CN103723532B - Multi-story frame type automated container dock stockyard loading and unloading system and handling method thereof - Google Patents

Multi-story frame type automated container dock stockyard loading and unloading system and handling method thereof Download PDF

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CN103723532B
CN103723532B CN201410014461.4A CN201410014461A CN103723532B CN 103723532 B CN103723532 B CN 103723532B CN 201410014461 A CN201410014461 A CN 201410014461A CN 103723532 B CN103723532 B CN 103723532B
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bridge
stockyard
flat bogie
freight container
track
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CN103723532A (en
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何军良
苌道方
朱夷诗
严伟
陆后军
王煜
房婷
张雨婷
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Shanghai Maritime University
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Shanghai Maritime University
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Abstract

The invention discloses a kind of multi-story frame type automated container dock heap field system and handling method thereof.Adopt frame bridge horizontal transportation system, the form that bank adopts height bridge formation to coordinate, inside, stockyard is provided with the track-frame of some layers too, and stockyard flat bogie arbitrarily can not interfere with each other and shuttles back and forth in bank and stockyard on these layers.Utilize the coordinated scheme completely by electrically operated driven plate dolly and multi-story frame type track bridge, realize the quick solid of freight container between wharf apron bank bridge and field, stockyard, harbour rear bridge to transmit, be convenient to realize intelligent dispatch, Automated condtrol, improve freight container transmission efficiency.The use of this stockyard loading and unloading system makes the stockyard flat bogie shuttled back and forth at a high speed decrease a miles of relative movement of bridge cart, substantially increases the operating efficiency of the handling ship in stockyard, suitcase Ji Gang.This stockyard loading and unloading system greatly can reduce floor area, the minimizing harbour cost in harbour case district.

Description

Multi-story frame type 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 multi-story frame type 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 have also been obtained the affirmative of Port Design planning personnels, the research of the handling technology of automatic dock is also received to the concern of lot of domestic and international experts and scholars, as Zhu Minghua etc. [2]the novel handling technology of a kind of automated container terminal that is made up of two 40 forty equivalent unit 40 bank bridges, low bridge distribution system and track type container crane of labor, analyze the loading and unloading operation characteristic of bank bridge and low bridge under this novel process system, and calculate the operating efficiency of this process program key equipment.Emulation is finally utilized to prove its validity.Shi Fei [3]analyze the advanced handling equipment that global main port is applied.For the High-efficiency economical automated container terminal of Shanghai Zhenhua heavy industry independent research, carry out simulation analysis based on automatic guided vehicle with based on the handling technology of the automated container terminal of Automatic Guided Vehicle.Shi Fei, Zhang Xinyan etc. [4]for the working out that harbour will be expected future, calculate the inner each handling equipment quantity of automated container terminal, and determine the total arrangement of harbour, in the handling technology of the automated container dock of this specification sheets high type track crane and dwarf forms track crane relay-type.Zhao Yanhu [6]set forth the structure of novel container bank bridge, feature, working process and container depot automation and store up some key technical problems.Propose a kind of novel automatic container handling technology based on automated warehousing technology.LuZhen etc. [7]adopt the automated container terminal of varying level transportation devices to carry out comparative analysis to two kinds, set up contrast index, finally by the respective advantage of simulating, verifying two schemes and deficiency.HyoYoungBae [8]be analyzed based on automatic guided vehicle with based on the horizontal transportation system of Automatic Guided Vehicle, by adjusting the equipment of machinery, the operating rate of two kinds of transport systemss is contrasted, show that the operating efficiency of Automatic Guided Vehicle will far above automatic guided vehicle when using double trolley shore container crane.Wen Zhimin etc. [9]with minimize boats and ships pull in shore after loading and unloading operation total time and maximize the operating efficiency of various equipment for target, utilize simulation optimization method chess game optimization scheduling scheme, establish the simulation optimization model of automated container terminal intermediate transportation system.And show to search out preferred plan with non-ly enumerating from all possible dynamic scheduling scheme by simulation calculation.Qiu Hui is clear [10]describe low bridge motor-driven carrier stereoscopic horizontal transport systems and stockyard rail-mounted gantry crane scheme that Zhenhua port machine newly proposes, the program is compared analysis with conventional harbour and existing automatic dock in the basic mechanical design features such as harbour degree of utilization, intellectually and automatically degree, berth equipment, energy consumption and environmental protection, draw actual, the efficient conclusion of the program, thus the promotion and application that are more easy to get.Zheng sees essence etc. [11]describe the development of automated container terminal cargo handling system, working process and applicable cases, comprehensive com-parison and analysis has been carried out to the technical characterstic of two kinds of automated container terminal cargo handling system schemes based on automatic guided vehicle and frame bridge.Liang Yan etc. [12]describe a kind of three-dimensional rail mounted automated container terminal of energy-conserving and environment-protective, its horizontal transport energy consumption is analyzed, and contrast with the horizontal transport energy consumption of existing harbour.Analysis result shows, three-dimensional rail mounted automated container terminal has clear superiority in 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, the container wharf building automatic cabinet stockyard and full-automation has become the direction of harbour container wharf development from now on.According to the feature of new period China harbour container wharf development, the imagination of container wharf and yard handling technology model innovation is proposed, construction China the 1st full-automatic container wharf as early as possible and suggestion creates conditions.Wei Dan [14]stereo automatization storage technique is applied to harbour container stockyard, and some gordian techniquies in the design in automatic cabinet warehouse and emulation are studied, after establishing realistic model, by Flexsim simulation software, data analysis is carried out to model, itself and traditional container depot have been compared and analyzes respective merits and faults.LuZhen etc. [15]adopt the automated container terminal of varying level transportation devices to carry out comparative analysis to two kinds, establish the critical for the evaluation of horizontal transportation system, finally by the respective advantage of simulating, verifying two schemes and deficiency.HyoYoungBae [16]be analyzed based on automatic guided vehicle with based on the horizontal transportation system of Automatic Guided Vehicle, by adjusting the equipment of machinery, the operating rate of two kinds of transport systemss is contrasted, show that the operating efficiency of Automatic Guided Vehicle will far above automatic guided vehicle when using double trolley shore container crane.Chin-I.Liu etc. [17]design, the concept of the automated container terminal that assessment and analysis four kinds is different, 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 the automated storing of high level and index structure.S.Hoshino etc. [18]establish the technology assessment system of the automated container terminal based on automatic guided vehicle, and establish critical for the evaluation and math modeling.B.K.Lee [19]research and analyse the various operating conditions of heap yard crane, comprise Ji Gang, cased, unloaded the time cycle of case and pick-up operation.Comprise different basic operations in the operating cycle, 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 summarize the optimization method relating to the aspects such as planned dispataching in some documents.R.Stahlbock [21]expert and the concern of scholar to container operation optimization problem in recent years improves constantly and the pouring out of pertinent literature, author to the application of operational research in terminal operation carry out comprehensive, to sum up and classification, for descendant's research is offered help.BaeHY [22]comparative study is carried out to the operating efficiency of the automated container terminal combined from the hoisting crane of different performance based on automatic guided vehicle and Automatic Guided Vehicle.Drawn by simulation study, if the quantity of automatic guided vehicle is enough large, efficiency then 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, based on the efficiency of automatic guided vehicle harbour all lower than based on Automatic Guided Vehicle.VisIFA [23]the various factors should considered when building automated container terminal and choosing horizontal trasportation equipment is proposed, as dispatch, Occupation efficiency and institute's number of devices.Selective analysis automatic guided vehicle and Automatic Guided Vehicle two kinds of equipment, by simulation analysis, draw the harbour of same scale, the number ratio Automatic Guided Vehicle many 38% of required automatic guided vehicle.YangCH [24]have studied under the prerequisite not affecting harbour efficiency, how to improve selecting of Automatic Guided Vehicle in harbour.According to the cycle time of transportation device, namely complete a loading and unloading operation required time and drawn four kinds of reference schemes, finally utilize the mechanical efficiency of each scheme of simulating, verifying.DuinkerkenMB [25]three kinds of automated container terminal horizontal trasportation equipments are compared, i.e. trailer, automatic guided vehicle and Automatic Guided Vehicle.And three kinds of equipment are coordinated rule-based control system and corresponding optimized algorithm be applied to the Maasvlakte Logistics Park at Rotterdam, NED harbour actual job simulation in, summarize each transport systems feature 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.
Zhenhua Port Machinery's innovation have developed the scheme of the three-dimensional loading and unloading container harbour of efficient intelligent type of new generation, namely based on the automated container terminal of low bridge system.Shown in the following Fig. 2-1 of its plane figure.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, and low bridge flat bogie and floor slab have been got off the horizontal transport of freight container.These three steps complete 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, freight container is sling from boats and ships by the extra large side dolly of bank bridge, is 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 dolly is surveyed by container transshipment on flat bogie in An Qiao land.
Second step: freight container is transported to switching place of specifying case district by low bridge flat bogie, now low bridge crane carriage also runs to this switching place thereupon, freight container is sling by crane carriage, 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.
3rd step: floor slab dolly carries by Container Transport to the shellfish position of specifying in case district, after a bridge arrives, slings freight container and falls into the case position of specifying.
This rail mounted automated container terminal eliminates ICE-powered horizontal trasportation equipment and expensive navigationsystem, adopts electrically operated flat bogie and tracks positioned system, energy-conserving and environment-protective, and easily is automated.But this harbour also also exists many deficiencies, stockyard degree of utilization is not high, the flexibility difference etc. of operating system.As each track in case district can only place a flat bogie, during operation, after must waiting for that this flat bogie operation completes, just operation next time can be carried out; And when unload a ship, load onto ship and collect port operation carry out simultaneously time, the number that floor slab is got off cannot meet the requirement of working strength.Therefore propose multilayer rail mounted automatic cabinet yard handling technology, to overcome this shortcoming.
[summary of the invention]
The present invention is on the basis that forefathers study, propose a kind of multi-story frame type automated container dock stockyard loading and unloading system, this system adopts the coordinated scheme completely by electrically operated driven plate dolly and multistory frame bridge track bridge, realize the quick solid of freight container between wharf apron bank bridge and field, stockyard, harbour rear bridge to transmit, be convenient to realize intelligent dispatch, Automated condtrol, improve freight container transmission efficiency.The use of this stockyard loading and unloading system makes the stockyard flat bogie shuttled back and forth at a high speed decrease a miles of relative movement of bridge cart, substantially increases the operating efficiency of the handling ship in stockyard, suitcase Ji Gang.This stockyard loading and unloading system greatly can 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 arbitrarily can not interfere with each other and shuttles back and forth in bank and stockyard on these layers.And under this transport systems, the layout in adjustment stockyard, reduces the miles of relative movement of a bridge, also can improve the degree of utilization in stockyard while the operating efficiency improving field bridge.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.
Different based on the height loading and unloading system of building bridge with by Shanghai Zhenhua heavy industry independent development of this automated container terminal, its frame bridge employing multiple field, 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.
Arrange one and half tracks in each case district of former scheme, not only occupy the space resources in stockyard, and horizontal trasportation equipment runs not smooth, there is field bridge cart and flat bogie is waited for and the situation of relay operation.And the set-up mode of multilayer makes dress ship-discharging operation and collection port operation when carrying out simultaneously, non-interferingly can carry out respective operation between flat bogie, efficiently avoid relay operation, decrease a range ability for bridge cart.And, freight container from forward position, stockyard to case district have multiple transport channel to select, effectively less situation about waiting for, thus reduce dispatch.In this multilayer stockyard rail system, the track of wharf apron is higher than the maximum number of plies of case district inner orbit, and as case district track is up to 4 floor, then 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.Wharf apron frame bridge and case district frame bridge planar structure arrangement plan are as shown in Fig. 4 to Fig. 5.
The layout in stockyard also makes moderate progress, and adopt left and right stacking container, centre arranges multistory frame bridge track, leads directly to rear, stockyard from wharf apron.During such collection port, truck can not need to enter stockyard, and directly puts on the flat bogie at rear, stockyard by freight container, 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 the parallel motion distance of transverse direction.Article one, multistory frame bridge track replaces one and half individual layer tracks, improves the space availability ratio in stockyard greatly, when particularly harbour longitudinal length is larger.
Employing equipment
The handling of the automated container terminal for studying herein as shown in table 1 below and transportation device.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 in direction adopts low bridge hoisting crane and low bridge flat bogie, employing stockyard, direction, vertical coastline flat bogie along the coastline.At rear, stockyard, adopt transfer crane.
Table 1 equipment and parameter
For the handling ship process of a freight container, 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 (operation that in automatic dock, unique needs are artificial), by hoisting crane, freight container is discharged to (FT) on low bridge flat bogie again, freight container is transported to the case district delivery position of specifying by flat bogie, low bridge hoisting crane grabs 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 shellfish position corresponding to case district addressing, and when a bridge arrives, by container crane to the case position of specifying, flat truck enters next working cycle.Shipment process and process basic simlarity of unloading a ship are its inverse process.During shipment, bank bridge moves to the case position, freight container place of specifying shipment, to sling freight container, 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 specifying, when low valence bridge is idle, freight container is sling, to carry to safe altitude transfer platform by freight container 90-degree rotation, and when waiting for that low bridge flat bogie arrives, freight container is fallen in dolly, freight container is transported to by bank bridge hoisting crane by dolly, when bank bridge hoisting crane is idle, freight container sling and fall on hoisting crane doorframe platform, manually load onto after freight container revolves lock, again by bank bridge hoisting crane by container loading boats and ships assigned address.In addition, when freight container carries out collection 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 specifying.Pick-up operation is its inverse process.It unloads a ship diagram of circuit as shown in Figure 6.
Particularly, the invention provides a kind of multi-story frame type automated container dock stockyard loading and unloading system, comprising:
The extra large siding track be parallel to each other and land siding track and bank bridge vertical with it, boats and ships are parallel to the arrangement of extra large siding track in extra large side, 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, side, land 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 field bridge is parallel to land siding track, comprises the field bridge hoisting crane run along the direction perpendicular to land siding track.
The advantage of multi-story frame type automated container dock stockyard of the present invention loading and unloading system is, also comprise multi-story frame type system, described multi-story frame type system comprises perpendicular to multiple multistory frame bridge track in siding track direction, land and the stockyard flat bogie along the orbital motion of described multistory frame bridge, the container stacking in stockyard is in each multistory frame bridge track both sides, each the corresponding multistory frame bridge track of bridge, bridge lifting function in field is mentioned the freight container of corresponding multistory frame bridge track both sides and is placed on any stockyard flat bogie of any one deck of multistory frame bridge track, also the freight container on any stockyard flat bogie of any one deck of multistory frame bridge track can be sling and is placed on the respective tank position in stockyard,
Any low bridge flat bogie on multilayer low bridge adapting system on any one deck can with any stockyard flat bogie of any one deck of multistory frame bridge track by low bridge hoisting crane and the mutual transfer container of field bridge hoisting crane.
The number of plies of the multi-story frame type system of multi-story frame type automated container dock stockyard of the present invention loading and unloading system is 2-6 layer; And the number of plies of multilayer low bridge adapting system and the number of plies of multi-story frame type system can be the same or different.
Preferably, the facility assignment of multi-story frame type automated container dock stockyard of the present invention loading and unloading system adopts real-time device allocation schedule scheme: when boats and ships carry out ship-discharging operation, the bank bridge distributed may correspond to many low bridge operating lines distributed; It has two groups of low bridge flat bogies and low bridge crane carriage to every bar low bridge operating line; The corresponding multiple low bridge crane carriages on same low bridge operating line of each low bridge flat bogie; Each low bridge crane carriage may correspond to again the multiple stage stockyard flat bogie on multistory frame bridge track, and the stockyard flat bogie in each case district is corresponding with respective fields bridge again; Shipment adopts this scheduling scheme too, the selection of equipment is as follows: the first situation, there is same operation has multiple equipment available, when on the stockyard flat bogie that container crane to be installed to this stockyard by low bridge crane carriage, the stockyard flat bogie in multiple case district may be had available, stockyard flat bogie now in same case district is all available, there is not priority level; The second situation, there is multiple operation and select same equipment, when stockyard flat bogie carries out ship-loading operation, carry after case district's switching place that case is transported to wharf apron carries out unloading case, be not that direct empty van returns, accept next field 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, multi-story frame type automated container dock stockyard of the present invention loading and unloading system has installed program control scheduling system, described program control scheduling system can arrange the shipment of freight container simultaneously, unload a ship, Ji Gang and suitcase, and shipment can be controlled, unload a ship, the arrangement of the task of Ji Gang operation relevant with suitcase, mixing and scheduling, and freight container passes through extra large side hoisting crane from boats and ships, side, sea bank bridge dolly, transfer platform, side, land bank bridge dolly, low bridge flat bogie, low bridge track, low bridge hoisting crane, stockyard flat bogie, multistory frame bridge track, field bridge hoisting crane, arrive arrangement and the docking of the whole process in stockyard, and inverse process freight container passes through field bridge hoisting crane, stockyard flat bogie, multistory frame bridge track, low bridge hoisting crane, low bridge track, low bridge flat bogie, low bridge track, side, land bank bridge dolly, transfer platform, extra large side hoisting crane from stockyard, the arrangement of the whole process of arrived ship and docking.
Present invention also offers the handling method of above-mentioned multi-story frame type automated container dock stockyard loading and unloading system, described handling method can respectively or carry out simultaneously freight container shipment, unload a ship, Ji Gang and suitcase;
Method of unloading a ship is as follows with collection port method step:
One, freight container is sling from boats and ships by bank bridge hoisting crane, delivers on hoisting crane doorframe platform, manually takes down freight container and revolves lock,
Two, by bank bridge hoisting crane, freight container is discharged on low bridge flat bogie,
Three, freight container is transported to the case district delivery position of specifying by low bridge flat bogie by low bridge track,
Four, low bridge hoisting crane grabs case, and after low bridge flat bogie leaves, and after freight container falls into safety distance, freight container, by freight container 90-degree rotation, now falls on the flat bogie of stockyard by rotation platform,
Five, stockyard flat bogie carries freight container by the orbital motion of multistory frame bridge to shellfish position corresponding to case district addressing, and when a bridge arrives, by container crane to the case position of specifying, stockyard flat bogie enters next working cycle,
Wherein, except the freight container of manually taking down of step one revolves except lock, step one is all automation to five;
Shipment method and suitcase method step as follows:
One, field bridge moves to the case position, freight container place of specifying shipment, freight container of slinging, and when described stockyard flat bogie arrives this side, shellfish position, freight container is fallen into stockyard flat bogie,
Two, freight container is carried by the orbital motion of multistory frame bridge to the delivery position of specifying by stockyard flat bogie,
Three, when low bridge hoisting crane is idle, freight container is sling, to carry to safe altitude rotation platform by freight container 90-degree rotation, and freight container is fallen in low bridge flat bogie when waiting for that low bridge flat bogie arrives,
Four, freight container is transported to by bank bridge hoisting crane by low bridge flat bogie, is sling by freight container and fall on hoisting crane doorframe platform when bank bridge hoisting crane is idle,
Five, manually load onto after freight container revolves lock, then by bank bridge hoisting crane by container loading boats and ships assigned address,
Wherein, except the freight container of manually loading onto of step 5 revolves except lock, step one is all automation to five.
Preferably, the handling method of multi-story frame type automated container dock stockyard of the present invention loading and unloading system is by program control scheduling Systematical control, program control scheduling system according to the shipment of associated container, unload a ship, Ji Gang and suitcase task, needed for time of completing, the quantity of relevant hoisting crane, flat bogie and transport power, the situation of multilayer low bridge track and multistory frame bridge track and transport power, arrange, control and schedule job.
[accompanying drawing explanation]
Fig. 1 and Fig. 2 is stereoscopic arrangement of the present invention figure;
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 district of the present invention;
Fig. 6 is diagram of circuit of unloading a ship of the present invention;
Fig. 7 bank bridge loading and unloading operation embodiment
(shipment and pick-up 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 be used for two kinds of pier storage yard Nei Gexiang districts comprise the calculating of freight container number;
Figure 12 is used for d gTand d fTcalculating;
Figure 13 is used 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 is horizontal transport efficiency comparative of the present invention figure;
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: side, land bank bridge dolly, 21: low bridge flat bogie, 24: low bridge hoisting crane, 27: low bridge track, 31: stockyard, 35: field bridge, 38: multistory frame bridge track, 51: stockyard flat bogie, 55: field bridge hoisting crane, 91: safe altitude
[detailed description of the invention]
Multistory frame bridge track and multilayer low bridge track cooperatively interact, to reach many operating lines object.The multistory frame bridge being parallel to water front is arranged in wharf apron, its minimum number of plies need higher than the number of plies of case district frame bridge, and leave safety distance, and its top on be furnished with low bridge crane carriage, the quantity of this dolly is equal with the quantity in case district, according to the demand of job task, move to assignment position.Except top, remainder layer arranges a low bridge flat bogie respectively, and these dollies can optional position be 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 arranges a stockyard flat bogie.One to two field bridges are arranged according to the longitudinal length in stockyard, operation in the stockyard of responsible handling ship, Ji Gang and suitcase in each case district.Arrange a gauntry crane at rear, stockyard, be responsible for outside truck and carry out Ji Gang and pick-up operation.The work flow of An Qiao and field bridge is respectively as shown in Fig. 7, Fig. 8.
In one embodiment of the invention, the number of plies of multistory frame bridge track is 2.In an alternative embodiment of the invention, the number of plies of multistory frame bridge track is 6.In yet another embodiment of the present invention, the number of plies of multistory frame bridge track is 4.
Equipment scheduling scheme
From automatic dock container transportation, a container handling needs to distribute multiple equipment: bank bridge, low bridge flat bogie, low bridge crane carriage, stockyard flat bogie, Chang Qiao.That is, completing of task of handling needs to distribute multiple serial resource.If certain type equipment is not distributed, so this task just may be blocked.
Consider Practical Project situation, and the stability of loading and unloading system, dependable with function, adopt real-time device allocation schedule scheme here.Real-time device allocation schedule scheme: when boats and ships carry out ship-discharging operation, the bank bridge distributed may correspond to many low bridge operating lines distributed; It has two groups of low bridge flat bogies and low bridge crane carriage to every bar low bridge operating line; The corresponding multiple low bridge crane carriages on same low bridge operating line of each low bridge flat bogie; Each low bridge crane carriage may correspond to again the multiple stage stockyard flat bogie on case district track, and the stockyard flat bogie in each case district is corresponding with respective fields bridge again.Shipment adopts this scheduling scheme too.But there is the select permeability of equipment in above process, the first situation, exist same operation have multiple equipment available as, when on the stockyard flat bogie that container crane to be installed to this stockyard by low bridge crane carriage, multiple stockyards flat bogie may be had available, in this scheduling scheme, the stockyard flat bogie in same case district is all available, there is not priority level.The second situation, exist multiple operation select same equipment as, when stockyard flat bogie carries out ship-loading operation, carry after case district's switching place that case is transported to wharf apron carries out unloading case, be not that direct empty van returns, accept next field 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. decreases the stroke of flat bogie zero load, operating efficiency of improving the standard.And in order to ensure 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 the handling equipment that operation simultaneously can be avoided like this to cause are waited for.As, freight container will fall into the end in case district, flat bogie can directly be transported by the shellfish position that runs to accurately corresponding to case case position, instead of freight container is transported to rear, stockyard from forward position, stockyard by field bridge, flat bogie carries the distance increase that case runs, and field bridge cart reduces with the distance of freight container high-speed cruising.
(2) multiple field frame bridge scheme substantially increases the flexibility of rail mounted automated container terminal and the processing capacity of breakdown of equipment.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 run.
(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 not only improves the space availability ratio in stockyard greatly, decreases the parallel motion distance of a bridge dolly in harbour transverse direction simultaneously.
(4) when 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, such stockyard can arrange track, not only increase the degree of utilization in stockyard, reduce cost, be also conducive to the full-automatic operation realizing heap simultaneously.
Implementation result is analyzed
The ability of storing up compares
Suppose that the geometric area of two harbours is equal.Shown in two kinds of following Figure 10 and Figure 11 of automated container terminal stockyard section layout.If the span of field bridge is W, the length in vertical water front direction, case district is L, and the length of freight container is L tEU, freight container is wide equal with height, is W tEU.Be W/W comprising freight container number along water front direction tEU, the freight container number that vertical water front direction comprises is L/L tEU, the freight container number that short transverse comprises is H.Then two kinds of heap places comprise freight container number and are:
C F B = B W · L L T E U · ( W W T E U - 3 ) · H - - - ( 1 )
C F B ′ = B W ′ · L L T E U · ( W ′ W T E U - 2 ) · H - - - ( 2 )
Wherein C fBwhat represent former scheme stores up ability, C fB 'what represent new departure stores up ability; with represent the spacing removing one and half tracks and a track in case district respectively, and flat bogie can carry two 40 forty equivalent unit 40s.
Horizontal transport efficiency comparison
(1) conveying efficiency index is set up
Completing a loading and unloading operation with freight container is a cyclic process, and no matter freight container carries out ship-loading operation or ship-discharging operation, all has to pass through this cyclic process.The time so completed needed for this cyclic process can be expressed as follows:
T c=h QC+h YCS+T GT+T FT(3)
Wherein, h qCrepresent that flat bogie waits for the time that the operation of bank bridge completes, h yCSrepresent that flat bogie waits for the time that field bridge operation completes, T gTrepresent that stockyard flat bogie completes the time of run of 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 event of once loading and unloading, i.e. T fT=2t fT+ w fT.Wherein w gTwith w fTrepresent that flat bogie waits for the time that transferring platform fulfils assignment.Above-mentioned cyclic process can split into two parts, and one be a submit job process is a circulation, and one is that to complete a submit job be a cyclic process to low bridge flat bogie, and 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) t is calculated gTtime, namely calculate the distance of A and B point-to-point transmission arbitrarily in Figure 12.Because stockyard flat bogie is parked on frame bridge corresponding with each case district on the frame rail on the side, case position of specifying, therefore discrete variable should be adopted to ask the method for expectation.L aBbe calculated as follows:
O A = Σ i = 1 r i · L F B · 1 r - - - ( 6 )
O B = Σ i = 1 n i · L T E U · 1 n - - - ( 7 )
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 are the columns of bank frame bridge, i.e. d gTwith d ' gTall can be expressed as:
d G T = d ′ G T = O A + O B = = Σ i = 1 r i · L F B · 1 r + Σ i = 1 n i · L T E U · 1 n - - - ( 8 )
Then according to t gT=d gT/ v gTtry to achieve t gTwith t' gT.
2) t is calculated fTtime, the suitcase of hypothesis set vanning on frame bridge all occurs in A point place with the case event that falls.Be so d from any P point to the distance that A point runs fT, then d fTcan be calculated as follows:
d F T = Σ i = 1 N { ( Σ j = 0 N - i j + Σ k = 1 i - 1 k ) · B N · 1 N } · 1 N - - - ( 9 )
As shown in figure 13, A and P has N kind position possibility respectively, and so (A, P) just has N 2planting may.Average for the distance of any A, P point-to-point transmission can be calculated as follows:
In like manner, d can be obtained fT':
d F T ′ = Σ i = 1 2 N { ( Σ j = 0 2 N - i j + Σ k = 1 i - 1 k ) · B 2 N · 1 2 N } · 1 2 N - - - ( 10 )
According to t fT=d fT/ v fTtry to achieve t fTwith t' fT.
3) wait time w is calculated fTtime, the operational process of low bridge flat bogie can be reduced to the service process as Figure 14.Waiting-line theory are utilized 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 obeys quantum condition entropy, 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, wait time w can be obtained fTaviation value be:
w G T = ( S ρ ) s S ! · [ ( 1 - ρ ) Σ n = 0 S - 1 ( S ρ ) n n ! + ( S ρ ) s S ! ] - 1 · t ( 1 - ρ ) · S - - - ( 11 )
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 submits to the process of event loop to have T/O fTsecondary, then total on each row frame bridge track circulation number is M fTs fTt/O fT, in T time, each transferring platform will carry out M fTs fTt/ (M tPo fT) individual work cycle.Wherein, M fTfor often arranging the number of low bridge flat bogie on every layer of frame bridge, s fTfor the number of plies of low bridge flat bogie track.By analyze above can obtain low bridge flat bogie on average reach rate λ, namely the unit time arrives the low bridge flat bogie number of a transferring platform and is:
λ=M FT·s FT/(M TP·O FT)(12)
Rate of traffic flow ρ represents the service object's number arriving a certain information desk in certain a period of time t, then it can be expressed as:
ρ = λ · t / S = M F T · s F T · t M T P · O F T · S = M F T · s F T · t M T P · ( 2 t F T + w F T + h Q C ) · S - - - ( 13 )
By formula (12), (13) are brought into formula (11), then can obtain the wait time w of low bridge flat bogie in conjunction with formula (4) fT.
4) w is calculated gTtime, because within the significant period of time of harbour operation, M gTs gTn number of stockyard flat bogie and M fTrs fTindividual low bridge flat bogie complete loading and unloading operation cycle number should be equal, because the average effiiciency of each flat bogie is respectively 1/O gT, 1/O fT.Then 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.I.e. M gTs gTn/ (2t gT+ w gT+ h yC)=M fTrs fT/ (2t fT+ w fT+ h qC).Then formula can draw w thus gT.
(2) horizontal transport efficiency and comparing
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, then 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 by s gTchange s ' into gT, s fTchange s ' into fT, M gTchange M ' into gT, h yCchange h ' into yC.
Case analysis
The ability of storing up compares
For the ease of comparing, get two kinds of harbour case districts to put the shellfish number of freight container equal, the ratio that so ability stored up by two kinds of freight containers is 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, then novel harbour can hold 2,180,000 TEU, and the ability of storing up improves 9%.
Horizontal transport efficiency comparison
By efficiency obtained above, at different conditions, the conveying efficiency of two class harbours can be contrasted.Before relatively, first determine the value of parameters [9], as shown in the table:
Each parameter value of table 2 two kinds of harbours
Optimum configurations in associative list 1 and table 2, utilizes Matlab to solve, and can obtain getting the different number of plies when case district frame bridge, when on every layer of low bridge, low bridge flat bogie quantity is different, and the comparison of the horizontal transport efficiency of two kinds of automated container terminals.But because the number of plies of frame bridge is by the limitation in height of show up bridge and bank bridge, the case district inner orbit number of plies gets at most 4 floor.The ratio of its efficiency is as shown in the table:
Table 3 horizontal transport efficiency comparative shows
In order to analyze data more intuitively, its broken line graph is as Figure 15 and 16.
Can be found out by upper two figure, the quantity of the number of plies and low bridge flat bogie that increase case district inside casing bridge formation improves to horizontal transport efficiency, because add the number of plies of frame bridge, decreases the situations such as traffic jam.But every layer of increase of low bridge flat bogie quantity often row comprised 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 accepts service has not been its Main Bottleneck, but when 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 increases, thus conveying efficiency can decline.When low bridge flat bogie number is few, when transferring platform number increases, efficiency does not obviously promote, illustrate that the number of now transferring platform is not the Main Bottleneck of this system, be because increasing of equipment on the contrary, produce idle, thus reduce conveying efficiency value.
The present invention, by the restriction of above-mentioned embodiment, change, the modification done, substitutes, combines, simplifies under other any does not deviate from Spirit Essence of the present invention and principle, all should be equivalent substitute mode, is included within protection scope of the present invention.
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Claims (6)

1. a multi-story frame type automated container dock stockyard loading and unloading system, comprising:
The extra large siding track be parallel to each other and land siding track and bank bridge vertical with it, boats and ships are parallel to the arrangement of extra large siding track in extra large side, 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, side, land 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 field bridge is parallel to land siding track, comprises the field bridge hoisting crane run along the direction perpendicular to land siding track;
It is characterized in that, also comprise multi-story frame type system, described multi-story frame type system comprises perpendicular to multiple multistory frame bridge track in siding track direction, land and the stockyard flat bogie along the orbital motion of described multistory frame bridge, container stacking multistory frame bridge track both sides described in each in stockyard, described in the corresponding described multistory frame bridge track of each described field bridge, bridge lifting function in field is mentioned the freight container of described for correspondence multistory frame bridge track both sides and is placed on any stockyard flat bogie of any one deck of multistory frame bridge track, also the freight container on any stockyard flat bogie of any one deck of described multistory frame bridge track can be sling and is placed on the respective tank position in stockyard,
Any described low bridge flat bogie on described multilayer low bridge adapting system on any one deck can with any described stockyard flat bogie of any one deck of described multistory frame bridge track by described low bridge hoisting crane and the mutual transfer container of described field bridge hoisting crane.
2. multi-story frame type automated container dock stockyard according to claim 1 loading and unloading system, is characterized in that, the number of plies of described multi-story frame type system is 2-6 layer; The number of plies of described multilayer low bridge adapting system and the number of plies of described multi-story frame type system can be the same or different.
3. multi-story frame type automated container dock stockyard according to claim 1 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 distributed may correspond to many low bridge operating lines distributed; It has low bridge flat bogie described in two groups and described low bridge crane carriage to every bar low bridge operating line; The corresponding multiple low bridge crane carriages on low bridge operating line described in same of each described low bridge flat bogie; Each low bridge crane carriage may correspond to again stockyard flat bogie described in the multiple stage on described multistory frame bridge track, and the described stockyard flat bogie in each case district is corresponding with corresponding described field bridge again; Shipment adopts this scheduling scheme too, the selection of equipment is as follows: the first situation, there is same operation has multiple equipment available, when on the described stockyard flat bogie that container crane to be installed to this stockyard by described low bridge crane carriage, the described stockyard flat bogie in multiple case district may be had available, described stockyard flat bogie now in same case district is all available, there is not priority level; The second situation, there is multiple operation and select same equipment, when described stockyard flat bogie carries out ship-loading operation, carry after case district's switching place that case is transported to wharf apron carries out unloading case, be not that direct empty van returns, accept next field 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. the multi-story frame type automated container dock stockyard loading and unloading system according to the arbitrary claim of claim 1-3, it is characterized in that, described multi-story frame type automated container dock stockyard loading and unloading system installs program control scheduling system, described program control scheduling system can arrange the shipment of freight container simultaneously, unload a ship, Ji Gang and suitcase, and described shipment can be controlled, unload a ship, the arrangement of the task of Ji Gang operation relevant with suitcase, mixing and scheduling, and freight container passes through described extra large side hoisting crane from boats and ships, described extra large side bank bridge dolly, described transfer platform, side, described land bank bridge dolly, described low bridge flat bogie, described low bridge track, described low bridge hoisting crane, described stockyard flat bogie, described multistory frame bridge track, described field bridge hoisting crane, arrive arrangement and the docking of the whole process in described stockyard, and inverse process freight container passes through described field bridge hoisting crane, described stockyard flat bogie, described multistory frame bridge track, described low bridge hoisting crane, described low bridge track, described low bridge flat bogie, described low bridge track, side, described land bank bridge dolly, described transfer platform, described extra large side hoisting crane from described stockyard, the arrangement of the whole process of boats and ships belonging to arriving and docking.
5. the handling method of the multi-story frame type automated container dock stockyard loading and unloading system according to the arbitrary claim of claim 1-4, described handling method can respectively or carry out simultaneously freight container shipment, unload a ship, Ji Gang and suitcase;
Method of unloading a ship is as follows with collection port method step:
One, freight container is sling from boats and ships by described bank bridge hoisting crane, delivers on hoisting crane doorframe platform, manually takes down freight container and revolves lock,
Two, by described bank bridge hoisting crane, freight container is discharged on described low bridge flat bogie,
Three, freight container is transported to the case district delivery position of specifying by described low bridge flat bogie by described low bridge track,
Four, described low bridge hoisting crane grabs case, and after described low bridge flat bogie leaves, and after freight container falls into safety distance, freight container, by freight container 90-degree rotation, now falls on the flat bogie of described stockyard by rotation platform,
Five, described stockyard flat bogie carries freight container by the orbital motion of described multistory frame bridge to shellfish position corresponding to case district addressing, and when described field bridge arrives, by container crane to the case position of specifying, stockyard flat bogie enters next working cycle,
Wherein, except the described freight container of manually taking down of step one revolves except lock, step one is all automation to five;
Shipment method and suitcase method step as follows:
One, described field bridge moves to the case position, freight container place of specifying shipment, freight container of slinging, and when described stockyard flat bogie arrives this side, shellfish position, freight container is fallen into described stockyard flat bogie,
Two, freight container is carried by the orbital motion of described multistory frame bridge to the delivery position of specifying by described stockyard flat bogie,
Three, when low bridge hoisting crane is idle, freight container is sling, to carry to safe altitude rotation platform by freight container 90-degree rotation, and when waiting for that described low bridge flat bogie arrives, freight container is fallen in described low bridge flat bogie,
Four, freight container is transported to by described bank bridge hoisting crane by described low bridge flat bogie, is sling by freight container and fall on hoisting crane doorframe platform when described bank bridge hoisting crane is idle,
Five, manually load onto after freight container revolves lock, then by described bank bridge hoisting crane by container loading boats and ships assigned address,
Wherein, manually load onto freight container except step 5 described and revolve except after lock, step one is all automation to five.
6. the handling method of multi-story frame type automated container dock stockyard according to claim 5 loading and unloading system, the method is by described program control scheduling Systematical control, described program control scheduling system according to the shipment of associated container, unload a ship, Ji Gang and suitcase task, needed for time of completing, the quantity of relevant hoisting crane, flat bogie and transport power, the situation of described multilayer low bridge track and described multistory frame bridge track and transport power, arrange, control and schedule job.
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