 9 m on the gantry beams, which can meet the unloading requirements for two train lines with a spacing of 8 m.

[0049] (5) Electric control system with visual recognition and positioning function: By setting reference objects on the train lines (such as poles standing on both sides of the working area railway tracks, fluorescent markings sprayed at the lifting holes of containers, etc.), scales on the gantry beams, and cameras at necessary positions, and using visual recognition control algorithms, precise positioning of the target container can be achieved. Thus, through the electric control system, the system equipment is controlled to perform unmanned operations of container hoisting, unloading, and returning, achieving safe, efficient, and intelligent control.

[0050] Working principle:

[0051] The main equipment components of the visual recognition system include data collection equipment, data transmission equipment, data sorting equipment, etc. The main working principle is to convert the collected video signals into digital signals. After being standardized according to the industrial requirements of digital signals, data communication is carried out with the PLC of the host system to provide data support and action guarantee for the technological actions.

[0052] There are mainly two technical routes for visual recognition: One is to use a dedicated image acquisition chip and adopt two image sensing technologies, CCD and CMOS, to automatically complete image acquisition frame storage address generation and image refreshing. The other is a 3D holographic modeling technology based on laser scanning. The laser scanner is used to perform planar detection on the two-dimensional X and Y axes, and at the same time, radar ultrasonic technology is used to detect the height of the Z axis. The two types of data are transmitted to the signal processing center for three-dimensional model construction to determine the real-time state of the object to be measured. The present invention uses image processing technology for the design of this project.

[0053] The working method of the rigid anti-sway container unloading equipment system of the present invention is as follows: through the visual recognition system, the coordinate position of the container in the carriage on the train line or on the flatbed truck is located, and then the electronic control system, based on the coordinate, controls the large vehicle running mechanism and the small vehicle running mechanism to transport the rigid anti-sway unloading mechanism to the top of the container, ensuring that the rotary lock on the container spreader is correctly aligned with the lock hole of the container, and operating the rigid anti-sway unloading mechanism to descend, and the container spreader connected by a high-strength short chain falls, and the spreader is equipped with a guide device to ensure that the rotary lock is accurately inserted into the lock hole and the lock pin is locked.

[0054] Two 8t hoisting winches 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 funnel 7 by the trolley running mechanism, and the workers open the container door. The visual recognition system can determine the position of the door opening side of the container, and based on this, the rigid anti-sway bar on the non-door opening side is controlled by the electronic control system, and the single hoisting winch mechanism drives the independent lifting, lifting about 2m. At this time, the container tilts about 20°, and all the grain materials can be dumped into the funnel. After the dumping is completed, the container returns to the level and the container door is closed manually. Then the electronic control system puts the empty container back to its original position along the original route.

[0055] The entire operation of this system is controlled by an electronic control system with visual recognition and positioning functions, including the alignment of the fully loaded container lifting and the empty container resetting, the lifting of the unloading anti-sway bar after manual door opening, and the lowering and resetting of the anti-sway bar after manual door closing, all of which are completed automatically.

[0056] The present invention adopts a rigid anti-sway lifting and unloading mechanism as a core component, and can ultimately achieve the purpose of safe and efficient unloading through the assistance of a special container spreader, a large and small vehicle running mechanism, and an electric control system with visual recognition and positioning.

[0057] At present, any occasion 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.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rigid anti-sway container unloading equipment system, characterized in that, it includes: an electric control system and a rigid anti-sway unloading mechanism (1), a container spreader (2), a trolley traveling mechanism (3) and a crab traveling mechanism (4) connected to the electric control system. The electric control system has a visual recognition and positioning function. The crab traveling mechanism (4) is installed on the trolley traveling mechanism (3), and the rigid anti-sway unloading mechanism (1) is installed on the crab traveling mechanism (4) and is connected to the container spreader (2) below. The container spreader (2) is connected to a container (5); the trolley traveling mechanism (3) is used to move the entire system, and the crab traveling mechanism (4) moves on the trolley traveling mechanism (3) to drive the rigid anti-sway unloading mechanism (1) to move the container spreader (2) and the container (5). The rigid anti-sway unloading mechanism (1) is used to lift and lower the container spreader (2) with the container (5), so as to realize the unmanned operation of hoisting, unloading and returning of the container (5); The rigid anti-sway unloading mechanism (1) is installed on the frame of the crab traveling mechanism (4) and includes two rigid anti-sway rods (9), two sets of lifting pulley blocks (10), two sets of lifting winch mechanisms (8), two sets of guiding and supporting wheels (11) and two sets of high-strength short chains (12). The two rigid anti-sway rods (9) penetrate through the frame. Each lower part of the rigid anti-sway rod (9) is connected to the container spreader (2) through a set of high-strength short chains (12). The two sets of lifting winch mechanisms (8) are installed on the frame and located between the two rigid anti-sway rods (9). The two sets of lifting winch mechanisms (8) are respectively connected to the two sets of lifting pulley blocks (10), and the two sets of lifting pulley blocks (10) are respectively connected to the two rigid anti-sway rods (9). The rigid anti-sway rods (9) are moved up and down through the lifting winch mechanisms (8) and the lifting pulley blocks (10). A set of guiding and supporting wheels (11) are arranged around the connection of each rigid anti-sway rod (9) and the frame for positioning.

2. The rigid anti-sway container unloading equipment system according to claim 1, characterized in that, the rigid anti-sway rod (9) is welded by steel plates, the lower part is trapezoidal, and the upper part is a hollow rectangular structure with a process long slot hole. The length is 7m. The lower part is connected to the high-strength short chain (12) through a pin shaft. The upper part penetrates through the frame of the crab traveling mechanism (4), and the periphery of the rigid anti-sway rod (9) at the penetration is positioned by the guiding and supporting wheels (11) and can move up and down.

3. The rigid anti-sway container unloading equipment system according to claim 1, characterized in that, the lifting pulley block (10) is composed of a set of fixed pulleys and a set of movable pulleys. The fixed pulley is fixed to the upper part of the frame of the crab traveling mechanism (4) through a pin shaft and a bracket. The movable pulley is fixed to the pin shaft in the lower part of the rectangular structure of the rigid anti-sway rod (9) and can move up and down with the rigid anti-sway rod (9). The lifting winch mechanism (8) is connected to the fixed pulley and the movable pulley through a steel wire rope. The lifting pulley block (10) can reduce three-quarters of the pulling force of the lifting winch mechanism (8); The lifting and hoisting mechanism (8) has a lifting capacity of approximately 8t and can wind the steel wire rope around the lifting pulley block (10) as required. Through the amplification of the lifting pulley block (10), the actual lifting capacity of each lifting and hoisting mechanism (8) is approximately 24t; the actual lifting weight of the two hoisting mechanisms is 48t, which can meet the requirements for lifting and discharging containers (5) with a weight of less than 40t.

4. The rigid anti-sway container discharging equipment system according to claim 1 or 2, characterized in that, Each set of the guiding and supporting wheels (11) has 16 pieces, which are fixed on the guiding and supporting wheel (11) brackets of the frame of the trolley running mechanism (4). Eight guiding and supporting wheels (11) are arranged on each of the upper and lower surfaces of the frame and are distributed on the four rectangular surfaces of the rigid anti-sway rod (9), that is, two guiding and supporting wheels (11) are fixed on one guiding and supporting wheel (11) bracket on each of the four rectangular surfaces of the rigid anti-sway rod (9). While satisfying the up and down movement of the rigid anti-sway rod (9), the rigid anti-sway rod (9) is positioned, and the rigid anti-sway rod (9) can be prevented from shaking.

5. The rigid anti-sway container discharging equipment system according to claim 1, characterized in that, The length of the high-strength short chain (12) is 0.5m, and both ends are provided with chain shackles. The two ends of the high-strength short chain (12) are respectively connected with the pin shafts on the upper rigid anti-sway rod (9) and the pin shafts on the lower container spreader (2) through the chain shackles, and are used to play a flexible connection role within a certain range when the container spreader (2) is aligned with the lifting holes of the container (5).

6. The rigid anti-sway container discharging equipment system according to claim 1, characterized in that, The container spreader (2) is connected with the corner fittings of the container (5) through the twist locks at the four corners of the end cross beam. The opening and closing of the twist locks are controlled by the electric control system to perform the loading and unloading operations of the container (5); the container spreader (2) adopts a fixed container spreader (2) for loading and unloading containers (5) of 20-yard specifications. The container spreader (2) has no special power device, and the rotation of the twist locks is driven by the ratchet mechanism through the lifting of the steel wire rope, and the automatic opening and closing of the twist lock pins are realized in the form of the mechanical movement of the steel wire rope; a guiding device is equipped on the container spreader (2) to ensure that the twist locks are accurately inserted into the lock holes.

7. The rigid anti-sway container discharging equipment system according to claim 1, characterized in that, The gantry crane running mechanism (3) is composed of a gantry and a first running mechanism. The gantry legs stand on the two sides of the gantry crane tracks, and the second running mechanism drives the gantry to run on the gantry crane tracks. The tracks span across two train lines. The gantry crane running mechanism (3) can move within a range of 40m in the running direction of the train (6) to meet the discharging requirements for the two train lines; The trolley running mechanism (4) is composed of a frame and a second running mechanism, and is installed between the cross beams of the gantry crane running mechanism (3). Tracks are arranged on the cross beams, and the second running mechanism drives the wheels to run along the tracks; the trolley running mechanism (4) moves within a range of 9m on the cross beams of the gantry crane running mechanism (3) to meet the discharging requirements for two train lines with a spacing of 8m.

8. The rigid anti-sway container discharging equipment system according to claim 1, It is characterized in that the electric control system, through the reference objects arranged on the railway line connected thereto, the scales arranged on the cross beam of the trolley running mechanism (3), and the cameras arranged, and by using a visual recognition system, realizes the precise positioning of the target container (5), and realizes the unmanned operation of hoisting, discharging and returning of the container (5); the visual recognition system adopts image processing technology.

9. A working method of a rigid anti-sway container discharging equipment system as described in claim 8, It is characterized in that it includes the following steps: Step 1: Through the visual recognition system, locate the coordinate position of the container (5) on the carriage or flatbed on the railway line. Then, according to this coordinate, the electric control system controls the trolley running mechanism (3) and the crab running mechanism (4) to transport the rigid anti-sway discharging mechanism (1) directly above the container (5), ensure that the twist locks on the container spreader (2) are correctly aligned with the lock holes of the container (5), and operate the rigid anti-sway discharging mechanism (1) to descend, so that the container spreader (2) connected by the high-strength short chain (12) descends, and through the guiding device equipped on the container spreader (2), ensure that the twist locks accurately insert into the lock holes and lock the lock pins; Step 2: Two 8t hoisting winch mechanisms (8) traction the steel wire ropes wound on the hoisting pulley blocks (10), which can drive the two rigid anti-sway rods (9) to lift synchronously, lift the container (5) to the specified height, and then transport it above the funnel (7) by the crab running mechanism (4). The worker opens the door of the container (5); the visual recognition system can determine the position of the opening side of the container (5). Based on this, the electric control system controls the rigid anti-sway rod (9) on the non-opening side, which is independently lifted by a single hoisting winch mechanism (8) for a lifting stroke of 2m. At this time, the inclination angle of the container (5) is 20°, and all the grain materials can be poured into the funnel (7). After the pouring is completed, the container (5) returns to the horizontal position, and the worker closes the door of the container (5); then the electric control system returns the empty container (5) to its original position along the original route; the entire system operation process is controlled by an electric control system with visual recognition and positioning functions, including the alignment of the full-load container (5) lifting and the empty container (5) resetting, the lifting of the rigid anti-sway rod (9) after manual door opening, and the lowering and resetting of the rigid anti-sway rod (9) after manual door closing, all of which are automatically completed.

Images