CN107306931A - A kind of intelligent device for fumigation of automatic dock and Inter-fumigation of Container Cargo control method - Google Patents
A kind of intelligent device for fumigation of automatic dock and Inter-fumigation of Container Cargo control method Download PDFInfo
- Publication number
- CN107306931A CN107306931A CN201710493960.XA CN201710493960A CN107306931A CN 107306931 A CN107306931 A CN 107306931A CN 201710493960 A CN201710493960 A CN 201710493960A CN 107306931 A CN107306931 A CN 107306931A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- container
- ventilating opening
- electrical system
- fumigation
- 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.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M13/00—Fumigators; Apparatus for distributing gases
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/20—Gaseous substances, e.g. vapours
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/26—Accessories or devices or components used for biocidal treatment
-
- 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
- B65D88/00—Large containers
- B65D88/02—Large containers rigid
- B65D88/12—Large containers rigid specially adapted for transport
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/20—Targets to be treated
- A61L2202/25—Rooms in buildings, passenger compartments
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Epidemiology (AREA)
- Public Health (AREA)
- Mechanical Engineering (AREA)
- Pest Control & Pesticides (AREA)
- General Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Chemical & Material Sciences (AREA)
- Toxicology (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The present invention provides a kind of automatic dock intelligent device for fumigation, including electrical system, AGV supports and is arranged on AGV supports and along the Multi-freedom-degreemanipulator manipulator of AGV bracket slides；Vent seal device and injection device are provided with manipulator；Container is erected on AGV supports, electrical system generates and exports the first electrical driving signals respectively drives vent seal device and injection device to act respectively to manipulator, vent seal device is sticked on the ventilating opening for be opened in container side wall sealant and exports the first feedback signal to electrical system, and injection device stretches into along chamber door of container and injects fumigation liquid and export the second feedback signal to electrical system.Also disclose a kind of Inter-fumigation of Container Cargo control method simultaneously.The present invention intervenes without manual site, so as to effectively improve the safety management level on harbour, improves stifling operating efficiency and accuracy, reduces labor cost.
Description
Technical field
The present invention relates to harbour facilities technical field, more particularly to a kind of intelligent device for fumigation of automatic dock, Yi Jiyi
Plant Inter-fumigation of Container Cargo method.
Background technology
According to the regulation of national inspection and quarantine bureau and requirement, import needs stifling container to complete smoked before going out to close
Steam work.Traditional stifling operation form is manually container to be sealed and filling gun by hand is injected to container
Fumigation liquid.An average container needs to be equipped with two professionals' completion said process, takes a large amount of labours and is engaged in repetition
Property work.Simultaneously as fumigation liquid has certain excitant, therefore the body of the stifling operating personnel in scene can be also influenceed to be good for
Health.Further, since being manual work, the time of operation and effect also are difficult to reach the requirement of uniformity.
Full-automatic stockyard is that brand-new container stores up mode.In full-automatic stockyard, the stacking mode of container
It is full automation, integrally realizes separate men from machines, does not have operating personnel's participation in stockyard.Due to fumigating the special of operation
Property, it is desirable to whole operation process must be completed in stockyard, and full-automatic stockyard strictly forbids personnel to enter simultaneously.Institute
So that traditional stifling work pattern has been unable to reach the requirement in full-automatic stockyard.
The content of the invention
It is contemplated that designing and disclosing a kind of intelligent device for fumigation of automatic dock, to solve traditional stifling job stream
The problem of Cheng Wufa meets automatic dock operation needs.
The present invention provides a kind of automatic dock intelligent device for fumigation, including electrical system, AGV supports and is arranged on institute
State on AGV supports and along the Multi-freedom-degreemanipulator manipulator of the AGV bracket slides；Vent seal dress is provided with the manipulator
Put and injection device；Container is erected on the AGV supports, and the electrical system generation and respectively output first are electrically driven
Signal to the manipulator drives the vent seal device and injection device to act respectively, and the vent seal device exists
It is opened on the ventilating opening of container side wall and is sticked sealant and exports the first feedback signal to the electrical system, the injection
Device stretches into along chamber door of container and injects fumigation liquid and export the second feedback signal to the electrical system.
Further, ventilating opening detection means is additionally provided with the manipulator, the electrical system generation second is electric
Drive signal is to the manipulator, and the ventilating opening detection means exports sampled signal to the container side wall, the ventilation
Mouth detection means collection ventilating opening detection signal is simultaneously exported to the electrical system, and the electrical system receives the ventilating opening and examined
Survey signal and export first electrical driving signals to the manipulator.
It is preferred that, the ventilating opening detection means is infrared imaging device, camera or Laser Scanning Equipment.
Further, identity device is additionally provided with the manipulator, the electrical system receives first feedback letter
Number and the second feedback signal after, generate and to export the 3rd electrical driving signals dynamic to identity device described in the robot drives
Make.
Further, the manipulator includes the first manipulator and the second manipulator, and the vent seal device includes
First vent seal device and the second vent seal device；First manipulator and the second manipulator are separately positioned on institute
State and be provided with the first vent seal device and the injection device, described second on container both sides, first manipulator
The second vent seal device and identity device are provided with manipulator.
Further, the first vent seal device is correspondingly arranged on the first ventilating opening detection means, described second
Vent seal device is correspondingly arranged on the second ventilating opening detection means.
Further, the first manipulator side is additionally provided with fumigation liquid storage device, the fumigation liquid storage device
It is arranged on the AGV supports, the fumigation liquid storage device and the injection device pass through pipeline connection.
Further, flow sensor, the flow sensor generation and Output estimation are provided with the pipeline
Signal is to the electrical system.
Further, the first vent seal device, the second vent seal device, first ventilating opening
When detection means, the second ventilating opening detection means and identity device action, the first manipulator forward end and/or the
Two manipulator forward ends are parallel to the container side wall；During the injection device action, the first manipulator front end end
Portion is perpendicular to the container side wall.
The intelligent device for fumigation of automatic dock provided by the present invention, on the one hand according to the characteristics of automatic dock, fully
Container is placed on preferable position using AGV dollies and AGV supports, and it is real by the manipulator for being arranged on container both sides
Sealing and the injection of fumigation liquid now to container, whole process need not be participated in manually.
The invention also discloses a kind of Inter-fumigation of Container Cargo control method, comprise the following steps：
Container is erected on AGV supports by AGV dollies, and electrical system receives the container information of central control system output,
The container information includes Container Dimensions, ventilating opening two-dimensional coordinate and ventilating opening quantity；
The container is erected on the AGV supports, the manipulator of electrical system control first and the second manipulator difference
Slided along the first slide rail and the second slide rail, the length direction extension of first slide rail and the second slide rail along the container；Institute
State the first ventilating opening detection means and be arranged on second machinery that electrical system control is arranged on first manipulator
The second ventilating opening detection means on hand exports sampled signal to the first side wall and second sidewall of container respectively, and receives institute
The ventilating opening detection signal of the first ventilating opening detection means and the collection of the second ventilating opening detection means is stated, and the ventilating opening is examined
Survey signal and feed back to the central control system；The central control system ventilating opening detection signal and the packaging
Case information, calculates the distance of the initial position and the ventilating opening on the first side wall of the first manipulator, and the second manipulator
Initial position and the second sidewall on ventilating opening distance and export to the electrical system；
The container information also includes chamber door sealing strip two-dimensional coordinate, and the electrical system also controls to be arranged on first machine
The the first ventilating opening detection means of tool on hand exports sampled signal to chamber door of container, and receives the first ventilating opening detection dress
The chamber door detection signal of collection is put, and chamber door detection signal is fed back into central control system, the central control system compares
The chamber door sealing strip two-dimensional coordinate and chamber door detect signal, calculate the initial position and the chamber door sealing strip of the first manipulator
Distance and export to the electrical system；
The electrical system controls the first vent seal being arranged on first manipulator and the second manipulator to fill respectively
Put and/or the second vent seal device action, be sticked at the ventilating opening on the container the first side wall or second sidewall
Sealant, and the first feedback signal is exported to the electrical system after the completion of the action that is sticked；
The electrical system is received after first feedback signal, and the injection device that control is arranged on first manipulator is moved
Make, stretched at the chamber door of container sealing strip and inject fumigation liquid, and export after the completion of action of injection the second feedback letter
Number to the electrical system；
The electrical system is received after second feedback signal, and the identity device that control is arranged on second manipulator is moved
Make, be sticked mark on the container side wall.
Inter-fumigation of Container Cargo control method disclosed in this invention, using electrical equipment, the first manipulator, the second manipulator and
The cooperation of central control system, is automatically performed the identification, sealing and stifling, packaging in whole process of container vent position
The AGV dollies that are moved through of case are realized, and are powered by AGV supports, are intervened without manual site, so as to effectively improve harbour
On safety management level, improve stifling operating efficiency and accuracy, reduce labor cost.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the front view of the intelligent device for fumigation of automatic dock disclosed in this invention；
Fig. 2 is Fig. 1 top view；
Fig. 3 is Fig. 1 side view；
Fig. 4 be Fig. 1 shown in intelligent device for fumigation in slide rail structural representation；
Fig. 5 be Fig. 1 shown in device for fumigation in one forward end of the first manipulator and injection device structural representation；
Fig. 6 is structural representation of the identity device shown in Fig. 5 in initial position；
Fig. 7 is a kind of structural representation of vent seal device in the device for fumigation shown in Fig. 1.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Shown in Figure 1 is a kind of structure of specific embodiment of the intelligent device for fumigation of automatic dock disclosed in this invention
Schematic diagram.The intelligent device for fumigation of automatic dock disclosed in this invention, is the full-automation used for automatic dock
The work characteristics in unmanned stockyard, is specifically designed the automation equipment of exploitation.Specifically, as shown in figure 1, automatic dock is intelligent
Device for fumigation 10 includes electrical system 5, AGV supports 1 and is arranged on the AGV supports 1 and is slided along the AGV supports 1
Multi-freedom-degreemanipulator manipulator 2.AGV supports 1 are distributed in appropriate region according to layout of port.AGV dollies（Not shown in figure）Will
Container 3 is erected on AGV supports 1.The AGV supports 1 used in device for fumigation 10, can only support a packaging at work
Case 3, can also be made two containers laid successively along AGV stent lengths direction.The size of container is unrestricted, can be with
It is the container of single 20 chis, double 20 chis, single 40 chis, single 45 chis and other various special sizes.It is provided with AGV supports 1
Slide rail 4, manipulator 2 is slided along slide rail 4.Manipulator 2 has multiple degrees of freedom.A kind of preferred structure as shown in Figure 5 and Figure 6, machine
Tool hand 2 is arranged on slide rail 4 by base 23 rotatable, and bottom 23-1 and the slide rail 4 of base are slidably connected, the top of base
23-2 is rotatable relative to bottom, so that the forward end of driving mechanical hand rotates relative to bottom.Because container has one
Fixed height, manipulator forward end is by including multiple connecting rods.The multiple degrees of freedom of manipulator can also be using other existing structures
Realize.There are manipulator multiple forward ends to realize difference in functionality.
Vent seal device 24 and injection device 25 are provided with a robotic arm.Vent seal device 24 is preferably included
Setting is surround on one circular housings 21-5 and the conveyer belt 21-6 being connected with the circular housings 21-5, circular housings 21-5
There is sealant, when circular housings 21-5 and conveyer belt 21-6 is acted in the motor 21-7 same direction of driving lower edge, sealing
Layer extends to the conveyer belt 21-6 from circular housings 21-5, and the end of the conveyer belt 21-6 is provided with separator 21-9.
Separator 21-9 is preferably the cutter with cut surface, cut surface and sealant contact, when external force acts on sealant
When upper, cut surface cut-out sealant obtains the sealant of suitable size.Injection device 25 and the note manually used in the prior art
Penetrate rifle consistent, difference is that filling gun 21-8 passes sequentially through manipulator forward end 21-3, pipeline 21-4 connection and is arranged on machinery
The fumigation liquid storage device of hand side（21-1 as shown in Figure 3）.Electric signal is provided with pipeline 21-4 appropriate location
The stop valve of driving（Not shown in figure）, to control the opening and closing of injection device.In order to reach safe purpose, also set on pipeline
It is equipped with flow sensor（Not shown in figure）, pressure sensor is additionally provided with when necessary.When the detection signal of flow sensor
When too small, operating personnel are pointed out to change fumigation liquid storage device, or to supplement fumigation liquid in fumigation liquid storage device.Work as pressure
When the detection signal of sensor is excessive, output alarm signal points out operating personnel to be overhauled.
In fumigation system 10 is electrically that 5 systems receive various detection signals and generate electrical driving signals.Specifically, such as
Fruit container needs to be fumigated before going out to close, and electrical system 5 generates and exports the first electrical driving signals to manipulator 2, drives
Dynamic manipulator 2 drives vent seal device 24 and injection device 25 to be moved to appropriate location along AGV supports 3, on the one hand for
For vent seal device 24, motor 21-7 drives sealant to be moved on circular housings 21-5 and conveyer belt 21-6, machinery
One forward end 26 of hand applies external force on sealant, and sealant is separated in the presence of cut surface, the bonding of sealant
Facing to the ventilating opening of container（As shown in Figure 1 31）, sealant is sticked in container side wall by the forward end 26 of manipulator
Ventilating opening at.Because sealant quality is smaller, manipulator forward end pickup sealant can by the way of vacuum suction,
Can also be using modes such as other similar magnetic absorptions.Sealant is made of encapsulant in itself, therefore can be ensured
In stifling process, container closing, fumigation liquid will not leak to ensure fumigating effect.Output first is fed back after sealant is sticked
Signal is to electrical system 5.On the other hand, the manipulator for receiving the first electrical driving signals that electrical system 5 is exported also drives note
Injection device 25 is acted, the sealing strip of the filling gun 21-8 of injection device 25 along chamber door of container（As shown in Figure 2 32）Stretch into and note
Penetrate and the second feedback signal is exported after fumigation liquid, injection to electrical system 5.The power supply of manipulator and AGV supports is harbour 380V banks
Electricity, is manipulator and other power supply for electrical equipment by power cable drag chain 6.Can be set in electrical system 5 display screen with
And human-computer interaction interface, to cause maintainer to understand the working condition of device with timing.
The intelligent device for fumigation of automatic dock that the above embodiment of the present invention is provided, on the one hand according to automatic dock
Feature, makes full use of AGV dollies and AGV supports that container is placed on into preferable position, and by being arranged on container both sides
Manipulator realize sealing and the injection of fumigation liquid to container, whole process need not be participated in manually.
In order to improve the efficiency of sealing and action of injection, ventilating opening detection means is further preferably provided with manipulator 2（Such as
21-10 shown in Fig. 3 and 22-10）.When container 3 is placed on AGV supports 1, electrical system 5 generates the second electrically driven letter
Number to the manipulator 3.Ventilating opening detection means exports sampled signal to the side wall of container 3, and the collection of ventilating opening detection means is logical
Detect signal and export to electrical system 5 in air port.Electrical system 5 receives ventilating opening detection signal and exports the first electrically driven letter
Number to manipulator 3, further driving vent seal device 24 and injection device 25 are acted.A more specific step says, ventilating opening
Detection means can be infrared imaging device, camera or Laser Scanning Equipment, and the side wall of whole container 3 is scanned,
To determine the position of ventilating opening 31.So, either which kind of specification container is, before the action of manipulator 2, can be collected
The position of ventilating opening 31 so that sealing is more efficient with action of injection.
After stifling terminate, container 3 can be transported to other regions and carry out next flow.It is smoked in order to distinguish
The container 3 completed is steamed, identity device is additionally provided with manipulator 2.Electrical system 5 receives the first feedback signal and second anti-
After feedback signal, generate and export the 3rd electrical driving signals to the manipulator 2, driving identity device action.To complete injection
Container stick mark.Identity device includes an independent manipulator forward end 26, and its side is provided with receiving mark
The mark box of device（22-1 as shown in Figure 3）.Mark box 22-1 is acted with the action of identity device, is easy to manipulator front end
Mark is picked up at any time in end 26.After the pickup mark of manipulator forward end 26, the sticking veneer of mark, will towards container side wall
Mark is pasted onto on container 3.Preferred implantation RFID tag in mark, be easy in unattended Container Yard other sets
It is standby to read identification.
For various sizes of container, ventilating opening quantity and ventilating opening to open up position all different.Some
The ventilating opening of container is opened on two side walls.The first slide rail 41 and the second slide rail 42 are provided with AGV supports 1,
The first manipulator 21 is provided with one slide rail 41, the second manipulator 22 is provided with the second slide rail, so that the first machinery
The manipulator 22 of hand 21 and second is distributed in container both sides.Corresponding, vent seal device 24 includes the first vent seal
Device and the second vent seal device.In order to improve, to be provided with the first ventilating opening on the efficiency of equipment, the first manipulator 21 close
The second vent seal device and identity device are provided with seal apparatus and injection device, the second manipulator 22.In order to right respectively
Ventilating opening quantity and position on container the first side wall and second sidewall are acquired, and the first vent seal device correspondence is set
The first ventilating opening detection means 21-10 is equipped with, the second vent seal device is correspondingly arranged on the second ventilating opening detection means 22-
10.Operationally, independent scan is carried out respectively to the first side wall and second sidewall of container, improves the efficiency of stifling process.
The multiple degrees of freedom of manipulator ensure that vent seal device, ventilating opening detection means, identity device and injection dress
The normal work put.Because ventilating opening is arranged on the side wall of container 3, and chamber door of container is arranged on the rear portion of container 3,
So the first vent seal device, the second vent seal device, the first ventilating opening detection means, the second ventilating opening detection dress
Put and mark action when, the forward end and a forward end of the second manipulator 22 of the first manipulator 21 or its
One of parallel to container side wall.And when injection device is acted, a forward end of the first manipulator 21 vertically with collection
Vanning side wall.When injection device is acted, the first manipulator 21 is located at the rear portion of container, the front end end of the first manipulator 21
Portion stretches out on rear side of container and fumigation liquid is injected into container.
The present invention discloses a kind of Inter-fumigation of Container Cargo control method, comprise the following steps：
First, container is erected on AGV supports by the AGV dollies in automatic yard.Container on AGV supports can be only
One is set, two can also be set along the bearing of trend of AGV supports.If setting a container, guarantee first is needed
The length of slide rail and the second slide rail is more than the length of container.If set two containers, need ensure the first slide rail and
The length of second slide rail is more than the gap between the total length for two containers laid successively and two containers.It is electrically
System receives the container information of central control system output.Central control system is the centralized control system of automatic dock, is entered
All container informations entered in automatic dock are recorded in central control system.Electrical system is from central control system
The container information of reception includes Container Dimensions, ventilating opening two-dimensional coordinate and ventilating opening quantity.
Container keeps the position that is erected on AGV supports constant, is arranged on the first manipulator and the of container both sides
Two manipulators are slided along the first slide rail and the second slide rail respectively under the control of electrical system respectively.First slide rail and the second slide rail
Extend along the length direction of container.Due to various sizes of container or nonstandard container, ventilating opening opens up position
May slightly have difference.In order to avoid the position of the container information of acquisition is inaccurate, electrical system control is arranged on the first machinery
The first ventilating opening detection means on hand exports sampling respectively with the second ventilating opening detection means being arranged on the second manipulator
Signal to container the first side wall and second sidewall.First ventilating opening detection means and the second ventilating opening detection means can be
Infrared imaging device, camera or Laser Scanning Equipment.First ventilating opening detection means and the second ventilating opening detection means to
The first side wall and second sidewall the transmitting infrared ray of the container either image of laser collection reflection or to the first side wall and the
Two side walls are taken pictures, and obtained reflected image or picture are fed back into central control system.Central control system compares
Ventilating opening detects signal and container information, during comparison, and Container Dimensions, ventilating opening two-dimensional coordinate and ventilating opening number are compared one by one
Amount.If ventilating opening detects signal and container information matching, next step operation is ready for.If ventilating opening detects signal
Mismatched with container information, then corresponding ventilating opening stored in central control system and detects signal as container information,
Simultaneously next step operation is ready for based on ventilating opening detection signal.If running into same operation packaging to be fumigated again
Case, then transfer the container information corrected in central control system, so that central control system realizes self study, improves total
Body control efficiency.
Obtain after accurate Container Dimensions, ventilating opening two-dimensional coordinate and ventilating opening quantity, central control system is calculated
The distance between all ventilating openings on first manipulator initial position and the first side wall, and the second manipulator initial position and
The distance between all ventilating openings in second sidewall, and range data is exported to electrical system.
For various sizes of container, there is also difference for the position of chamber door sealing strip and lockset.In order to accurate true
Determine the job position of injection device.Similar, container information also includes chamber door sealing strip two-dimensional coordinate, and electrical system also enters one
The first ventilating opening detection means that step control is arranged on first manipulator exports sampled signal to chamber door of container, and connects
The chamber door detection signal of the first ventilating opening detection means collection is received, chamber door detection signal is fed back to center control and is by electrical system
System.Central control system compares chamber door sealing strip two-dimensional coordinate and chamber door detection signal.If the two is identical, it is ready for down
One step is controlled, if the two is different, next step control is carried out based on chamber door detection signal, while chamber door is detected into signal
It is stored in container information, equipment carries out self study.
Obtain behind accurate ventilating opening quantity, ventilating opening two-dimensional coordinate and chamber door position, electrical system controls to set respectively
The first vent seal device and/or the second vent seal device action on the first manipulator and the second manipulator are put,
Be sticked sealant one by one at ventilating opening on container the first side wall or second sidewall, and exports the after the completion of the action that is sticked
One feedback signal is to electrical system.A more specific step says, vent seal device preferably include circular housings and with
Sealant is surrounded with the conveyer belt of circular housings connection, circular housings, when circular housings and conveyer belt are in motor
The action of driving lower edge same direction when, sealant extends to the conveyer belt, the end of the conveyer belt from circular housings
It is provided with separator.Separator is preferably the cutter with cut surface, cut surface and sealant contact, when outer masterpiece
During with sealant, cut surface cut-out sealant obtains the sealant of suitable size.Electrical system generates and exports the first electricity
After gas drive signal, motor belt motor dynamic sealing layer is moved in circular housings and conveyer belt, and manipulator forward end is on sealant
Apply external force, sealant separates in the presence of cut surface, the adhesive surface of sealant towards container ventilating opening, before manipulator
Sealant is sticked at the ventilating opening of container side wall by end.The action complete independently of first manipulator and the second manipulator.
After all ventilating openings are all closed, that is, the first feedback signal received number and ventilating opening quantity
Timing, the second manipulator keeps awaiting orders.First manipulator is continuously moved on rear side of container along the first slide rail, on the first manipulator
Injection device action, stretched at chamber door of container sealing strip and phase container inwardly inject fumigation liquid, and in action of injection
After the completion of export the second feedback signal to electrical system.First manipulator returns to initial position after action of injection is completed.
Electrical system is received after the second feedback signal, and control is arranged on the identity device action on the second manipulator, in collection
Be sticked mark on vanning side wall.After action is finished, the 3rd feedback signal of output to electrical system.Receive the 3rd feedback signal
Afterwards, entirely stifling process is finished.Second manipulator returns to initial position.Container is moved to other regions by AGV dollies, is carried out
Other processes.
Inter-fumigation of Container Cargo control method disclosed in this invention, using electrical equipment, the first manipulator, the second manipulator and
The cooperation of central control system, is automatically performed the identification, sealing and stifling, packaging in whole process of container vent position
The AGV dollies that are moved through of case are realized, and are powered by AGV supports, are intervened without manual site, so as to effectively improve harbour
On safety management level, improve stifling operating efficiency and accuracy, reduce labor cost.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
1. a kind of intelligent device for fumigation of automatic dock, it is characterised in that including electrical system, AGV supports and be arranged on institute
State on AGV supports and along the Multi-freedom-degreemanipulator manipulator of the AGV bracket slides；Vent seal dress is provided with the manipulator
Put and injection device；Container is erected on the AGV supports, and the electrical system generation and respectively output first are electrically driven
Signal to the manipulator drives the vent seal device and injection device to act respectively, and the vent seal device exists
It is opened on the ventilating opening of container side wall and is sticked sealant and exports the first feedback signal to the electrical system, the injection
Device stretches into along chamber door of container and injects fumigation liquid and export the second feedback signal to the electrical system.
2. the intelligent device for fumigation of automatic dock according to claim 1, it is characterised in that also set up on the manipulator
There is ventilating opening detection means, the electrical system generates the second electrical driving signals to the manipulator, the ventilating opening detection
Device exports sampled signal to the container side wall, and the ventilating opening detection means collection ventilating opening detection signal is simultaneously exported extremely
The electrical system, the electrical system receives the ventilating opening detection signal and exports first electrical driving signals to institute
State manipulator.
3. the intelligent device for fumigation of automatic dock according to claim 2, it is characterised in that the ventilating opening detection means
For infrared imaging device, camera or Laser Scanning Equipment.
4. the intelligent device for fumigation of automatic dock according to claim 2, it is characterised in that also set up on the manipulator
There is identity device, the electrical system is received after first feedback signal and the second feedback signal, generate and export the 3rd electricity
Identity device described in gas drive signal to the robot drives is acted.
5. the intelligent device for fumigation of automatic dock according to claim 4, it is characterised in that the manipulator includes first
Manipulator and the second manipulator, the vent seal device includes the first vent seal device and the second vent seal is filled
Put；First manipulator and the second manipulator are separately positioned on the container both sides, first manipulator and are provided with
The second vent seal device and mark are provided with first vent seal device and the injection device, second manipulator
Identification device.
6. the intelligent device for fumigation of automatic dock according to claim 5, it is characterised in that first vent seal
Device is correspondingly arranged on the first ventilating opening detection means, and the second vent seal device is correspondingly arranged on the inspection of the second ventilating opening
Survey device.
7. the intelligent device for fumigation of automatic dock according to claim 6, it is characterised in that the first manipulator side
Fumigation liquid storage device is additionally provided with, the fumigation liquid storage device is arranged on the AGV supports, the fumigation liquid storage dress
Put and pass through pipeline connection with the injection device.
8. the intelligent device for fumigation of automatic dock according to claim 7, it is characterised in that stream is provided with the pipeline
Quantity sensor, flow sensor generation and Output estimation signal are to the electrical system.
9. the intelligent device for fumigation of automatic dock according to claim 8, it is characterised in that first vent seal
Device, the second vent seal device, the first ventilating opening detection means, the second ventilating opening detection means and institute
When stating identity device action, the first manipulator forward end and/or the second manipulator forward end are parallel to the container lateral
Wall；During the injection device action, the first manipulator forward end is perpendicular to the container side wall.
10. a kind of Inter-fumigation of Container Cargo control method, it is characterised in that comprise the following steps：
Container is erected on AGV supports by AGV dollies, and electrical system receives the container information of central control system output,
The container information includes Container Dimensions, ventilating opening two-dimensional coordinate and ventilating opening quantity；
The container is erected on the AGV supports, the manipulator of electrical system control first and the second manipulator difference
Slided along the first slide rail and the second slide rail, the length direction extension of first slide rail and the second slide rail along the container；Institute
State the first ventilating opening detection means and be arranged on second machinery that electrical system control is arranged on first manipulator
The second ventilating opening detection means on hand exports sampled signal to the first side wall and second sidewall of container respectively, and receives institute
The ventilating opening detection signal of the first ventilating opening detection means and the collection of the second ventilating opening detection means is stated, and the ventilating opening is examined
Survey signal and feed back to the central control system；The central control system ventilating opening detection signal and the packaging
Case information, calculates the distance of the initial position and the ventilating opening on the first side wall of the first manipulator, and the second manipulator
Initial position and the second sidewall on ventilating opening distance and export to the electrical system；
The container information also includes chamber door sealing strip two-dimensional coordinate, and the electrical system also controls to be arranged on first machine
The the first ventilating opening detection means of tool on hand exports sampled signal to chamber door of container, and receives the first ventilating opening detection dress
The chamber door detection signal of collection is put, and chamber door detection signal is fed back into central control system, the central control system compares
The chamber door sealing strip two-dimensional coordinate and chamber door detect signal, calculate the initial position and the chamber door sealing strip of the first manipulator
Distance and export to the electrical system；
The electrical system controls the first vent seal being arranged on first manipulator and the second manipulator to fill respectively
Put and/or the second vent seal device action, be sticked at the ventilating opening on the container the first side wall or second sidewall
Sealant, and the first feedback signal is exported to the electrical system after the completion of the action that is sticked；
The electrical system is received after first feedback signal, and the injection device that control is arranged on first manipulator is moved
Make, stretched at the chamber door of container sealing strip and inject fumigation liquid, and export after the completion of action of injection the second feedback letter
Number to the electrical system；
The electrical system is received after second feedback signal, and the identity device that control is arranged on second manipulator is moved
Make, be sticked mark on the container side wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710493960.XA CN107306931B (en) | 2017-06-26 | 2017-06-26 | Intelligent fumigation device for automatic wharf and container fumigation control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710493960.XA CN107306931B (en) | 2017-06-26 | 2017-06-26 | Intelligent fumigation device for automatic wharf and container fumigation control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107306931A true CN107306931A (en) | 2017-11-03 |
| CN107306931B CN107306931B (en) | 2022-11-22 |
Family
ID=60179662
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710493960.XA Active CN107306931B (en) | 2017-06-26 | 2017-06-26 | Intelligent fumigation device for automatic wharf and container fumigation control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107306931B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111296399A (en) * | 2019-11-21 | 2020-06-19 | 太仓中集特种物流装备有限公司 | Movable fumigation workstation and fumigation system |
| CN111296398A (en) * | 2019-11-21 | 2020-06-19 | 太仓中集特种物流装备有限公司 | Movable fumigation workstation and fumigation system |
| CN113030081A (en) * | 2019-12-09 | 2021-06-25 | 扬州市双龙工业设备安装有限公司 | Harmful organism detection test device |
| CN113044592A (en) * | 2021-03-12 | 2021-06-29 | 淮南师范学院 | Intelligent loading and unloading system and method for wharf |
| CN116808262A (en) * | 2023-08-30 | 2023-09-29 | 中国海关科学技术研究中心 | Sanitary treatment robot facing customs port |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4092112A (en) * | 1975-08-15 | 1978-05-30 | The Dow Chemical Company | Soil fumigant kit |
| AU8489482A (en) * | 1981-06-18 | 1982-12-23 | New Zealand Apple And Pear Marketing Board | Fumigation process and apparatus |
| JPH03111286A (en) * | 1989-09-14 | 1991-05-13 | Hitachi Plant Eng & Constr Co Ltd | Container fumigation apparatus |
| FR2750900A1 (en) * | 1996-07-15 | 1998-01-16 | Letartre Thierry | Vapour treatment device for vapours released during cleaning or disinfection |
| JPH1120812A (en) * | 1997-06-30 | 1999-01-26 | Ishikawajima Harima Heavy Ind Co Ltd | Device for sterilizing container by ozone water |
| CN1663369A (en) * | 2004-03-04 | 2005-09-07 | 深圳出入境检验检疫局动植物与食品检验检疫技术中心 | Quick fumigating method for container stowage |
| CN102274533A (en) * | 2011-05-13 | 2011-12-14 | 天津大盛自动控制设备有限公司 | Automatic disinfection and examination system of container, and disinfection and examination method thereof |
| CN203181858U (en) * | 2012-11-19 | 2013-09-11 | 中国检验检疫科学研究院 | Living plant intelligent fumigating system |
| CN207855992U (en) * | 2017-06-26 | 2018-09-14 | 青岛港国际股份有限公司 | A kind of automatic dock device for fumigation |
-
2017
- 2017-06-26 CN CN201710493960.XA patent/CN107306931B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4092112A (en) * | 1975-08-15 | 1978-05-30 | The Dow Chemical Company | Soil fumigant kit |
| AU8489482A (en) * | 1981-06-18 | 1982-12-23 | New Zealand Apple And Pear Marketing Board | Fumigation process and apparatus |
| JPH03111286A (en) * | 1989-09-14 | 1991-05-13 | Hitachi Plant Eng & Constr Co Ltd | Container fumigation apparatus |
| FR2750900A1 (en) * | 1996-07-15 | 1998-01-16 | Letartre Thierry | Vapour treatment device for vapours released during cleaning or disinfection |
| JPH1120812A (en) * | 1997-06-30 | 1999-01-26 | Ishikawajima Harima Heavy Ind Co Ltd | Device for sterilizing container by ozone water |
| CN1663369A (en) * | 2004-03-04 | 2005-09-07 | 深圳出入境检验检疫局动植物与食品检验检疫技术中心 | Quick fumigating method for container stowage |
| CN102274533A (en) * | 2011-05-13 | 2011-12-14 | 天津大盛自动控制设备有限公司 | Automatic disinfection and examination system of container, and disinfection and examination method thereof |
| CN203181858U (en) * | 2012-11-19 | 2013-09-11 | 中国检验检疫科学研究院 | Living plant intelligent fumigating system |
| CN207855992U (en) * | 2017-06-26 | 2018-09-14 | 青岛港国际股份有限公司 | A kind of automatic dock device for fumigation |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111296399A (en) * | 2019-11-21 | 2020-06-19 | 太仓中集特种物流装备有限公司 | Movable fumigation workstation and fumigation system |
| CN111296398A (en) * | 2019-11-21 | 2020-06-19 | 太仓中集特种物流装备有限公司 | Movable fumigation workstation and fumigation system |
| CN113030081A (en) * | 2019-12-09 | 2021-06-25 | 扬州市双龙工业设备安装有限公司 | Harmful organism detection test device |
| CN113044592A (en) * | 2021-03-12 | 2021-06-29 | 淮南师范学院 | Intelligent loading and unloading system and method for wharf |
| CN113044592B (en) * | 2021-03-12 | 2023-06-02 | 淮南师范学院 | Intelligent loading and unloading system and method for wharf |
| CN116808262A (en) * | 2023-08-30 | 2023-09-29 | 中国海关科学技术研究中心 | Sanitary treatment robot facing customs port |
| CN116808262B (en) * | 2023-08-30 | 2023-11-14 | 中国海关科学技术研究中心 | Sanitary treatment robot facing customs port |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107306931B (en) | 2022-11-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107306931A (en) | A kind of intelligent device for fumigation of automatic dock and Inter-fumigation of Container Cargo control method | |
| CN104399675B (en) | Automatic sorting system for electric energy meters, and method | |
| CN207366147U (en) | Air tightness detection machine | |
| CN108502262B (en) | Automatic valve bag feeding integrated system and control method | |
| CN104443602B (en) | Automatic unpacking system and method of electric energy meter | |
| CN109281071B (en) | Intelligent sewing workstation and processing method thereof | |
| CN106067536B (en) | Band vacuumizes the lithium battery electrolytes liquid injection system of function | |
| CN106739573B (en) | Automatic stamping machine and its method of affixing one's seal | |
| CN105855420A (en) | Automatic encasement system for press line tail parts | |
| CN113184276B (en) | Trademark paper charging system | |
| CN105730776A (en) | Intelligent box filling machine | |
| CN106058143B (en) | Lithium battery electrolytes liquid injection system with electrolyte Volatile Gas absorption function | |
| CN107655897A (en) | Automatic detection device is seen in a kind of product | |
| CN107051907A (en) | A kind of X-ray check machine | |
| CN104215398A (en) | Automatic leakage detecting device for household air conditioner finished products | |
| CN109759755A (en) | AI intelligent process anomalous identification processing system and solar cell chip bonding machine | |
| CN106904442B (en) | The fully automatic feeding machine people system and its feeding and transportation method of view-based access control model | |
| CN207738079U (en) | A kind of full-automatic polytypic feeder of plastic drum lid | |
| CN207855992U (en) | A kind of automatic dock device for fumigation | |
| CN205076471U (en) | Unloading control system on automotive electronics product | |
| CN106945890A (en) | Lithium cell core pack arrangement X Ray detecting systems and detection method | |
| CN207522041U (en) | Heat control valve assembles automatically and detection production line | |
| CN207083432U (en) | A kind of Intelligent transplanter for responding rice transplanting environment | |
| CN109775331B (en) | Chip repairing device for material belt | |
| CN210942491U (en) | Mechanical automation device supporting automatic storage of various bills |
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 |
Address after: No.12 Jingba Road, Huangdao District, Qingdao City, Shandong Province Applicant after: QINGDAO PORT INTERNATIONAL Co.,Ltd. Applicant after: QINGDAO NEW QIANWAN CONTAINER TERMINAL Co.,Ltd. Address before: The city of north port green road 266011 Shandong city of Qingdao province No. 6 Applicant before: QINGDAO PORT INTERNATIONAL Co.,Ltd. Applicant before: QINGDAO NEW QIANWAN CONTAINER TERMINAL Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |