Mobile folding arm type carriage bulk cargo intelligent leveling device and method
The mobile articulated boom type bulk material intelligent leveling device uses parallel slide rails and lifting devices combined with sensors to achieve intelligent leveling, which solves the problem of uneven accumulation of bulk materials in the car, improves leveling efficiency and equipment stability, and is suitable for bulk material transportation in heavy-duty railway and highway cars.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-23
- Publication Date
- 2026-03-10
AI Technical Summary
In existing technologies, uneven stacking of bulk materials in rail and road transport leads to uneven loading. Relying on manual operation results in low levels of intelligence, and ordinary mechanical equipment is inefficient. There is an urgent need for intelligent equipment to improve the efficiency of flatcars.
The mobile articulated boom type bulk material intelligent leveling device adopts a parallel slide rail and lifting device erected by a frame, combined with articulated boom components and sensors to achieve intelligent leveling. It uses radar ranging sensors to identify the material status and positioning to prevent falling, and adopts an articulated boom telescopic lifting device to avoid deformation and jamming of traditional lifting methods.
It achieves efficient and intelligent leveling of bulk materials in railway and highway wagons, improves work efficiency, ensures leveling effect, and avoids the deformation and jamming problems of traditional equipment. It is suitable for leveling bulk materials in heavy-duty railway and highway wagons.
Smart Images
Figure CN121626731A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application belongs to the field of intelligent mechanical equipment for auxiliary operation of railway and highway transportation, in particular to a mobile folding arm type carriage bulk material intelligent leveling device and method. BACKGROUND
[0002] Bulk materials such as coal, ore, grain, and building materials are the main consumer energy in China, which are mainly transported by railway and highway in inland. Railway transportation has large volume, long distance and wide range, and highway transportation is an important carrier for regional bulk material circulation. Railway open wagon is the main type of railway bulk material transportation, and heavy truck is the main type of highway bulk material transportation. Due to the uneven loading of the carriage, the bulk material in the carriage is not uniform, which may cause uneven loading and affect the safety of transportation. At present, manual leveling operation is mainly relied on. The ordinary mechanical leveling equipment has backward technology and low efficiency, and relies on manual operation with low intelligence, so the carriage bulk material leveling urgently needs advanced intelligent equipment to greatly improve the efficiency of leveling. SUMMARY
[0003] In view of the above defects or deficiencies in the prior art, the present application provides a mobile folding arm type carriage bulk material intelligent leveling device and method to solve the problem of carriage bulk material leveling.
[0004] The purpose of the present application is achieved in that a mobile folding arm type carriage bulk material intelligent leveling device comprises two parallel slides erected in the air through a frame, and a train carriage or a car carriage full of bulk material is parked through the lower side between the two parallel slides, wherein a working platform is arranged on the two parallel slides, the working platform moves on the two parallel slides through rollers driven by a walking motor, a lifting device is arranged on the working platform, the lifting device is provided with a lifting drive motor on the working platform, a drive wheel of the lifting drive motor is wound with a steel wire rope, the steel wire rope is connected downward to a leveling operation device, the leveling operation device is provided with a leveling rake head, rotation of the drive wheel of the lifting drive motor drives the leveling operation device to move up and down through the steel wire rope; when leveling, the drive wheel of the lifting drive motor rotates to lower the steel wire rope to make the leveling operation device move downward to make the leveling rake head enter the carriage, the walking motor is controlled to drive the working platform to move forward and backward to drive the leveling rake head of the leveling operation device to move forward and backward to realize leveling; two groups of folding arm members are arranged between the working platform and the leveling operation device, the two groups of folding arm members are arranged opposite to each other along the direction of the slide and are hinged to the upper end of the leveling operation device to ensure that the leveling operation device is in a horizontal and stable state, each group of folding arm members comprises two folding arms arranged opposite to each other, the lifting drive motor has two, one lifting drive motor corresponds to one group of folding arm members through the steel wire rope, the folding arm comprises an upper arm and a lower arm, the upper arm and the lower arm are rotationally connected through a pin shaft, the upper ends of the upper arms of the two folding arms are hinged to the working platform, the lower ends of the lower arms of the two folding arms are hinged to the upper end of the leveling operation device, and the leveling operation device moves up and down to drive the upper arms and the lower arms to fold around the pin shaft to contract and expand.
[0005] Further, the leveling rake head of the leveling operation device has a width less than the inner width of the carriage by 10 to 20 mm, material recognition sensors are arranged at the front and back of the width of the leveling operation device to recognize the leveling state of the material loading, and positioning sensors are arranged at the front and back of the width of the working platform to position the position of the leveling operation device in the carriage.
[0006] Further, the material recognition sensors and the positioning sensors are radar ranging sensors.
[0007] Further, the leveling operation device is provided with a dustproof shield on the upper side of the leveling rake head.
[0008] Further, the leveling rake head comprises a rake tooth positioning plate, a plurality of rows of rake teeth are fixed on the rake tooth positioning plate, and the plurality of rows of rake teeth are arranged in a staggered manner.
[0009] The scheme further comprises: setting a falling prevention device on the working platform, which is used to hook the leveling device when the upper arm and the lower arm are folded and contracted, so as to prevent the leveling device from falling; the falling prevention device comprises a long hook arm, a hook is arranged at the lower end of the long hook arm, a rotating shaft is arranged in the middle of the long hook arm, the rotating shaft is connected and fixed with a twisting controller, a hanging piece is arranged at the upper end of the leveling device, a hook hole is arranged on the hanging piece, when the leveling device is in the initial state, the twisting controller controls the hook of the long hook arm to hook the hook hole on the hanging piece, and when the leveling device needs to move downward, the twisting controller controls the hook of the long hook arm to unhook the hook hole.
[0010] A mobile folding arm type vehicle compartment loose material intelligent leveling method, comprising the intelligent leveling device, material recognition sensors are arranged at the front and back of the width of the vehicle compartment, and positioning sensors are arranged at the front and back of the width of the working platform; the material recognition sensors and the positioning sensors are radar ranging sensors, and the intelligent leveling method comprises leveling device positioning and leveling control. The leveling device positioning step comprises: Firstly, the walking motor is started to drive the working platform to move on the two parallel slides, the scanning second information of the positioning sensors is obtained, and the positions of the front and back sides of the vehicle compartment are determined according to the scanning second information; Secondly, the working platform is moved again and positioned at the position of the front side or the back side according to the positions of the front and back sides of the vehicle compartment, the scanning information of the material recognition sensors is obtained in the process of moving the working platform again, the flatness of the material surface is determined according to the material scanning information, and the determined depth of the leveling rake head entering the vehicle compartment is determined according to the flatness; The leveling control step comprises: Firstly, after the determined depth is obtained, the leveling device is lowered to control the depth of the leveling rake head entering the vehicle compartment to be half of the determined depth, then the working platform is moved from the front side to the back side or from the back side to the front side to level once; Secondly, the leveling rake head is lifted, the working platform is moved to scan the material surface of the vehicle compartment again, and the determined depth is adjusted; Thirdly, the leveling device is lowered to control the depth of the leveling rake head entering the vehicle compartment to be the adjusted determined depth, then the working platform is moved from the front side to the back side or from the back side to the front side to level again; Fourthly, the leveling rake head is lifted, the working platform is moved to scan the material surface of the vehicle compartment again, and it is determined whether the flatness of the material surface is less than the threshold value; if not, the second step of the leveling control step is returned to; if yes, the leveling operation is completed, and the leveling device is moved upward to restore the initial state.
[0011] A further step in the solution is to install a fall protection device on the work platform to hook the leveling device when the upper and lower arms are folded together, preventing the leveling device from falling. The fall protection device includes a long hook arm with a hook at the lower end and a pivot in the middle. The pivot is connected and fixed to a torque controller. A hanger is installed at the upper end of the leveling device, and a hanging shaft is installed on the hanger. When the leveling device is in its initial upward position, the torque controller controls the hook of the long hook arm to hook onto the hanging shaft on the hanger. When the leveling device needs to be moved downward, the torque controller controls the hook of the long hook arm to disengage from the hanging shaft on the hanger.
[0012] The beneficial effects of this invention are: (1) The lifting of the working device is achieved by using a folding arm telescopic lifting device, which changes the traditional method of lifting by relying on rails or gear racks, and avoids the problem of deformation and jamming caused by horizontal forces on rails and gear racks. (2) It can significantly reduce the horizontal force generated during the leveling process of traditional plate-type flat material structure, and the staggered rake teeth can achieve uniform leveling, ensuring the leveling effect; (3) The high-precision detection sensor enables precise positioning of the carriage and real-time identification and feedback of the material accumulation status, and timely adjustment of the leveling operation status to achieve intelligent and efficient leveling operation.
[0013] (4) The device is reasonably designed and has an integrated structure, which realizes efficient leveling of bulk materials in railway carriages and heavy-duty highway carriages. At the same time, the device can realize intelligent operation of leveling, which greatly improves work efficiency.
[0014] The present invention will be further explained in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description
[0015] Figure 1 This is a schematic diagram of the structure of the intelligent bulk material leveling device of the present invention; Figure 2 This is a schematic diagram of the lifting device structure of the present invention; Figure 3 This is a schematic diagram of the unfolded folding arm structure of the lifting device of the present invention; Figure 2 View A Figure 4 This is a schematic diagram of the retractable folding arm structure of the lifting device of the present invention; Figure 5 This is a schematic diagram of the leveling device of the present invention; Figure 6 This is a schematic diagram of the fall protection device. Figure 7 A schematic diagram of the twisting motion of the long hook arm for the fall protection device. Detailed Implementation
[0016] Example 1: A mobile articulated boom truck-mounted intelligent material leveling device, such as Figures 1 to 7 As shown, the intelligent leveling device includes two parallel slides 2 erected in the air via a frame 1. The frame 1 can be a factory building frame. A dedicated track or dedicated truck passageway is located under the parallel slides 2. Train carriages 3 or truck carriages fully loaded with bulk materials stop and pass between the two parallel slides. Positioning sensors are installed on the passageway to control the positioning and stopping of the carriages 3. A working platform 4 is installed on the two parallel slides 2. The working platform moves along the two parallel slides via rollers 401 driven by a travel motor 402. A lifting device 5 is installed on the working platform, and a lifting drive motor 501 is installed on the working platform. A steel wire rope 502 is wound around the drive wheel of the lifting drive motor 501. The steel wire rope 502 is connected downwards to the leveling operation device 6 for leveling operations. The device is equipped with a leveling rake head 601. The drive wheel of the lifting drive motor 501 rotates, driving the leveling device 6 to move up and down via a steel wire rope 502. During leveling: the drive wheel of the lifting drive motor 501 rotates, lowering the steel wire rope 502 to move the leveling device 6 downwards, allowing the leveling rake head 601 to enter the carriage 3. The travel motor 402 controls the working platform 4 to move back and forth, thereby driving the leveling rake head 601 of the leveling device 6 to move back and forth to achieve leveling. The lifting device 5 has two sets of folding arm components 503 between the working platform 4 and the leveling device 6. The two sets of folding arm components are arranged opposite each other along the slide rail 2 and are hinged to the four corners of the upper end of the leveling device 6 to ensure that the leveling device 6 is in a horizontal and stable state. Each set of folding arm components 503 includes two folding arms 503-1, such as... Figure 3 As shown, two folding arms 503-1 are arranged opposite each other. There are two lifting drive motors 501, each corresponding to a set of folding arm components 503 via a steel wire rope 502. Each folding arm 503-1 includes an upper arm 503-1-1 and a lower arm 503-1-2, which are rotatably connected by a pin 503-1-3. The upper ends of the upper arms 503-1-1 are hinged to the working platform 4, and the lower ends of the lower arms 503-1-2 are hinged to the upper end of the leveling device 6. The leveling device 6 moves up and down, causing the upper arms 503-1-1 and lower arms 503-1-2 to fold and retract and extend around the pin 503-1-3. Figure 3 This indicates the extended and straightened state. Figure 4 This illustrates the phase-contraction state; Figure 1 The working state and initial state of the leveling device are shown. In the working state, the two sets of folding arm components 503 of the lifting device 5 are in the extended state, and in the initial state, the two sets of folding arm components 503 are in the retracted state.
[0017] In the embodiment: in order to smoothly enter and exit the carriage, and also to achieve good leveling and intelligent control, the width of the leveling rake head of the leveling device is 10 to 20 mm less than the inner width of the carriage, material recognition sensors 602 are arranged at the front and back of the width of the leveling device 6, respectively, to recognize the leveling state of the material loading, and positioning sensors 403 are arranged at the front and back of the width of the working platform 4, respectively, to position the leveling device in the carriage. Among them: the material recognition sensor and the positioning sensor are radar ranging sensors.
[0018] The leveling device 6 is provided with a dustproof shield 603 on the upper side of the leveling rake head 601. Among them: as shown in the figure, the leveling rake head 601 includes a rake tooth positioning plate 601-1, and a plurality of rows of rake teeth 601-2 are fixed on the rake tooth positioning plate 601-1, and the plurality of rows of rake teeth 601-2 are arranged in staggered arrangement. Figure 5
[0019] In the embodiment: a falling prevention safety device 7 is arranged on the working platform, which is used to hook the leveling device 6 when the upper arm 503-1-1 and the lower arm 503-1-2 are folded and contracted, to prevent the leveling device 6 from falling. The falling prevention safety device 7 includes a long hook arm 701, a hook 702 is arranged at the lower end of the long hook arm 701, a rotating shaft 703 is arranged in the middle of the long hook arm, the rotating shaft is connected and fixed with a twisting controller 704 (such as a torque motor), a hanging piece 604 is arranged at the upper end of the leveling device 6, a hanging shaft 605 is arranged on the hanging piece 604, when the two groups of folding arm members 503 are in the contracted state in the initial state of the leveling device 6 moving upward, the twisting controller 704 controls the rotating shaft 703 of the long hook arm 701 to rotate and make the long hook arm 701 swing, and the hook 702 of the long hook arm 701 hooks the hanging shaft 605 on the hanging piece 604. When the leveling device 6 needs to move downward, the twisting controller controls the hook 702 of the long hook arm 701 to be separated from the hanging shaft 605 on the hanging piece 604.
[0020] Embodiment 2: A mobile folding arm type carriage bulk material intelligent leveling method includes the intelligent leveling device described in embodiment 1, therefore, the content of embodiment 1 should be regarded as the content of this embodiment, therefore, in order to achieve intelligent control, material recognition sensors are arranged at the front and back of the width of the leveling device, respectively, and positioning sensors are arranged at the front and back of the width of the working platform, respectively, the material recognition sensors and the positioning sensors are radar ranging sensors, of course, there is also a controller, the controller is connected with the radar ranging sensors and the required motor, the intelligent leveling method includes leveling device positioning and leveling operation control; The leveling device positioning step includes: The first step is to start the walking motor to drive the working platform to move on the two parallel slides, obtain the scanning second information of the positioning sensor, and determine the positions of the front and rear sides of the carriage from the scanning second information. The second step is to move the working platform again according to the positions of the front and rear sides of the carriage and position the working platform at the position of the front side or the rear side, obtain the scanning information of the material recognition sensor during the movement of the working platform again, determine the flatness of the material surface from the material scanning information, and determine the determined depth of the flat rake head into the carriage according to the flatness. The leveling operation control step includes: The first step is to lower the leveling operation device to control the flat rake head to enter the carriage to a depth of one half of the determined depth after obtaining the determined depth, then move the working platform from the front side to the rear side or from the rear side to the front side to level once. The second step is to raise the flat rake head, move the working platform to scan the material surface of the carriage again, and adjust the determined depth. The third step is to lower the leveling operation device to control the flat rake head to enter the carriage to an adjusted determined depth, move the working platform from the front side to the rear side or from the rear side to the front side to level again. The fourth step is to raise the flat rake head, move the working platform to scan the material surface of the carriage again, and determine whether the flatness of the material surface is less than the threshold value. If not, return to the second step of the leveling operation control step. If yes, the leveling operation is completed, and the leveling operation device is moved up to restore the initial state.
[0021] As an embodiment, the same as embodiment 1: a falling prevention safety device 7 is arranged on the working platform, which is used to hook the leveling operation device 6 when the upper arm 503-1-1 and the lower arm 503-1-2 are folded and contracted, to prevent the leveling operation device 6 from falling. The falling prevention safety device 7 includes a long hook arm 701, a hook 702 arranged at the lower end of the long hook arm 701, a rotating shaft 703 arranged in the middle of the long hook arm, the rotating shaft being connected and fixed with a twisting controller 704 (such as a torque motor), a hanging piece 604 arranged at the upper end of the leveling operation device 6, and a hanging shaft 605 arranged on the hanging piece 604. When the two groups of folding arm members 503 are in the contracted state in the initial state of the leveling operation device 6, the twisting controller 704 controls the rotating shaft 703 of the long hook arm 701 to rotate to make the long hook arm 701 swing, and the hook 702 of the long hook arm 701 hooks the hanging shaft 605 on the hanging piece 604. When the leveling operation device 6 needs to be lowered, the leveling operation device 6 is first lifted, the hook 702 of the long hook arm 701 is controlled to be separated from the hanging shaft 605 on the hanging piece 604 by the twisting controller, and then the leveling operation device 6 is controlled to be lowered by the lifting device 5.
[0022] The mobile folding arm type carriage bulk material intelligent leveling device and method embodiment changes the traditional lifting mode relying on the cooperation of tracks or gear racks to avoid the problem that tracks and gear racks are easily deformed and blocked by horizontal forces. Meanwhile, the device can realize intelligent leveling operation, greatly improving work efficiency.
Claims
1. A mobile articulated boom type bulk material intelligent leveling device, comprising two parallel slides erected in the air by a frame, wherein a train car or truck car fully loaded with bulk material stops and passes under the two parallel slides, characterized in that, The working platform is arranged on the two parallel slides and is driven to move on the two parallel slides by the walking motor through rollers. The lifting device is arranged on the working platform and is provided with a lifting driving motor. The driving wheel of the lifting driving motor is wound with a steel wire rope. The steel wire rope is connected downward to the leveling operation device. The leveling operation device is provided with a leveling rake head. The rotation of the driving wheel of the lifting driving motor drives the leveling operation device to move up and down through the steel wire rope. When leveling, the rotation of the driving wheel of the lifting driving motor lowers the steel wire rope to make the leveling operation device move downward to make the leveling rake head enter the carriage. The walking motor is controlled to drive the working platform to move forward and backward to drive the leveling rake head of the leveling operation device to move forward and backward to realize leveling. Two groups of folding arm members are arranged between the working platform and the leveling operation device. The two groups of folding arm members are arranged opposite to each other along the slide direction and are hinged to the upper end of the leveling operation device to ensure that the leveling operation device is in a horizontal and stable state. Each group of folding arm members comprises two folding arms which are arranged opposite to each other. The lifting driving motor comprises two driving motors. One lifting driving motor is connected to one group of folding arm members through the steel wire rope. The folding arm comprises an upper arm and a lower arm which are rotatably connected through a pin shaft. The upper ends of the upper arms of the two folding arms are hinged to the working platform. The lower ends of the lower arms of the two folding arms are hinged to the upper end of the leveling operation device. The leveling operation device moves up and down to drive the upper arms and the lower arms to fold and contract or unfold and stretch around the pin shaft.
2. The bulk material in-car intelligent leveling device according to claim 1, characterized in that, The width of the leveling rake head of the leveling operation device is 10 to 20 mm less than the inner width of the carriage. Material recognition sensors are arranged on the two ends of the width of the leveling operation device to recognize the leveling state of the material loading. Positioning sensors are arranged on the two ends of the width of the working platform to position the position of the leveling operation device in the carriage.
3. The bulk material in-car intelligent leveling device according to claim 2, characterized in that, The material recognition sensors and the positioning sensors are radar distance measuring sensors.
4. The bulk material in-car intelligent leveling device according to claim 1, characterized in that, A dustproof shield is arranged on the upper side of the leveling rake head of the leveling operation device.
5. The bulk material smart leveling device for a vehicle bed of claim 1, wherein, The leveling rake head comprises a rake tooth positioning plate. A plurality of rows of rake teeth are fixed on the rake tooth positioning plate. The plurality of rows of rake teeth are arranged in a staggered manner.
6. The bulk material in-car intelligent leveling device of claim 1, wherein, A falling prevention safety device is arranged on the working platform to hook the leveling operation device when the upper arms and the lower arms fold and contract to prevent the leveling operation device from falling. The falling prevention safety device comprises a long hook arm. A hook is arranged on the lower end of the long hook arm. A rotating shaft is arranged in the middle of the long hook arm. The rotating shaft is connected and fixed with a twisting controller. A hanging piece is arranged on the upper end of the leveling operation device. A hanging shaft is arranged on the hanging piece. When the leveling operation device is in an initial state, the twisting controller controls the hook of the long hook arm to hook the hanging shaft of the hanging piece. When the leveling operation device needs to move downward, the twisting controller controls the hook of the long hook arm to be separated from the hanging shaft of the hanging piece.
7. A mobile folding arm carriage bulk material intelligent leveling method, comprising the intelligent leveling device of claim 1, a material identification sensor is arranged at the front and rear of the width of the leveling operation device, and a positioning sensor is arranged at the front and rear of the width of the working platform, the material identification sensor and the positioning sensor are radar ranging sensors, characterized in that, The intelligent leveling method comprises leveling operation device positioning and leveling operation control. The steps of the leveling operation device positioning comprise: Firstly, the walking motor is started to drive the working platform to move on the two parallel slides. The scanning second information of the positioning sensor is obtained. The positions of the front and rear sides of the carriage are determined from the scanning second information. Second step, according to the position of the front and rear of the car, the working platform is moved again and positioned at the front or rear, and the scanning information of the material recognition sensor is obtained during the movement of the working platform, the flatness of the material surface is determined from the scanning information, and the determined depth of the flat rake head entering the car is determined according to the flatness; The step of the leveling operation control comprises: The first step, after obtaining the determined depth, the leveling operation device is lowered to control the flat rake head to enter the car at a depth of half of the determined depth, and then the working platform is moved from the front to the rear, or from the rear to the front to level once; The second step, the flat rake head is lifted, the working platform is moved to scan the material surface of the car again, and the determined depth is adjusted; The third step, the leveling operation device is lowered to control the flat rake head to enter the car at an adjusted determined depth, and then the working platform is moved from the front to the rear, or from the rear to the front to level again; The fourth step, the flat rake head is lifted, the working platform is moved to scan the material surface of the car again, and it is determined whether the flatness of the material surface is less than the threshold value, if not, return to the second step of the leveling operation control, if yes, the leveling operation is finished, and the leveling operation device is moved up to restore the initial state.
8. The method of claim 7, wherein, A falling prevention safety device is arranged on the working platform, which is used to hook the leveling operation device when the upper arm and the lower arm are folded and contracted, to prevent the leveling operation device from falling. The falling prevention safety device comprises a long hook arm, a hook is arranged at the lower end of the long hook arm, a rotating shaft is arranged in the middle of the long hook arm, the rotating shaft is connected and fixed with a twisting controller, a hanging piece is arranged at the upper end of the leveling operation device, a hanging shaft is arranged on the hanging piece, and when the leveling operation device is in the initial state, the twisting controller controls the hook of the long hook arm to hook the hanging shaft on the hanging piece. When the leveling operation device needs to be lowered, the twisting controller controls the hook of the long hook arm to be separated from the hanging shaft on the hanging piece.