Automatic bag unloading equipment for railway freight

Abstract

The utility model discloses automatic bag unloading equipment for railway freight transportation, relates to the technical field of cargo loading and unloading of railway transportation vehicles, and aims to solve the problems of severe working environment, serious dust and influence on health of operators in manual unloading of railway boxcars; the cargo bag conveying device comprises a walking chassis, a lifting device, a double-arm robot, a vacuum suction cup, a telescopic conveying belt and a floating device. A lifting device is installed on the walking chassis, a double-arm robot is installed on a moving part of the lifting device, the execution tail end of the double-arm robot is in floating connection with a vacuum suction cup through a floating device, and a telescopic conveying belt is fixed to the walking chassis. The floating device comprises a fixing plate, spring guide columns and a floating plate, the execution tail end of the double-arm robot is fixedly connected with the fixing plate, the spring guide columns are installed on the fixing plate, the movable ends of the spring guide columns are connected with the floating plate, and the railway freight bag unloading device is used for railway freight bag unloading.

Description

Technical Field

[0001] This utility model relates to the field of railway vehicle cargo loading and unloading technology, and in particular to an automatic bag unloading device for railway freight. Background Technology

[0002] Because railways have the characteristics of large capacity, low cost, low energy consumption, low pollution, strong continuity and wide coverage, they occupy an important position in the comprehensive transportation system, especially in long-distance and bulk cargo transportation.

[0003] Currently, unloading of railway boxcars is usually accomplished through a combination of manual loading and unloading and belt conveyors. Workers unload the bags and carry them to the belt conveyor at the boxcar's entrance. This unloading method suffers from low operator efficiency, high labor intensity, and high costs. In particular, when transporting high-dust goods, such as flour and cement, each car typically requires more than five porters. The dust is severe, the working environment is harsh, and it affects the physical and mental health of the operators. Furthermore, the bags may break during manual handling, increasing freight losses and polluting the environment inside the car. Utility Model Content

[0004] This invention addresses the problems of harsh working environment, severe dust pollution, and health risks associated with manual unloading of freight cars in railway freight wagons; as well as the potential for damage to cargo bags during manual handling, leading to increased freight losses and pollution within the wagons. Therefore, this invention provides an automatic bag-unloading device for railway freight, thus resolving the issues mentioned in the background section.

[0005] The technical solution of this utility model is:

[0006] An automatic bag-unloading device for railway freight includes a walking chassis, a lifting device, a dual-arm robot, a vacuum suction cup, a retractable conveyor belt, and a floating device;

[0007] A lifting device is installed on the walking chassis. A dual-arm robot is installed on the moving part of the lifting device. The execution end of the dual-arm robot is floatingly connected to a vacuum suction cup through a floating device. A retractable conveyor belt is fixed on the walking chassis.

[0008] The floating device includes a fixed plate, spring guide posts, and a floating plate. The end effector of the dual-arm robot is fixedly connected to the fixed plate. Multiple spring guide posts are installed on the fixed plate. The movable ends of the spring guide posts are connected to the floating plate. The floating plate is fixedly connected to a vacuum suction cup.

[0009] Furthermore, a support frame is fixed on the walking chassis, and a control system is fixed on the upper end of the support frame. The control system is electrically connected to the walking chassis, the lifting device, the dual-arm robot, the vacuum suction cup, and the retractable conveyor belt.

[0010] Furthermore, the lifting device includes a column I and a drive slide rail I. The column I is fixedly connected to the walking chassis, and the drive slide rail I is installed on the column I. A dual-arm robot is installed on the moving part of the drive slide rail I.

[0011] Furthermore, the lifting device includes a column II, a drive slide rail II, a lifting column, and a drive slide rail III. The column II is fixedly connected to the walking chassis, and the drive slide rail II is installed on the column II. The lifting column is slidably connected to the column II through the drive slide rail II, and the drive slide rail III is installed on the lifting column. A dual-arm robot is installed on the moving part of the drive slide rail III.

[0012] Furthermore, the dual-arm robot includes a movable arm I, a drive device I, a movable arm II, and a drive device II. The movable arm I is rotatably connected to the moving part, and the drive device I is installed on the moving part. The drive device I is used to drive the movable arm I to rotate. The movable arm II is rotatably connected to the movable arm I, and the drive device II is installed on the movable arm I. The drive device II is used to drive the movable arm II to rotate. The movable arm II is floatingly connected to the vacuum suction cup through a floating device.

[0013] Furthermore, a drive unit III is installed on the movable arm II, and the output shaft of the drive unit III is fixedly connected to the fixed plate in the floating device.

[0014] Furthermore, the vacuum suction cup is connected to a high-pressure vacuum blower, and the vacuum suction cup is an oval-shaped suction cup.

[0015] Furthermore, the drive device I, drive device II, and drive device III are servo motors.

[0016] Furthermore, a visual recognition device is installed on the lifting device, and the control system is electrically connected to the visual recognition device.

[0017] Furthermore, the chassis is a tracked chassis.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] 1. An automatic bagging device for railway freight, comprising a lifting device and a dual-arm robot, wherein movable arm I and movable arm II of the dual-arm robot are driven by servo geared motors, enabling the end effector of the dual-arm robot to transport goods at different positions at the same height. The lifting device is used to drive the dual-arm robot to lift and lower, realizing the transport of bagged goods at different heights from the bottom to the top.

[0020] 2. The dual-arm robot is equipped with a vacuum suction cup at its end effector. This suction cup is connected to a high-pressure vacuum blower, which creates negative pressure by drawing a vacuum into the suction cup to lift the bag. The use of a pneumatic suction cup, rather than a gripper-like sharp structure, ensures that the goods are handled without damaging the packaging.

[0021] 3. Equipped with a retractable conveyor belt, which extends and retracts via a three-stage electric push rod. During operation, the retractable conveyor belt automatically extends according to the forward stroke of the unloading equipment to transport goods; after operation, the retractable conveyor belt retracts into the automatic unloading equipment, making the structure more compact and saving space.

[0022] 4. Equipped with a visual recognition device, which can automatically identify the position of the cargo bag and feed the position of the cargo bag back to the control system. The control system then controls the lifting device and the dual-arm robot to place the cargo bag on the retractable conveyor belt, which automatically transports the goods to the conveyor at the entrance of the carport. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure I ;

[0024] Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure II ;

[0025] Figure 3 This is a structural schematic diagram of the first embodiment of the lifting device and the dual-arm robot;

[0026] Figure 4 This is a schematic diagram of the structure of a dual-arm robot;

[0027] Figure 5 This is a structural schematic diagram of the second embodiment of the lifting device and the dual-arm robot;

[0028] Figure 6 A schematic diagram of the structure for assembling a visual recognition device;

[0029] Figure 7 A schematic diagram of the retractable conveyor belt in its unfolded state;

[0030] Figure 8 This is a schematic diagram of the floating device.

[0031] In the diagram: 1. Walking chassis; 2. Lifting device; 3. Dual-arm robot; 4. Vacuum suction cup; 5. Extendable conveyor belt; 6. Support frame; 7. Control system; 201. Column I; 202. Drive slide rail I; 203. Moving part; 204. Column II; 205. Drive slide rail II; 206. Lifting column; 207. Drive slide rail III; 301. Movable arm I; 302. Drive device I; 303. Movable arm II; 304. Drive device II; 401. Drive device III; 8. Vision recognition device; 9. Floating device; 901. Fixed plate; 902. Spring guide column; 903. Floating plate. Detailed Implementation

[0032] Specific implementation method one: See Figure 1-2 As shown in Figure 7, an automatic bag unloading device for railway freight, in this embodiment, includes a walking chassis 1, a lifting device 2, a dual-arm robot 3, a vacuum suction cup 4, a retractable conveyor belt 5, and a floating device 9.

[0033] A lifting device 2 is installed on the walking chassis 1. A dual-arm robot 3 is installed on the moving part 203 of the lifting device 2. The execution end of the dual-arm robot 3 is floatingly connected to the vacuum suction cup 4 through the floating device 9. A retractable conveyor belt 5 is fixed on the walking chassis 1.

[0034] The floating device 9 includes a fixed plate 901, spring guide posts 902 and a floating plate 903. The end effector of the dual-arm robot 3 is fixedly connected to the fixed plate 901. Multiple spring guide posts 902 are installed on the fixed plate 901. The movable ends of the spring guide posts 902 are connected to the floating plate 903. The floating plate 903 is fixedly connected to the vacuum suction cup 4.

[0035] Furthermore, the walking chassis 1 provides support. The walking chassis 1 is a tracked chassis, which allows for on-the-spot turning and reduces the turning radius. The walking chassis 1 is used to move this automatic bag-unloading equipment for railway freight. The dual-arm robot 3 handles bagged goods. The dual-arm robot 3 can handle goods at different positions at the same height using vacuum suction cups 4. The lifting device 2 is used to lift the dual-arm robot 3, enabling the handling of bagged goods at different heights, from the bottom to the top. The retractable conveyor belt 5 extends and retracts via a three-stage electric push rod. During operation, the retractable conveyor belt 5 extends and connects with the belt conveyor at the car door to transport goods without needing to adjust the position of the belt conveyor at the car door, and can handle a wide range of bags inside the car. After operation, the retractable conveyor belt 5 retracts into the automatic bag-unloading equipment, making the structure more compact and saving space, while also allowing the equipment to turn inside the car. The floating device 9 is used to tilt the upper surface of the vacuum suction cup 4 relative to the output shaft of the drive device Ⅲ401 when the vacuum suction cup 4 is pressed against the bag. This ensures that the vacuum suction cup 4 can make good contact with the upper surface of the bag even when the bag is not placed flat.

[0036] Specific Implementation Method Two: See Figure 1-2 As shown, in this embodiment, a support 6 is fixed on the walking chassis 1, and a control system 7 is fixed on the upper end of the support 6. The control system 7 is electrically connected to the walking chassis 1, the lifting device 2, the dual-arm robot 3, the vacuum suction cup 4, and the retractable conveyor belt 5.

[0037] Furthermore, during operation, the control system 7 controls the walking chassis 1 to move; the control system 7 controls the lifting device 2, the dual-arm robot 3, and the vacuum suction cup 4 to complete the handling of the cargo bags; the control system 7 controls the extension and retraction of the retractable conveyor belt 5 to complete the transport of the cargo bags.

[0038] Specific implementation method three: See Figure 3 As shown, the lifting device 2 of this embodiment includes a column I 201 and a drive slide rail I 202. The column I 201 is fixedly connected to the walking chassis 1, and the drive slide rail I 202 is installed on the column I 201. The moving part 203 of the drive slide rail I 202 is equipped with a dual-arm robot 3.

[0039] Furthermore, this embodiment is the first embodiment of the lifting device 2, where the drive slide rail I 202 is a linear guide rail driven by a servo motor. The column I 201 is a square column, and the drive slide rail I 202 is fixed to the side wall of the column I 201. The moving part 203 is fixedly connected to the slider of the drive slide rail I 202, and the drive slide rail I 202 drives the dual-arm robot 3 to move up and down in the vertical direction.

[0040] Detailed Implementation Method Four: See [link] Figure 5 As shown, the lifting device 2 of this embodiment includes a column II 204, a drive slide rail II 205, a lifting column 206, and a drive slide rail III 207. The column II 204 is fixedly connected to the walking chassis 1. The drive slide rail II 205 is installed on the column II 204. The lifting column 206 is slidably connected to the column II 204 through the drive slide rail II 205. The drive slide rail III 207 is installed on the lifting column 206. The moving part 203 of the drive slide rail III 207 is equipped with a dual-arm robot 3.

[0041] Furthermore, this embodiment is a second embodiment of the lifting device 2, which employs a two-stage lifting device. Both drive rail II 205 and drive rail III 207 are linear guides driven by servo motors. Drive rail II 205 is fixed to both the front and rear sides of the column II 204. The slider of drive rail II 205 is fixedly connected to the inner wall of the lifting column 206, and drive rail II 205 is used to drive the lifting column 206 to rise and fall. Drive rail III 207 is vertically fixed to the side wall of the lifting column 206, and the moving part 203 is fixedly connected to the slider of drive rail III 207. Drive rail III 207 drives the dual-arm robot 3 to move up and down vertically. The lifting device 2 uses a two-stage lifting device to increase the lifting height, enabling the transfer of bags from higher locations.

[0042] Specific implementation method five: See Figure 4As shown, the dual-arm robot 3 of this embodiment includes a movable arm I 301, a drive device I 302, a movable arm II 303, and a drive device II 304. The movable arm I 301 is rotatably connected to the moving part 203. The drive device I 302 is installed on the moving part 203 and is used to drive the movable arm I 301 to rotate. The movable arm II 303 is rotatably connected to the movable arm I 301. The drive device II 304 is installed on the movable arm I 301 and is used to drive the movable arm II 303 to rotate. The movable arm II 303 is floatingly connected to the vacuum suction cup 4 through the floating device 9.

[0043] Furthermore, the moving part 203 is provided with a hinge part I, and one end of the movable arm I 301 is provided with a hinge shaft I. The hinge shaft I of the movable arm I 301 is hinged in the junction part I of the moving part 203, allowing the movable arm I 301 to rotate around the moving part 203. The drive device I 302 is fixed to the lower end of the hinge part I of the moving part 203, and the output shaft of the drive device I 302 is fixedly connected to the hinge shaft I of the movable arm I 301, thereby allowing the drive device I 302 to drive the movable arm I 301 to rotate around the moving part 203. The other end of the movable arm I 301 is provided with a hinge part II, and one end of the movable arm II 303 is provided with a hinge shaft II. The hinge shaft II of the movable arm II 303 is hinged in the hinge part II of the movable arm I 301, allowing the movable arm II 303 to rotate around the movable arm I 301. The drive device II 304 is fixedly connected to the lower end of the hinge part II of the movable arm I 301. The output shaft of the drive device II 304 is fixedly connected to the hinge shaft II of the movable arm II 303, so that the drive device II 304 can drive the movable arm II 303 to rotate around the movable arm I 301.

[0044] Specific implementation method six: See Figure 4 As shown, the movable arm II 303 of this embodiment is equipped with a drive device III 401. The output shaft of the drive device III 401 is fixedly connected to the fixed plate 901 in the floating device 9. The drive device III 401 is used to drive the vacuum suction cup 4 to rotate through the floating device 9 in order to adjust the angle of the vacuum suction cup 4.

[0045] Detailed implementation method seven: See Figure 4 As shown, the vacuum suction cup 4 in this embodiment is connected to a high-pressure vacuum blower, and the vacuum suction cup 4 is an oblong suction cup.

[0046] Furthermore, the vacuum suction cup 4 is designed in a waist shape to increase the contact area with the bag. The vacuum suction cup 4 is equipped with an air valve, which connects it to a vacuum blower. When the air valve is open, a negative pressure is created inside the vacuum suction cup 4, adsorbing the bag; when the air valve is closed, the vacuum suction cup 4 returns to normal pressure, releasing the bag.

[0047] Detailed Implementation Method Eight: See also Figure 3-5As shown, the drive device I 302, drive device II 304 and drive device III 401 in this embodiment are servo motors.

[0048] Detailed implementation method nine: See Figure 5 As shown, the lifting device 2 in this embodiment is equipped with a visual recognition device 8, and the control system 7 is electrically connected to the visual recognition device 8.

[0049] Furthermore, the visual recognition device 8 can automatically identify the position of the cargo bag and feed the position of the cargo bag back to the control system 7. The control system 7 controls the lifting device 2 and the dual-arm robot 3 to place the cargo bag on the retractable conveyor belt, and the cargo bag is automatically transported to the conveyor at the door of the shed by the retractable conveyor belt 5.

[0050] Detailed Implementation Method Ten: See [link] Figure 1 As shown, the walking chassis 1 in this embodiment is a tracked chassis.

[0051] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. An automatic bag unloading apparatus for railway freight, characterized by: The walking chassis (1), the lifting device (2), the double-arm robot (3), the vacuum chuck (4), the telescopic conveying belt (5) and the floating device (9) are included. The lifting device (2) is installed on the walking chassis (1), and the moving part (203) of the lifting device (2) is installed with the double-arm robot (3), and the execution end of the double-arm robot (3) is connected with the vacuum chuck (4) through the floating device (9), and the telescopic conveying belt (5) is fixed on the walking chassis (1). The floating device (9) includes a fixed plate (901), a spring guide column (902) and a floating plate (903), the execution end of the double-arm robot (3) is fixedly connected with the fixed plate (901), a plurality of spring guide columns (902) are installed on the fixed plate (901), the movable end of the spring guide column (902) is connected with the floating plate (903), and the floating plate (903) is fixedly connected with the vacuum chuck (4).

2. The railroad freight car automatic bag unloading apparatus of claim 1 wherein: The walking chassis (1) is fixed with a support (6), the upper end of the support (6) is fixed with a control system (7), and the control system (7) is electrically connected with the walking chassis (1), the lifting device (2), the double-arm robot (3), the vacuum chuck (4) and the telescopic conveying belt (5) respectively.

3. The railroad freight car automatic bag unloading apparatus of claim 2 wherein: The lifting device (2) includes a column I (201) and a driving slide rail I (202), the column I (201) is fixedly connected on the walking chassis (1), the driving slide rail I (202) is installed on the column I (201), and the moving part (203) of the driving slide rail I (202) is installed with the double-arm robot (3).

4. The railroad freight car automatic bag unloading apparatus of claim 2 wherein: The lifting device (2) includes a column II (204), a driving slide rail II (205), a lifting column (206) and a driving slide rail III (207), the column II (204) is fixedly connected on the walking chassis (1), the driving slide rail II (205) is installed on the column II (204), the lifting column (206) is slidably connected on the column II (204) through the driving slide rail II (205), the driving slide rail III (207) is installed on the lifting column (206), and the moving part (203) of the driving slide rail III (207) is installed with the double-arm robot (3).

5. The railroad freight car automatic bag unloading apparatus of claim 2 wherein: The double-arm robot (3) includes a movable arm I (301), a driving device I (302), a movable arm II (303) and a driving device II (304), the movable arm I (301) is rotatably connected on the moving part (203), the driving device I (302) is installed on the moving part (203) and used for driving the movable arm I (301) to rotate, the movable arm II (303) is rotatably connected on the movable arm I (301), the driving device II (304) is installed on the movable arm I (301) and used for driving the movable arm II (303) to rotate, and the movable arm II (303) is connected with the vacuum chuck (4) through the floating device (9).

6. The railroad freight car automatic bag unloading apparatus of claim 5 wherein: The driving device III (401) is installed on the movable arm II (303), and the output shaft of the driving device III (401) is fixedly connected with the fixed plate (901) in the floating device (9).

7. The railroad freight car automatic bag unloading apparatus of claim 5 wherein: The vacuum chuck (4) is connected with a high-pressure vacuum fan, and the vacuum chuck (4) is a waist-shaped chuck.

8. The railroad freight car automatic bag unloading apparatus according to any one of claims 5-6, wherein: The driving device I (302), the driving device II (304) and the driving device III (401) adopt servo motors.

9. The railway freight automatic bag unloading apparatus according to claim 2, characterized in that: The lifting device (2) is provided with a visual identification device (8), and the control system (7) is electrically connected with the visual identification device (8).

10. The railroad freight car automatic bag unloading apparatus of claim 1 wherein: The walking chassis (1) adopts a caterpillar chassis.

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