CN107265009A - A kind of safety loading device that lock is revolved for container - Google Patents
A kind of safety loading device that lock is revolved for container Download PDFInfo
- Publication number
- CN107265009A CN107265009A CN201710449034.2A CN201710449034A CN107265009A CN 107265009 A CN107265009 A CN 107265009A CN 201710449034 A CN201710449034 A CN 201710449034A CN 107265009 A CN107265009 A CN 107265009A
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- CN
- China
- Prior art keywords
- transport mechanism
- lock
- container
- fixed
- revolved
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D90/00—Component parts, details or accessories for large containers
- B65D90/0006—Coupling devices between containers, e.g. ISO-containers
- B65D90/0013—Twist lock
- B65D90/002—Apparatus for manual or automatic installation/removal of twist-lock
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of safety loading device that lock is revolved for container, pass through laser scanner, PLC determines the dimensions of container, so as to control detent mechanism that container is navigated into correct position, control vertical transport mechanism, robot arm is moved to correct position by horizontal transport mechanism, the automatic loading and unloading of rotation lock is completed using robot arm, demonstrate,prove the personal safety of port workers, improve the efficiency of loading and unloading of container rotation lock, improve the safety management level of harbour, and can largely reduce the quantity of field personnel, reduce cost of labor, ensure the personal safety of on-site personnel.
Description
Technical field
Specifically, it is related under a kind of Property in Container Terminal Bridge Crane Through the invention belongs to container special equipment technical field
The safety loading device of container rotation lock.
Background technology
With deepening continuously for world economic integration, water transportation obtains steady growth, and with safe and convenient
The Container Transport of the features such as operation turns into and wherein increases part the most rapid.During the water transportation of container, it is
Prevent from container from jolting, slide etc. to cause any property loss, it is necessary to which neighbouring container is connected into one with container rotation lock
Rise, need container revolving lock on four corner fittings of container base during shipment, unload ship time and again take container rotation lock
Under.The lock handling of container rotation at this stage are completed by manually, and working strength is big, dangerous larger, mechanical repetition
Sex work easily makes operating personnel tired out, vigilance reduction, also, live mobility machinery is more, seriously threatens operator
The personal safety of member；As container operation handling capacity rises, inland terminal depot bank bridge operating frequency is improved, how quickly may be used therewith
That leans on accomplishes rotation lock handling, also as current problem.
The content of the invention
The present invention proposes a kind of safety loading device that lock is revolved for container to above mentioned problem, realizes automatic loading and unloading collection
Vanning rotation lock, dock operation efficiency is significantly improved.
Specific technical scheme is as follows：A kind of safety loading device that lock is revolved for container, including workbench, machine
Human arm, vertical transport mechanism, horizontal transport mechanism, detent mechanism, laser scanner, PLC, the first servomotor,
Second servomotor, the first electric cylinder, the second electric cylinder, the first driver, the second driver, the 3rd driver, the 4th driving
Device, pressure sensor, laser range finder, " ten " font slideway, slide rail, dolly；Workbench is rectangle, and workbench passes through
Four support supports, workbench is set respectively on the outside of two short sides sets " ten " font to slide on two slide rails, workbench
Placement positioning mechanism at road, " ten " font slideway center and workbench center superposition, four end points of " ten " font slideway；Positioning
Mechanism includes travel mechanism, locating piece, and travel mechanism includes fixed mount, gear, rack, the second servomotor, the second servo electricity
The motor shaft of machine is connected with gear, and gear is fixed on fixed mount, and fixed mount is provided with boss, and rack is slided with fixed mount boss
Connection, rack is located at below gear, is meshed with gear, and locating piece is in "convex" shaped, is leaned on by bottom projection and rack
One end of nearly workbench is mutually fixed, and detent mechanism is slided by rack on slideway；Vertical transport mechanism is lifted including leading screw
Machine, the first supporting table, base, base are slidably connected with slide rail, and the first servomotor is connected with screw-threaded shaft elevator by shaft coupling,
Screw-threaded shaft elevator bottom is fixed on base, and the first supporting table and the ball nut of leading screw lifting platform are fixed；Second electric cylinder with
Vertical transport mechanism base is connected, and promotes vertical transport mechanism to be moved along slide rail；Horizontal transport mechanism is fixed on vertical conveyer
In first supporting table of structure, horizontal transport mechanism includes the first electric cylinder, the second supporting table, and the first electric cylinder is fixed on first
Support on platform, the second supporting table is assumed a " convex " shape, and bottom projection is fixed with electric cylinder；Dolly, robot arm are each attached to water
Flat the second supporting table of transport mechanism upper brace, pressure sensor is fixed on dolly bottom；Laser scanner is fixed on bridge crane and hung
On tool；Electrically connected between laser scanner, laser range finder, pressure sensor and PLC；First servomotor, first
Electrically connect, electrically connected between the second servomotor, the second driver, PLC between driver, PLC, the first electricity
It is dynamic to be electrically connected between cylinder, the 3rd driver, PLC, it is electrically connected between the second electric cylinder, fourth drive, PLC
Connect.
The vertical transport sets on four, every slide rail two, is slidably connected respectively by base with slide rail.
The horizontal transport mechanism sets and fixes one in four, every vertical transport；
The robot arm sets and fixes one in four, every supporting table of horizontal transport mechanism second；
The dolly sets and fixes one in four, every supporting table of horizontal transport mechanism second；
Boss upper surface and workbench flush in the detent mechanism on fixed mount；
The width of locating piece bottom projection in the detent mechanism is less than chute width, and the width of upper brace is big
In chute width.
Rack width in the detent mechanism is less than chute width.
Beneficial effects of the present invention are：The automatic loading and unloading of rotation lock is realized by robot arm, it is ensured that harbour work people
The personal safety of member, the efficiency of loading and unloading for improving container rotation lock, improve the safety management level of harbour, and can largely subtract
The quantity of few field personnel, reduces cost of labor, it is ensured that the personal safety of on-site personnel.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is structural front view of the present invention.
Fig. 2 is structure top view of the present invention.
Fig. 3 is part connection figure of the invention.
1- workbenches, 2- supports, 3- robot arms, the vertical transport mechanisms of 4-, 5- horizontal transport mechanisms, 6- localization machines
Structure, 7- laser scanners, 8-PLC controllers, the servomotors of 9- second, the servomotors of 10- first, the electric cylinders of 11- first, 12-
First driver, the drivers of 13- second, the drivers of 14- the 3rd, 15- pressure sensors, 16- laser range finders, 17- cross
Slideway, 18- slide rails, 19- dollies, 20- shaft couplings, 21- fixed mounts, 22- gears, 23- racks, 24- locating pieces, 25- leading screw liters
Drop machine, the supporting tables of 26- first, 27- bases, 28- screw-threaded shaft elevator ball nuts, the electric cylinders of 29- second, the supporting tables of 30- second,
31- bridge cranes, 32- bridge crane suspenders, 33- fixed mount boss, 34- fourth drives.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be described in detail.
As illustrated, specific technical scheme is as follows：Including workbench, robot arm, vertical transport mechanism, level
Transport mechanism, detent mechanism, laser scanner, PLC, the first servomotor, the second servomotor, the first electric cylinder,
Second electric cylinder, the first driver, the second driver, the 3rd driver, fourth drive, pressure sensor, laser range finder,
" ten " font slideway, slide rail, dolly；Workbench is rectangle, and workbench is supported by four supports, and workbench is two
Set respectively on the outside of bar short side and " ten " font slideway is set on two slide rails, workbench, " ten " font slideway center and work
Platform center is overlapped, placement positioning mechanism at four end points of " ten " font slideway；Detent mechanism includes travel mechanism, locating piece,
Travel mechanism includes fixed mount, gear, rack, the second servomotor, and the motor shaft of the second servomotor is connected with gear, gear
It is fixed on fixed mount, fixed mount is provided with boss, rack is slidably connected with fixed mount boss, rack is located at below gear, with
Gear is meshed, and locating piece is in "convex" shaped, is mutually fixed close to one end of workbench with rack by bottom projection, fixed
Position mechanism is slided by rack on slideway；Vertical transport mechanism includes screw-threaded shaft elevator, the first supporting table, base, base with
Slide rail is slidably connected, and the first servomotor is connected with screw-threaded shaft elevator by shaft coupling, and screw-threaded shaft elevator bottom is fixed on base
On, the first supporting table and the ball nut of leading screw lifting platform are fixed；Second electric cylinder is connected with vertical transport mechanism base, promotes
Vertical transport mechanism is moved along slide rail；Horizontal transport mechanism is fixed in the first supporting table of vertical transport mechanism, horizontal transmission
Mechanism includes the first electric cylinder, the second supporting table, and the first electric cylinder is fixed in the first supporting table, and the second supporting table is in " convex "
Shape, bottom projection is fixed with electric cylinder；Dolly, robot arm are each attached to the second supporting table of horizontal transport mechanism top
Platform, pressure sensor is fixed on dolly bottom；Laser scanner is fixed on bridge crane suspender；Laser scanner, laser ranging
Electrically connected between instrument, pressure sensor and PLC；It is electrically connected between first servomotor, the first driver, PLC
Connect, electrically connected between the second servomotor, the second driver, PLC, the first electric cylinder, the 3rd driver, PLC controls
Electrically connect, electrically connected between the second electric cylinder, fourth drive, PLC between device.
The vertical transport sets on four, every slide rail two, is slidably connected respectively by base with slide rail.
The horizontal transport mechanism sets and fixes one in four, every vertical transport；
The robot arm sets and fixes one in four, every supporting table of horizontal transport mechanism second；
The dolly sets and fixes one in four, every supporting table of horizontal transport mechanism second；
Boss upper surface and workbench flush in the detent mechanism on fixed mount；
The width of locating piece bottom projection in the detent mechanism is less than chute width, and the width of upper brace is big
In chute width.
Rack width in the detent mechanism is less than chute width.
When lock work is unloaded in progress, one group of container is placed on workbench by bridge crane suspender, when suspender and workbench
Distance be less than setting value when, distance signal now is passed to SIEMENS PLC controller, SIEMENS PLC by laser range finder
Controller after analysis, start working by laser scanner, and laser scanner carries out 3-D scanning ranging to this group of container, swashs
The data transfer measured is given SIEMENS PLC controller by photoscanner, and SIEMENS PLC controller is analyzed data, it is determined that
The dimensions of this group of container, calculating four groups of detent mechanisms needs mobile distance.SIEMENS PLC controller sends finger
Order, control the second driver work, so that the locating piece on four groups of detent mechanisms is moved into correct position, passes through four groups of positioning
The position of block determines the placement location of container；After container is placed into correct position, SIEMENS PLC controller sends finger
Four groups of vertical transport mechanisms are pushed to correct position along slide rail, controlled by order, control fourth drive work, the second electric cylinder of control
The work of the first driver is made, the leading screw lifting platform of four groups of vertical transports is controlled, leading screw lifting platform is by ball nut by the
Horizontal transport mechanism in one supporting table is raised to suitable height, and control the 3rd driver work controls four groups of horizontal conveyors
First electric cylinder of structure, correct position is moved to by the second supporting table；When four groups of vertical transport mechanisms and horizontal transport mechanism are complete
Into after work, four robot arms are started working, and rotation lock is unloaded and is placed into small in-car, now, four pressure sensors are equal
The signal of pressure change is passed into SIEMENS PLC controller, when SIEMENS PLC sensor sends instruction after analysis, controlled
The work of the first driver is made, the leading screw lifting platform of four groups of vertical transports of control declines the height of a container, then complete
Lock operation is unloaded into lower step.
When entering luggage lock work, a container is placed on workbench by bridge crane suspender, when suspender and workbench
Distance be less than setting value when, distance signal now is passed to SIEMENS PLC controller, SIEMENS PLC by laser range finder
Controller after analysis, start working by laser scanner, and laser scanner carries out 3-D scanning ranging to this container, swashs
The data transfer measured is given SIEMENS PLC controller by photoscanner, and SIEMENS PLC controller is analyzed data, it is determined that
The dimensions of this container, calculating four groups of detent mechanisms needs mobile distance.SIEMENS PLC controller sends finger
Order, control fourth drive work, so that the locating piece on four groups of detent mechanisms is moved into correct position, passes through four groups of positioning
The position of block determines the placement location of container；After container is placed into correct position, SIEMENS PLC controller sends finger
Four groups of vertical transport mechanisms are pushed to correct position along slide rail, controlled by order, control fourth drive work, the second electric cylinder of control
The work of the first driver is made, the leading screw lifting platform of four groups of vertical transports is controlled, leading screw lifting platform is by ball nut by the
Horizontal transport mechanism in one supporting table is raised to suitable height, and control the 3rd driver work controls four groups of horizontal conveyors
First electric cylinder of structure, correct position is moved to by the second supporting table；When four groups of vertical transport mechanisms and horizontal transport mechanism are complete
Into after work, four robot arms are started working, and rotation lock is taken out from dolly and is attached on container, now, and four pressure are passed
The signal of pressure change is passed to SIEMENS PLC controller by sensor, when SIEMENS PLC sensor sends finger after analysis
Order, control the first driver work, the leading screw lifting platform of four groups of vertical transports of control rises the height of a container, connects
The lower step dress lock operation of completion.
The present invention determines the dimensions of container by laser scanner, PLC, so as to control detent mechanism will
Container navigates to correct position, controls vertical transport mechanism, horizontal transport mechanism that robot arm is moved into correct position,
The automatic loading and unloading of rotation lock is completed using robot arm, the personal safety of port workers is demonstrate,proved, improves the dress of container rotation lock
Unload efficiency, improve the safety management level of harbour, and can largely reduce the quantity of field personnel, reduction it is artificial into
This, it is ensured that the personal safety of on-site personnel.
Claims (8)
1. a kind of safety loading device that lock is revolved for container, it is characterised in that including workbench, robot arm, erect
Straight transport mechanism, horizontal transport mechanism, detent mechanism, laser scanner, PLC, the first servomotor, the second servo electricity
Machine, the first electric cylinder, the second electric cylinder, the first driver, the second driver, the 3rd driver, fourth drive, pressure sensing
Device, laser range finder, " ten " font slideway, slide rail, dolly；Workbench is rectangle, and workbench passes through four support branch
Support, workbench sets setting " ten " font slideway, " ten " font on two slide rails, workbench respectively on the outside of two short sides
Placement positioning mechanism at slideway center and workbench center superposition, four end points of " ten " font slideway；Detent mechanism includes moving
Motivation structure, locating piece, travel mechanism include fixed mount, gear, rack, the second servomotor, the motor shaft of the second servomotor
It is connected with gear, gear is fixed on fixed mount, fixed mount is provided with boss, rack is slidably connected with fixed mount boss, rack
Below gear, it is meshed with gear, locating piece is in "convex" shaped, by bottom projection and rack close to workbench
One end mutually fix, detent mechanism is slided by rack on slideway；Vertical transport mechanism includes screw-threaded shaft elevator, the first support
Platform, base, base are slidably connected with slide rail, and the first servomotor is connected with screw-threaded shaft elevator by shaft coupling, screw-threaded shaft elevator
Bottom is fixed on base, and the first supporting table and the ball nut of leading screw lifting platform are fixed；Second electric cylinder and vertical conveyer
Structure base is connected, and promotes vertical transport mechanism to be moved along slide rail；Horizontal transport mechanism is fixed on first of vertical transport mechanism
Support on platform, horizontal transport mechanism includes the first electric cylinder, the second supporting table, the first electric cylinder is fixed in the first supporting table, the
Two supporting tables are assumed a " convex " shape, and bottom projection is fixed with electric cylinder；Dolly, robot arm are each attached to horizontal transport mechanism
Second supporting table upper brace, pressure sensor is fixed on dolly bottom；Laser scanner is fixed on bridge crane suspender；Laser is swept
Retouch and electrically connected between instrument, laser range finder, pressure sensor and PLC；First servomotor, the first driver, PLC controls
Electrically connect, electrically connected between the second servomotor, the second driver, PLC between device processed, the first electric cylinder, the 3rd drive
It is dynamic to be electrically connected between device, PLC, electrically connected between the second electric cylinder, fourth drive, PLC.
2. according to a kind of safety loading device that lock is revolved for container described in claim 1, it is characterised in that described vertical
Transport mechanism sets on four, every slide rail two, is slidably connected respectively by base with slide rail.
3. according to a kind of safety loading device that lock is revolved for container described in claim 1, it is characterised in that the level
Transport mechanism sets and fixes one in four, every vertical transport.
4. according to a kind of safety loading device that lock is revolved for container described in claim 1, it is characterised in that the machine
Human arm sets and fixes one in four, every supporting table of horizontal transport mechanism second.
5. according to a kind of safety loading device that lock is revolved for container described in claim 1, it is characterised in that the dolly
Set and fix one in four, every supporting table of horizontal transport mechanism second.
6. according to a kind of safety loading device that lock is revolved for container described in claim 1, it is characterised in that the positioning
Boss upper surface and workbench flush in mechanism on fixed mount.
7. according to a kind of safety loading device that lock is revolved for container described in claim 1, it is characterised in that the positioning
The width of locating piece bottom projection in mechanism is less than chute width, and the width of upper brace is more than chute width.
8. according to a kind of safety loading device that lock is revolved for container described in claim 1, it is characterised in that the positioning
Rack width in mechanism is less than chute width.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710449034.2A CN107265009B (en) | 2017-06-14 | 2017-06-14 | Safety handling device for container twist lock |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710449034.2A CN107265009B (en) | 2017-06-14 | 2017-06-14 | Safety handling device for container twist lock |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107265009A true CN107265009A (en) | 2017-10-20 |
| CN107265009B CN107265009B (en) | 2023-01-03 |
Family
ID=60066778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710449034.2A Active CN107265009B (en) | 2017-06-14 | 2017-06-14 | Safety handling device for container twist lock |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107265009B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020009656A1 (en) * | 2018-07-06 | 2020-01-09 | Psa International Pte Ltd | Apparatus and method for container coning and/or deconing |
| CN112384452A (en) * | 2018-06-25 | 2021-02-19 | 泰克货柜股份有限公司 | Device for automatically opening a cargo container |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1490133A (en) * | 2003-09-01 | 2004-04-21 | 武汉理工大学 | Rotary robot for container lock |
| CN102428013A (en) * | 2010-02-03 | 2012-04-25 | 船运科技股份公司 | Device For Coning And/Or Deconing A Container And Methods Related Thereto |
| CN104709623A (en) * | 2015-02-02 | 2015-06-17 | 姜红卫 | Automatic detachment and installation system of container fixed spin lock |
| CN207107488U (en) * | 2017-06-14 | 2018-03-16 | 国投镇江港有限公司集装箱分公司 | A kind of safety loading device for container rotation lock |
-
2017
- 2017-06-14 CN CN201710449034.2A patent/CN107265009B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1490133A (en) * | 2003-09-01 | 2004-04-21 | 武汉理工大学 | Rotary robot for container lock |
| CN102428013A (en) * | 2010-02-03 | 2012-04-25 | 船运科技股份公司 | Device For Coning And/Or Deconing A Container And Methods Related Thereto |
| CN104709623A (en) * | 2015-02-02 | 2015-06-17 | 姜红卫 | Automatic detachment and installation system of container fixed spin lock |
| CN207107488U (en) * | 2017-06-14 | 2018-03-16 | 国投镇江港有限公司集装箱分公司 | A kind of safety loading device for container rotation lock |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112384452A (en) * | 2018-06-25 | 2021-02-19 | 泰克货柜股份有限公司 | Device for automatically opening a cargo container |
| WO2020009656A1 (en) * | 2018-07-06 | 2020-01-09 | Psa International Pte Ltd | Apparatus and method for container coning and/or deconing |
| CN112368223A (en) * | 2018-07-06 | 2021-02-12 | Psa国际港务集团 | Apparatus and method for container coning and/or debarking |
| CN112368223B (en) * | 2018-07-06 | 2022-06-21 | Psa国际港务集团 | Apparatus and method for container coning and/or debarking |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107265009B (en) | 2023-01-03 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 212132 West Lingjiang Road, Dagang, New District, Zhenjiang City, Jiangsu Province (in Zhenjiang Port Phase III Container and Multipurpose Berth Office Building) Applicant after: Zhenjiang Jingang Port Co.,Ltd. Container Branch Address before: 212132 West Lingjiang Road, Dagang, New District, Zhenjiang City, Jiangsu Province (in Zhenjiang Port Phase III Container and Multipurpose Berth Office Building) Applicant before: SDIC ZHENJIANG PORT Co.,Ltd. CONTAINER BRANCH |
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20221220 Address after: 212000 No. 20, Dagang Linjiang West Road, New District, Zhenjiang City, Jiangsu Province Applicant after: Zhenjiang Port International Container Terminal Co.,Ltd. Address before: 212132 West Lingjiang Road, Dagang, New District, Zhenjiang City, Jiangsu Province (in Zhenjiang Port Phase III Container and Multipurpose Berth Office Building) Applicant before: Zhenjiang Jingang Port Co.,Ltd. Container Branch |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |