CN103723532A - System and method for loading and unloading containers on multi-story frame type automated container yard - Google Patents

Abstract

The invention discloses a system and method for loading and unloading containers on a multi-story frame type automated container yard. A frame bridge horizontal transportation system is adopted, the high level bridge and low level bridge matching form is adopted on bank sides, multiple stories of rail frames are also arranged inside the yard, and yard flat cars can freely move between the bank sides and the yard on the rail frames without interfering with one another. The scheme that the electric flat cars purely driven by electricity are matched with multi-storage frame type rail bridges is adopted, the containers can be rapidly conveyed between a shore bridge in front of a wharf and a yard bridge behind the wharf in a three-dimensional mode, intelligent scheduling and automation control are conveniently achieved, and the container conveying efficiency is improved. The yard flat cars which move at a high speed are used in the system, and therefore the moving distance of a transtainer is reduced, and efficiency of the ship loading and unloading, and container lifting and collecting in the yard is greatly improved. By means of the system and method for loading and unloading the containers on the multi-story frame type automated container yard, the area occupied by container areas on the wharf can be greatly reduced, and the construction cost for the wharf is reduced.

Description

Multistory frame formula automated container dock stockyard loading and unloading system and handling method thereof

[technical field]

The present invention relates to the container handling technology of container wharf, specifically a kind of multistory frame formula automated container dock heap field system and handling method thereof.

[background technology]

Along with increasing substantially and the Enlargement Tendency of container ship of world container sea-freight amount, how effectively to improve stevedoring ship efficiency, cutting operating costs becomes the emphasis that industry personnel pays close attention to ^[1].Under these circumstances, automated container terminal has also obtained affirming of Port Design planning personnels, and the research of the handling technology to automatic dock has also received lot of domestic and international experts and scholars' concern, as Zhu Minghua etc. ^[2]labor the novel handling technology of a kind of automated container terminal being formed by two 40 forty equivalent unit 40 bank bridges, low bridge distribution system and track type container crane, analyze the loading and unloading operation characteristic of bank bridge and low bridge under this novel process system, and calculated the operating efficiency of this process program key equipment.Finally utilize emulation to prove its validity.Shi Fei ^[3]the applied advanced handling equipment in global main port have been analyzed.For the high-efficiency and economic type automated container terminal of Shanghai Zhenhua heavy industry independent research, the handling technology based on automatic guided vehicle and the automated container terminal based on Automatic Guided Vehicle is carried out simulation analysis.Shi Fei, Zhang Xinyan etc. ^[4]for the following working out of expecting in harbour, calculate the inner each handling equipment quantity of automated container terminal, and the total arrangement of definite harbour, in the handling technology of the automated container dock of the high type track crane of this specification sheets and dwarf forms track crane relay-type.Zhao Yanhu ^[6]set forth structure, feature, working process and the container depot automation of novel container bank bridge and stored up some key technical problems.A kind of novel automatic container handling technology based on automated warehousing technology has been proposed.Lu Zhen etc. ^[7]automated container terminal to two kinds of employing varying level transportation devices has carried out comparative analysis, sets up contrast index, finally by simulating, verifying two schemes advantage and deficiency separately.Hyo Young Bae ^[8]to being analyzed based on automatic guided vehicle and the horizontal transportation system based on Automatic Guided Vehicle, by adjusting mechanical equipment, operating rate to two kinds of transport systemss contrasts, show that the operating efficiency of Automatic Guided Vehicle will be far above automatic guided vehicle when using double trolley shore container crane.Wen Zhimin etc. ^[9]take the total time of loading and unloading operation after minimizing boats and ships and pulling in to shore and the operating efficiency that maximizes various device as target, utilize simulation optimization method search Optimized Operation scheme, set up the simulation optimization model of automated container terminal intermediate transportation system.And by simulation calculation, show non-ly to enumerate and search out preferred plan from all possible dynamic dispatching scheme.Qiu Hui is clear etc. ^[10]the three-dimensional horizontal transportation system of the new low bridge motor-driven carrier proposing of Zhenhua port machine and stockyard rail-mounted gantry crane scheme have been introduced, this scheme is being compared to analysis with conventional harbour and existing automatic dock aspect the basic mechanical design features such as harbour degree of utilization, automation and intelligent degree, berth equipment, energy consumption and environmental protection, draw actual, the efficient conclusion of this scheme, thereby be more easy to get promotion and application.Zheng sees essence etc. ^[11]introduced development, working process and the applicable cases of automated container terminal cargo handling system, the technical characterstic of two kinds of automated container terminal cargo handling system schemes based on automatic guided vehicle and frame bridge has been carried out to comprehensive analysis comparison.Liang Yan etc. ^[12]introduced a kind of three-dimensional rail mounted automated container terminal of energy-conserving and environment-protective, its horizontal transport energy consumption has been analyzed, and contrasted with the horizontal transport energy consumption of existing harbour.Analysis result shows, three-dimensional rail mounted automated container terminal has clear superiority aspect energy-saving and emission-reduction, and this environment-friendly type automatic dock is the inexorable trend of port development.Wei Hengzhou ^[13]think and adopt energy-conserving and emission-cutting technology, new and effective bank handling bridge and stockyard horizontal transport machinery equipment, building automatic cabinet stockyard and full-automatic container wharf has become the direction of harbour container wharf development from now on.According to the feature of new period China harbour container wharf development, propose the imagination of container wharf and yard handling technology model innovation, and advise creating conditions building as early as possible the 1st full-automatic container wharf of China.Wei Dan ^[14]stereo automatization storage technique is applied to harbour container stockyard, and in the design to automatic cabinet warehouse and emulation, some gordian techniquies are studied, setting up after realistic model, by Flexsim simulation software, model has been carried out to data analysis, itself and traditional container depot have been compared to analysis merits and faults separately.Lu Zhen etc. ^[15]automated container terminal to two kinds of employing varying level transportation devices has carried out comparative analysis, has set up the critical for the evaluation of horizontal transportation system, finally by simulating, verifying two schemes advantage and deficiency separately.Hyo Young Bae ^[16]to being analyzed based on automatic guided vehicle and the horizontal transportation system based on Automatic Guided Vehicle, by adjusting mechanical equipment, operating rate to two kinds of transport systemss contrasts, show that the operating efficiency of Automatic Guided Vehicle will be far above automatic guided vehicle when using double trolley shore container crane.Chin-I.Liu etc. ^[17]design, the concept of four kinds of different automated container terminals of assessment and analysis, these concepts comprise: on the basis of automated container terminal, use automatically guiding trolley, linear electric motors delivery system, the overhead system railway system, and high-rise automated storing and index structure.S.Hoshino etc. ^[18]set up the technology assessment system of the automated container terminal based on automatic guided vehicle, and set up critical for the evaluation and math modeling.B.K.Lee ^[19]researched and analysed the various operating conditions of heap yard crane, comprised Ji Gang, case, unload time cycle of case and suitcase operation.In the operating cycle, comprise different basic operations, according to mathematical expection and formula of variance, each elemental operation is analyzed.And by emulation, its accuracy is studied and assessed.D.Steenken, S ^[20]if point out that present container terminal system departs from actv. informationization technology and suitable optimization method (operational research Methods) almost cannot complete.And the main streams link in container wharf and operation process are described and are classified, and summed up the optimization method that relates to the aspects such as planned dispataching in some documents.R.Stahlbock ^[21]expert and scholar improved constantly and the pouring out of pertinent literature the concern of container operation optimization problem in recent years, author to operational research the application in terminal operation carried out comprehensively, summed up and classified, for descendant's research is offered help.Bae H Y ^[22]to carrying out comparative study based on automatic guided vehicle and Automatic Guided Vehicle from the operating efficiency of the automated container terminal of the hoisting crane combination of different performance.By simulation study, draw, if the quantity of automatic guided vehicle is enough large, the efficiency based on automatic guided vehicle harbour exceedes based on Automatic Guided Vehicle, but when bank bridge is used for ship-loading operation, no matter the number of automatic guided vehicle is increased to how many, and the efficiency based on automatic guided vehicle harbour is all lower than based on Automatic Guided Vehicle.Vis I F A ^[23]proposition is building the various factors that should consider when automated container terminal is chosen horizontal trasportation equipment, as dispatch, Occupation efficiency and institute's number of devices.Selective analysis automatic guided vehicle and two kinds of equipment of Automatic Guided Vehicle, by simulation analysis, draw the harbour of same scale, the quantity of required automatic guided vehicle is than Automatic Guided Vehicle many 38%.Yang CH ^[24]studied selecting of Automatic Guided Vehicle in how improving harbour under the prerequisite that does not affect harbour efficiency.According to the cycle time of transportation device, complete a loading and unloading operation required time and drawn four kinds of reference schemes, finally utilize the mechanical efficiency of the each scheme of simulating, verifying.Duinkerken M B ^[25]three kinds of automated container terminal horizontal trasportation equipments are compared, i.e. trailer, automatic guided vehicle and Automatic Guided Vehicle.And coordinate rule-based control system and corresponding optimized algorithm to be applied in the actual job simulation of Maasvlakte Logistics Park at Rotterdam, NED harbour three kinds of equipment, summed up the feature of each transport systems and with implement cooperatively interacting as bank bridge etc.By cost analysis, for future, the transportation device type selecting of Wharf Construction is offered help.

The scheme of the three-dimensional loading and unloading container harbour of efficient intelligent type of new generation, the i.e. automated container terminal based on low bridge system have been researched and developed in Zhenhua Port Machinery's innovation.The handling technology of this container wharf can be divided into three steps, bank bridge, and low bridge flat bogie and Chang Qiao complete the lifting process of freight container, the got off horizontal transport of freight container of low bridge flat bogie and floor slab.These three steps have completed the ship-discharging operation of a freight container, and ship-loading operation is the inverse process of ship-discharging operation.

The first step: when carrying out loading and unloading operation, the extra large side dolly of bank bridge is sling freight container from boats and ships, be transported to bank bridge transfer platform, manually takes off freight container and revolves lock.Sea is surveyed dolly and is carried out lifting operation next time.Then An Qiao land survey dolly by container transshipment to flat bogie.

Second step: low bridge flat bogie is transported to freight container switching place of specifying case district, now low bridge crane carriage also runs to this switching place thereupon, crane carriage is sling freight container, after low bridge flat board is got off and is left, after freight container 90-degree rotation, freight container is fallen on floor slab dolly.

The 3rd step: floor slab dolly carries by the shellfish position of appointment in Container Transport Dao Xiang district, after bridge arrives, slings freight container and falls into the case position of appointment.

This rail mounted automated container terminal has been cancelled ICE-powered horizontal trasportation equipment and expensive navigationsystem, adopts electrically operated flat bogie and tracks positioned system, energy-conserving and environment-protective, and easily be automated.But this harbour also exists many deficiencies, stockyard degree of utilization is not high, and the flexibility of operating system is poor etc.On each track in Ru Xiang district, can only place a flat bogie, during operation, after must waiting for that this flat bogie operation completes, just can carry out operation next time; And when unload a ship, load onto ship and collect port operation while carrying out simultaneously, the number that floor slab is got off cannot meet the requirement of working strength.Therefore proposed multilayer rail mounted automatic cabinet yard handling technology, to overcome this shortcoming.

[summary of the invention]

The present invention is on the basis of forefathers' research, a kind of multistory frame formula automated container dock stockyard loading and unloading system has been proposed, this system adopts the complete coordinated scheme by electrically operated driven plate dolly and multistory frame formula track bridge, realize quick three-dimensional transmit of freight container between wharf apron bank bridge and field, stockyard, harbour rear bridge, be convenient to realize intelligent dispatch, automation control, improve freight container transmission efficiency.The use of this stockyard loading and unloading system makes the stockyard flat bogie shuttling back and forth at a high speed reduce the miles of relative movement of a bridge cart, greatly improved the operating efficiency of the handling ship in stockyard, suitcase Ji Gang.This stockyard loading and unloading system can greatly reduce floor area, the minimizing harbour cost in harbour case district.The layout of harbour as depicted in figs. 1 and 2.

The present invention adopts frame bridge horizontal transportation system, the form that bank adopts height bridge formation to coordinate, and inside, stockyard is provided with the track-frame of some layers too, and stockyard flat bogie can arbitrarily not interfere with each other and shuttle back and forth in bank and stockyard on these layers.And under this transport systems, adjust the layout in stockyard, and reduce the miles of relative movement of a bridge, in the operating efficiency that improves a bridge, also can improve the degree of utilization in stockyard.Finally, by case analysis, provide the cooperation number of plies of wharf apron and stockyard frame bridge, under this coordinated scheme, the handling efficiency of harbour is increased.

This automated container terminal is with different by the loading and unloading system of building bridge based on height of Shanghai Zhenhua heavy industry independent development, and its frame bridge adopts multiple field, and the number of plies of frame bridge and the number of flat bogie are worked in coordination, the highest to reach operating efficiency.The track of multilayer, is equivalent to original cascade system to transform into operating system in parallel, greatly improves the reliability of its system.

In the each case of former scheme district, arrange one and half tracks, not only taken the space resources in stockyard, and horizontal trasportation equipment operation is not smooth, have the situation of a bridge cart and flat bogie wait and relay operation.And the set-up mode of multilayer makes to fill ship-discharging operation and collection port operation while carrying out simultaneously, can the non-interfering operation of carrying out separately between flat bogie, effectively avoided relay operation, reduced the range ability of a bridge cart.And freight container has multiple transport channels to select between Dao Xiang district, forward position, stockyard, effectively less situation about waiting for, thus reduce dispatch.In this multilayer stockyard rail system, the track of wharf apron will be higher than the maximum number of plies of case district inner orbit, and Ru Xiang district track is up to 4 floor, and the height of wharf apron track at least arises from layer 5, safe altitude as shown in Figure 3, this is highly at least the height of a freight container.Frame bridge He Xiang district, wharf apron frame bridge planar structure arrangement plan is as shown in Fig. 4 to Fig. 5.

The layout in stockyard also makes moderate progress, and adopts left and right stacking container, and centre arranges multistory frame bridge track, the rear, straight-through stockyard from wharf apron.While collecting port like this, truck can not need to enter stockyard, and directly freight container is put on the flat bogie at rear, stockyard, then transports it in stockyard.Frame bridge track is arranged in the middle of stockyard, field bridge dolly can be reduced to original 1/2nd in horizontal parallel motion distance.Article one, multistory frame bridge track replaces one and half individual layer tracks, has improved greatly the space availability ratio in stockyard, when particularly harbour longitudinal length is larger.

Employing equipment

Handling and transportation device for the automated container terminal studied herein as shown in table 1 below.The container crane of wharf apron adopts two 40 feet of double trolley bank bridges, can grab two 40 chi freight containers or 8 20 chi freight containers simultaneously.The horizontal transport of along the coastline direction adopts low bridge hoisting crane and low bridge flat bogie, and vertical coastline direction adopts stockyard flat bogie.At rear, stockyard, adopt transfer crane.

Table 1 equipment and parameter

Take the handling ship process of a freight container as example, container ship alongside, first by bank bridge hoisting crane, freight container is sling from collection shipment, deliver on hoisting crane doorframe platform, manually take down freight container and revolve lock (the artificial operation of unique needs in automatic dock), by hoisting crane, freight container is discharged to (FT) on low bridge flat bogie again, flat bogie is transported to freight container to specify Xiang district delivery position, low bridge hoisting crane is grabbed case, after low bridge flat bogie leaves, and after freight container falls into safety distance, transfer platform (TP) is by freight container 90-degree rotation, now freight container is fallen into (GT) on the flat bogie of stockyard.Stockyard flat bogie carries freight container and runs to the shellfish position that case district addressing is corresponding, and when a bridge arrives, by container crane, to the case position of specifying, flat truck enters next working cycle.Shipment process is substantially similar with the process of unloading a ship, and is its inverse process.During shipment, bank bridge moves to the case position, freight container place of specifying shipment, the freight container of slinging, when stockyard flat bogie arrives this side, shellfish position, freight container is fallen into small rail car, stockyard flat bogie carries freight container and moves to the delivery position of appointment, when low valence bridge is idle, freight container is sling, carry to transfer platform after safe altitude freight container 90-degree rotation, and wait for that low bridge flat bogie falls into freight container in dolly while arriving, dolly is transported to freight container by bank bridge hoisting crane, when bank bridge hoisting crane is idle, freight container is sling and fallen on hoisting crane doorframe platform, manually loading onto freight container revolves after lock, again by bank bridge hoisting crane by container loading boats and ships assigned address.In addition, when freight container collects port, by stockyard crane in rear, freight container mentioned and fall on the flat bogie of stockyard, then by stockyard flat bogie, freight container being put into the case position of appointment.Suitcase operation is its inverse process.It unloads a ship diagram of circuit as shown in Figure 6.

Particularly, the invention provides a kind of multistory frame formula automated container dock stockyard loading and unloading system, comprising:

The extra large siding track being parallel to each other and land siding track and with it vertical bank bridge, boats and ships are parallel to extra large siding track in extra large side and arrange, bank bridge is from extra large side through extra large siding track and land siding track, and bank bridge comprises extra large side hoisting crane, extra large side bank bridge dolly, land side bank bridge dolly and the transfer platform between extra large siding track and land siding track;

Multilayer low bridge adapting system, described multilayer low bridge adapting system comprises low bridge track, low bridge hoisting crane and low bridge flat bogie;

Multiple bridges, described bridge is parallel to land siding track, comprises along the field bridge hoisting crane of the direction operation perpendicular to land siding track.

The advantage of multistory frame formula automated container dock of the present invention stockyard loading and unloading system is, also comprise multistory frame formula system, described multistory frame formula system comprises perpendicular to multiple multistory frame formula tracks of land siding track direction with along the stockyard flat bogie of described multistory frame formula orbital motion, the container stacking in stockyard is in each multistory frame formula track both sides, each the corresponding multistory frame formula track of bridge, a field bridge lifting function for field bridge is mentioned the freight container of corresponding multistory frame formula track both sides and is placed on any stockyard flat bogie of any one deck of multistory frame formula track, also can sling and be placed on the corresponding shellfish position and respective tank position in stockyard by the freight container from any stockyard flat bogie of any one deck of multistory frame formula track,

Any low bridge flat bogie on multilayer low bridge adapting system on any one deck can be with any stockyard flat bogie of any one deck of multistory frame formula track by low bridge hoisting crane and a mutual transfer container of bridge hoisting crane.

The number of plies of the multistory frame formula system of multistory frame formula automated container dock of the present invention stockyard loading and unloading system is 2-6 layer; And the number of plies of the number of plies of multilayer low bridge adapting system and multistory frame formula system can be the same or different.

Preferably, the facility assignment of multistory frame formula automated container dock of the present invention stockyard loading and unloading system adopts real-time device allocation schedule scheme: when boats and ships carry out ship-discharging operation, the bank bridge having distributed can corresponding many low bridge operating lines that distributed; Every low bridge operating line has two groups of low bridge flat bogies and low bridge crane carriage on it; The multiple low bridge crane carriages of each low bridge flat bogie correspondence on same low bridge operating line; The Duo Tai stockyard flat bogie of each low bridge crane carriage on again can corresponding multistory frame formula track, the stockyard flat bogie in each case district is again with respective fields bridge correspondence; Shipment adopts this scheduling scheme too, the selection of equipment is as follows: the first situation, exist same operation to have multiple equipment available, when low bridge crane carriage installs to container crane on the stockyard flat bogie in this stockyard, may there is the stockyard flat bogie in multiple casees district available, now the stockyard flat bogie in same case district is all available, does not have priority level; The second situation, exist multiple operations to select same equipment, when stockyard flat bogie carries out ship-loading operation, carrying case is transported to wharf apron Xiang district's switching place and unloads after case, be not that direct empty van returns, accept next bridge job instruction, but accept the job task of low bridge crane carriage, carry inlet box and enter stockyard; When bank bridge and low bridge crane carriage send job instruction to low bridge flat bogie simultaneously, should be preferential with bank bridge.

Preferably, multistory frame formula automated container dock of the present invention stockyard loading and unloading system has been installed program control scheduling system, and described program control scheduling system can arrange the shipment of freight container simultaneously, unload a ship, Ji Gang and suitcase, and can control shipment, unload a ship, the arrangement of the task of Ji Gang operation relevant with suitcase, mixing and scheduling, and freight container passes through bank bridge hoisting crane from boats and ships, sea side bank bridge dolly, transfer platform, bank bridge hoisting crane, land side bank bridge dolly, low bridge flat bogie, low bridge track, low bridge hoisting crane, stockyard flat bogie, multistory frame formula track, field bridge hoisting crane, the arrangement of the whole process in arrival stockyard and docking and inverse process freight container pass through a bridge hoisting crane from stockyard, stockyard flat bogie, multistory frame formula track, low bridge hoisting crane, low bridge track, low bridge hoisting crane, low bridge flat bogie, low bridge track, bank bridge hoisting crane, land side bank bridge dolly, transfer platform, bank bridge hoisting crane, the arrangement of the whole process of arrived ship and docking.

The present invention also provides the handling method of above-mentioned multistory frame formula automated container dock stockyard loading and unloading system, described handling method can be respectively or carry out simultaneously freight container shipment, unload a ship, Ji Gang and suitcase;

The method of unloading a ship and collection port method step are as follows:

One, bank bridge hoisting crane is sling freight container from boats and ships, delivers on hoisting crane doorframe platform, and manually take down freight container and revolve lock,

Two, by bank bridge hoisting crane, freight container is discharged on low bridge flat bogie,

Three, low bridge flat bogie is transported to freight container to specify Xiang district delivery position by low bridge track,

Four, low bridge hoisting crane is grabbed case, and after low bridge flat bogie leaves, and after freight container falls into safety distance, rotation platform, by freight container 90-degree rotation, now falls into freight container on the flat bogie of stockyard,

Five, stockyard flat bogie carries freight container by shellfish position corresponding to addressing, multistory frame formula orbital motion Dao Xiang district, and when a bridge arrives, by container crane, to the case position of specifying, flat truck enters next working cycle,

Wherein, except the freight container of manually taking down of step 1 revolves lock, step 1 to five is all automation;

Shipment method and suitcase method step are as follows:

One, a bridge moves to the case position, freight container place of specifying shipment, and the freight container of slinging, when described stockyard flat bogie arrives this side, shellfish position, falls into stockyard flat bogie by freight container,

Two, by stockyard flat bogie, carry the delivery position that freight container is extremely specified by the orbital motion of multistory frame formula,

Three, when low valence bridge hoisting crane is idle, freight container is sling, is carried to rotation platform after safe altitude freight container 90-degree rotation, and wait for that low bridge flat bogie falls into freight container in low bridge flat bogie while arriving,

Four, low bridge flat bogie is transported to freight container by bank bridge hoisting crane, and when bank bridge hoisting crane is idle, freight container is sling and fallen on hoisting crane doorframe platform,

Five, manually load onto freight container and revolve after lock, then by bank bridge hoisting crane by container loading boats and ships assigned address,

Wherein, except the freight container of manually taking down of step 5 revolves lock, step 1 to five is all automation.

Preferably, the handling method of multistory frame formula automated container dock of the present invention stockyard loading and unloading system is subject to the control of program control scheduling system, program control scheduling system according to the shipment of associated container, unload a ship, Ji Gang and suitcase task, the required time completing, quantity and the transport power of relevant hoisting crane, flat bogie, situation and the transport power of multilayer low bridge track and multistory frame formula track, arrange, control and schedule job.

[accompanying drawing explanation]

Fig. 1 and Fig. 2 are the figure of stereoscopic arrangement of the present invention;

Fig. 3 is the three-dimensional structure diagram of wharf apron of the present invention multistory frame bridge;

Fig. 4 is the plane structure chart of wharf apron of the present invention multistory frame bridge;

Fig. 5 is the plane figure of multistory frame bridge in case of the present invention district;

Fig. 6 is the diagram of circuit of unloading a ship of the present invention;

Fig. 7 bank bridge loading and unloading operation embodiment

(shipment and suitcase operation are referred to as stuffing to Fig. 8 field bridge operation embodiment, and the He Jigang that unloads a ship is referred to as unload container

The real-time distribution diagram of Fig. 9 freight container ship unloading equipment

Figure 10 and Figure 11 are for two kinds of calculating that pier storage yard Nei Gexiang district comprises freight container number;

Figure 12 is for d _gTand d _fTcalculating;

Figure 13 is for d ' _gTand d ' _fTcalculating;

Figure 14 is multilayer low bridge flat bogie service process figure of the present invention;

Figure 15 and Figure 16 are horizontal transport efficiency comparison diagrams of the present invention;

Reference numeral:

1: boats and ships, 2: bank bridge, 3: extra large siding track, 4: land siding track, 5: transfer platform, 6: extra large side bank bridge dolly, 7: land side bank bridge dolly, 21: low bridge flat bogie, 24: low bridge hoisting crane, 27: low bridge track, 31: stockyard, 35: a bridge, 38: multistory frame bridge track, 51: stockyard flat bogie, 55: a bridge hoisting crane, 91: safe altitude

[specific embodiment]

Multistory frame formula track and multilayer low bridge track cooperatively interact, to reach many operating lines object.The multistory frame bridge that is parallel to water front is arranged in wharf apron, its minimum number of plies need be higher than the number of plies of case district frame bridge, and leave safety distance, and on it is top, be furnished with low bridge crane carriage, the quantity in the quantity Yu Xiang district of this dolly equates, according to the demand of job task, move to assignment position.Except top, remainder layer is arranged respectively a low bridge flat bogie, and optional position that these dollies can be is in orbit non-interfering carries out operation; In stockyard, in the centre in each case district, and arrange a multilayer case district track perpendicular to the direction of water front, this track runs through whole stockyard, front to wharf apron bulkhead wall line, after to stockyard.The every one deck of this track is arranged a stockyard flat bogie.In each case district, according to the longitudinal length in stockyard, arrange one to two field bridge, operation in the stockyard of responsible handling ship, Ji Gang and suitcase.At rear, stockyard, arrange a gauntry crane, be responsible for outside truck and carry out Ji Gang and suitcase operation.The work flow of An Qiao and a bridge is respectively as Fig. 7, shown in Fig. 8.

In one embodiment of the invention, the number of plies of multistory frame formula track is 2.In an alternative embodiment of the invention, the number of plies of multistory frame formula track is 6.In yet another embodiment of the present invention, the number of plies of multistory frame formula track is 4.

Equipment scheduling scheme

From automatic dock container transportation, a container handling need to distribute multiple equipment: bank bridge, low bridge flat bogie, low bridge crane carriage, stockyard flat bogie, Chang Qiao.That is to say, completing of task of handling need to be distributed multiple serial resources.If certain type equipment is not distributed, this task just may be blocked so.

Consider Practical Project situation, and the stability of loading and unloading system, dependable with function, real-time device allocation schedule scheme adopted here.Real-time device allocation schedule scheme: when boats and ships carry out ship-discharging operation, the bank bridge having distributed can corresponding many low bridge operating lines that distributed; Every low bridge operating line has two groups of low bridge flat bogies and low bridge crane carriage on it; The multiple low bridge crane carriages of each low bridge flat bogie correspondence on same low bridge operating line; The Duo Tai stockyard flat bogie of each low bridge crane carriage on again can corresponding case district track, the stockyard flat bogie in each case district is again with respective fields bridge correspondence.Shipment adopts this scheduling scheme too.But in said process, exist the selection problem of equipment, the first situation, exist same operation have multiple equipment available as, when low bridge crane carriage installs to container crane on the stockyard flat bogie in this stockyard, may there is multiple stockyards flat bogie available, in this scheduling scheme, the stockyard flat bogie in same case district is all available, does not have priority level.The second situation, exist multiple operations select same equipment as, when stockyard flat bogie carries out ship-loading operation, carrying case and be transported to wharf apron Xiang district's switching place and unload after case, is not that direct empty van returns, and accepts next bridge job instruction, but accept the job task of low bridge crane carriage, carry inlet box and enter stockyard, this kind of scheduling strategy actv. reduced the stroke of flat bogie zero load, the operating efficiency of improving the standard.And in order to guarantee the continuous working of bank bridge, when bank bridge and low bridge crane carriage send job instruction to low bridge flat bogie simultaneously, should be preferential with bank bridge.And real-time device allocation schedule scheme is illustrated in fig. 9 shown below.

Process characteristic

(1) in actual job process, load onto ship, unload a ship, Ji Gang and suitcase event carry out simultaneously, if adopt the stockyard frame bridge of multilayer, stockyard flat bogie can be shuttled back and forth by random layer, the problem that can avoid like this handling equipment that operation simultaneously causes to wait for.As, freight container will fall into the end in case district, flat bogie can directly be transported and run to accurately by corresponding shellfish position, case case position, rather than a bridge is transported to rear, stockyard by freight container from forward position, stockyard, the distance that flat bogie carries case operation increases, and a bridge cart reduces with the distance of freight container high-speed cruising.

(2) multiple field frame bridge scheme has improved the flexibility of rail mounted automated container terminal and the processing capacity of breakdown of equipment greatly.Freight container can have mulitpath to select between wharf apron and stockyard, if the flat bogie et out of order on a certain track, whole system still can normally be moved.

(3) stockyard space availability ratio is significantly improved.Each case district employing left and right arrangement, centre arranges the arrangement of multilayer rail mounted frame bridge, and such layout has not only improved the space availability ratio in stockyard greatly, has also reduced a bridge dolly simultaneously in the horizontal parallel motion distance of harbour.

(4) while collecting port operation, truck does not need to enter stockyard, directly by the hoisting crane at rear, stockyard, freight container is mentioned, be placed on the flat bogie of stockyard, stockyard can arrange track like this, not only improve the degree of utilization in stockyard, reduced cost, be also conducive to realize the full-automatic operation of heap simultaneously.

Implementation result is analyzed

Store up ability comparison

The geometric area of supposing two harbours equates.Shown in two kinds of following Figure 10 of automated container terminal stockyard section layout and Figure 11.If the span of a bridge is W, the length of the vertical water front direction in case district is L, and the length of freight container is L _tEU, wide and high equating of freight container, be W _tEU.Comprising freight container number along water front direction, be W/W _tEU, the freight container number that vertical water front direction comprises is L/L _tEU, the freight container number comprising in short transverse is H.Two kinds of heap places comprise freight container number and are:

$C_{\mathrm{FB}}=\frac{B}{W}\·\frac{L}{L_{\mathrm{TEU}}}\·(\frac{W}{W_{\mathrm{TEU}}}-3)\·H---\left(1\right)$

${C_{\mathrm{FB}}}^{\′}=\frac{B}{W^{\′}}\·\frac{L}{L_{\mathrm{TEU}}}\·(\frac{W^{\′}}{W_{\mathrm{TEU}}}-2)\·H---\left(2\right)$

Wherein C _fBrepresent the ability of storing up of former scheme, C _fB' represent the ability of storing up of new departure;

represent respectively to remove in case district the spacing of one and half tracks and a track, and flat bogie can carry two 40 forty equivalent unit 40s.

The comparison of horizontal transport efficiency

(1) set up conveying efficiency index

Take freight container, complete a loading and unloading operation as a cyclic process, no matter freight container carries out ship-loading operation or ship-discharging operation, all must be through this cyclic process.Completing so the required time of this cyclic process can be expressed as follows:

T _c=h _QC+h _YCS+T _GT+T _FT （3）

Wherein, h _qCrepresent the time that the operation of flat bogie wait bank bridge completes, h _yCSrepresent a flat bogie wait time that bridge operation completes, T _gTrepresent that stockyard flat bogie completes the time of run of the event of once loading and unloading, i.e. T _gT=2t _gT+ w _gT; T _fTrepresent that low bridge flat bogie completes the time of run of the event of once loading and unloading, i.e. T _fT=2t _fT+ w _fT.Wherein w _gTwith w _fTit is the time that represents that flat bogie wait transferring platform fulfils assignment.Above-mentioned cyclic process can split into two parts, and the one, completing a submit job process is a circulation, the one, it is a cyclic process that low bridge flat bogie completes a submit job, this two parts circulation required time can be expressed as:

O _GT=2t _GT+w _GT+h _YC （4）

O _FT=2t _FT+w _FT+h _QC （5）

1) calculate t _gTtime, calculate in Figure 12 the distance of A and B point-to-point transmission arbitrarily.On the frame bridge that stockyard flat bogie is parked on the other frame rail in the case position of appointment and each case district is corresponding, therefore should adopt discrete variable to ask the method for expectation.L _aBbe calculated as follows:

$\mathrm{OA}=\underset{i=1}{\overset{r}{\mathrm{\Σ}}}i\·L_{\mathrm{FB}}\·\frac{1}{r}---\left(6\right)$

$\mathrm{OB}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}i\·L_{\mathrm{TEU}}\·\frac{1}{n}---\left(7\right)$

Wherein n is the number of vertical water front direction set vanning, n=L/L _tEU; L _fBfor the width of every row frame bridge, and L _fB=F/r, r is the columns of bank frame bridge, i.e. d _gTwith d ' _gTall can be expressed as:

$d_{\mathrm{GT}}={d^{\′}\′}_{\mathrm{GT}}=\mathrm{OA}+\mathrm{OB}==\underset{i=1}{\overset{r}{\mathrm{\Σ}}}i\·L_{\mathrm{FB}}\·\frac{1}{r}+\underset{i=1}{\overset{n}{\mathrm{\Σ}}}i\·L_{\mathrm{TEU}}\·\frac{1}{n}---\left(8\right)$

According to t _gT=d _gT/ v _gTtry to achieve t _gTwith t' _gT.

2) calculate t _fTtime, the suitcase that hypothesis set is cased on frame bridge and the case event that falls all occur in A point place.The distance of moving of ordering from any P point to A is so d _fT, d _fTcan be calculated as follows:

$d_{\mathrm{FT}}=\underset{i=1}{\overset{N}{\mathrm{\Σ}}}\{(\underset{j=0}{\overset{N-i}{\mathrm{\Σ}}}j+\underset{k=1}{\overset{i-1}{\mathrm{\Σ}}}k)\·\frac{B}{N}\·\frac{1}{N}\}\·\frac{1}{N}---\left(9\right)$

As shown in figure 13, A and P have respectively N kind position possibility, and (A, P) just has N so ²planting may.For any A, the average of the distance of P point-to-point transmission can be calculated as follows:

In like manner, can obtain d _fT':

${d_{\mathrm{FT}}}^{\′}=\underset{i=1}{\overset{2N}{\mathrm{\Σ}}}\{(\underset{j=0}{\overset{2N-i}{\mathrm{\Σ}}}j+\underset{k=1}{\overset{i-1}{\mathrm{\Σ}}}k)\·\frac{B}{2N}\·\frac{1}{2N}\}\·\frac{1}{2N}---\left(10\right)$

According to t _fT=d _fT/ v _fTtry to achieve t _fTwith t' _fT.

3) calculate wait time w _fTtime, the operational process of low bridge flat bogie can be reduced to the service process as Figure 14.Utilize waiting-line theory to set up solving model ^[26].This process can be expressed as M/M/S model, first M represents that the arrival process of low bridge flat bogie is Poisson (Possion) stream, second M represents that low bridge flat bogie service process required time obedience negative exponent distributes, and S represents that this service system has S service platform, and S=M _gTs _gT, wherein s _gTfor the number of plies of stockyard flat bogie track.

According to the formula of M/M/S queue theory model average latency, can obtain wait time w _fTaviation value be:

$w_{\mathrm{GT}}=\frac{{\left(\mathrm{S\ρ}\right)}^S}{S!}\·{[(1-\mathrm{\ρ})\underset{n=0}{\overset{S-1}{\mathrm{\Σ}}}\frac{{\left(\mathrm{S\ρ}\right)}^n}{n!}+\frac{{\left(\mathrm{S\ρ}\right)}^S}{S!}]}^{-1}\·\frac{t}{(1-\mathrm{\ρ})\·S}---\left(11\right)$

Wherein, ρ=(λ t) S represents the rate of traffic flow in stockyard; λ represents the average arrival rate of low bridge flat bogie; T=2t _gT+ h _yCS, represent that stockyard flat bogie is from leaving transferring platform to the time of again coming transferring platform.

Suppose that harbour is in one section of quite long service time T, a certain low bridge flat bogie completes the total T/O of process that submits event loop to _fTinferior, on each row frame bridge track, total circulation number is M _fTs _fTt/O _fT, within the T time, each transferring platform will carry out M _fTs _fTt/ (M _tPo _fT) individual work cycle.Wherein, M _fTfor the number of low bridge flat bogie on every layer of frame bridge of every row, s _fTfor the number of plies of low bridge flat bogie track.By above analysis, can obtain the rate that on average the reaches λ of low bridge flat bogie, the low bridge flat bogie number of a transferring platform of unit time arrival is:

λ=M _FT·s _FT/(M _TP·O _FT) （12）

Rate of traffic flow ρ is illustrated in the service object's number that arrives a certain information desk in certain a period of time t, and it can be expressed as:

$\mathrm{\ρ}=\mathrm{\λ}\·t/S=\frac{M_{\mathrm{FT}}\·s_{\mathrm{FT}}\·t}{M_{\mathrm{TP}}\·O_{\mathrm{FT}}\·S}=\frac{M_{\mathrm{FT}}\·s_{\mathrm{FT}}\·t}{M_{\mathrm{TP}}\·({2t}_{\mathrm{FT}}+w_{\mathrm{FT}}+h_{\mathrm{QC}})\·S}---\left(13\right)$

By formula (12), (13) are brought into formula (11), then in conjunction with formula (4), can obtain the wait time w of low bridge flat bogie _fT.

4) calculate w _gTtime, because within the significant period of time of harbour operation, M _gTs _gTn stockyard flat bogie and M _fTrs _fTthe cycle number of individual low bridge loading and unloading operation that flat bogie completes should equate, because the average effiiciency of each flat bogie is respectively 1/O _gT, 1/O _fT.There is M _gTs _gTn/O _gT=M _fTrs _fT/ O _fT, and both members all can represent the efficiency of this automated container terminal horizontal transportation system.Be M _gTs _gTn/ (2t _gT+ w _gT+ h _yC)=M _fTrs _fT/ (2t _fT+ w _fT+ h _qC).Formula can draw w thus _gT.

(2) horizontal transport efficiency and comparison

The horizontal transport efficiency of this system can be expressed as M _gTs _gTn/O _gTwith M _fTrs _fT/ O _fTtwo kinds of forms.Again because of O _fT=2t _fT+ w _fT+ h _qC, η _fBcan be expressed as:

η _FB=M _FT·r·s _FT/O _FT=M _FT·r·s _FT/(2t _FT+w _FT+h _QC) (14)

η ' _fBask method same as described above, only need be by s _gTchange s ' into _gT, s _fTchange s ' into _fT, M _gTchange M ' into _gT, h _yCchange h ' into _yC.

Case analysis

Store up ability comparison

For the ease of relatively, the shellfish number of getting two kinds of harbour case freight containers that put in district is equal, and the ratio that two kinds of freight containers are stored up ability is so

if the row of freight container is 14 in Qu Yigexiang district, the annual throughput of traditional scheme freight container is 2,000,000 TEU, and novel harbour can hold 2,180,000 TEU, and the ability of storing up has improved 9%.

The comparison of horizontal transport efficiency

By efficiency obtained above, can be under different condition, the conveying efficiency of contrast two class harbours.Before relatively, first determine the value of parameters ^[9], as shown in the table:

Each parameter value of two kinds of harbours of table 2

Parameter setting in associative list 1 and table 2, utilizes Matlab to solve, and can obtain Dang Xiang district frame bridge and get the different numbers of plies, when on every layer of low bridge, low bridge flat bogie quantity is different, the comparison of the horizontal transport efficiency of two kinds of automated container terminals.But due to the shown up limitation in height of bridge and bank bridge of the number of plies of frame bridge, the case district inner orbit number of plies is got at most 4 floor.The ratio of its efficiency is as shown in the table:

Table 3 horizontal transport efficiency contrast table

In order to analyze more intuitively data, its broken line graph is as Figure 15 and 16.

By upper two figure, can find out, increase the number of plies of case district inside casing bridge formation and the quantity of low bridge flat bogie horizontal transport efficiency is improved, because increased the number of plies of frame bridge, reduce the situations such as traffic jam.But every layer of increase that often lists comprised low bridge flat bogie quantity on the number of plies of building bridge along with case district inside casing and low bridge, conveying efficiency slowly improves, can analyze thus, the case district inside casing bridge formation number of plies increases, the wait time that flat bogie is accepted service has not been its Main Bottleneck, but in the case of the number of bridge on the scene and bank bridge is constant, each bridge or bank bridge wait for that the time of flat bogie increased, thereby conveying efficiency can decline.When low bridge flat bogie number is few, in the situation that transferring platform number increases, efficiency does not obviously promote, illustrate that now the number of transferring platform is not the Main Bottleneck of this system, because increasing of equipment produces the free time, thereby reduced conveying efficiency value on the contrary.

The present invention is not subject to the restriction of above-mentioned embodiment, and other any do not deviate from change, the modification done under Spirit Essence of the present invention and principle, substitutes, combination, simplify, and all should be equivalent substitute mode, within being included in protection scope of the present invention.

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Claims (6)

1. a multistory frame formula automated container dock stockyard loading and unloading system, comprising:

The extra large siding track being parallel to each other and land siding track and with it vertical bank bridge, boats and ships are parallel to extra large siding track in extra large side and arrange, described bank bridge is from extra large side through described extra large siding track and land siding track, and described bank bridge comprises extra large side hoisting crane, extra large side bank bridge dolly, land side bank bridge dolly and the transfer platform between extra large siding track and land siding track;

Multilayer low bridge adapting system, described multilayer low bridge adapting system comprises low bridge track, low bridge hoisting crane and low bridge flat bogie;

Multiple bridges, described bridge is parallel to land siding track, comprises along the field bridge hoisting crane of the direction operation perpendicular to land siding track;

It is characterized in that, also comprise multistory frame formula system, described multistory frame formula system comprises perpendicular to multiple multistory frame formula tracks of land siding track direction with along the stockyard flat bogie of described multistory frame formula orbital motion, the container stacking in stockyard is multistory frame formula track both sides described in each, the corresponding described multistory frame formula track of each described bridge, described bridge lifting function of described bridge mentioned the freight container of corresponding described multistory frame formula track both sides and is placed on any stockyard flat bogie of any one deck of multistory frame formula track, also can sling and be placed on the corresponding shellfish position and respective tank position in stockyard by the freight container from any stockyard flat bogie of any one deck of described multistory frame formula track,

Any described low bridge flat bogie on described multilayer low bridge adapting system on any one deck can be with any described stockyard flat bogie of any one deck of described multistory frame formula track by described low bridge hoisting crane and described the mutual transfer container of bridge hoisting crane.

2. multistory frame formula automated container dock according to claim 1 stockyard loading and unloading system, is characterized in that, the number of plies of described multistory frame formula system is 2-6 layer; The number of plies of the number of plies of described multilayer low bridge adapting system and described multistory frame formula system can be the same or different.

3. multistory frame formula automated container dock according to claim 1 stockyard loading and unloading system, it is characterized in that, facility assignment adopts real-time device allocation schedule scheme: when boats and ships carry out ship-discharging operation, the described bank bridge having distributed can corresponding many low bridge operating lines that distributed; Every low bridge operating line have two groups on it described in low bridge flat bogie and described low bridge crane carriage; The multiple described low bridge crane carriage of each described low bridge flat bogie correspondence on low bridge operating line described in same; Many the described stockyard flat bogies of each described low bridge crane carriage on again can corresponding described multistory frame formula track, the described stockyard flat bogie in each case district is again with corresponding described bridge correspondence; Shipment adopts this scheduling scheme too, the selection of equipment is as follows: the first situation, exist same operation to have multiple equipment available, when described low bridge crane carriage installs to container crane on the described stockyard flat bogie in this stockyard, may there is the described stockyard flat bogie in multiple casees district available, now the described stockyard flat bogie in same case district is all available, does not have priority level; The second situation, exist multiple operations to select same equipment, when described stockyard flat bogie carries out ship-loading operation, carrying case is transported to wharf apron Xiang district's switching place and unloads after case, be not that direct empty van returns, accept next bridge job instruction, but accept the job task of described low bridge crane carriage, carry inlet box and enter stockyard; When described bank bridge and described low bridge crane carriage send job instruction to described low bridge flat bogie simultaneously, should be preferential with described bank bridge.

4. according to the multistory frame formula automated container dock stockyard loading and unloading system described in the arbitrary claim of claim 1-3, it is characterized in that, described multistory frame formula automated container dock stockyard loading and unloading system is installed program control scheduling system, and described program control scheduling system can arrange the shipment of freight container simultaneously, unload a ship, Ji Gang and suitcase, and can control described shipment, unload a ship, the arrangement of the task of Ji Gang operation relevant with suitcase, mixing and scheduling, and freight container passes through described bank bridge hoisting crane from boats and ships, described extra large side bank bridge dolly, described transfer platform, described bank bridge hoisting crane, described land side bank bridge dolly, described low bridge flat bogie, described low bridge track, described low bridge hoisting crane, described stockyard flat bogie, described multistory frame formula track, described bridge hoisting crane, arrive the arrangement of the whole process in described stockyard and docking and inverse process freight container from described stockyard by described bridge hoisting crane, described stockyard flat bogie, described multistory frame formula track, described low bridge hoisting crane, described low bridge track, described low bridge hoisting crane, described low bridge flat bogie, described low bridge track, described bank bridge hoisting crane, described land side bank bridge dolly, described transfer platform, described bank bridge hoisting crane, arrangement and the docking of the whole process of boats and ships under arriving.

5. according to the handling method of the multistory frame formula automated container dock stockyard loading and unloading system described in the arbitrary claim of claim 1-4, described handling method can be respectively or carry out simultaneously freight container shipment, unload a ship, Ji Gang and suitcase;

The method of unloading a ship and collection port method step are as follows:

One, described bank bridge hoisting crane is sling freight container from boats and ships, delivers on hoisting crane doorframe platform, and manually take down freight container and revolve lock,

Two, by described bank bridge hoisting crane, freight container is discharged on described low bridge flat bogie,

Three, described low bridge flat bogie is transported to freight container to specify Xiang district delivery position by described low bridge track,

Four, described low bridge hoisting crane is grabbed case, and after described low bridge flat bogie leaves, and after freight container falls into safety distance, rotation platform, by freight container 90-degree rotation, now falls into freight container on the flat bogie of described stockyard,

Five, described stockyard flat bogie carries freight container by shellfish position corresponding to addressing, described multistory frame formula orbital motion Dao Xiang district, and when described bridge arrives, by container crane, to the case position of specifying, described flat truck enters next working cycle,

Wherein, except the described freight container of manually taking down of step 1 revolves lock, step 1 to five is all automation;

Shipment method and suitcase method step are as follows:

One, described bridge moves to the case position, freight container place of specifying shipment, and the freight container of slinging, when described stockyard flat bogie arrives this side, shellfish position, falls into described stockyard flat bogie by freight container,

Two, by described stockyard flat bogie, carry the delivery position that freight container is extremely specified by the orbital motion of described multistory frame formula,

Three, when described low valence bridge hoisting crane is idle, freight container is sling, is carried to rotation platform after safe altitude freight container 90-degree rotation, and wait for that described low bridge flat bogie falls into freight container in described low bridge flat bogie while arriving,

Four, described low bridge flat bogie is transported to freight container by described bank bridge hoisting crane, and when described bank bridge hoisting crane is idle, freight container is sling and fallen on hoisting crane doorframe platform,

Five, manually load onto freight container and revolve after lock, then by described bank bridge hoisting crane by container loading boats and ships assigned address,

Wherein, except the described freight container of manually taking down of step 5 revolves lock, step 1 to five is all automation.

6. the handling method of multistory frame formula automated container dock according to claim 5 stockyard loading and unloading system, the method is subject to the control of described program control scheduling system, described program control scheduling system according to the shipment of associated container, unload a ship, Ji Gang and suitcase task, the required time completing, quantity and the transport power of relevant hoisting crane, flat bogie, situation and the transport power of described multilayer low bridge track and described multistory frame formula track, arrange, control and schedule job.

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