Train loading station car positioning device

Abstract

The utility model provides a train loading station carriage positioning device relates to railway transportation technical field, include: track, track fixed mounting is in the gangway frame of loading station unloading point department, is installed with main frame on the track, the inside fixed of main frame has four stand, the lower end fixed mounting of four stand has the baffle, is provided with two drive components on the baffle, and drive component includes cover, mounting plate, upper bearing seat, mainboard and lower bearing seat, the utility model discloses through drive component three groups of gyro wheel and the close contact of track, forms the multi -supporting point support positioning structure from top to bottom, before and after direction, improves the installation stability of main frame and detection assembly on the track greatly, and the flexible clamping structure of spring buffer is used to the gyro wheel of top to bottom, before and after direction, can guarantee the positioning firm when contacting with the track, can also avoid rigid collision to cause damage to track and equipment, and main frame and detection assembly can remove the setting and can realize the dynamic tracking detection of the full length range of carriage.

Description

Technical Field

[0001] This utility model relates to the field of railway transportation technology, and in particular to a positioning device for train loading station carriages. Background Technology

[0002] In the railway freight sector, loading stations are crucial nodes for cargo transshipment, and their operational efficiency and loading quality directly impact the smoothness and economy of the entire freight chain. Carriage positioning is a core preliminary step in loading operations at loading stations. Its core requirement is to accurately obtain the real-time location information of the carriages within the loading area, providing a reliable basis for subsequent operations such as feeder start / stop, chute alignment, and loading control. This ensures that materials are evenly filled into the carriages, guaranteeing transportation safety and reducing material loss. This utility model is a carriage positioning device for railway loading stations.

[0003] Existing positioning devices are usually fixed installations, which severely limits the detection coverage. Even if some devices have mobile functions, their structural design limitations often result in insufficient mobile stability, making it impossible to achieve continuous scanning of the entire length of carriages of different lengths. Utility Model Content

[0004] This utility model relates to a train loading station carriage positioning device to solve the technical problems mentioned in the background art.

[0005] In a first aspect, this utility model provides a train loading station carriage positioning device, specifically comprising: a track; the track is fixedly installed on a trestle frame at the unloading point of the loading station, a main frame is installed on the track, and cover plates are installed at both the front and rear ends of the main frame; four columns are fixedly installed inside the main frame, and partitions are fixedly installed at the lower ends of the four columns; two driving components are provided on the partitions; the driving components include a cover, a mounting plate, an upper bearing seat, a main plate, and a lower bearing seat; the cover is fixedly installed on the partitions, and the mounting plate is fixedly installed on the cover; two upper bearing seats and two lower bearing seats are provided; the two upper bearing seats are installed at the lower ends of the mounting plate; the main plate is installed at the lower ends of the two upper bearing seats by bolts; the two lower bearing seats are installed at the lower ends of the main plate by bolts; a lower rotating roller is installed on each of the two lower bearing seats; a roller three is installed on the lower rotating roller; the driving components also include roller two and roller one.

[0006] Furthermore, bottom spring seats are bolted to both the left and right ends of the main board. A pull plate is fixed on the main board. The bottom spring seats are provided with waist-shaped through grooves. An adjusting bolt is installed on the pull plate. The upper end of the adjusting bolt is threaded onto the bottom spring seat. Two cylindrical screws are threaded onto the bottom spring seat. Guide seats that can move up and down are installed on the two cylindrical screws. Springs are installed on both cylindrical screws. Rollers are installed on the guide seats.

[0007] Furthermore, both ends of the lower bearing seat are bolted with bases, and side spring seats are bolted on the bases. The side spring seats are provided with waist-shaped through grooves, and two cylindrical screws are threaded onto the side spring seats. Guide seats that can slide back and forth are installed on the cylindrical screws. Rollers are installed on the guide seats, and springs are installed on the cylindrical screws. Adjusting bolts are installed between the base and the side spring seats.

[0008] Furthermore, an upper rotating roller is installed between the two upper bearing seats, and a pulley is installed on the upper rotating roller. A motor seat is installed on the mounting plate, and a reducer is installed on the motor seat. A pulley is installed on the output shaft of the reducer, and a motor is installed on the reducer. A belt is connected between the pulley on the output shaft of the reducer and the pulley on the upper rotating roller. A belt is installed between the pulleys at both ends of the upper rotating roller and the pulleys on the two lower rotating rollers. An adjusting plate is installed on each of the two lower bearing seats by bolts. The adjusting plate is provided with a waist-shaped through groove, and a tensioning wheel is installed on the adjusting plate. The tensioning wheel rests on the belt.

[0009] Furthermore, a bracket is bolted to the partition, a second reducer is mounted on the bracket, a pulley is mounted on the output shaft of the second reducer, a second motor is mounted on the second reducer, a sliding groove is provided on the bracket, a rotatable rotating arm is mounted on the main frame, a pulley is mounted on the rotating shaft of the rotating arm, and a third belt is installed between the pulley on the output shaft of the second reducer and the pulley on the rotating shaft of the rotating arm.

[0010] Furthermore, a fixed column is fixedly installed on the rotating arm, and a rotatable tilting frame is installed on the left end of the fixed column. A synchronous pulley is fixed on the fixed column, and a first control motor and a second control motor are installed on the tilting frame. Synchronous pulleys are installed on the output shafts of the first control motor and the second control motor. A first synchronous belt connects the synchronous pulley on the output shaft of the first control motor and the synchronous pulley on the fixed column.

[0011] Furthermore, two rotating seats are mounted on the tilting frame via bearings. A synchronous pulley is mounted on the shaft of the rotating seat near the lower end of the tilting frame. A second synchronous belt connects the synchronous pulley on the output shaft of the second control motor with the synchronous pulley on the rotating seat. An annular frame is bolted between the two rotating seats. A rotatable rotating ring is mounted on the annular frame. An annular groove is provided on the rotating ring. A support is bolted to the rotating ring. A panel is mounted on the support. A base is mounted on the panel. A laser radar and a vision recognition device are mounted on the base.

[0012] Furthermore, a second motor base is bolted onto the annular frame. The second motor base has a waist-shaped through groove. A third control motor is mounted on the second motor base. A pulley is mounted on the output shaft of the third control motor. A connecting belt is installed between the pulley on the output shaft of the third control motor and the annular groove on the rotating ring. An auxiliary wheel is mounted on the second motor base, and the auxiliary wheel is pressed against the connecting belt.

[0013] This utility model provides a train loading station carriage positioning device, which has the following beneficial effects:

[0014] This invention utilizes the close contact between three sets of rollers in the drive component and the track to form a multi-point support and positioning structure in the vertical and horizontal directions, which greatly improves the installation stability of the main frame and detection components on the track. The rollers in the vertical and horizontal directions adopt a flexible clamping structure with spring buffer, which can ensure stable positioning when in contact with the track and avoid damage to the track and equipment caused by rigid collisions. The movable setting of the main frame and detection components can realize dynamic tracking and detection of the entire length of the carriage.

[0015] Furthermore, the lidar and vision recognition device of this invention are mounted on an adjustable tilting frame and rotating ring structure, which can achieve multi-angle and all-round attitude adjustment through multiple sets of control motors. The lidar emits a laser beam and uses the flight time of the reflected light to accurately calculate the distance between itself and various points on the surface of the carriage, generating three-dimensional point cloud data of the carriage to completely restore its outline shape and spatial position. The vision recognition device simultaneously and accurately identifies key information such as carriage markings and end wall boundaries. The two work together to ensure that there are no blind spots in the detection of the carriage and significantly improve the accuracy of positioning data. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings of the embodiments will be briefly described below.

[0017] The accompanying drawings described below are only related to some embodiments of the present invention and are not intended to limit the scope of the present invention.

[0018] In the attached diagram:

[0019] Figure 1 A schematic diagram of the overall structure of this application is shown.

[0020] Figure 2 A schematic diagram of the internal structure of the mainframe of this application is shown.

[0021] Figure 3 A schematic diagram of the drive component portion of this application is shown.

[0022] Figure 4 This application shows Figure 3 A magnified structural diagram of part A in the middle.

[0023] Figure 5 This application shows Figure 3 A magnified structural diagram of part B.

[0024] Figure 6 A schematic diagram of the mounting plate portion of this application is shown.

[0025] Figure 7 This application shows Figure 6 A magnified structural diagram of section C.

[0026] Figure 8 This application shows Figure 2 A magnified structural diagram of part D in the middle.

[0027] Figure 9 A structural schematic diagram of the flipping frame portion of this application is shown.

[0028] Figure 10 A structural schematic diagram of the ring frame portion of this application is shown.

[0029] List of reference numerals

[0030] 1. Track; 2. Main frame; 21. Cover plate; 22. Column; 23. Partition plate; 24. Drive components; 241. Cover; 242. Mounting plate; 2421. Motor base one; 2422. Reducer one; 2423. Motor one; 243. Upper bearing seat; 2431. Upper rotating roller; 2432. Belt one; 244. Main board; 2441. Pull plate; 2442. Adjusting bolt one; 245. Lower bearing seat; 2451. Lower rotating roller; 2452. Belt two; 2453. Adjusting plate; 2454. Tensioner wheel; 2455. Roller three; 246. Base; 2461. Side spring seat; 2462. Adjusting bolt two; 2463. Cylindrical screw two; 2464. Guide seat two; 2465. Roller two; 2466. Spring 2; 247. Bottom Spring Seat; 2471. Cylindrical Screw 1; 2472. Guide Seat 1; 2473. Spring 1; 2474. Roller 1; 25. Bracket; 251. Reducer 2; 252. Motor 2; 253. Rotating Arm; 254. Belt 3; 3. Tilting Frame; 31. Fixed Column; 32. First Control Motor; 321. First Synchronous Belt; 33. Rotating Seat; 34. Second Control Motor; 341. Second Synchronous Belt; 35. Ring Frame; 351. Rotating Ring; 352. Motor Seat 2; 3521. Auxiliary Wheel; 353. Third Control Motor; 3531. Connecting Belt; 354. Support; 355. Panel; 36. Base; 361. LiDAR Device; 362. Vision Recognition Device. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the described embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0032] Please refer to Figures 1 to 10 Example 1:

[0033] This utility model proposes a train loading station carriage positioning device, comprising: a track 1; the track 1 is fixedly installed on a trestle frame at the unloading point of the loading station, a main frame 2 is installed on the track 1, and a cover plate 21 is installed at both the front and rear ends of the main frame 2; four columns 22 are fixedly installed inside the main frame 2, and a partition plate 23 is fixedly installed at the lower end of the four columns 22; two driving components 24 are provided on the partition plate 23, and the driving component 24 includes a cover 241, a mounting plate 242, an upper bearing seat 243, a main plate 244, and a lower bearing seat 245; the cover 241 is fixedly installed on the partition plate 245. On plate 23, mounting plate 242 is fixedly mounted on cover 241. There are two upper bearing seats 243 and two lower bearing seats 245. The two upper bearing seats 243 are mounted on the lower end of mounting plate 242. Main plate 244 is mounted on the lower end of the two upper bearing seats 243 by bolts. The two lower bearing seats 245 are mounted on the lower end of main plate 244 by bolts. Lower rotating rollers 2451 are mounted on the two lower bearing seats 245. Roller 3 2455 is mounted on the lower rotating rollers 2451. The drive component 24 also includes roller 2465 and roller 1 2474.

[0034] In this embodiment of the utility model, bottom spring seats 247 are bolted to both ends of the main board 244. A pull plate 2441 is fixed on the main board 244. The bottom spring seat 247 is provided with an oblong through groove. An adjusting bolt 2442 is installed on the pull plate 2441. The upper end of the adjusting bolt 2442 is threaded onto the bottom spring seat 247. Two cylindrical screws 2471 are threaded onto the bottom spring seat 247. Guide seats 2472 that can move up and down are installed on the two cylindrical screws 2471. Springs 2473 are installed on both cylindrical screws 2471. Rollers 2474 are installed on the guide seats 2472. Bases 246 are bolted to both ends of the lower bearing seat 245. A side spring seat 2461 is bolted to the base 246. The side spring seat 2461 has a slotted groove. Two cylindrical screws 2463 are threaded onto the side spring seat 2461. A guide seat 2464, which can slide back and forth, is mounted on the cylindrical screws 2463. A roller 2465 is mounted on the guide seat 2464, and a spring 2466 is mounted on the cylindrical screws 2463. An adjusting bolt 2462 is installed between the base 246 and the side spring seat 2461. An upper rotating roller 2431 is installed between the two upper bearing seats 243. A pulley is mounted on the upper rotating roller 2431. A motor mount 2421 is mounted on the mounting plate 242. A reducer 2422 is mounted on the motor mount 2421. A pulley is mounted on the output shaft of reducer 2422. A motor 2423 is mounted on reducer 2422. A belt 2432 connects the pulley on the output shaft of reducer 2422 to the pulley on the upper rotating roller 2431. A belt 2452 is installed between the pulleys at both ends of the upper rotating roller 2431 and the pulleys on the two lower rotating rollers 2451. Adjusting plates 2453 are bolted to both lower bearing seats 245. The adjusting plates 2453 have oblong grooves, and tension wheels 2454 are mounted on them. The tension wheels 2454 rest on belt 2452. Their function is to drive the bottom spring seat 247 to move up and down along the oblong grooves via adjusting bolt 2442. The cylindrical screw 2471 guides and the spring 2473 provides elastic cushioning, enabling precise adjustment and flexible support of the roller 2474's height. This ensures that the roller 2474 remains in close contact with the upper surface of track 1 and adapts to vibration and impact. The adjusting bolt 2462 finely adjusts the front-to-back position of the side spring seat 2461. Combined with the guidance of the cylindrical screw 2463 and the elastic compensation of the spring 2466, the roller 2465 is driven to move back and forth to adapt to the width of track 1, achieving flexible clamping of the side of track 1. The motor 2423 drives the upper rotating roller 2431 to rotate via the reducer 2422 and belt 2432, which in turn drives the two lower rotating rollers 2451 and roller 2455 to rotate synchronously via belt 2452.The tensioning wheel 2454 adjusts the tension of the belt 2452 via the waist-shaped groove of the adjusting plate 2453, ensuring transmission stability. Finally, rollers 2474, 2465, and 2455 provide omnidirectional flexible clamping and drive to the track 1 from the top-bottom and front-back directions, enabling the main frame 2 to move smoothly along the track 1 while simultaneously improving the overall vibration resistance of the device.

[0035] In Example 2, based on Example 1, a bracket 25 is bolted onto the partition 23. A second reducer 251 is mounted on the bracket 25, a pulley is mounted on the output shaft of the second reducer 251, and a second motor 252 is mounted on the second reducer 251. A sliding groove is provided on the bracket 25, and a rotatable rotating arm 253 is mounted on the main frame 2. A pulley is mounted on the shaft of the rotating arm 253, and a third belt 254 is installed between the pulley on the output shaft of the second reducer 251 and the pulley on the shaft of the rotating arm 253. Its function is: the power output by the second motor 252 is reduced and increased in torque by the second reducer 251, and then transmitted to the shaft of the rotating arm 253 through the third belt 254, driving the rotating arm 253 to rotate stably around the main frame 2.

[0036] In Example 3, based on Examples 1 and 2, a fixed column 31 is fixedly installed on the rotating arm 253. A rotatable tilting frame 3 is installed on the left end of the fixed column 31. A synchronous pulley is fixed on the fixed column 31. A first control motor 32 and a second control motor 34 are installed on the tilting frame 3. Synchronous pulleys are installed on the output shafts of the first control motor 32 and the second control motor 34. A first synchronous belt 321 connects the synchronous pulley on the output shaft of the first control motor 32 and the synchronous pulley on the fixed column 31. A bearing is installed on the tilting frame 3. Two rotating seats 33, with a synchronous pulley mounted on the shaft of the rotating seat 33 near the lower end of the tilting frame 3. A second synchronous belt 341 connects the synchronous pulley on the output shaft of the second control motor 34 to the synchronous pulley on the rotating seat 33. An annular frame 35 is bolted between the two rotating seats 33. A rotatable rotating ring 351 is mounted on the annular frame 35, and an annular groove is provided on the rotating ring 351. A support 354 is bolted to the rotating ring 351, and a panel 355 is mounted on the support 354. A base 36 is mounted on the panel 355. A lidar unit 361 and a vision recognition unit 362 are mounted on the ring frame 35. A motor mount 352 is bolted to the ring frame 35. The motor mount 352 has a waist-shaped through groove. A third control motor 353 is mounted on the motor mount 352. A pulley is mounted on the output shaft of the third control motor 353. A connecting belt 3531 is installed between the pulley on the output shaft of the third control motor 353 and the annular groove on the rotating ring 351. An auxiliary wheel 3521 is mounted on the motor mount 352 and is pressed against the connecting belt 3531. Its function is: The first control motor 32 drives the tilting frame 3 to tilt around the fixed column 31 via the first synchronous belt 321, adjusting the horizontal orientation of the detection component. The second control motor 34 drives the rotating seat 33 to rotate via the second synchronous belt 341, causing the ring frame 35, the lidar 361, and the vision recognition device 362 to adjust their pitch angles. The third control motor 353 drives the rotating ring 351 to rotate around the ring frame 35 via the connecting belt 3531. The auxiliary wheel 3521 ensures the tension of the connecting belt 3531, realizing the circumferential adjustment of the lidar 361 and the vision recognition device 362.

[0037] The working principle of this embodiment is as follows: Track 1 provides the installation foundation and movement path for the device. In the driving component 24, motor 2423 drives the upper rotating roller 2431 to rotate via reducer 2422 and belt 2432. Then, belt 2452 synchronously drives the lower rotating roller 2451 and roller 2455 to rotate. The tensioning wheel 2454 adjusts the tension of belt 2452 via adjusting plate 2453 to ensure stable transmission. At the same time, adjusting bolt 2442 adjusts the position of bottom spring seat 247, which is coordinated with cylindrical screw 2. 471. Spring 2473 causes guide seat 2472 to drive roller 2474 for flexible up-and-down adjustment. Adjusting bolt 2462 adjusts the position of side spring seat 2461. Together with cylindrical screw 2463 and spring 2466, guide seat 2464 drives roller 2465 for flexible front-and-back adjustment. The three sets of rollers work together to clamp and drive track 1, enabling the main frame 2 to move smoothly along track 1. Motor 252 drives rotating arm 253 to rotate around the main frame 2 via reducer 251 and belt 254. Adjust the angle of the rotating arm 253. The fixed column 31 on the rotating arm 253 is connected to the tilting frame 3. The first control motor 32 drives the tilting frame 3 to rotate around the fixed column 31 via the first synchronous belt 321. The second control motor 34 drives the rotating seat 33 and the ring frame 35 to rotate via the second synchronous belt 341. The third control motor 353 drives the rotating ring 351 to rotate around the ring frame 35 via the connecting belt 3531. The auxiliary wheel 3521 ensures the tension of the connecting belt 3531. Through multi-stage adjustment, the support 354, panel 355, and base 36 are adjusted. The lidar unit 361 and vision recognition unit 362 on the platform achieve all-round attitude adjustment. The lidar unit 361 emits a laser beam and uses the flight time of the reflected light to calculate the distance between itself and various points on the surface of the carriage, generating three-dimensional point cloud data of the carriage to restore its outline shape and spatial position. The vision recognition unit 362 simultaneously recognizes key information such as carriage markings and end wall boundaries. The two work together with the movement function of the main frame 2 to complete the dynamic tracking and positioning of the entire length of the carriage, providing accurate and real-time position data support for loading operations at the loading station.

[0038] The following points should be noted in this article:

[0039] 1. The accompanying drawings of this utility model embodiment only involve the structure involved in this utility model embodiment; other structures can refer to general designs.

[0040] 2. Where there is no conflict, the embodiments of this utility model and the features in the embodiments can be combined with each other to obtain new embodiments.

[0041] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model.

Claims

1. A train loading station carriage positioning device, comprising: Track (1); characterized in that the track (1) is fixedly installed on the trestle frame at the unloading point of the loading station, a main frame (2) is installed on the track (1), and a cover plate (21) is installed at both the front and rear ends of the main frame (2). Four columns (22) are fixed inside the main frame (2), and a partition plate (23) is fixedly installed at the lower end of the four columns (22). Two driving components (24) are provided on the partition plate (23). The driving component (24) includes a cover (241), a mounting plate (242), an upper bearing seat (243), a main plate (244), and a lower bearing seat (245). The cover (241) is fixedly installed on the partition plate (23). The mounting plate (242) is fixedly installed on the cover (241). There are two upper bearing seats (243) and two lower bearing seats (245). The two upper bearing seats (243) are installed at the lower end of the mounting plate (242). The main plate (244) is installed at the lower end of the two upper bearing seats (243) by bolts. The two lower bearing seats (245) are installed at the lower end of the main plate (244) by bolts. The two lower bearing seats (245) are each equipped with a lower rotating roller (2451). The lower rotating roller (2451) is equipped with a roller three (2455). The drive component (24) also includes roller two (2465) and roller one (2474).

2. The train loading station carriage positioning device according to claim 1, characterized in that, Bottom spring seats (247) are bolted to both the left and right ends of the main board (244). A pull plate (2441) is fixed on the main board (244). The bottom spring seat (247) is provided with a waist-shaped through groove. An adjusting bolt (2442) is installed on the pull plate (2441). The upper end of the adjusting bolt (2442) is threaded onto the bottom spring seat (247). Two cylindrical screws (2471) are threaded onto the bottom spring seat (247). A guide seat (2472) that can move up and down is installed on the two cylindrical screws (2471). A spring (2473) is installed on each of the two cylindrical screws (2471). A roller (2474) is installed on the guide seat (2472).

3. A train loading station carriage positioning device according to claim 1, characterized in that, The lower bearing seat (245) has a base (246) bolted to both the left and right ends. A side spring seat (2461) is bolted to the base (246). The side spring seat (2461) has a waist-shaped through groove. Two cylindrical screws (2463) are threaded onto the side spring seat (2461). A guide seat (2464) that can slide back and forth is installed on the cylindrical screws (2463). A roller (2465) is installed on the guide seat (2464). A spring (2466) is installed on the cylindrical screws (2463). An adjusting bolt (2462) is installed between the base (246) and the side spring seat (2461).

4. A train loading station carriage positioning device according to claim 1, characterized in that, An upper rotating roller (2431) is installed between the two upper bearing seats (243). A pulley is installed on the upper rotating roller (2431). A motor seat (2421) is installed on the mounting plate (242). A reducer (2422) is installed on the motor seat (2421). A pulley is installed on the output shaft of the reducer (2422). A motor (2423) is installed on the reducer (2422). The pulley on the output shaft of the reducer (2422) is connected to the upper rotating roller (243). Belt 1 (2432) is connected between the pulleys on 31). Belt 2 (2452) is installed between the pulleys at the front and rear ends of the upper rotating roller (2431) and the pulleys on the two lower rotating rollers (2451). Adjusting plates (2453) are installed on the two lower bearing seats (245) by bolts. The adjusting plates (2453) are provided with waist-shaped through grooves. Tensioning wheels (2454) are installed on the adjusting plates (2453). Tensioning wheels (2454) rest on belt 2 (2452).

5. A train loading station carriage positioning device according to claim 1, characterized in that, A bracket (25) is bolted onto the partition (23). A second reducer (251) is mounted on the bracket (25). A pulley is mounted on the output shaft of the second reducer (251). A second motor (252) is mounted on the second reducer (251). A sliding groove is provided on the bracket (25). A rotatable rotating arm (253) is mounted on the main frame (2). A pulley is mounted on the shaft of the rotating arm (253). A third belt (254) is installed between the pulley on the output shaft of the second reducer (251) and the pulley on the shaft of the rotating arm (253).

6. A train loading station carriage positioning device according to claim 5, characterized in that, A fixed column (31) is fixedly installed on the rotating arm (253). A rotatable tilting frame (3) is installed on the left end of the fixed column (31). A synchronous pulley is fixed on the fixed column (31). A first control motor (32) and a second control motor (34) are installed on the tilting frame (3). Synchronous pulleys are installed on the output shafts of the first control motor (32) and the second control motor (34). A first synchronous belt (321) is connected between the synchronous pulley on the output shaft of the first control motor (32) and the synchronous pulley on the fixed column (31).

7. A train loading station carriage positioning device according to claim 6, characterized in that, Two rotating seats (33) are mounted on the tilting frame (3) via bearings. A synchronous pulley is mounted on the shaft of the rotating seat (33) near the lower end of the tilting frame (3). A second synchronous belt (341) is connected between the synchronous pulley on the output shaft of the second control motor (34) and the synchronous pulley on the rotating seat (33). A ring frame (35) is bolted between the two rotating seats (33). A rotatable rotating ring (351) is mounted on the ring frame (35). An annular groove is provided on the rotating ring (351). A support (354) is bolted to the rotating ring (351). A panel (355) is mounted on the support (354). A base (36) is mounted on the panel (355). A laser radar (361) and a vision recognition device (362) are mounted on the base (36).

8. A train loading station carriage positioning device according to claim 7, characterized in that, A motor base (352) is bolted onto the ring frame (35). The motor base (352) has a waist-shaped through groove. A third control motor (353) is mounted on the motor base (352). A pulley is mounted on the output shaft of the third control motor (353). A connecting belt (3531) is installed between the pulley on the output shaft of the third control motor (353) and the annular groove on the rotating ring (351). An auxiliary wheel (3521) is mounted on the motor base (352) and is pressed against the connecting belt (3531).

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