CN106144674B - A kind of drawer type automated container handling system and method - Google Patents
A kind of drawer type automated container handling system and method Download PDFInfo
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- CN106144674B CN106144674B CN201610605341.0A CN201610605341A CN106144674B CN 106144674 B CN106144674 B CN 106144674B CN 201610605341 A CN201610605341 A CN 201610605341A CN 106144674 B CN106144674 B CN 106144674B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/60—Loading or unloading ships
- B65G67/603—Loading or unloading ships using devices specially adapted for articles
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Abstract
The present invention is a kind of drawer type automated container handling system and method.The system comprises the drawer type truss structures (5) in the cargo hold for being fixed on hull (1), for the handler of automated handling container, and the automatic fixer being located in drawer type truss structure (5)；The method is realized by the system, for using the container ship of the system, segmentation is fixed on hull by drawer type truss structure (5), then the loading and unloading of container is completed as push-and-pull drawer, while realizes the automation of container handling process using hydraulic elevating platform (4) and carrier loader (12).The present invention improves the degree of automation of container ship handling fixed form, and the hoistable platform and trolley of each column load simultaneously, improves the efficiency of loading and unloading of container；Automatic fixing system not only saves the time manually bound and manpower consumption, improves fixed efficiency, and keeps fixed reliability higher.
Description
Technical field
The present invention relates to container ship field, especially a kind of container ship using drawer type handling fixed form.
Background technique
Container ship is one of three big mainstream ship types, has the huge market demand, most of goods in world commerce
Freight volume is completed by container ship, and in the past 20 years, global container seaborne trade amount continues steady-state growth.
Traditional container ship is the cargo handling process that harbour is completed by bank crane to ship, and a duty cycle is only
One or two container can be transported, the efficiency of loading and unloading is limited by crane operating mode.And each container of transport needs
Longer position aligning time is wanted, working efficiency is low.
The fixed form of traditional container ship is realized by twistlock, lashing bridge etc., is completed by artificial, is worked
Risk is high, low efficiency, and fixed reliability is inadequate, and the components such as lashing bridge are easy to be broken because of vibration.
Container has unified dimensional standard, creates condition for the design of truss structure, and each angle of container
On have corner fittings for fixing, can be realized on the basis of not changing existing container structure automatic fixed.
Summary of the invention
The technical problems to be solved by the present invention are: a kind of drawer type automated container handling system and method is provided, with
Just the efficiency of loading and unloading and fixed efficiency of container are improved.
The present invention solves its technical problem, and the following technical solution is employed:
Drawer type automated container handling system provided by the invention comprising: the drawer being fixed in the cargo hold of hull
Formula truss structure, the automatic fixation for the handler of automated handling container, and in drawer type truss structure
Device.
The drawer type truss structure is that the track of automated handling is provided for handler, by lateral along hull, vertical
To and vertical steelframe composition, the steelframe in three directions mutually rigidly fix connection, by the steelframe in these three directions by packaging
The cargo area of case ship is divided into three pieces, and the handling and fixed work in every piece of region can carry out simultaneously, does not interfere with each other.
Longitudinal steelframe section be it is I-shaped, upper flange be support frame, be used for bearing container；On lower wing plate
Track skeleton is set, is that trolley moves longitudinally the longitudinal rail of container；Lateral steelframe has two within the scope of a container
Root, for guaranteeing the lateral local strength of container ship；Vertical steelframe is used for the weight of bearing container.
The handler is mainly made of hydraulic elevating platform, carrier loader, in which: hydraulic elevating platform is located at
It between bulkhead and drawer type truss structure, abuts but does not contact with drawer type truss structure, vertical lifting and can artificially set
Fixed height stops；Each container corresponds to a hydraulic elevating platform；The hydraulic elevating platform is for realizing container
Vertical movement and longitudinal contraposition, the carrier loader that carry container are gone up and down to preset height, hydraulic elevating platform stops
Movement, subsequent trolley longitudinally transmit track skeleton of the container in drawer type truss structure.
The hydraulic elevating platform is made of, in which: set workbench, fixed platform, the first hydraulic stem, interior turntable
There are more first hydraulic stems and interior turntable, their cross-articulations constitute rhombus expansion brackets；In the rhombus expansion brackets, lower end is logical
It crosses fixed platform to be fixed on the inner bottom plating of hull, the lower section of workbench is fixed in the upper end.
The automatic fixer delivers the fixation to predetermined position for container, is located at drawer type truss knot
In structure；The automatic fixer includes elastic slice, fully automatic twistlock, sensor, control mechanism, in which: elastic slice is located at drawer type purlin
In the lower wing plate of upper one layer longitudinal steelframe in frame structure, be made of two sections, can automatic spring and retraction, for fixing packaging
The top quadrangle of case；Fully automatic twistlock is located on the upper flange of longitudinal steelframe, there are four the positions of each container, difference position
At four corner fittings of container, can automatically lock and release, for fixing container lower part quadrangle；Control mechanism is according to peace
Mounted in the sensor of the upper flange of longitudinal steelframe be transmitted through the information come judge the position of container, judge fixed device starting when
Instruction is carved and issued, judge whether to align successfully and whether locks success, for the information processing to entire fixation procedure.
The automatic fixer, the position signal of sensor sensing container, control mechanism control twistlock pop-up
And it rotates, fixed container following four corners, the mandril pop-up of twistlock, quadrangle above fixed container.
The control mechanism is the control circuit for judging fixed device Startup time, by acquisition module, judges mould
Block and respond module are constituted；Acquisition module is made of the sensor being arranged on track skeleton, the letter that acquisition module will acquire
Breath is sent to judgment module, then issues the fixation that container is completed in instruction by respond module.
Drawer type automated container handling method provided by the invention is by above-mentioned drawer type automated container handling system
System realizes that, for using the container ship of the system, segmentation is fixed on hull by drawer type truss structure, then by container
Loading and unloading is completed as push-and-pull drawer, while realizing container handling process using hydraulic elevating platform and carrier loader
Automation.
In the above method, the hull framing that container ship is installed can be divided into three sections, then realized by the following method
The automatic loading and unloading of drawer type container:
(1) container loading process:
In single region, each hydraulic elevating platform and the carrier loader to match form an independent system, collection
It after vanning is transported to hull, is carried by carrier loader, carrier loader is parked on workbench, which passes through the first liquid
The elevating function of the flexible completion hydraulic elevating platform of compression bar and interior turntable, the carrier loader that carry container is transported to pre-
Container, along hull longitudinal movement, is transported to predetermined position along track skeleton by fixed height, subsequent carrier loader；Pass through rail
Sensor on road skeleton judges whether container is transported to predeterminated position, and after reaching predeterminated position the second contraction of hydraulic pressure bar will
Container stays in track skeleton, carrier loader backtracking, goes the transport for carrying out next container；
(2) container unloads process:
Unload and the loading of container of container are two reciprocal processes, i.e., container unload process be one and
The opposite process of the loading of above-mentioned container；
3) container fixation procedure:
Install the corner fittings for being similar to container quadrangle at the position determined on the drawer type truss structure for placing container additional
Structure, and the elastic slice of controllable stretching is added in drawer type truss structure lower part corresponding position, while in track skeleton
Strain pressure transducer is arranged in corresponding position；When carrier loader transferring containers, container is in support frame and track bone
It moves between frame, is not contacted between trolley bottom and track skeleton, the surplus of outflow is complete slightly larger than packaging upper box part one certainly
The height of dynamic twistlock makes to transmit more stable to reduce frictional resistance；After carrier loader reaches predetermined position, truss structure pair
The pressure size at position is answered to change, sensor detects pressure change and issued by control mechanism and instructed, and carrier loader is reminded to stop
It only moves, shrinks the second hydraulic stem and place container；For packaging upper box part, after when lower part, fully automatic twistlock is successfully locked, on
Portion's sensor receives signal and pops up elastic slice, and the power applied vertically downward firmly withstands container；By fully automatic twistlock and elastic slice,
Realize that the automation of container is fixed.
The present invention has major advantage below compared with prior art:
1. under conditions of not changing original container structure, for the multiple regions for dividing hull, each region
Container can individually carry out handling fixed operation, and the container of different zones can carry out handling fixed operation simultaneously；
2. for loading process of the container in single region, each hydraulic elevating platform and the carrier loader to match
An independent system is formed, hydraulic elevating platform realizes the vertical transport of container, and hull framing realizes the longitudinal direction of container
It transports, by the comparison of efficiency calculation, the efficiency of the program can be improved 38.18%；
3. packaging lower box part is locked automatically by twistlock after trolley reaches predetermined position, after successfully locking, top sensing
Device receives signal and pops up elastic slice, and the power applied vertically downward firmly withstands container.By twistlock and elastic slice, fixation procedure is realized
Automation, need not move through hand labor, and the time of fixation procedure is shorter, it is more efficient；
4. fixation procedure does not need separately to add the primary structural components such as lashing bridge, fixed intensity and reliability are higher.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of device entirety.
Fig. 2 is that single container is placed in intraskeletal Stowage Plane.
Fig. 3 is that single container fixes schematic diagram automatically.
Fig. 4 is hydraulic elevating platform structure chart.
Fig. 5 is carrier loader structure chart.
Fig. 6 is the above container loading figure in deck.
Fig. 7 is the following container loading figure in deck.
In figure: 1. hulls, 2. cabins, 3. superstructures, 4. hydraulic elevating platforms, 5. drawer type truss structures, 6. bulkheads,
7. forepeak, 8. hull framings, 9. containers, 10. support frames, 11. track skeletons, 12. carrier loaders, 13. elastic slices, 14.
Fully automatic twistlock, 15. workbenches, 16. fixed platforms, 17. first hydraulic stems, turntable in 18., 19. loading platforms, 20.
Two hydraulic stems, 21. castors, 22. support platforms.
Specific embodiment
The present invention utilizes the existing handling facilities of harbour, and innovation proposes a kind of novel drawer type handling mode, the present invention
Main structure body using the three-dimensional steelframe of lateral, the longitudinal and vertical arrangement along hull, the loading and unloading picture of container is pushed and pulled
Drawer is equally completed, while the automation of cargo handling process is realized using hoistable platform and trolley.Compared with traditional approach, save
Heavy-duty machine consumed plenty of time when predetermined position aligns on lifting container to ship, working efficiency can be greatly improved.
Below with reference to examples and drawings, the present invention is further illustrated, but does not limit the present invention.
Drawer type automated container handling system provided by the invention, structure is as shown in Figure 1, include being fixed on hull 1
Cargo hold in drawer type truss structure 5, for the handler of automated handling container, and be located at drawer type truss knot
Automatic fixer in structure 5.
The drawer type truss structure 5 is that the track of automated handling is provided for handler.The drawer type truss knot
There are three types of types for structure, are steelframe lateral along hull, longitudinal and vertical, the steelframe in the three directions mutually company of rigidly fixing respectively
It connects, the cargo area of container ship is divided into three pieces by the steelframe in these three directions, the handling and fixed work in every piece of region
It can carry out, not interfere with each other simultaneously.Wherein: longitudinal steelframe section be it is I-shaped, upper flange is also known as support frame 10, for holding
Container is carried, longitudinal rail, also known as track skeleton 11 are set on lower wing plate, are the tracks of trolley longitudinal movement, is used for trolley
Move longitudinally container；Lateral steelframe has two within the scope of a container, for guaranteeing the laterally part of container ship
Intensity；Vertical steelframe is used for the weight of bearing container.
The handler is mainly made of hydraulic elevating platform 4, carrier loader 12.
The hydraulic elevating platform 4 is tight with drawer type truss structure 5 between bulkhead and drawer type truss structure 5
It leans on but does not contact, vertical lifting and can stop in the height of artificial settings, quantity can exist according to drawer type truss structure 5
Depending on the container number accommodated in transverse direction；Each container corresponds to a hydraulic elevating platform.The hydraulic elevating platform is used for
The vertical movement and longitudinal contraposition for realizing container are put down after the lifting to preset height of carrier loader 12 that carry container
Platform stop motion, subsequent trolley is by container along the longitudinal transmission of track skeleton 11.
The hydraulic elevating platform 4, by workbench 15, fixed platform 16, the first hydraulic stem 17,18 groups of interior turntable
At, in which: it is equipped with more first hydraulic stems 17 and interior turntable 18, their cross-articulations constitute rhombus expansion brackets；The diamond shape is flexible
In frame, lower end is fixed on the inner bottom plating of hull by fixed platform 16, and the lower section of workbench 15 is fixed in the upper end.
The interior turntable 18, the pipe truss structure being made of several standard segments.
The carrier loader 12, including loading platform 19, the second hydraulic stem 20, castor 21, support platform 22 and charging
Device composition, in which: castor 21 is fixed on the bottom of support platform 22, can move on track skeleton 11, the second hydraulic stem
20 are connected between loading platform 19 and support platform 22, pass through the flexible lifting for realizing loading platform 19.
First hydraulic stem 17 and the second hydraulic stem 20, structure is identical, can commercially, such as can be with
Buy Dezhou Ao Weite hydraulic machinery Co., Ltd, Taizhou City Hao Run hydraulic machinery Co., Ltd, Foshan City's Ou Beite hydraulic stem
The hydraulic stem of Co., Ltd's production.
The charging unit is common charge function, can be charged similar to electric vehicle nonexpondable to realize
Charging unit, can commercially, such as can buy the new power equipment in Wuhan three manufacture it is limited, Wuhan Ward electric power is new
The charging unit of Technology Co., Ltd.'s production.
Container 9 is moved to workbench 15 by harbour by bank crane, the carrier loader on workbench 15
Container 9 is moved to designated position along drawer type truss structure 5 by 12.
The automatic fixer delivers the fixation to predetermined position for container, is located at drawer type truss knot
In structure 5.The automatic fixer includes elastic slice 13, fully automatic twistlock 14, control mechanism etc., in which: elastic slice 13 is located at upper one layer
In the lower wing plate of longitudinal steelframe, it is made of two sections, it can be with automatic spring and retraction, for fixing the top quadrangle of container.Entirely
Automatic twistlock 14 is located on the upper flange of longitudinal steelframe, there are four the positions of each container, is located at the four of container
It, can be with automatic spring and withdrawal, for fixing container lower part quadrangle at a corner fittings.Control system is used to obtain the position of container
It sets, judge at the time of fixed device starting and issue instruction, judge whether to align successfully and whether lock successfully etc., be used for whole
The information processing of a fixation procedure.
The automatic fixer, the position signal of sensor sensing container, control mechanism control twistlock pop-up
And it rotates, fixed container following four corners, the mandril pop-up of twistlock, quadrangle above fixed container.
The sensor can use strain pressure transducer.
The elastic slice 13 is a kind of steel structure of strip, and packaging upper box part is inserted in after pop-up, to realize on container
The fixation of portion quadrangle.
The fully automatic twistlock 14 commercially, such as can use the Kummyung company of South Korea raw
The fully automatic twistlock of production.
The control mechanism by acquisition module, judges mould for judging the control circuit of fixed device Startup time
Block and respond module are constituted.Acquisition module is made of the sensor being arranged on track skeleton 11, judgment module and response mould
Block is control circuit, and the information that acquisition module will acquire is sent to judgment module, then issues instruction by respond module and complete packaging
The fixation of case.
On hull 1, it is equipped with superstructure 3, is for arranging cabin for various purposes, such as operating cabin, accommodation
Room, storage cabin, instrument and equipment cabin etc..
It is additionally provided with forepeak 7 on hull 1, is positioned at the cabin of ship fore body.
Drawer type automated container handling method provided by the invention can pass through above-mentioned drawer type automated container handling
System is realized.For using the container ship of the system, segmentation is fixed on hull by drawer type truss structure, as shown in Figure 1, can
It is divided into three sections with the hull framing for installing container ship, then realizes the automatic dress of drawer type container by the following method
It unloads.
Method includes the following steps:
1. container handling process:
The loading of container and to unload be two reciprocal processes, so introducing drawer type container ship for loading
Loading task, is unloaded, and is a process opposite with loading.
For the loading process of container: in single region, each carrier loader hydraulic elevating platform 4 and matched
12 form an independent system, after container 9 is transported to hull, are carried by carrier loader 12, carrier loader 12 is parked in work
Make on platform 15, the lifting function which passes through the first hydraulic stem 17 and the flexible completion hydraulic elevating platform of interior turntable 18
Can, the carrier loader 12 that carry container 9 is transported to predetermined altitude, subsequent carrier loader 12 along track skeleton 11 along
Container is transported to predetermined position by hull longitudinal movement.It may determine that container 9 is by the sensor on track skeleton 11
No to be transported to predeterminated position, the contraction of the second hydraulic stem 20 stays in container 9 in track skeleton after reaching predeterminated position, delivers small
12 backtracking of vehicle goes the transport for carrying out next container.
2. container fixation procedure:
Install the corner fittings for being similar to container quadrangle at the position determined on the drawer type truss structure 5 for placing container additional
Structure, and the elastic slice 13 of controllable stretching is added in 5 lower part corresponding position of drawer type truss structure.Simultaneously in track skeleton
Strain pressure transducer is arranged in 11 corresponding position.When 12 transferring containers of carrier loader, container is in support frame 10
It moves between track skeleton 11, is not contacted between trolley bottom and track skeleton 11, the surplus of outflow is slightly larger than container
The height of one fully automatic twistlock 14 in top makes to transmit more stable to reduce frictional resistance；It is pre-positioned when carrier loader 12 reaches
It postponing, the pressure size of truss structure corresponding position changes, and sensor detects pressure change and issued by control mechanism and instructed,
Carrier loader stop motion is reminded, the second hydraulic stem 20 is shunk and places container.For packaging upper box part, when lower part is full-automatic twisted
After lock 14 successfully locks, upper sensor receives signal and pops up elastic slice 13, and the power applied vertically downward firmly withstands container.According to
By fully automatic twistlock 14 and elastic slice 13, realize that the automation of container is fixed.
Claims (8)
1. a kind of drawer type automated container handling system, it is characterized in that: by the loading and unloading of container as push-and-pull drawer
It completes, while realizing the automation of cargo handling process using hoistable platform and trolley, which includes the cargo hold for being fixed on hull (1)
Interior drawer type truss structure (5) for the handler of automated handling container, and is located at drawer type truss structure
(5) automatic fixer in；The drawer type truss structure (5), is that the track of automated handling is provided for handler,
It is made of lateral along hull, longitudinal and vertical steelframe, the steelframe in three directions mutually rigidly fixes connection, passes through these three sides
To steelframe the cargo area of container ship is divided into three pieces, the handling and fixed work in every piece of region can carry out simultaneously, mutually not
Interference；For loading process of the container in single region, each hydraulic elevating platform and the carrier loader to match are formed
One independent system, hydraulic elevating platform realize the vertical transport of container, and hull framing realizes that the longitudinal of container transports；
The automatic fixer delivers the fixation to predetermined position for container, is located at drawer type truss structure (5)
It is interior；The automatic fixer includes elastic slice (13), fully automatic twistlock (14), sensor, control mechanism, in which: elastic slice (13) position
In the lower wing plate of upper one layer longitudinal steelframe in drawer type truss structure (5), it is made of two sections, it being capable of automatic spring and contracting
It returns, for fixing the top quadrangle of container；Fully automatic twistlock (14) is located on the upper flange of longitudinal steelframe, in each container
Position there are four, be located at four corner fittings of container, can automatically lock and release, for fixing container lower part
Quadrangle；Control mechanism according to the sensor for the upper flange for being mounted on longitudinal steelframe be transmitted through come information judge container position,
Judge at the time of automatic fixer starting and issue instruction, judge whether to align successfully and whether lock success, for whole
The information processing of a fixation procedure.
2. drawer type automated container handling system according to claim 1, it is characterised in that: longitudinal steelframe section is work
Font, upper flange are support frame (10), are used for bearing container；Track skeleton (11) are set on lower wing plate, are trolley edges
Vertically move the longitudinal rail of container；Lateral steelframe has two within the scope of a container, for guaranteeing container ship
Lateral local strength；Vertical steelframe is used for the weight of bearing container.
3. drawer type automated container handling system according to claim 1, it is characterised in that: the handler,
It is mainly made of hydraulic elevating platform (4), carrier loader (12), in which: hydraulic elevating platform (4) is located at bulkhead and drawer type purlin
Between frame structure (5), abuts but do not contact with drawer type truss structure (5), it being capable of vertical lifting and the height in artificial settings
Stop；Each container corresponds to a hydraulic elevating platform；The hydraulic elevating platform for realizing container vertical movement
With longitudinal contraposition, the carrier loader (12) that carry container is gone up and down to preset height, hydraulic elevating platform stop motion,
Subsequent trolley longitudinally transmits track skeleton (11) of the container in drawer type truss structure (5).
4. drawer type automated container handling system according to claim 3, it is characterised in that: the hydraulic lifting is flat
Platform (4) is made of workbench (15), fixed platform (16), the first hydraulic stem (17), interior turntable (18), in which: is equipped with more
First hydraulic stem (17) and interior turntable (18), their cross-articulations constitute rhombus expansion brackets；In the rhombus expansion brackets, lower end
It is fixed on the inner bottom plating of hull by fixed platform (16), the upper end is fixed below workbench (15).
5. drawer type automated container handling system according to claim 1, it is characterised in that: the automatic fixed dress
It sets, the position signal of sensor sensing container, control mechanism control twistlock is popped up and rotated, four below fixed container
Angle, the mandril pop-up of twistlock, fixed container top quadrangle.
6. drawer type automated container handling system according to claim 1, it is characterised in that: the control mechanism,
It is the control circuit for judging fixed device Startup time, is made of acquisition module, judgment module and respond module；Acquire mould
Block is made of the sensor being arranged on track skeleton (11), and the information that acquisition module will acquire is sent to judgment module, then
The fixation that container is completed in instruction is issued by respond module.
7. a kind of drawer type automated container handling method, it is characterized in that: passing through any drawer type in claim 1 to 6
Automated container handling system realizes that, for using the container ship of the system, segmentation is fixed on by drawer type truss structure (5)
Hull.
8. drawer type automated container handling method according to claim 7, it is characterized in that: the ship that container ship is installed
Body skeleton is divided into three sections, then realizes the automatic loading and unloading of drawer type container by the following method:
1) container loading process:
In single region, each hydraulic elevating platform (4) and the carrier loader (12) to match form an independent system,
It after container is transported to hull, is carried by carrier loader (12), carrier loader (12) is parked on workbench (15), the work
Platform will carry collection by the elevating function of the first hydraulic stem (17) and the flexible completion hydraulic elevating platform of interior turntable (18)
The carrier loader (12) of vanning is transported to predetermined altitude, and subsequent carrier loader (12) is along track skeleton (11) along hull longitudinal direction
Movement, is transported to predetermined position for container；Judge whether container is transported to by the sensor on track skeleton (11)
Predeterminated position, the second hydraulic stem (20) contraction stays in container in track skeleton (11) after reaching predeterminated position, carrier loader
(12) backtracking goes the transport for carrying out next container；
2) container unloads process:
Unload and the loading of container of container are two reciprocal processes, i.e. the process that unloads of container is one and above-mentioned
The opposite process of the loading of container；
3) container fixation procedure:
Install the corner fittings knot for being similar to container quadrangle at the position determined on the drawer type truss structure (5) for placing container additional
Structure, and the elastic slice (13) of controllable stretching is added in drawer type truss structure (5) lower part corresponding position, while in track bone
Strain pressure transducer is arranged in the corresponding position of frame (11)；When carrier loader (12) transferring containers, container is being supported
It moves, is not contacted between trolley bottom and track skeleton (11), the surplus of outflow between skeleton (10) and track skeleton (11)
Slightly larger than the height of one fully automatic twistlock (14) of packaging upper box part, to reduce frictional resistance, make to transmit more stable；It is small when delivering
After vehicle (12) reaches predetermined position, the pressure size of truss structure corresponding position changes, sensor detect pressure change and by
Control mechanism issues instruction, reminds carrier loader stop motion, shrinks the second hydraulic stem (20) and places container；For container
Top, after lower part fully automatic twistlock (14) successfully locks, upper sensor receive signal pop-up elastic slice (13), apply vertically to
Under power firmly withstand container；By fully automatic twistlock (14) and elastic slice (13), realize that the automation of container is fixed.
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| CN107745792A (en) * | 2017-08-23 | 2018-03-02 | 武汉理工大学 | A kind of underwater carrier of multisection type |
| CN108320437A (en) * | 2017-12-19 | 2018-07-24 | 昆山吉海实业公司 | A kind of intelligence can weigh connecting member system |
| CN113377103B (en) * | 2021-05-31 | 2024-04-12 | 武汉港迪智能技术有限公司 | Automatic planning method and system for bulk cargo loading |
| CN117361169B (en) * | 2023-11-14 | 2024-05-31 | 中交机电工程局有限公司 | Unmanned shipment system of intelligent identification control |
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| CN102673932A (en) * | 2011-03-10 | 2012-09-19 | 游勇 | Container transfer trolley and use method thereof |
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