CN108394651A - A kind of attaching/detaching apparatus of container medium lock - Google Patents
A kind of attaching/detaching apparatus of container medium lock Download PDFInfo
- Publication number
- CN108394651A CN108394651A CN201810532378.4A CN201810532378A CN108394651A CN 108394651 A CN108394651 A CN 108394651A CN 201810532378 A CN201810532378 A CN 201810532378A CN 108394651 A CN108394651 A CN 108394651A
- Authority
- CN
- China
- Prior art keywords
- medium lock
- lock
- attaching
- actuator
- detaching apparatus
- 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
- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 claims description 10
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 230000009471 action Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
- B65D88/00—Large containers
- B65D88/02—Large containers rigid
- B65D88/12—Large containers rigid specially adapted for transport
- B65D88/121—ISO containers
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Present invention is disclosed a kind of attaching/detaching apparatus of container medium lock, including mounting plate, clamp system, unlocking mechanism and the control unit being set on mounting plate, clamp system is inserted in the medium lock to be dismounted in mounting plate for clamp or release；Unlocking mechanism is for pushing the lock pin of medium lock to be moved between latched position and removal position；Control unit is used to control the movement of clamp system, unlocking mechanism.The present invention can coordinate with industrial robot, complete the dismounting of the medium lock connected between container, can replace the work of artificial dismounting medium lock completely, improve the disassembly efficiency of container medium lock.
Description
Technical field
The present invention relates to a kind of container disassemblerassemblers, more particularly, to a kind of attaching/detaching apparatus of container medium lock.
Background technology
The excision of tapered end is an important link in container handling technology on container.Current many collection both domestic and external
On container berth, the dress of various tapered ends on container is locked and is torn open there are many lock technology modes, but most of is still with artificial
It tears open based on lock and dress lock.
Specifically, after container ship reaches harbour, gantry crane slings container one by one, but medium lock is also hung in container
On lower corner fittings.It is put on the container truck of wharf apron or on the transfer platform of gantry crane, by manually by corner fittings below container
On tapered end unlock successively, be put into collecting box, wait separately transporting again after being collected into a certain number of tapered ends.One container
It generally requires 2 workers and is carried out at the same time and pluck lock work, from manual release, pluck to be locked into and be put into tapered end collecting box, substantially need at least
The tens of seconds time, hence it is evident that influence the efficiency of loading and unloading.If handling activity carries out slowly, logistics speed substantially reduces, and cargo is at port
Time lengthening also will produce a series of corresponding influences.That is, this artificial technique for tearing lock, dress lock open, occupies a large amount of
Labour people is engaged in the high work of this repeatability high labour and labor intensity, also constrains container terminal running efficiency
Raising.
In addition, worker dismantles, carries the work of twistlock at the scene, not only labor intensity is big, and working environment there is
The security risk that can not be ignored.Harbour container handling facilities have the characteristics that huge structure, mechanism are complicated, load is changeable, then
In addition dock operation scene is busy, and the mobile handling machineries vehicle flowrate such as truck, fork truck is larger, dismounting personnel usually face falling object from high altitude,
The danger such as mechanical accident motor-car, high voltage power supply influence the safety for dismounting lock personnel and health.Therefore, it is necessary to a kind of can promote to answer
Automatic with container lock tears lock, dress lockwork open, to be largely used in container terminal, to improve the work of container terminal
Make efficiency.
Invention content
It is an object of the invention to overcome the deficiencies of existing technologies, a kind of attaching/detaching apparatus of container medium lock is provided, with
Improve the working efficiency of container terminal.
To achieve the above object, the following technical solutions are proposed by the present invention：A kind of attaching/detaching apparatus of container medium lock, including
Mounting plate, clamp system, unlocking mechanism and the control unit being set on mounting plate, the clamp system are used for clamp or release
The medium lock to be dismounted being inserted in mounting plate；The unlocking mechanism is used to push the lock pin of medium lock in latched position and dismounting
It is moved between position；Described control unit is used to control the movement of the clamp system, unlocking mechanism.
Preferably, the mounting plate includes upper mounting plate and lower installation board, and one is provided on the upper mounting plate for centre
Lock across location hole, and the clamp system be set between upper mounting plate and lower installation board, the unlocking mechanism is set to
On mounting plate.
Preferably, the clamp system includes the first actuator and the two group opposite clamping groups connected with the first actuator
Part, clamp assembly described in two groups under the driving of the first actuator, respectively to the corresponding side of medium lock closer or far from.
Preferably, first actuator is connected by the first connector with one end of clamp assembly.
Preferably, clamp assembly described in every group is cranked arm and a clamp arm including one, and described one end of cranking arm is connected with the first connector,
The other end is connected with clamp arm, described to crank arm under the driving of the first actuator, drives clamp arm close to the corresponding side of medium lock
Or it is separate.
Preferably, described crank arm is installed on a crank supports axis, and the crank supports axis is vertically arranged to upper mounting plate
Between lower installation board, and described crank arm is installed on by a bearing on crank supports axis.
Preferably, it is described crank arm also respectively set with the upper and lower end of crank supports axis connection one for limit crank arm crank arm prop up
The positive stop lug boss moved up and down on support axis.
Preferably, described to crank arm between one end and the first connector, be flexibly connected by axis pin between the other end and clamp arm.
Preferably, first connector is the first Y type duplex connectors, and an I is arranged in described one end being connect with clamp arm of cranking arm
Type list knuckle joint, is provided with the 2nd Y type duplex connectors in the clamp arm, the I types list knuckle joint and the 2nd Y type duplexs connector it
Between be flexibly connected by the axis pin.
Preferably, the unlocking mechanism includes unlock piece, and is driven with the first driving mechanism and second that unlock piece is connected
Motivation structure, the lock pin that first driving mechanism is used to that unlock piece to be driven to be inserted into medium lock, second driving mechanism are used
It is moved between latched position and removal position in pushing the lock pin of medium lock.
Preferably, first driving mechanism includes the second actuator being connected with unlock piece, and the unlock piece is second
It is inserted on the lock pin of medium lock under the driving of actuator.
Preferably, the unlock piece connects a rotation axis, and second actuator passes through a connecting plate and the rotation axis
It is connected.
Preferably, second driving mechanism includes third actuator and connection component, and the third actuator passes through company
Connected components are connected with the unlock piece.
Preferably, the connection component includes a u-bracket and a coulisse, and described coulisse one end is slided with u-bracket
Dynamic connection, the other end and the rotation axis connection, are connect by the rotation axis with unlock piece.
Preferably, the unlock piece is in fourth type.
Preferably, the unlock piece is mounted in a linear bearing seat, and linear bearing is equipped in the linear bearing seat,
The rotation axis is done under the support of the linear bearing to be rotated and moves along a straight line.
The beneficial effects of the invention are as follows：
1, it can coordinate with industrial robot, complete the dismounting of the medium lock connected between container, it can be by weather feelings
Condition influence is small, and can work continuously, a large amount of to reduce automated container dock staff, improves dock safety and manages water
It is flat, and the disassembly efficiency of container medium lock is improved, and then realize the promotion of the synthesis running efficiency of automated container dock,
The work of artificial dismounting medium lock can be replaced completely.
2, between clamp system each section connection type, difference adjust automatically of the clamp arm according to medium lock thickness may be implemented
Claming angle, to adapt to the medium lock of plurality of specifications.
Description of the drawings
Fig. 1 is the structural schematic diagram of medium lock attaching/detaching apparatus and robot of the present invention；
Fig. 2 is the structural schematic diagram of medium lock；
Fig. 3 is the dimensional structure diagram of medium lock attaching/detaching apparatus of the present invention；
Fig. 4 is the side structure schematic view of Fig. 3；
Fig. 5 is the structural schematic diagram of clamp system；
Fig. 6 is the structural schematic diagram of unlocking mechanism.
Reference numeral：
100, industrial robot, 200, medium lock attaching/detaching apparatus, 210, mounting plate, 211, upper mounting plate, 212, lower installation
Plate, 213, support shaft support, 214, location hole, 215, fourth arm hole, 216, linear bearing seat, 217, rotation axis, 220, clamp
Mechanism, the 221, first cylinder, the 222, the first Y type duplex connectors, 223, crank arm, 224, clamp arm, 225, crank supports axis, 226, limit
Position boss, 227, I type list knuckle joints, the 228, the 2nd Y type duplex connectors, 230, unlocking mechanism, 231, unlock piece/fourth arm,
232, the second cylinder, 233, connecting plate, 234, third cylinder, 235, u-bracket, 236, coulisse, 300, medium lock, 301, lock
Body, 302, lock pin, 303, flat part, 304, upper part, 305, lower part, 306, chimb, 400, container, 500, gantry crane transfer
Platform, 600, corner fittings, 700, connecting flange, 800, actuator mounting plate, 900, tapered end carrier, 901, carrier transmission belt.
Specific implementation mode
Below in conjunction with the attached drawing of the present invention, clear, complete description is carried out to the technical solution of the embodiment of the present invention.
As shown in Figure 1, a kind of attaching/detaching apparatus of disclosed container medium lock, when work, is mounted on industry
In the mounting disc (not shown) of robot 100, medium lock attaching/detaching apparatus 200 can be controlled by automatic control system (not shown)
The medium lock 300 that action with industrial robot 100 is completed to connect between container carries out automatically unlocking dismounting or peace
Dress locking can replace the work of artificial dismounting medium lock completely.
As shown in Figure 1, when container 400 is positioned over gantry crane transfer platform 500 or truck when tearing open on lock support, it is to be removed
Medium lock 300 be mounted on container corner fittings 600 on, in lockset wait for unlocked state.In conjunction with shown in Fig. 2, the centre
The flat part 303 that lock 300 is laterally outwardly stretched out including lock body 301, the lock pin 302 on lock body 301 and self-locking body 301,
The flat part 303 divides lock body 301 for upper part 304 and lower part 305, when medium lock 300, which is in, to be waited under unlocked state,
Part 304 is located in corner fittings 600 thereon, lower part 305 under the effect of gravity, vertically downward, and the answering at its own of lock pin 302
It is in the locked position on lock body 301 under the action of the spring (not shown) of position.In addition, being additionally provided on the lock body 301 of medium lock
Chimb 306 can stop the shift motion terminal of lock pin 302.
In addition, being equipped with laser sensor (not shown) or vision system (not shown) on gantry crane transfer platform 500, it is used for
Whether there is the position of medium lock 300 and medium lock 300 on detection corner fittings 600, and transmits these information to industrial robot
Control system is controlled the action of robot by robot control system.
As shown in figure 3, a kind of attaching/detaching apparatus 200 of disclosed container medium lock, including mounting plate 210,
Clamp system 220, unlocking mechanism 230 on mounting plate 210, and control clamp system 220, unlocking mechanism 230 act
Control unit (not shown).
As shown in figure 3, mounting plate 210 specifically includes the upper mounting plate 211 being distributed up and down and lower installation board 212, it is upper and lower to pacify
Pass through at least three support shaft supports 213 between loading board 211,212.Wherein, upper mounting plate 211 is equipped with for medium lock 300
The location hole 214 that lower part 305 penetrates, the location hole 214 are identical as corresponding elongated slot (not shown) size on corner fittings 600.Under
Mounting plate 212 is connected to by bolt of connecting flange 700 etc. in the mounting disc (not shown) of Industrial Robot Manipulator arm, into
And medium lock attaching/detaching apparatus 200 of the present invention is moved to by be removed or installation medium lock 300 by the mounting disc of robot 100
The action that lower section is dismantled and installed.
Preferably, a close switch (not shown), the tablet for detecting medium lock 300 are also set up on upper mounting plate 211
Whether the downside in portion 303 completely attaches to the upper surface of upper mounting plate 211, such as completely attaches to, then feedback signal is to industrial machine
The control system of device people.
In conjunction with shown in Fig. 3~Fig. 5, clamp system 220 is set between upper mounting plate 211 and lower installation board 212, for treating
The medium lock 300 of dismounting carries out positioning clamping.Its specifically include the first actuator 221 and be connected with the first actuator 221 two
The opposite clamp assembly of group, wherein fix an actuator mounting plate 800 between upper and lower mounting plate 211,212 vertically, first drives
Moving part is fixed on the actuator mounting plate 800.When implementation, the first cylinder 221, the first cylinder 221 can be used in the first actuator
Piston piece be connected with one end of clamp assembly by the first connector, in the present embodiment, the first connector is connect using the first Y type duplexs
First 222, which is connect with one end of clamp assembly by axis pin, that is, passes through 222 knot of Y type duplexs connector
Structure, clamp assembly one end can be rotated along axis pin (not shown) under the driving of the first actuator 221 and horizontal direction moves.
Preferably, at least one magnetic for detecting 221 working condition of the first actuator is also set up on the first actuator 221
Property switch (not shown), the first actuator outer wall of cylinder block be equipped with for install the magnetic switch magnetic switch mounting groove (figure
Do not show).In the present embodiment, 3 magnetic switch (not shown) are installed on the first cylinder 221, are respectively arranged at close to first
Cylinder 221 have bar side end cap, in the middle part of 221 piston piece of the first cylinder, in 221 rodless side cylinder body end of the first cylinder, it is fixed respectively
3 magnetic switch of justice are the first magnetic switch, the second magnetic switch and third magnetic switch.Wherein, the first magnetic switch is used for
The fully extended position of 221 piston piece of the first cylinder is detected, the second magnetic switch clamps medium lock for detecting the first cylinder 221
When position, third magnetic switch also can detect medium lock dismounting for detecting the abnormal conditions without tapered end among clamp system
Device is during carrying tapered end, abnormal conditions that tapered end falls off.In both abnormal conditions, the piston of the first cylinder 221
Bar is directly retracted into its rodless side bottom, i.e. the first cylinder 221 bounces back to end of travel.
Every group of clamp assembly specifically includes one and cranks arm 223 and a clamp arm 224, and 223 one end of cranking arm pass through with the first connector 222
Axis pin is connected, and the other end is connected with clamp arm 224, cranks arm 223 under the driving of the first actuator 221, drives clamp arm 224 to centre
Lock 300 corresponding sides closer or far from.It cranks arm and 223 is installed on a crank supports axis 225, the crank supports axis 225 is vertical
It is installed between upper mounting plate 211 and lower installation board 212, and cranks arm and 223 crank supports are installed on by a bearing (not shown)
On axis 225, in this way, single crank arm 223 can rotate under the support of bearing along crank supports axis 225, and then realizes and driven first
On-off action is done under the telescopic drive of 221 piston rod of moving part.
Preferably, the upper and lower end that 223 connect with crank supports axis 225 of cranking arm also respectively sets a positive stop lug boss 226, for limiting
Koji-making arm 223 moves up and down on crank supports axis 225.
An I type lists knuckle joints 227 are arranged in 223 one end for being connect with clamp arm 224 of cranking arm, and the is correspondingly arranged in clamp arm 224
Two Y type duplexs connectors 228, are flexibly connected by axis pin between I type lists knuckle joint 227 and the 2nd Y type duplexs connector 228, are cranked arm
223 and the design of the connection type of clamp arm 224 can be to closer or far from medium lock when clamp arm 224 can be made to be rotated along axis pin
300 direction is swung, this swing can make the different-thickness that clamp arm 224 occurs according to the shape of medium lock 300 by manufacture
Adjust automatically gripping angle.When implementation, flank of tooth clamp arm can be used in clamp arm 224, i.e. clamp arm 224 is close to the side of medium lock 300
Cutting structure.
In conjunction with shown in Fig. 3, Fig. 4 and Fig. 6, unlocking mechanism 230 is installed on upper mounting plate 211, for pushing medium lock 300
Lock pin 302 moved between latched position and removal position.Specifically, in the present embodiment, unlocking mechanism 230 includes unlock piece
231, and the first driving mechanism and the second driving mechanism that are connected with unlock piece 231, wherein the first driving mechanism is for driving
Unlock piece 231 is inserted on the lock pin 302 of medium lock, and the second driving mechanism is used to push the lock pin 302 of medium lock in locking bit
It sets and is moved between removal position.
According to the structure feature of medium lock 300 of the present invention, design unlock piece 231 is fourth arm structure, i.e. shape is in or closely
Like in fourth type.It is equipped with a fourth arm hole 215 on upper mounting plate 211, upper and lower peace is extend by the hole 215 for fourth arm
Between loading board 211,212.In the present embodiment, a linear bearing seat 216 is fixed on upper mounting plate 211, is pacified in linear bearing seat 216
Equipped with linear bearing (not shown) and rotation axis 217,217 one end of rotation axis is connected with fourth arm 231, and rotation axis 217 is straight
It can be done under the support that spool is held and rotate and move along a straight line.
First driving mechanism is installed on upper mounting plate 211 comprising the second actuator 232, the second actuator 232 pass through
One connecting plate 233 is connected with the rotation axis 217 of fourth arm, and then realizes the connection with fourth arm 231.In the present embodiment, second
The second cylinder 232 can also be used in actuator, and the piston rod of the second cylinder 232 is connected with 233 one end of connecting plate, and connecting plate 233 is another
Moving axis 217 is switched through in one end, and fourth arm 231 is under the telescopic drive of the piston rod of the second cylinder 232 to separate or close medium lock
300 lock pin direction movement.
Second driving mechanism is also mounted on upper mounting plate 211 comprising third actuator 234 and connection component, third
Actuator 234 is fixed on the bottom surface of upper mounting plate 211, is connected with fourth arm 231 by connection component.In the present embodiment,
Third cylinder 234 can also be used in third actuator.Connection component specifically includes a u-bracket 235 and a coulisse 236, wherein
One end of u-bracket 235 is fixedly connected with the piston rod end plate of third cylinder 234, and the other end passes through coulisse 236 by axis pin
The elongated sliding slot of one end, is slidably connected with coulisse 236, the rotation axis 217 of another termination fourth arm of coulisse 236, in turn
Realize the connection with fourth arm 231.Fourth arm 231 pushes medium lock 300 under the telescopic drive of the piston rod of third cylinder 234
Lock pin moved between latched position and removal position.The coulisse 236 and the rotation axis 217 of fourth arm pass through keyway flat key
Connection.
In addition, being also provided with piston position on the movement stop position of 234 piston rod of above second cylinder 232 and third cylinder
The magnetic switch (not shown) of detection is set, and detects signal and feeds back to the control unit of attaching/detaching apparatus and the control system of manipulator
System controls the entire of attaching/detaching apparatus by control system and tears lock process open.And the attaching/detaching apparatus of the present invention is not limited to using cylinder come real
The action of existing various mechanical parts, can also realize the action of various mechanical parts by the way of electronic or hydraulic-driven.
Each cylinder of the attaching/detaching apparatus 200 of container medium lock of the present invention is in the initial state：First cylinder, 221 piston
Bar stretches out, and the corresponding clamp system 220 that controls opens；Second cylinder, 232 piston rod stretches out, and the corresponding fourth arm 231 that controls is retracted；The
Three cylinders, 234 piston rod is retracted, and the corresponding fourth arm 231 that controls is lifted to extreme higher position.
When medium lock 300 is on container angle 600 waits for unlocked state, by Industrial robot arm 100 in
Between lock attaching/detaching apparatus 200 be transported to medium lock on container where corner fittings 600 underface, received by manipulator control system
The laser sensor or vision system being installed on container transfer platform 500, judge whether there is tapered end and tapered end on corner fittings 600
Position, medium lock attaching/detaching apparatus 200 is lifted if there is tapered end, then by robot, 305 sets of the lower part of medium lock 300
Enter in medium lock attaching/detaching apparatus 200.
By install on upper mounting plate 211 close to switch, whether detection attaching/detaching apparatus 200 completely 300 sets of medium lock
Enter 200 operating position of medium lock attaching/detaching apparatus, when the upper surface of the lower face and upper mounting plate 211 of the flat part 303 of medium lock
When fitting, then judge that medium lock 300 is inserted in 200 working position of medium lock attaching/detaching apparatus by attaching/detaching apparatus 200 completely close to switch
It sets, and feedback signal is to industrial robot control system.
The solenoid valve in pneumatic circuit is driven by control unit again, by compressed air-driven attaching/detaching apparatus 200
Each cylinder controls the movement of each mechanism, and positioning clamping is carried out to medium lock 300, then carries out tearing lock, dress lock open to lock pin 302.
Specifically, include to intermediate locking bit clamping process：First cylinder, 221 piston rod is retracted, the clamp system of control
220 moving toward one another by two, end flank of tooth clamp arm 224 of cranking arm, while the lock body of 300 lower part of medium lock is clamped from both sides.
Lock process of tearing open to lock pin 302 includes：After the lower part 305 of medium lock, which is clamped mechanism 220, to be clamped, the second gas
The piston rod of cylinder 232 is retracted, the connecting plate 233 connect by the rotation axis 217 with fourth arm 231, drive fourth arm 231 to by
302 direction of the lock pin movement of nearly medium lock, when the piston rod of the second cylinder 232 is fully retracted, then the end of fourth arm 231 is located at
On the lock pin 302 of medium lock, that is, it is inserted on the lock pin 302 of medium lock.Later, the piston rod of third cylinder 234 stretches out, and drives
U-bracket 235 pushes rotation axis 217 of the coulisse 236 by fourth arm, the rotation counterclockwise of driving fourth arm 231, fourth arm
231 ends and then the rotation counterclockwise of lock pin 302 for driving medium lock.When lock pin 302 rotates to the chimb 306 on lock body, because
Coulisse 236 and 231 axis of fourth arm be linked into an integrated entity by the flat key on keyway, so, when the rotation of fourth arm 231 stops,
Coulisse 236 can be stopped, and so that 234 piston rod of third cylinder is stretched out and stopped.It is that medium lock 300 is in and can solve under this state
Lock status.
Third cylinder 234 is stretched out the signal stopped and feeds back to manipulator by the position sensor on third cylinder 234 at this time
Control system, by manipulator control medium lock attaching/detaching apparatus 200, clamping medium lock 300 is whole to be rotated by 90 ° counterclockwise.Later,
Mechanical hand-motion medium lock attaching/detaching apparatus 200 and clamped medium lock 300 move straight down, and medium lock 300 is made to be detached from angle
Part 600.So far, the lock process of tearing open of medium lock 300 is completed.It should be noted that because length is medium lock 300 in corner fittings 600
It is dynamic downwards can to preset mechanical hand-motion medium lock attaching/detaching apparatus 200 according to this length value for one relatively-stationary numerical value
The distance of work.
Later, attaching/detaching apparatus 200 is locked in manipulator control to overturn, medium lock 300 is put into the load near transfer platform 500
Have in the tapered end carrier 900 in transmission belt 901.After being put into tapered end carrier 900,234 piston rod of third cylinder is retracted, the second gas
232 piston rod of cylinder stretches out, and drives fourth arm 231 to discharge the lock pin 302 of medium lock, the lock pin 302 of medium lock is in its resetting spring
Under the action of reset；221 piston rod of the first cylinder on medium lock attaching/detaching apparatus 200 stretches out, and clamp system 220 opens；It is intermediate
Lock 302 can be fixed on tapered end carrier 900.
When needing the medium lock 300 being stored on tapered end carrier 900, pack into the container corner fittings 600 when.Manipulator control
Medium lock attaching/detaching apparatus 200 takes out medium lock 300 from tapered end carrier 900, is reloaded into corner fittings 600.It is taken from tapered end carrier 900
Go out medium lock 300, is reloaded into the process of corner fittings 600, the above-mentioned process for tearing lock and fixed medium lock open is on the contrary, details are not described herein again.
The technology contents and technical characteristic of the present invention have revealed that as above, however those skilled in the art still may base
Make various replacements and modification without departing substantially from spirit of that invention, therefore, the scope of the present invention in teachings of the present invention and announcement
It should be not limited to the revealed content of embodiment, and should include various replacements and modification without departing substantially from the present invention, and be this patent Shen
Please claim covered.
Claims (10)
1. a kind of attaching/detaching apparatus of container medium lock, which is characterized in that including mounting plate, the clamping machine being set on mounting plate
Structure, unlocking mechanism and control unit, the clamp system are inserted in the centre to be dismounted in mounting plate for clamp or release
Lock；The unlocking mechanism is for pushing the lock pin of medium lock to be moved between latched position and removal position；Described control unit is used
In the movement for controlling the clamp system, unlocking mechanism.
2. the attaching/detaching apparatus of container medium lock according to claim 1, which is characterized in that the mounting plate includes upper peace
Loading board and lower installation board are provided with a location hole passed through for medium lock on the upper mounting plate, and the clamp system is set to
Between upper mounting plate and lower installation board, the unlocking mechanism is set on upper mounting plate.
3. the attaching/detaching apparatus of container medium lock according to claim 1, which is characterized in that the clamp system includes the
One actuator and two groups of opposite clamp assemblies being connected with the first actuator, clamp assembly is in the first actuator described in two groups
Under driving, respectively to the corresponding side of medium lock closer or far from.
4. the attaching/detaching apparatus of container medium lock according to claim 3, which is characterized in that clamp assembly packet described in every group
It includes one to crank arm and a clamp arm, described one end of cranking arm is connected with the first actuator, and the other end is connected with clamp arm, described to crank arm first
Under the driving of actuator, drive clamp arm to the corresponding side of medium lock closer or far from.
5. the attaching/detaching apparatus of container medium lock according to claim 4, which is characterized in that described one end and first of cranking arm
It is flexibly connected by axis pin between actuator, between the other end and clamp arm.
6. the attaching/detaching apparatus of container medium lock according to claim 1, which is characterized in that the unlocking mechanism includes solution
Latch fitting, and the first driving mechanism and the second driving mechanism that are connected with unlock piece, first driving mechanism are solved for driving
Latch fitting is inserted on the lock pin of medium lock, and second driving mechanism is used to push the lock pin of medium lock in latched position and dismounting
It is moved between position.
7. the attaching/detaching apparatus of container medium lock according to claim 6, which is characterized in that the first driving mechanism packet
The second actuator being connected with unlock piece is included, the unlock piece is inserted into the lock pin of medium lock under the driving of the second actuator
On.
8. the attaching/detaching apparatus of container medium lock according to claim 7, which is characterized in that the unlock piece connects one turn
Moving axis, second actuator are connected by a connecting plate with the rotation axis.
9. the attaching/detaching apparatus of container medium lock according to claim 8, which is characterized in that the second driving mechanism packet
Third actuator and connection component are included, the third actuator is connected by connection component with the unlock piece.
10. the attaching/detaching apparatus of container medium lock according to claim 9, which is characterized in that the connection component includes
One u-bracket and a coulisse, described coulisse one end are slidably connected with u-bracket, and the other end and the rotation axis connection are led to
The rotation axis is crossed to connect with unlock piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810532378.4A CN108394651B (en) | 2018-05-29 | Dismounting device for intermediate lock of container |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810532378.4A CN108394651B (en) | 2018-05-29 | Dismounting device for intermediate lock of container |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108394651A true CN108394651A (en) | 2018-08-14 |
| CN108394651B CN108394651B (en) | 2024-10-29 |
Family
ID=
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109292453A (en) * | 2018-12-01 | 2019-02-01 | 上海成业智能科技股份有限公司 | Container lock pin magnetic control intelligent sorting device and its control method |
| CN110282278A (en) * | 2019-06-03 | 2019-09-27 | 李雪刚 | A kind of access of container cage knob relay device and its application method |
| CN110668059A (en) * | 2019-10-14 | 2020-01-10 | 李雪刚 | Container lock button storage and taking system and using method thereof |
| CN111824619A (en) * | 2020-07-30 | 2020-10-27 | 李雪刚 | Clamp device for assembling and disassembling container lock button |
| CN112591324A (en) * | 2020-11-23 | 2021-04-02 | 黎刚 | Automatic locking and unlocking device |
| CN113795430A (en) * | 2019-03-15 | 2021-12-14 | 周鹏跃 | Cargo box, cargo box dismounting system, cargo box unfolding method and cargo box folding method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4030140A1 (en) * | 1990-09-24 | 1992-03-26 | Marine Equip & Consult | Stackable transport containers - can be fastened together by catch which can be released when required |
| CN201603376U (en) * | 2009-09-16 | 2010-10-13 | 姚难祥 | Dice shaking device of dice game console |
| CN102003136A (en) * | 2010-10-28 | 2011-04-06 | 王万兴 | Locking structure for telescopic ladder |
| CN201859790U (en) * | 2010-10-15 | 2011-06-08 | 珠海共创电力安全技术股份有限公司 | Digital switch locking device |
| CN205346751U (en) * | 2016-01-29 | 2016-06-29 | 大连重型锻造有限公司 | Fork truck presss from both sides with rotatory embracing |
| CN205470845U (en) * | 2016-03-11 | 2016-08-17 | 上海振华重工(集团)股份有限公司 | Automatic dismouting system of container lockpin |
| CN107840022A (en) * | 2017-10-27 | 2018-03-27 | 湖北三江航天万山特种车辆有限公司 | Detachable trailer container lock block assembly and locking means |
| CN107934265A (en) * | 2017-12-22 | 2018-04-20 | 上海乐臣自动化设备有限公司 | The attaching/detaching apparatus and method of Full-automatic lock for container |
| CN208307508U (en) * | 2018-05-29 | 2019-01-01 | 上海乐臣自动化设备有限公司 | A kind of attaching/detaching apparatus of container medium lock |
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4030140A1 (en) * | 1990-09-24 | 1992-03-26 | Marine Equip & Consult | Stackable transport containers - can be fastened together by catch which can be released when required |
| CN201603376U (en) * | 2009-09-16 | 2010-10-13 | 姚难祥 | Dice shaking device of dice game console |
| CN201859790U (en) * | 2010-10-15 | 2011-06-08 | 珠海共创电力安全技术股份有限公司 | Digital switch locking device |
| CN102003136A (en) * | 2010-10-28 | 2011-04-06 | 王万兴 | Locking structure for telescopic ladder |
| CN205346751U (en) * | 2016-01-29 | 2016-06-29 | 大连重型锻造有限公司 | Fork truck presss from both sides with rotatory embracing |
| CN205470845U (en) * | 2016-03-11 | 2016-08-17 | 上海振华重工(集团)股份有限公司 | Automatic dismouting system of container lockpin |
| CN107840022A (en) * | 2017-10-27 | 2018-03-27 | 湖北三江航天万山特种车辆有限公司 | Detachable trailer container lock block assembly and locking means |
| CN107934265A (en) * | 2017-12-22 | 2018-04-20 | 上海乐臣自动化设备有限公司 | The attaching/detaching apparatus and method of Full-automatic lock for container |
| CN208307508U (en) * | 2018-05-29 | 2019-01-01 | 上海乐臣自动化设备有限公司 | A kind of attaching/detaching apparatus of container medium lock |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109292453A (en) * | 2018-12-01 | 2019-02-01 | 上海成业智能科技股份有限公司 | Container lock pin magnetic control intelligent sorting device and its control method |
| CN109292453B (en) * | 2018-12-01 | 2023-12-19 | 上海成业智能科技股份有限公司 | Container lock pin magnetic control intelligent sorting device and control method thereof |
| CN113795430A (en) * | 2019-03-15 | 2021-12-14 | 周鹏跃 | Cargo box, cargo box dismounting system, cargo box unfolding method and cargo box folding method |
| CN110282278A (en) * | 2019-06-03 | 2019-09-27 | 李雪刚 | A kind of access of container cage knob relay device and its application method |
| CN110282278B (en) * | 2019-06-03 | 2023-12-01 | 九工机器(上海)有限公司 | Transfer equipment for container lock button access and use method thereof |
| CN110668059A (en) * | 2019-10-14 | 2020-01-10 | 李雪刚 | Container lock button storage and taking system and using method thereof |
| CN110668059B (en) * | 2019-10-14 | 2024-01-02 | 九工机器(上海)有限公司 | Storage and retrieval system for container lock buttons and application method thereof |
| CN111824619A (en) * | 2020-07-30 | 2020-10-27 | 李雪刚 | Clamp device for assembling and disassembling container lock button |
| CN112591324A (en) * | 2020-11-23 | 2021-04-02 | 黎刚 | Automatic locking and unlocking device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110902250B (en) | Intelligent workshop conveying system and conveying method thereof | |
| CN108555565A (en) | A kind of Multi-functional foldable device of container semi-automatic twist lock | |
| CN207551834U (en) | A kind of transfer robot | |
| CN208307508U (en) | A kind of attaching/detaching apparatus of container medium lock | |
| CN109279513B (en) | Automatic feeding method for cutting wirecord fabric | |
| CN215513395U (en) | Quick loading and unloading vehicle for standard emergency equipment box | |
| CN107867625B (en) | Steel coil stereoscopic warehouse lifting appliance | |
| CN108394651A (en) | A kind of attaching/detaching apparatus of container medium lock | |
| CN210736025U (en) | Automatic final assembly table device of going up of container headwall | |
| CN210479778U (en) | Garbage compression station with full-box alarm function | |
| CN102897248A (en) | Wire disassembling device of automobile | |
| CN208391402U (en) | A kind of Multi-functional foldable device of container semi-automatic twist lock | |
| CN108394651B (en) | Dismounting device for intermediate lock of container | |
| CN110498177B (en) | Fully-sealed environment-friendly bulk material transferring device and method thereof | |
| CN211687324U (en) | Reverse-hanging tray hoisting transfer machine | |
| CN113415225A (en) | Quick loading and unloading vehicle for standard emergency equipment box | |
| CN221420334U (en) | Maintenance and holding device for cargo box of elevator | |
| CN216512513U (en) | Pitching device of relay hydraulic cylinder type ship loader | |
| CN110395652A (en) | A kind of segment overturning sucker machine | |
| CN220663700U (en) | Recovery system for engine cylinder cover tray | |
| JPH01209223A (en) | Container receiving stand | |
| CN210710416U (en) | Two-position conveying secondary protection mechanism | |
| CN218201716U (en) | Steel coil bracket lifting appliance | |
| CN221821203U (en) | Detection and transportation bumper control system | |
| CN208234409U (en) | A kind of sacked goods crane |
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 | ||
| GR01 | Patent grant |