Method of loading and unloading a boxcar

Abstract

This invention discloses a method for loading and unloading bagged goods in a covered wagon. The method involves dividing the two sides of the loading / unloading machine into a working area 1 and a working area 2. Working area 1 includes a normal operating area B located in front of the loading / unloading machine and blind operating areas A located on either side of the normal operating area B. The loading / unloading machine is designed as a main body and a cargo extraction section. During unloading, the main body of the loading / unloading machine remains stationary. The cargo extraction section transports the bagged goods from the normal operating area B and blind operating areas A in working area 1 within the covered wagon compartment to working area 2 for stacking. Then, a conveying device transports the stacked bagged goods from working area 2 away. During loading, the main body of the loading / unloading machine remains stationary. The cargo extraction section transports the bagged goods from working area 2 to the normal operating area B and blind operating areas A in working area 1 for stacking. Then, a conveying device transports the stacked bagged goods from working area 1 into the covered wagon compartment.

Description

Technical Field

[0001] This invention relates to a method for loading and unloading bagged goods, and more particularly to a method for loading and unloading bagged goods in boxcars, belonging to the technical field of loading and unloading bagged goods in boxcars. Background Technology

[0002] With the rapid development of the economy and society, railway, port, and highway systems are experiencing heavy transportation workloads, leading to the emergence of various large-scale logistics enterprises. This places higher demands on the efficiency of cargo transportation and loading / unloading, making mechanized loading and unloading the mainstream. However, in some railway stations, the loading, unloading, and containerization of bulk bagged goods such as grain, fertilizer, and cement still face challenges. Bagged goods account for a large proportion of railway transportation, and currently, manual handling is the primary method of loading and unloading. This manual handling is labor-intensive, inefficient, and results in long periods of time spent on freight cars, affecting freight car turnaround. In addition, high labor costs place a heavy burden on labor-using enterprises, impacting the overall efficiency of railway transportation.

[0003] In recent years, a number of advanced logistics equipment have appeared in some railway stations, including forklifts, cranes, mobile belt conveyors, and specialized loading and unloading machines, achieving initial mechanization in logistics loading and unloading operations. However, existing loading and unloading equipment still has some problems, resulting in relatively long loading and unloading times and affecting the efficiency of railway transportation. Therefore, it is necessary to further optimize loading and unloading equipment to shorten the loading and unloading time of bagged goods and improve the efficiency of railway transportation.

[0004] like Figure 1 and Figure 2 As shown, a typical boxcar includes a carriage 1, with a carriage door 2 located on the middle side of the carriage 1. Let the length direction of the carriage be the X direction, the width direction be the Y direction, and the height direction be the Z direction. A certain space inside the carriage 1 is a loading space for bagged goods, and the bagged goods 3 are stacked in the loading space.

[0005] like Figure 2 As shown, in the prior art, when unloading goods from the carriage 1, a forklift 4 is generally used inside the carriage 1 to fork out the stacked bagged goods 3 and transport them out. For example... Figure 3 As shown, when loading goods into the carriage 1, bags of goods 3 are typically transported by conveyor belt 5. Workers 7 then stack the transported bags of goods 3 onto pallets 6, and forklifts 4 transport the stacked pallets 6 into the carriage 1. However, the existing technology still has the following problems:

[0006] First, both forklifts 4 and conveyor belts 5 have certain blind spots A during operation. Blind spots A are located on the left and right sides in front of the equipment. The existence of blind spots A increases the loading and unloading time of bagged goods.

[0007] like Figure 4 As shown, during unloading, forklift 4 can only pick up bagged goods 3 in front of it, but not in the blind spots A on both sides. When bagged goods 3 in blind spots A need to be picked up, forklift 4 needs to be repositioned so that they are in front of it. This results in forklift 4 needing to be repositioned multiple times within the truck bed 1 to remove all bagged goods 3, increasing the time required. Furthermore, due to the blind spots A, multiple repositioning of the forklift is necessary, but the limited space within the truck bed increases the risk of accidents.

[0008] like Figure 3 As shown, when loading, the conveyor belt 5 cannot turn to convey goods to the blind spots A on both sides. Therefore, the worker 7 can save the most time by directly stacking the bagged goods 3 conveyed by the conveyor belt 5 onto the pallet 6 located in front of the conveyor belt. If there are also pallets 6 in the blind spots A on both sides, the worker 7 still needs to move the bagged goods 3 conveyed to the pallets 6 located in the blind spots A on both sides for stacking. This reduces loading efficiency and indirectly increases loading time.

[0009] Second, neither forklifts 4 nor conveyor belts 5 have built-in palletizing functions. They need to be operated by workers simultaneously, which cannot achieve automated palletizing. This also leads to an increase in unloading and loading time.

[0010] In summary, due to the two reasons mentioned above, even with the use of loading and unloading equipment for bagged goods, the entire loading and unloading process still takes a relatively long time, affecting the efficiency of railway transportation.

[0011] After searching, the following three patent comparison documents were found:

[0012] I. Chinese utility model patent with authorization announcement number CN202625405U and authorization announcement date of December 26, 2012, discloses an automatic loading machine for bagged goods in a train shed, including a car body, a hydraulic manipulator, an automatic shaping device, a conveyor belt, an automatic running trolley, linear guide rails, ball screws, and a monitoring camera. The main car's telescopic rotating device cooperates with the trolley. The telescopic rotating device of the main car and the groove at the bottom of the automatic running trolley are in a concave-convex mold fit. Because the groove at the bottom of the trolley and the telescopic protrusion on the main car are in contact fit, the trolley can be separated from the main car. The system operates independently. The telescopic device on the main vehicle is hydraulically driven and consists of four hydraulic cylinders: a primary hydraulic cylinder on the main vehicle, a secondary hydraulic cylinder on the primary hydraulic cylinder, a tertiary hydraulic cylinder on the secondary hydraulic cylinder, and a support hydraulic cylinder on the final tertiary hydraulic cylinder. The piston rod of the first-stage piston cylinder serves as the cylinder barrel of the second-stage piston cylinder, driving its extension and retraction, thereby raising and lowering the automatic trolley. A mechanical gear is welded to the bottom of the telescopic rotating device, which is bonded to another gear connected to a stepper motor. The motor's operation drives the telescopic device to rotate in place, achieving the purpose of rotation.

[0013] From the description and appendices of the aforementioned patent documents Figure 1 It can be seen that although the automatic loading machine in this patent document can automatically stack and save stacking time, the pallet for bagged items on the trolley is only located in front of the conveyor belt. Therefore, there will be blind spots A on both sides in front of the conveyor belt. As a result, when loading, the bagged goods conveyed by the conveyor belt can only be stacked on the pallet for bagged items on the trolley located in front of it, which increases the loading time.

[0014] II. Chinese utility model patent with authorization announcement number CN203612909U and authorization announcement date of May 28, 2014, discloses a forklift for loading and unloading container bags inside a train carriage. It includes a vehicle body structure, a wheel drive mechanism, a fixed mast, a movable mast, a fork carriage, and a bag pushing device. The fork carriage includes a forward fork support and a reverse fork support. The forward fork support is fixed to the lower end of the movable mast, and the reverse fork support is fixed to the upper end of the movable mast. The bag pushing device is fixed on the movable mast and located between the forward fork support and the reverse fork support. The movable mast is fixed to the fixed mast. The fixed mast is fixed to the vehicle body structure. The wheel drive mechanism is fixedly connected to the vehicle body structure.

[0015] From the description and appendices of the aforementioned patent documents Figure 1 As can be seen, the forklifts described above have an operational blind spot A when loading or unloading goods. To eliminate blind spot A, the position needs to be repeatedly adjusted. In addition, using forklifts for stacking will also increase stacking time.

[0016] III. Chinese Utility Model Patent No. CN213949971U, with an authorization announcement date of August 13, 2021, discloses an automatic loading and unloading robot for bagged goods, used for loading and unloading bagged goods onto a conveyor belt. It includes a forearm mechanism, which comprises: two loading and unloading side plates arranged opposite each other, a third conveyor belt for transferring the bagged goods, a third conveyor belt drive mechanism for driving the third conveyor belt, and two sliding side plates respectively slidably mounted on the loading and unloading side plates. Loading and unloading guide rails are fixedly installed on the sliding side plates, and loading and unloading sliders adapted to the loading and unloading guide rails are fixedly installed on the loading and unloading side plates. The front end of the loading and unloading side plates has a downwardly inclined scooping ramp. The third conveyor belt drive mechanism includes: a loading and unloading electric... The system comprises: a machine, an active synchronous pulley mounted on the output shaft of the loading / unloading motor, a driven synchronous pulley mounted on the loading / unloading side plate, a loading / unloading active roller coaxially arranged with the driven synchronous pulley, a first loading / unloading driven roller rotatably mounted at the rear end of the loading / unloading side plate, a second loading / unloading driven roller mounted at the rear end of the shovel ramp, a third loading / unloading driven roller mounted at the front end of the shovel ramp, a fourth loading / unloading driven roller mounted at the rear of the sliding side plate, and a fifth loading / unloading driven roller slidably mounted on the loading / unloading side plate; a third conveyor belt is wound around the loading / unloading active roller, and then sequentially clockwise around the first, second, third, fourth, and fifth loading / unloading driven rollers before winding back onto the loading / unloading active roller, forming a closed loop of the third conveyor belt.

[0017] From the description and appendices of the aforementioned patent documents Figure 1 It can be seen that although the automated bagging robot can rotate its forearm mechanism to the blind spots A on both sides, it cannot automatically palletize the goods after they are transferred to the follow-up conveyor mechanism via the forearm mechanism. Palletizing still requires manual labor or additional equipment. Therefore, it still increases the overall loading and unloading time of bagged goods.

[0018] In summary, designing a loading and unloading method for bagged goods in boxcars that eliminates blind spots on both sides of the loading and unloading equipment, reduces the number of steps involved, and improves stacking efficiency, while also automating the stacking process to significantly shorten loading and unloading time, improve railway transportation efficiency, and ensure operator safety, is a pressing technical problem that needs to be solved. Summary of the Invention

[0019] To address the problems existing in the prior art, this invention provides a method for loading and unloading bagged goods in boxcars. This method eliminates blind spots on both sides of the loading and unloading equipment, reduces the number of steps involved in loading and unloading bagged goods, improves stacking efficiency, and automatically performs stacking operations during the loading and unloading of bagged goods. This greatly shortens the loading and unloading time of bagged goods, improves the efficiency of railway transportation, and ensures the safety of operators.

[0020] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: a method for loading and unloading bagged goods in a boxcar, wherein the two sides of the loading and unloading machine are divided into a working area one and a working area two. The working area one includes a normal operation area B located in front of the loading and unloading machine and an operation blind area A located on both sides of the normal operation area B. The unloading machine is designed as a main body and a goods extraction part.

[0021] During unloading, the main body of the loading and unloading machine remains stationary. The bagged goods located in the normal operation area B and blind operation area A of the working area one inside the boxcar are transported to the working area two and stacked. Then, the stacked bagged goods in the working area two are transported away by the conveying equipment.

[0022] During loading, the main body of the loading and unloading machine remains stationary. The bagged goods located in work area two are transported to the normal operation area B and the blind operation area A in work area one and stacked through the cargo extraction section. Then, the stacked bagged goods in work area one are transported to the boxcar compartment through the conveying equipment.

[0023] Preferably, the main body is a traveling device, and the cargo extraction part is a three-dimensional moving device, a two-dimensional moving device, and an extraction device; the three-dimensional moving device is mounted on the traveling device, the two-dimensional moving device is mounted on the three-dimensional moving device, and the extraction device is mounted on the two-dimensional moving device.

[0024] When operating in the normal operating area B of working area one, the operation in normal operating area B is completed through the coordinated action of the three-dimensional moving device, the two-dimensional moving device, and the extraction device. When operating in the operation blind area A of working area one, the two-dimensional moving device and the extraction device are first moved to the edge of normal operating area B by the three-dimensional moving device, and then the two-dimensional moving device continues to move, thereby moving the extraction device into operation blind area A, so that the extraction device can be used to perform the operation in extraction operation blind area A.

[0025] Preferably, the length direction of the main traveling device is set as the X1 direction, the width direction of the main traveling device is set as the Y1 direction, and the height direction of the main traveling device is set as the Z1 direction. The three-dimensional moving device includes a column mechanism slidably connected to the main traveling device, a lifting platform mechanism slidably connected to the column of the column mechanism, and a track beam mechanism slidably connected to the lifting platform mechanism. The two-dimensional moving device is set on the track beam of the track beam mechanism, and the extraction device is set on the two-dimensional moving device. The column mechanism can move back and forth along the Y1 direction, the lifting platform mechanism can move back and forth along the Z1 direction, and the track beam mechanism can move back and forth along the X1 direction. Thus, the three-dimensional moving device is constituted by the back and forth movement of the column mechanism, the lifting platform mechanism, and the track beam mechanism in the Y1, Z1, and X1 directions.

[0026] Preferably, the main traveling device includes a frame and a rack arranged on the frame along the Y1 direction. The column mechanism also includes a column platform and a drive motor arranged on the column platform. The column is vertically arranged on the column platform. A drive gear is arranged on the rotating shaft of the drive motor. A slider is arranged at the bottom of the column platform. A guide rail is also arranged on the frame along the Y1 direction. The guide rail and the slider are connected to each other so that the column platform is slidably connected to the frame. The drive gear and the rack are connected to each other so that the drive motor can control the column mechanism to move back and forth along the Y1 direction.

[0027] The lifting platform mechanism includes a lifting platform, an upper sprocket and a lower sprocket are provided on the column, the upper sprocket and the lower sprocket are connected by a chain drive, a second drive motor is also provided on the column platform, the shaft of the second drive motor is connected to the lower sprocket, a second guide rail is provided on the column, and a second slider is provided on the lifting platform. The second slider is connected to the second guide rail, so that the lifting platform is slidably connected to the column. The lifting platform is connected to one side of the chain, so that the second drive motor can control the lifting platform to move back and forth in the Z1 direction.

[0028] The lifting platform is also equipped with a drive motor three and a slider three. A drive gear two is installed on the rotating shaft of the drive motor three. The track beam is arranged along the X1 direction. A rack two and a guide rail three are installed on the track beam. The slider three and the guide rail three are connected to each other, so that the track beam is slidably connected to the lifting platform. The drive gear two and the rack two are connected to each other for transmission, so that the drive motor three can control the track beam to move back and forth along the X1 direction.

[0029] The aforementioned column drives the lifting platform, track beam, two-dimensional moving device, and extraction device to move together along the Y1 direction. The lifting platform drives the track beam, two-dimensional moving device, and extraction device to move together along the Z1 direction, and the track beam drives the two-dimensional moving device and extraction device to move together along the X1 direction, thus forming the aforementioned three-dimensional moving device.

[0030] Preferably, the two-dimensional moving device includes a rack three and a guide rail four mounted on the track beam, the rack three and the guide rail four being arranged along the X1 direction; the two-dimensional moving device also includes a moving platform and a drive motor four mounted on the moving platform, a drive gear three being mounted on the output shaft of the drive motor four, and a slider four being mounted on the moving platform, the slider four and the guide rail four being connected to each other so that the moving platform is slidably connected to the track beam, and the drive gear three is connected to the rack three for transmission, so that the drive motor four can control the moving platform to move back and forth along the X1 direction;

[0031] The two-dimensional moving device also includes a moving crossbeam, which is arranged along the Y1 direction. A drive motor five and a slider five are also arranged on the moving platform. A drive gear four is arranged on the rotating shaft of the drive motor five. A rack four and a guide rail five are arranged on the moving crossbeam. The slider five and the guide rail five are connected to each other so that the moving crossbeam is slidably connected to the moving platform. The drive gear four and the rack four are connected to each other for transmission. Thus, the drive motor five can control the moving crossbeam to move back and forth along the Y1 direction. The extraction device is arranged on the moving crossbeam.

[0032] The aforementioned mobile platform drives the moving beam and extraction device to move together along the X1 direction, and the moving beam carries the extraction device to move together along the Y1 direction, thus forming the two-dimensional mobile device.

[0033] Preferably, the unloading procedure for bagged goods in the normal operation area B of work area one is as follows:

[0034] Step 1: Control the movement of the main traveling device so that the length direction X1 of the main traveling device is set along the line connecting work area 1 and work area 2;

[0035] Step 2: Control the track beam and moving crossbeam to move together along the X1 direction to the position above the bagged goods to be picked up in the normal operation area B of the work area one. Then control the lifting platform to descend along the Z1 direction to drive the extraction device to move down. Use the extraction device to suck up the bagged goods to be picked up. Then control the lifting platform to rise, driving the extraction device and the bagged goods to be picked up to move up together.

[0036] Step 3: After moving upwards to the correct position, control the track beam and the moving crossbeam to move in the opposite direction along X1 to work area 2;

[0037] Step 4: Control the lifting platform to descend, causing the extraction device and the bagged goods to be retrieved to move down together. After they have moved to the correct position, control the extraction device to release the bagged goods to be retrieved, and then control the lifting platform to rise, causing the extraction device to move up.

[0038] Repeat the operations between steps two and four above to remove the bagged goods from the normal operation area B of work area one and transport them to work area two for palletizing.

[0039] Preferably, the unloading steps for bagged goods in blind spot A of work area one are as follows:

[0040] Step S1: Control the main traveling device to move so that the length direction X1 of the main traveling device is set along the line connecting working area one and working area two;

[0041] Step S2: Control the column to move along the Y1 direction to the edge of the main traveling device, so that the column is close to the operation blind zone A. Then control the track beam and the moving crossbeam to move together along the X1 direction to the position above the bagged goods to be picked up in the operation blind zone A of the work area. Then control the lifting platform to descend along the Z1 direction to drive the extraction device to move down. Use the extraction device to suck up the bagged goods to be picked up. Then control the lifting platform to rise, driving the extraction device and the bagged goods to be picked up to move up together.

[0042] Step S3: After moving to the correct position, control the column to drive the track beam, moving crossbeam, extraction device, and the bagged goods to be retrieved to move in the opposite direction along the Y1 direction;

[0043] Step S4: After moving into position, control the track beam and the moving crossbeam to move together in the reverse direction along X1 to the second working area;

[0044] Step S5: Control the lifting platform to descend, causing the extraction device and the bagged goods to be retrieved to move down together. After moving down to the correct position, control the extraction device to release the bagged goods to be retrieved, and then control the lifting platform to rise, causing the extraction device to move up.

[0045] Repeat the operations between steps S2 and S5 to remove the bagged goods from blind spot A in work area one and transport them to work area two for palletizing.

[0046] Preferably, the steps for transporting bagged goods from the work area to the normal operation area B of work area one for palletizing are as follows:

[0047] Step A1: Control the movement of the main traveling device so that the length direction X1 of the main traveling device is set along the line connecting work area one and work area two;

[0048] Step A2: Control the track beam and the moving crossbeam to move together along the X1 direction to the position above the bagged goods to be picked up in the second working area. Then control the lifting platform to descend along the Z1 direction to drive the extraction device to move down. Use the extraction device to suck up the bagged goods to be picked up. Then control the lifting platform to rise, driving the extraction device and the bagged goods to be picked up to move up together.

[0049] Step A3: After moving upwards to the correct position, control the track beam and the moving crossbeam to move in the opposite direction along the X1 direction to the normal operation area B of work area one;

[0050] Step A4: Control the lifting platform to descend, causing the extraction device and the bagged goods to be retrieved to move down together. After moving down to the correct position, control the extraction device to release the bagged goods to be retrieved, and then control the lifting platform to rise, causing the extraction device to move up.

[0051] Repeat steps A2 to A4 above to transport the bagged goods in work area two to the normal operation area B of work area one for palletizing.

[0052] Preferably, the steps for transporting bagged goods from the work area to blind spot A in work area one for palletizing are as follows:

[0053] Step B1: Control the main traveling device to move so that the length direction X1 of the main traveling device is set along the line connecting work area one and work area two;

[0054] Step B2: Control the track beam and the moving crossbeam to move together along the X1 direction to the position above the bagged goods to be picked up in the second working area. Then control the lifting platform to descend along the Z1 direction to drive the extraction device to move down. Use the extraction device to suck up the bagged goods to be picked up. Then control the lifting platform to rise, driving the extraction device and the bagged goods to be picked up to move up together.

[0055] Step B3: Control the column to move along the Y1 direction to the edge of the main traveling device, so that the column is close to the operation blind zone A. Then control the track beam, moving crossbeam, extraction device and the bagged goods to be picked up to move together along the X1 direction to the upper position in the operation blind zone A of the work area. Then control the lifting platform to descend along the Z1 direction to drive the extraction device to move down and use the extraction device to release the bagged goods to be picked up. Then control the lifting platform to rise.

[0056] Step B4: After moving upwards to the correct position, control the column to drive the track beam, moving crossbeam, and extraction device to move in the opposite direction along Y1.

[0057] After the goods are moved into place, repeat the operations between steps B2 and B4 to transport the bagged goods in work area two to the blind spot A of work area one for palletizing.

[0058] Preferably, the extraction device includes a top seat and a suction mechanism disposed on the bottom surface of the top seat. A slider six and a drive motor six are also disposed on the top seat. A drive gear five is disposed on the rotating shaft of the drive motor six. A guide rail six and a rack five are also disposed on the moving crossbeam along the Y1 direction.

[0059] The top seat is slidably connected to the moving crossbeam by the cooperation of slider six and guide rail six. The drive gear five is connected to rack five for transmission, so the drive motor six can control the top seat to drive the suction mechanism to move back and forth along the Y1 direction.

[0060] Once the moving crossbeam is in place, the position of the suction mechanism is adjusted by controlling the movement of the suction mechanism on the moving crossbeam.

[0061] The beneficial effects of this invention are as follows: It eliminates the blind spots on both sides of the front position of the loading and unloading equipment, reduces the number of steps involved in loading and unloading bagged goods, improves palletizing efficiency, and automatically performs palletizing operations during the loading and unloading of bagged goods, thereby greatly shortening the loading and unloading time of bagged goods, improving railway transportation production efficiency, and ensuring the safety of operators. Through the design of specific operating methods, during unloading, the coordinated actions of the three-dimensional moving device, the two-dimensional moving device, and the extraction device enable the extraction of bagged goods from the normal operating area B and the blind spot A, and the movement of the extracted bagged goods to work area two for automatic stacking. During loading, the coordinated actions of the three-dimensional moving device, the two-dimensional moving device, and the extraction device transport the bagged goods conveyed by the conveyor belt to the normal operating area B and the blind spot A of work area one for palletizing, thus enabling the stacking of multiple pallets in work area one. By controlling the suction mechanism to move back and forth on the moving beam, the operating position can be further adjusted, making the suction mechanism more adaptable to actual working conditions. Attached Figure Description

[0062] Figure 1 A schematic diagram of the main structure of a boxcar containing bagged goods;

[0063] Figure 2 A top view of the structure of a boxcar containing bagged goods;

[0064] Figure 3 This is a schematic diagram of the loading process in the existing technology.

[0065] Figure 4 This is a schematic diagram of the unloading process in the existing technology;

[0066] Figure 5 This is a schematic diagram showing the positional relationship of the loading and unloading machine during operation in this invention;

[0067] Figure 6 This is a schematic diagram showing the positional relationship of the loading and unloading machine outside the carriage during unloading.

[0068] Figure 7 This is a schematic diagram showing the positional relationship of the loading and unloading machine inside the carriage during unloading.

[0069] Figure 8 This is a schematic diagram showing the positional relationship of the loading and unloading machines during loading operations in this invention;

[0070] Figure 9 This is a schematic diagram illustrating the structural principle of the loading and unloading machine in this invention;

[0071] Figure 10 This is a top view of the loading and unloading machine in this invention;

[0072] Figure 11 This is a three-dimensional structural diagram of the loading and unloading machine in this invention;

[0073] Figure 12 This is a three-dimensional connection diagram of the column mechanism, lifting platform mechanism and track beam mechanism in the loading and unloading machine of the present invention.

[0074] Figure 13 for Figure 12 A partial three-dimensional structural diagram of the bottom part of the lifting platform mechanism;

[0075] Figure 14 This is a partial three-dimensional structural diagram of the connection structure between the column, lifting platform and track beam in the loading and unloading machine of the present invention;

[0076] Figure 15 This is a partial three-dimensional structural diagram of the connection structure between the lifting platform and the track beam in the loading and unloading machine of the present invention;

[0077] Figure 16 for Figure 11 Enlarged structural diagram of section C;

[0078] Figure 17 This is a three-dimensional structural diagram of the two-dimensional moving device in the loading and unloading machine of the present invention;

[0079] Figure 18 This diagram illustrates the process of the loading and unloading machine of the present invention transporting bagged goods from the normal operation area B of work area one to work area two for stacking during unloading. Figure 1 ;

[0080] Figure 19 This diagram illustrates the process of the loading and unloading machine of the present invention transporting bagged goods from the normal operation area B of work area one to work area two for stacking during unloading. Figure 1 ;

[0081] Figure 20 This diagram illustrates the process of the loading and unloading machine of the present invention transporting bagged goods from blind spot A in work area one to work area two for palletizing during unloading. Figure 1 ;

[0082] Figure 21 This diagram illustrates the process of the loading and unloading machine of the present invention transporting bagged goods from blind spot A in work area one to work area two for palletizing during unloading. Figure 2 ;

[0083] Figure 22 This diagram illustrates the process of the loading and unloading machine of the present invention transporting bagged goods from blind spot A in work area one to work area two for palletizing during unloading. Figure 3 ;

[0084] Figure 23 for Figure 17 A partial three-dimensional structural diagram of the suction mechanism located in the center;

[0085] Figure 24 This is a three-dimensional structural diagram of the suction mechanism in the loading and unloading machine of the present invention;

[0086] Figure 25 This is a three-dimensional structural diagram of the suction mechanism of the present invention after removing the top seat;

[0087] Figure 26 A schematic diagram illustrating the principle of controlling the suction mechanism of this invention to pick up tilted bagged goods. Figure 1 ;

[0088] Figure 27 A schematic diagram illustrating the principle of controlling the suction mechanism of this invention to pick up tilted bagged goods. Figure 2 ;

[0089] Figure 28 A schematic diagram illustrating the principle of controlling the suction mechanism of this invention to pick up tilted bagged goods. Figure 3 ;

[0090] In the diagram: 1. Carriage, 2. Carriage door, 3. Bagged goods, 4. Forklift, 5. Conveyor belt, 6. Pallet, 7. Worker, 8. Loading / unloading machine, 9. Work area one, 10. Work area two, 11. Main traveling device, 111. Frame, 112. Rack one, 113. Guide rail one, 12. Three-dimensional moving device, 13. Two-dimensional moving device, 14. Lifting device, 141. Top seat, 142. Suction mechanism, 143. Slider six, 144. Drive motor six, 145. Drive gear 5. 15. Column Mechanism, 151. Column, 152. Column Platform, 153. Drive Motor 1, 154. Drive Gear 1, 155. Slider 1, 156. Drive Motor 2, 16. Lifting Platform Mechanism, 161. Lifting Platform, 17. Track Beam Mechanism, 171. Track Beam, 18. Four Traveling Steering Wheels, 19. Upper Sprocket, 20. Lower Sprocket, 21. Chain, 22. Guide Rail 2, 23. Drive Motor 3, 24. Slider 3, 25. Drive Gear 2, 26. 27. Rack 2, 28. Guide rail 3, 29. Rack 3, 30. Guide rail 4, 31. Moving platform, 32. Drive motor 4, 33. Drive gear 3, 34. Slider 4, 35. Moving crossbeam, 36. Drive motor 5, 37. Slider 5, 38. Drive gear 4, 39. Rack 4, 40. Guide rail 5, 41. Guide rail 6, 42. Rack 5, 43. Electric cylinder, 44. Transmission gear set, 45. Transmission rack, 46. Intermediate plate, 47. Suction cup, 48. Rotating shaft, 49. 49. Rotating shaft gear; 50. Negative pressure generating device; 51. Air pipe; 52. Power supply box; 53. Connecting rod one; 54. Connecting rod two; 55. Ball joint bearing one; 56. Ball joint bearing two; 57. Adjusting nut one; 58. Adjusting nut two; 59. Return spring one; 60. Return spring two; 61. Nut one; 62. Nut two; 63. Buffer spring one; 64. Buffer spring two; 65. Buffer spring three; 66. Buffer spring four; A. Operation blind zone; B. Normal operation zone. Detailed Implementation

[0091] The technical solution of the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0092] like Figure 5 As shown, a method for loading and unloading bagged goods in a covered wagon involves dividing the two sides of the loading / unloading machine 8 into a first working area 9 and a second working area 10. The first working area 9 includes a normal operating area B located in front of the loading / unloading machine 8 and blind operating areas A located on both sides of the normal operating area B.

[0093] During unloading, work area 1 (9) is located inside the boxcar, while the positions of loading / unloading machine 8 and work area 2 (10) change, such as... Figure 6As shown, when unloading begins and the boxcar is full of goods, the loading and unloading machine 8 cannot enter the boxcar. Therefore, at the beginning of unloading, the loading and unloading machine 8 and the second work area 10 are located outside the boxcar 1. The loading and unloading machine 8 removes the bagged goods from the first work area 9 located at the boxcar door 2 and transports them to the second work area 10 for stacking. The bagged goods are then removed. Figure 7 As shown, after working for a period of time, when enough space is available inside the boxcar 1 to accommodate the loading and unloading machine 8, the loading and unloading machine 8 is controlled to enter the boxcar 1. At this time, the second working area 10 is also located inside the boxcar 1. First, the loading and unloading machine 8 is controlled to unload goods along the length direction (X direction) of the boxcar 1 towards one side of the boxcar 1. After unloading is completed, the loading and unloading machine 8 is controlled to unload goods towards the opposite side of the boxcar 1 (e.g., ...). Figure 7 As shown by the arrows in the diagram (the dashed box in the diagram indicates the positional relationship between the loading / unloading machine and the work area when unloading on the other side), the unloading work of the covered wagon compartment 1 is finally completed. During unloading, the loading / unloading machine 8 removes the bagged goods located in work area 9 of the covered wagon compartment 1 and transports them to work area 10 for stacking. The stacked bagged goods are then transported out by forklifts and other equipment.

[0094] When loading, such Figure 8 As shown, work area 1 (9), loading and unloading machine 8, and work area 2 (10) are all located outside the boxcar. Loading and unloading machine 8 transports the bagged goods conveyed by conveyor belt 5 in work area 2 (10) to work area 1 (9) for stacking. After stacking, the goods are then transported into the boxcar 1 by forklifts and other equipment.

[0095] like Figure 9 As shown, in order to solve the problems mentioned in the background art, the loading and unloading machine 8 in this application has been redesigned. The loading and unloading machine 8 includes a main traveling device 11, a three-dimensional moving device 12 is designed on the main traveling device 11, and a two-dimensional moving device 13 is added on the three-dimensional moving device 12. The extraction device 14 for extracting bagged goods 3 is set on the two-dimensional moving device 13.

[0096] When operating in the work area 9, the interaction of the three-dimensional moving device 12, the two-dimensional moving device 13, and the extraction device 14 not only allows operation in the normal operating area B, but also enables operation in the blind area A when operation is required. The three-dimensional moving device 12 moves the two-dimensional moving device 13 and the extraction device 14 to the edge of the normal operating area B, and then the two-dimensional moving device 13 continues to move, thereby moving the extraction device 14 into the blind area A, allowing operation to be performed in the blind area A using the extraction device 14. In this way, during the unloading process, the main body of the loading and unloading machine 8, namely the main traveling device 11, does not need to move. Through the coordinated actions of the three-dimensional moving device 12, the two-dimensional moving device 13, and the extraction device 14, the bagged goods 3 in the normal operation area B and the blind operation area A can be extracted and moved to the work area 10 for automatic stacking. During the loading process, since the blind operation area A is eliminated, the main body of the loading and unloading machine 8 also does not need to move. Through the coordinated actions of the three-dimensional moving device 12, the two-dimensional moving device 13, and the extraction device 14, the bagged goods 3 transported by the conveyor belt 5 can be transported to the normal operation area B and the blind operation area A of the work area 9 for stacking, thereby enabling the stacking of multiple pallets in the work area 9. In summary, this invention eliminates the blind spots on both sides of the front position of the loading and unloading equipment, reduces the number of steps involved in loading and unloading bagged goods, improves the efficiency of stacking, and can automatically perform stacking operations when loading and unloading bagged goods, thereby greatly shortening the loading and unloading time of bagged goods, improving the efficiency of railway transportation production, and ensuring the safety of operators.

[0097] Example: Specifically, such as Figure 10 and Figure 11 As shown, the length direction of the main traveling device 11 is set as the X1 direction, the width direction of the main traveling device 11 is set as the Y1 direction, and the height direction of the main traveling device 11 is set as the Z1 direction. The three-dimensional moving device 12 includes a column mechanism 15 slidably connected to the main traveling device 11, a lifting platform mechanism 16 slidably connected to the column 151 of the column mechanism 15, and a track beam mechanism 17 slidably connected to the lifting platform mechanism 16. The two-dimensional moving device 13 is disposed on the track beam 171 of the track beam mechanism 17, and the extraction device 14 is disposed on the two-dimensional moving device 13. The column mechanism 15 can move back and forth along the Y1 direction, the lifting platform mechanism 16 can move back and forth along the Z1 direction, and the track beam mechanism 17 can move back and forth along the X1 direction. Thus, the three-dimensional moving device 12 is constituted by the back and forth movement of the column mechanism 15, the lifting platform mechanism 16, and the track beam mechanism 17 in the Y1, Z1, and X1 directions.

[0098] like Figures 10 to 13As shown, the main running gear 11 includes an I-shaped frame 111, a rack 112 arranged along the Y1 direction on the I-shaped frame 111, and four running wheels 18 mounted at the bottom of the I-shaped frame 111. In this embodiment, the running wheels 18 are horizontal. By controlling the movement of the four running wheels 18, the movement of the main running gear 11 can be controlled, and the position and direction of the main running gear 11 can be adjusted.

[0099] The column mechanism 15 also includes a column platform 152 and a drive motor 153 mounted on the column platform 152. The column 151 is vertically mounted on the column platform 152. The shaft of the drive motor 153 passes through the column platform 152 and is fixedly connected to a drive gear 154. A slider 155 is provided at the bottom of the column platform 152, and a guide rail 113 is also provided along the Y1 direction on the I-shaped frame 111. The guide rail 113 and the slider 155 are connected to each other, allowing the column platform 152 to slide on the I-shaped frame 111. The drive gear 154 is connected to the rack 112, allowing the drive motor 153 to control the column mechanism 15 to move back and forth along the Y1 direction. The drive motor 153 is a servo motor.

[0100] like Figure 13 and Figure 14 As shown, the lifting platform mechanism 16 includes a lifting platform 161. An upper sprocket 19 and a lower sprocket 20 are mounted on the column 151, connected by a chain 21. A second drive motor 156 is mounted on the column platform 151, with its shaft engaging with the lower sprocket 20, making the lower sprocket 20 the driving wheel and the upper sprocket 19 the driven wheel. A second guide rail 22 is mounted on the column 151, and a second slider (not shown) is mounted on the lifting platform 161. The slider engages with the guide rail 22, allowing the lifting platform 161 to slide on the column 151. The lifting platform 161 is connected to one side of the chain 21, enabling the second drive motor 156 to control its reciprocating movement along the Z1 direction. The second drive motor 156 is a servo motor. Here, the column 151 has a rectangular cross-section, with its sides including two oppositely arranged sides 1 and 4, and two oppositely arranged sides 2 and 3. Four guide rails 22 are provided, with two guide rails 22 located on side 1 of the column 151, and the other two on opposite sides 2 and 3 of the column. Correspondingly, four sliders 2 are also provided on the lifting platform 161. This arrangement improves the load-bearing capacity of the lifting platform, mainly to support the weight of the track beam mechanism 17, the two-dimensional moving device 13, the extraction device 14, and the bagged goods 3 during operation.

[0101] like Figure 14 and Figure 15 As shown, a drive motor 23 and a slider 24 are also provided on the lifting platform 161. A drive gear 25 is provided on the rotating shaft of the drive motor 23. The track beam 171 is arranged along the X1 direction. A rack 26 and a guide rail 27 are provided on the track beam 171. The slider 24 and the guide rail 27 are connected by cooperation, so that the track beam 171 is slidably connected to the lifting platform 161. The drive gear 25 and the rack 26 are connected by cooperation, so the drive motor 23 can control the track beam 171 to move back and forth along the X1 direction. The drive motor 23 is a servo motor.

[0102] The three-dimensional moving device 12 is formed by the lifting platform 161, the track beam 171, the two-dimensional moving device 13 and the extraction device 14 moving together along the Y1 direction via the column 151, the track beam 171, the two-dimensional moving device 13 and the extraction device 14 moving together along the Z1 direction via the lifting platform 161, and the two-dimensional moving device 13 and the extraction device 14 moving together along the X1 direction via the track beam 171.

[0103] The connection relationship between the three-dimensional moving device 12, the two-dimensional moving device 13, and the extraction device 14 is described below.

[0104] like Figure 16 and Figure 17 As shown, the two-dimensional moving device 13 includes a rack 28 and a guide rail 29 mounted on the track beam 171, with the rack 28 and guide rail 29 arranged along the X1 direction. The two-dimensional moving device 13 also includes a moving platform 30 and a drive motor 31 mounted on the moving platform 30. A drive gear 32 is mounted on the output shaft of the drive motor 31. A slider 33 is also mounted on the moving platform 30. The slider 33 and guide rail 29 are connected to each other, allowing the moving platform 30 to slide on the track beam 171. The drive gear 32 and rack 28 are connected for transmission, thus the drive motor 31 can control the moving platform 30 to move back and forth along the X1 direction. The drive motor 31 is a servo motor. The track beam 171 also has a rectangular cross-section. Two guide rails 3 27 are provided, and the two guide rails 3 27 are provided on a pair of adjacent sides of the track beam 171. Two guide rails 4 29 are also provided, and the two guide rails 4 29 are provided on another pair of adjacent sides of the track beam 171.

[0105] The two-dimensional moving device 13 also includes a moving crossbeam 34, which is arranged along the Y1 direction. A drive motor 35 and a slider 36 are also provided on the moving platform 30. A drive gear 37 is provided on the rotating shaft of the drive motor 35. A rack 38 and a guide rail 39 are provided on the moving crossbeam 34. The slider 36 and the guide rail 39 are connected to each other, allowing the moving crossbeam 34 to slide on the moving platform 30. The drive gear 37 and the rack 38 are connected for transmission, allowing the drive motor 35 to control the moving crossbeam 34 to move back and forth along the Y1 direction. The drive motor 35 is a servo motor. The extraction device 14 is mounted on the moving crossbeam 34. Here, as... Figure 17 As shown, guide rail 39 is located on the top of the moving crossbeam 34, and slider 36 is set on the bottom of the moving platform 30. The cross-section of slider 36 is dovetail-shaped, and the cross-section of guide rail 39 is also set as dovetail-shaped. Thus, the dovetail structure formed by the cooperation of slider 36 and guide rail 39 can withstand a sufficiently large weight. That is, after the connection, the moving platform 30 can bear the weight of the moving crossbeam 34, the extraction device 14 set on the moving crossbeam 34, and the bagged goods 3 extracted by the extraction device 14.

[0106] The mobile platform 30 drives the mobile beam 34 and the extraction device 14 to move together along the X1 direction, and the mobile beam 34 drives the extraction device 14 to move together along the Y1 direction, thereby forming the two-dimensional mobile device 13.

[0107] like Figure 18 and Figure 19 As shown, the unloading steps for bagged goods in normal operating area B of work area 9 are as follows:

[0108] Step 1: Control the main traveling device 11 to move so that the length direction X1 of the main traveling device 11 is set along the line connecting the working area 19 and the working area 20.

[0109] Step 2: Control the track beam 171 and the moving crossbeam 34 to move together along the X1 direction to the position above the bagged goods 3 to be picked up in the normal operation area B of the work area 9. Then control the lifting platform (not shown in the figure) to descend along the Z1 direction to drive the extraction device 14 to move down. Use the extraction device 14 to suck up the bagged goods 3 to be picked up. Then control the lifting platform (not shown in the figure) to rise, driving the extraction device 14 and the bagged goods 3 to be picked up to move up together.

[0110] Step 3: After moving upwards to the correct position, control the track beam 171 and the moving crossbeam 34 to move in the opposite direction along the X1 direction to the working area 2 10;

[0111] Step 4: Control the lifting platform (not shown in the figure) to descend, causing the extraction device 14 and the bagged goods 3 to be taken to move down together. After moving down to the position, control the extraction device 14 to release the bagged goods 3 to be taken, and then control the lifting platform (not shown in the figure) to rise, causing the extraction device 14 to move up.

[0112] Repeat the operations between steps two and four above to remove the bagged goods from the normal operation area B of work area one 9 and transport them to work area two 10 for palletizing.

[0113] like Figures 20 to 22 As shown, the steps for unloading bagged goods in blind spot A of work area 9 are as follows:

[0114] Step S1: Control the main traveling device 11 to move so that the length direction X1 of the main traveling device 11 is set along the line connecting the working area 11 and the working area 210.

[0115] Step S2: Control the column 151 to move along the Y1 direction to the edge of the main traveling device 11, so that the column 151 is close to the operation blind zone A. Then control the track beam 171 and the moving crossbeam 34 to move together along the X1 direction to the position above the bagged goods 3 to be picked up in the operation blind zone A of the work area 9. Then control the lifting platform (not shown in the figure) to descend along the Z1 direction to drive the extraction device 14 to move down. Use the extraction device 14 to suck up the bagged goods 3 to be picked up. Then control the lifting platform (not shown in the figure) to rise, driving the extraction device 14 and the bagged goods 3 to be picked up to move up together.

[0116] Step S3: After moving up to the position, control column 151 drives track beam 171, moving crossbeam 34, extraction device 14 and the bagged goods to be taken 3 to move in the opposite direction along Y1.

[0117] Step S4: After moving into position, control the track beam 171 and the moving crossbeam 34 to move in the opposite direction along the X1 direction to the working area 2 10;

[0118] Step S5: Control the lifting platform (not shown in the figure) to descend, causing the extraction device 14 and the bagged goods 3 to be taken to move down together. After moving down to the position, control the extraction device 14 to release the bagged goods 3 to be taken, and then control the lifting platform (not shown in the figure) to rise, causing the extraction device 14 to move up.

[0119] Repeat the operations between steps S2 and S5 to remove the bagged goods from blind spot A of work area 19 and transport them to work area 20 for palletizing.

[0120] The loading and unloading processes are the reverse (see diagram for reference). Figure 19 and Figure 18 According to Figures 19 to 18 The sequence of steps (i.e., transporting bagged goods from work area 10 to normal operation area B of work area 9 for palletizing) is as follows:

[0121] Step A1: Control the main traveling device 11 to move so that the length direction X1 of the main traveling device 11 is set along the line connecting the first working area 9 and the second working area 10.

[0122] Step A2: Control the track beam 171 and the moving crossbeam 34 to move together along the X1 direction to the position above the bagged goods 3 to be picked up in the work area 2 10. Then control the lifting platform (not shown in the figure) to descend along the Z1 direction to drive the extraction device 14 to move down. Use the extraction device 14 to suck up the bagged goods 3 to be picked up. Then control the lifting platform (not shown in the figure) to rise, driving the extraction device 14 and the bagged goods 3 to be picked up to move up together.

[0123] Step A3: After moving upwards to the correct position, control the track beam 171 and the moving crossbeam 34 to move in the opposite direction along the X1 direction to the normal operation area B of the work area 9;

[0124] Step A4: Control the lifting platform (not shown in the figure) to descend, causing the extraction device 14 and the bagged goods 3 to be taken to move down together. After moving down to the position, control the extraction device 14 to release the bagged goods 3 to be taken, and then control the lifting platform (not shown in the figure) to rise, causing the extraction device 14 to move up.

[0125] Repeat the operations between steps A2 and A4 above to transport the bagged goods in work area 2 10 to the normal operation area B of work area 1 9 for palletizing.

[0126] The steps for transporting bagged goods from work area 10 to blind spot A in work area 9 for palletizing are as follows (see diagram for reference). Figures 20 to 22 According to Figures 22 to 20 arrive Figure 21 (in order)

[0127] Step B1: Control the main traveling device 11 to move so that the length direction X1 of the main traveling device 11 is set along the line connecting the working area 19 and the working area 20.

[0128] Step B2: Control the track beam 171 and the moving crossbeam 34 to move together along the X1 direction to the position above the bagged goods 3 to be picked up in the work area 2 10. Then control the lifting platform (not shown in the figure) to descend along the Z1 direction to drive the extraction device 14 to move down. Use the extraction device 14 to suck up the bagged goods 3 to be picked up. Then control the lifting platform (not shown in the figure) to rise, driving the extraction device 14 and the bagged goods 3 to be picked up to move up together.

[0129] Step B3: Control the column 151 to move along the Y1 direction to the edge of the main traveling device 11, so that the column 151 is close to the operation blind zone A. Then control the track beam 171, the moving crossbeam 34, the extraction device 14 and the bagged goods 3 to be taken to move together along the X1 direction to the upper position in the operation blind zone A of the work area 9. Then control the lifting platform (not shown in the figure) to descend along the Z1 direction to drive the extraction device 14 to move down, and use the extraction device 14 to release the bagged goods 3 to be taken. Then control the lifting platform (not shown in the figure) to rise.

[0130] Step B4: After moving upwards to the correct position, control column 151 to drive track beam 171, moving crossbeam 34 and extraction device 14 to move in the opposite direction along Y1.

[0131] After the goods are moved into place, repeat the operations between steps B2 and B4 to transport the bagged goods in work area 2 10 to the blind spot A of work area 1 9 for palletizing.

[0132] Therefore, through the specific operating methods described above, during unloading, the coordinated actions of the three-dimensional moving device, the two-dimensional moving device, and the extraction device enable the extraction of bagged goods from the normal operating area B and the blind operating area A, and the movement of the extracted bagged goods to work area two for automatic stacking. During loading, the coordinated actions of the three-dimensional moving device, the two-dimensional moving device, and the extraction device enable the transport of bagged goods from the conveyor belt to the normal operating area B and the blind operating area A of work area one for stacking, thus allowing for the stacking of multiple pallets in work area one. In summary, this embodiment significantly reduces the number of steps involved in loading and unloading bagged goods, improves stacking efficiency, and automatically performs stacking operations during the loading and unloading of bagged goods, thereby greatly shortening the loading and unloading time of bagged goods and improving the production efficiency of railway transportation.

[0133] The connection structure between the extraction device 14 and the moving crossbeam 34 is described below: In this embodiment, the extraction device 14 adopts a suction mechanism, which is used to pick up and put down bagged goods. Alternatively, the extraction device 14 can be a mechanical gripper, which picks up and puts down bagged goods through gripper action.

[0134] like Figure 17 and Figure 23 As shown, the extraction device 14 includes a top seat 141 and a suction mechanism 142 disposed on the bottom surface of the top seat 141. A slider 143 and a drive motor 144 are also disposed on the top seat 141. A drive gear 145 is disposed on the rotating shaft of the drive motor 144. A guide rail 40 and a rack 41 are also disposed on the moving crossbeam 34 along the Y1 direction.

[0135] The top seat 141 is slidably connected to the moving crossbeam 34 by the cooperation of the slider 6 143 and the guide rail 6 40. The drive gear 5 145 is connected to the rack 5 41 for transmission, so the drive motor 6 144 can control the top seat 141 to drive the suction mechanism 142 to move back and forth along the Y1 direction.

[0136] Through the above design, the suction mechanism 142 can move back and forth on the moving crossbeam 34, thereby further adjusting the operating position and making the suction mechanism more adaptable to actual working conditions.

[0137] like Figure 24 As shown, the suction mechanism 142 includes an electric cylinder 42 mounted on the top seat 141 and a transmission gear set 43 rotatably connected to the top seat 141. In this embodiment, the transmission gear set 43 has two meshing gears. The electric cylinder 42 is a servo electric cylinder. A transmission rack 44 is provided on the output shaft of the electric cylinder 42. The suction mechanism 142 also includes an intermediate plate 45 and a long strip-shaped suction cup 46. The long strip-shaped suction cup 46 is located below the intermediate plate 45. A rotating shaft 47 is provided on the top of the intermediate plate 45. One end of the rotating shaft 47 is fixed to the intermediate plate 45, and the other end of the rotating shaft 47 passes through the top seat 141 and is rotatably connected to the top seat 141 through a bearing. A rotating shaft gear 48 is provided on the other end of the rotating shaft 47 passing through the top seat 141. The rotating shaft gear 48 is connected to the transmission rack 44 through a transmission gear set 43, so that the action of the electric cylinder 42 can drive the intermediate plate 45 and the suction cup 46 to rotate a certain angle on the horizontal plane. In this embodiment, the long strip-shaped suction cup 46 is provided as an elliptical suction cup, but it can also be provided as a rectangular suction cup. This is because the bagged goods are rectangular. The suction cup is designed to be elongated to further enhance its suction power and prevent the bagged goods from falling off during transport. The suction cup 46 is designed to rotate because, during stacking, bagged goods are not all placed in one direction on a horizontal plane; some may be placed horizontally, and others vertically. To ensure that the length of the elongated suction cup 46 aligns with the length of the bagged goods, the angle of the elongated suction cup 46 needs to be adjusted according to the actual placement angle of the bagged goods. Once adjusted, the elongated suction cup 46 is used to pick up the bagged goods, further enhancing its suction power and preventing the bagged goods from falling off during transport. The suction power of the suction cup is generated using a negative pressure generating device, such as... Figure 11 and Figure 24The negative pressure generating device 49 is mounted on the frame 111 of the main traveling device and is connected to the elongated suction cup 46 via an air pipe 50. The negative pressure generating device creates a vacuum suction at the elongated suction cup 46, allowing it to hold the bagged goods. In this embodiment, the negative pressure generating device 49 is a blower. A power supply box 51 is also mounted on the frame 111, and the power supplies for the drive motor, electric cylinder, negative pressure generating device, and other devices are electrically connected to and powered by the power supply box 51.

[0138] like Figure 25 As shown, a connecting rod 52 and a connecting rod 53 are provided on the top of the elongated suction cup 46, and a ball joint bearing 54 and a ball joint bearing 55 are provided on the intermediate plate 45. One end of the connecting rod 52 and the connecting rod 53 is connected to the top of the elongated suction cup 46, and the other end of the connecting rod 52 and the connecting rod 53 passes through the ball joint bearing 54 and the ball joint bearing 55 respectively and is movably connected to the intermediate plate 45 through the ball joint bearing 54 and the ball joint bearing 55. An adjusting nut 56 and an adjusting nut 57 are respectively threaded onto the connecting rod 52 and the connecting rod 53 located between the intermediate plate 45 and the elongated suction cup 46. A return spring 58 and a return spring 59 are respectively sleeved on the connecting rod 52 located between the adjusting nut 56 and the intermediate plate 45 and on the connecting rod 53 located between the adjusting nut 57 and the intermediate plate 45. The above design allows the elongated suction cup 46 to rotate at a certain angle on the vertical plane and return to its initial state via a return spring. This design is because when bagged goods are stacked together, such as... Figure 26 As shown, some of the bagged goods 3 on the upper layer are not placed evenly on the lower layer, resulting in an uneven shape with one end higher than the other, and are tilted on the vertical plane. In order to better adhere the bagged goods 3, the suction cup must also adapt to this tilted shape when suctioning the bagged goods. Therefore, as Figures 26 to 28As shown, in this embodiment, the elongated suction cup 46 is initially horizontal. At this time, let the length of one side of the first return spring 58 be L, and the length of one side of the second return spring 59 also be L. Then, control the intermediate plate 45 to lower the elongated suction cup 46 together. When the elongated suction cup 46 contacts the tilted bagged goods 3, since the intermediate plate 45 does not move, it is subjected to the reaction force of the tilted bagged goods 3, causing the elongated suction cup 46 to swing around the ball joint bearing by a certain angle, so that the state of the elongated suction cup 46 adapts to the tilted bagged goods 3, which is also tilted with one end higher than the other. At this time, one side of the first return spring 58 is compressed by the intermediate plate 45 and the adjusting nut 56, and one side of the second return spring 59 is compressed by the intermediate plate 45 and the adjusting nut 57. Let the length of one side of the first return spring 58 and the length of one side of the second return spring 59 both be L', then L' < L. Once the elongated suction cup 46 adheres to the tilted bagged goods 3, it uses negative pressure to hold the bagged goods 3 in place. Then, the intermediate plate 45 controls the elongated suction cup 46 to rise together. When the intermediate plate 45 returns the elongated suction cup 46 and the sucked-up bagged goods 3 to their initial aerial position, the return force of the return springs 58 and 59 causes the elongated suction cup 46 to swing back an angle to return to its original state, allowing the elongated suction cup 46 and the sucked-up bagged goods 3 to swing to a horizontal position. This design further enhances the suction force of the suction cup, preventing the bagged goods from falling off during transport.

[0139] like Figure 25As shown, the positions of adjusting nut 56 and adjusting nut 57 on the connecting rod are adjustable. By adjusting the positions of adjusting nut 56 and adjusting nut 57, the elastic force of return spring 58 and return spring 59 can be adjusted, thereby increasing the applicability of the suction mechanism 142 and improving its practicality. Nut 60 and nut 61 are threaded to the other ends of connecting rod 52 and connecting rod 53, respectively. A buffer spring 62 is sleeved around the connecting rod 52 located between nut 60 and ball joint bearing 54, and a buffer spring 63 is sleeved around the connecting rod 53 located between nut 61 and ball joint bearing 55. This arrangement can buffer the instantaneous force of the long suction cup 46 descending and contacting the bagged goods 3. When the positions of nuts 60 and 61 on connecting rod 52 and connecting rod 53 are adjusted, the elastic force of buffer springs 62 and 63 can also be adjusted. A buffer spring three 64 is sleeved around the connecting rod one 52 located between the adjusting nut one 56 and the suction cup 46, and a buffer spring four 65 is sleeved around the connecting rod two 53 located between the adjusting nut two 57 and the suction cup 46. This further buffers the instantaneous force exerted when the elongated suction cup 46 descends and contacts the bagged goods 3. When the adjusting nut one 56 and adjusting nut two 57 are adjusted on the connecting rod one 52 and connecting rod two 53, the elastic force of the buffer spring three 64 and buffer spring four 65 can also be adjusted. All of the above springs can be compression springs.

[0140] In summary, this invention eliminates the blind spots on both sides of the front position of the loading and unloading equipment, reduces the number of steps involved in loading and unloading bagged goods, improves palletizing efficiency, and automatically performs palletizing operations during the loading and unloading of bagged goods, thereby greatly shortening the loading and unloading time of bagged goods, improving the production efficiency of railway transportation, and ensuring the safety of operators. Through the design of specific operating methods, during unloading, the coordinated actions of the three-dimensional moving device, the two-dimensional moving device, and the extraction device enable the extraction of bagged goods from the normal operating area B and the blind spot A, and the movement of the extracted bagged goods to work area two for automatic stacking. During loading, the coordinated actions of the three-dimensional moving device, the two-dimensional moving device, and the extraction device transport the bagged goods conveyed by the conveyor belt to the normal operating area B and the blind spot A of work area one for palletizing, thus enabling the stacking of multiple pallets in work area one. By controlling the suction mechanism to move back and forth on the moving beam, the operating position can be further adjusted, making the suction mechanism more adaptable to actual working conditions.

[0141] In the above embodiments, "multiple" refers to "two or more". The above embodiments are for illustrative purposes only and are not intended to limit the invention. Those skilled in the art can make various changes or modifications without departing from the spirit and scope of the invention. Therefore, all equivalent technical solutions should also fall within the protection scope of this invention, which is defined by the claims.

Claims

1. A method for loading and unloading bagged goods in a covered wagon, wherein the two sides of the loading and unloading machine are divided into a working area one and a working area two, characterized in that: The work area includes a normal operation area B located in front of the loading and unloading machine and an operation blind area A located on both sides of the normal operation area B. The loading and unloading machine (8) is designed as a main body and a cargo extraction part. During unloading, the main body of the loading and unloading machine (8) remains stationary. The bagged goods (3) located in the normal operation area B and operation blind area A of the working area one (9) in the boxcar (1) are transported to the working area two (10) and stacked. Then, the stacked bagged goods (3) in the working area two (10) are transported away by the conveying equipment. During loading, the main body of the loading and unloading machine (8) remains stationary. The bagged goods (3) located in the second work area (10) are transported to the normal operation area B and the blind operation area A in the first work area (9) and stacked. Then, the bagged goods (3) stacked in the first work area (9) are transported to the boxcar (1) by the transport equipment. The main body is a walking device (11), and the cargo extraction part is a three-dimensional moving device (12), a two-dimensional moving device (13), and an extraction device (14); the three-dimensional moving device (12) is mounted on the walking device (11), the two-dimensional moving device (13) is mounted on the three-dimensional moving device (12), and the extraction device (14) is mounted on the two-dimensional moving device (13). When operating in the normal operating area B of the working area (9), the operation in the normal operating area B is completed by the mutual action of the three-dimensional moving device (12), the two-dimensional moving device (13) and the extraction device (14); when operating in the operation blind area A of the working area, the two-dimensional moving device (13) and the extraction device (14) are first moved to the edge position of the normal operating area B by the three-dimensional moving device (12), and then the two-dimensional moving device (13) is moved to move the extraction device (14) into the operation blind area A, so that the extraction device (14) can be used to perform the operation in the extraction operation blind area A.

2. The method for loading and unloading bagged goods in a covered wagon according to claim 1, characterized in that: The length direction of the main traveling device (11) is set as the X1 direction, the width direction of the main traveling device (11) is set as the Y1 direction, and the height direction of the main traveling device (11) is set as the Z1 direction; the three-dimensional moving device (12) includes a column mechanism (15) slidably connected to the main traveling device (11), a lifting platform mechanism (16) slidably connected to the column (151) of the column mechanism (15), and a track beam mechanism (17) slidably connected to the lifting platform mechanism (16); the two-dimensional moving device (1) 3) The extraction device (14) is set on the track beam (171) of the track beam mechanism (17), and the two-dimensional moving device (13) is set on the two-dimensional moving device (13); the column mechanism (15) can move back and forth along the Y1 direction, the lifting platform mechanism (16) can move back and forth along the Z1 direction, and the track beam mechanism (17) can move back and forth along the X1 direction. Thus, by the column mechanism (15), the lifting platform mechanism (16) and the track beam mechanism (17) moving back and forth in the Y1 direction, the Z1 direction and the X1 direction, a three-dimensional moving device (12) is formed.

3. The method for loading and unloading bagged goods in a covered wagon according to claim 2, characterized in that: The main traveling device (11) includes a frame (111) and a rack (112) arranged along the Y1 direction on the frame (111). The column mechanism (15) also includes a column platform (152) and a drive motor (153) arranged on the column platform (152). The column (151) is vertically arranged on the column platform (152). A drive gear (154) is arranged on the shaft of the drive motor (153). The bottom of the column platform (152) is provided with a slider (155), and a guide rail (113) is also provided on the frame (111) along the Y1 direction. The guide rail (113) and the slider (155) are connected to each other so that the column platform (152) is slidably connected to the frame (111). The drive gear (154) and the rack (112) are connected to each other so that the drive motor (153) can control the column mechanism (15) to move back and forth along the Y1 direction. The lifting platform mechanism (16) includes a lifting platform (161), an upper sprocket (19) and a lower sprocket (20) are provided on the column (151), the upper sprocket (19) and the lower sprocket (20) are connected by a chain (21), a second drive motor (156) is also provided on the column platform (152), the shaft of the second drive motor (156) is connected to the lower sprocket (20), a second guide rail (22) is provided on the column (151), a second slider is provided on the lifting platform (161), the second slider is connected to the second guide rail (22) to make the lifting platform (161) slide on the column (151), the lifting platform (161) is connected to one side of the chain (21), so that the second drive motor (156) can control the lifting platform (161) to move back and forth in the Z1 direction; A drive motor (23) and a slider (24) are also provided on the lifting platform (161). A drive gear (25) is provided on the shaft of the drive motor (23). The track beam (171) is arranged along the X1 direction. A rack (26) and a guide rail (27) are provided on the track beam (171). The slider (24) and the guide rail (27) are connected to each other, so that the track beam (171) is slidably connected to the lifting platform (161). The drive gear (25) and the rack (26) are connected to each other for transmission, so that the drive motor (23) can control the track beam (171) to move back and forth along the X1 direction. The lifting platform (161), track beam (171), two-dimensional moving device (13) and extraction device (14) move together along the Y1 direction via the aforementioned column (151), and the track beam (171), two-dimensional moving device (13) and extraction device (14) move together along the Z1 direction via the lifting platform (161) and the track beam (171) move together along the X1 direction via the track beam (171), thereby forming the aforementioned three-dimensional moving device (12).

4. The method for loading and unloading bagged goods in a covered wagon according to claim 3, characterized in that: The two-dimensional moving device (13) includes a rack three (28) and a guide rail four (29) set on the track beam (171), the rack three (28) and the guide rail four (29) are set along the X1 direction; the two-dimensional moving device (13) also includes a moving platform (30) and a drive motor four (31) set on the moving platform (30), a drive gear three (32) is set on the output shaft of the drive motor four (31), and a slider four (33) is also set on the moving platform (30). The slider four (33) and the guide rail four (29) are connected to each other so that the moving platform (30) is slidably connected to the track beam (171). The drive gear three (32) is connected to the rack three (28) through transmission, so that the drive motor four (31) can control the moving platform (30) to move back and forth along the X1 direction; The two-dimensional moving device (13) also includes a moving crossbeam (34), which is arranged along the Y1 direction. A drive motor (35) and a slider (36) are also provided on the moving platform (30). A drive gear (37) is provided on the rotating shaft of the drive motor (35). A rack (38) and a guide rail (39) are provided on the moving crossbeam (34). The moving crossbeam (34) is slidably connected to the moving platform (30) by the cooperation of the slider (36) and the guide rail (39). The drive gear (37) and the rack (38) are connected by transmission, so that the moving crossbeam (34) can be controlled to move back and forth along the Y1 direction by the drive motor (35). The extraction device (14) is arranged on the moving crossbeam (34). The aforementioned mobile platform (30) drives the mobile beam (34) and the extraction device (14) to move together along the X1 direction, and the mobile beam (34) drives the extraction device (14) to move together along the Y1 direction, thereby forming the two-dimensional mobile device (13).

5. The method for loading and unloading bagged goods in a covered wagon according to claim 4, characterized in that: During unloading, the steps for unloading bagged goods in normal operation area B of work area 1 (9) are as follows: Step 1: Control the main traveling device (11) to move so that the length direction X1 of the main traveling device (11) is set along the line connecting the first working area (9) and the second working area (10); Step 2: Control the track beam (171) and the moving crossbeam (34) to move together along the X1 direction to the position above the bagged goods (3) to be picked up in the normal operation area B of the work area (9). Then control the lifting platform to descend along the Z1 direction to drive the extraction device (14) to move down. Use the extraction device (14) to suck up the bagged goods (3) to be picked up. Then control the lifting platform to rise, and drive the extraction device (14) and the bagged goods (3) to be picked up to move up together. Step 3: After moving up to the correct position, control the track beam (171) and the moving crossbeam (34) to move in the opposite direction along the X1 direction to the working area 2 (10); Step 4: Control the lifting platform to descend, causing the extraction device (14) and the bagged goods (3) to be taken to move down together. After moving down to the position, control the extraction device (14) to release the bagged goods (3) to be taken, and then control the lifting platform to rise, causing the extraction device (14) to move up. Repeat the operations between steps two and four above to remove the bagged goods from the normal operation area B of work area one (9) and transport them to work area two (10) for palletizing.

6. The method for loading and unloading bagged goods in a covered wagon according to claim 4, characterized in that: During unloading, the steps for unloading bagged goods in blind spot A of work area 1 (9) are as follows: Step S1: Control the main traveling device (11) to move so that the length direction X1 of the main traveling device (11) is set along the line connecting the first working area (9) and the second working area (10); Step S2: Control the column (151) to move along the Y1 direction to the edge of the main traveling device (11), so that the column (151) is close to the operation blind zone A. Then control the track beam (171) and the moving crossbeam (34) to move together along the X1 direction to the position above the bagged goods (3) to be picked up in the operation blind zone A of the work area (9). Then control the lifting platform to descend along the Z1 direction to drive the extraction device (14) to move down. Use the extraction device (14) to suck up the bagged goods (3) to be picked up. Then control the lifting platform to rise, and drive the extraction device (14) and the bagged goods (3) to move up together. Step S3: After moving up to the position, the control column (151) drives the track beam (171), the moving crossbeam (34), the extraction device (14), and the bagged goods to be taken (3) to move in the opposite direction along the Y1 direction; Step S4: After moving into position, control the track beam (171) and the moving crossbeam (34) to move in the opposite direction along the X1 direction to the working area two (10); Step S5: Control the lifting platform to descend and move the extraction device (14) and the bagged goods (3) to be taken down together. After the goods have moved down to the position, control the extraction device (14) to release the bagged goods (3) to be taken. Then control the lifting platform to rise and move the extraction device (14) up. Repeat the operations between steps S2 and S5 to remove the bagged goods from blind spot A of work area one (9) and transport them to work area two (10) for palletizing.

7. The method for loading and unloading bagged goods in a covered wagon according to claim 4, characterized in that: The steps for transporting bagged goods from work area (10) to normal operation area B of work area one (9) for palletizing are as follows: Step A1: Control the main traveling device (11) to move so that the length direction X1 of the main traveling device (11) is set along the line connecting the first working area (9) and the second working area (10); Step A2: Control the track beam (171) and the moving crossbeam (34) to move together along the X1 direction to the position above the bagged goods (3) to be picked up in the second work area (10). Then control the lifting platform to descend along the Z1 direction to drive the extraction device (14) to move down. Use the extraction device (14) to suck up the bagged goods (3) to be picked up. Then control the lifting platform to rise, and drive the extraction device (14) and the bagged goods (3) to be picked up to move up together. Step A3: After moving up to the position, control the track beam (171) and the moving crossbeam (34) to move together in the reverse direction along the X1 direction to the normal operation area B of the work area (9); Step A4: Control the lifting platform to descend, causing the extraction device (14) and the bagged goods (3) to be taken to move down together. After moving down to the position, control the extraction device (14) to release the bagged goods (3) to be taken, and then control the lifting platform to rise, causing the extraction device (14) to move up. Repeat the operations between steps A2 and A4 above to transport the bagged goods in work area two (10) to the normal operation area B of work area one (9) for palletizing.

8. The method for loading and unloading bagged goods in a covered wagon according to claim 4, characterized in that: The steps for transporting bagged goods from work area (10) to blind spot A of work area one (9) for palletizing are as follows: Step B1: Control the main traveling device (11) to move so that the length direction X1 of the main traveling device (11) is set along the line connecting the first working area (9) and the second working area (10); Step B2: Control the track beam (171) and the moving crossbeam (34) to move together along the X1 direction to the position above the bagged goods (3) to be picked up in the second work area (10). Then control the lifting platform to descend along the Z1 direction to drive the extraction device (14) to move down. Use the extraction device (14) to suck up the bagged goods (3) to be picked up. Then control the lifting platform to rise, and drive the extraction device (14) and the bagged goods (3) to be picked up to move up together. Step B3: Control the column (151) to move along the Y1 direction to the edge of the main traveling device (11), so that the column (151) is close to the operation blind zone A. Then control the track beam (171), the moving crossbeam (34), the extraction device (14) and the bagged goods (3) to be taken to move together along the X1 direction to the upper position in the operation blind zone A of the work area (9). Then control the lifting platform to descend along the Z1 direction to drive the extraction device (14) to move down. Use the extraction device (14) to release the bagged goods (3) to be taken. Then control the lifting platform to rise. Step B4: After moving up to the position, control column (151) drives track beam (171), moving crossbeam (34) and extraction device (14) to move in the opposite direction along Y1; After the goods are moved into place, repeat the operation between steps B2 and B4 to transport the bagged goods in work area two (10) to the operation blind zone A of work area one (9) for palletizing.

9. The method for loading and unloading bagged goods in a covered wagon according to any one of claims 5 to 8, characterized in that: The extraction device (14) includes a top seat (141) and a suction mechanism (142) disposed on the bottom surface of the top seat (141). A slider six (143) and a drive motor six (144) are also disposed on the top seat (141). A drive gear five (145) is disposed on the rotating shaft of the drive motor six (144). A guide rail six (40) and a rack five (41) are also disposed on the moving crossbeam (34) along the Y1 direction. The top seat (141) is slidably connected to the moving crossbeam (34) by the cooperation of slider six (143) and guide rail six (40). The drive gear five (145) is connected to the rack five (41) for transmission, so the drive motor six (144) can control the top seat (141) to drive the suction mechanism (142) to move back and forth along the Y1 direction. Once the moving beam (34) is in place, the position of the suction mechanism (142) is adjusted by controlling the suction mechanism (142) to move on the moving beam (34).

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