CN108555565A - A kind of Multi-functional foldable device of container semi-automatic twist lock - Google Patents
A kind of Multi-functional foldable device of container semi-automatic twist lock Download PDFInfo
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- CN108555565A CN108555565A CN201810652918.2A CN201810652918A CN108555565A CN 108555565 A CN108555565 A CN 108555565A CN 201810652918 A CN201810652918 A CN 201810652918A CN 108555565 A CN108555565 A CN 108555565A
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- China
- Prior art keywords
- lock tongue
- twistlock
- clamp arm
- clamp
- lock
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
Abstract
Present invention is disclosed a kind of Multi-functional foldable devices of container semi-automatic twist lock, when its work in the mounting disc of industrial robot, automatic control system can be passed through, control the action of the attaching/detaching apparatus and industrial robot of semi-automatic twist lock, it completes the semi-automatic twist lock connected between container and carries out automatically unlock dismounting or installation locking, the work of artificial dismounting semi-automatic twist lock can be replaced completely.
Description
Technical field
The present invention relates to a kind of container disassemblerassemblers, are torn open more particularly, to a kind of the multi-functional of container semi-automatic twist lock
Assembling device.
Background technology
On current many container terminals both domestic and external open, lock and dress lock are torn to the semi-automatic twist lock on container, although
Have it is several it is automanual tear lock or dress locker tool open, but implementation result is bad, and overwhelming majority harbours are still manually to tear lock, dress open at present
Based on lock.
Specifically, after container ship reaches harbour, first by manually aboard ship being unlocked twistlock head with special pull rod, at this moment
Twistlock is unlocked state with following container angle, and subsequent gantry crane slings container one by one, but twistlock is also hung in packaging
Under case on corner fittings.It is put on the container truck of wharf apron or on the transfer platform of bridge crane, by manually by face angle under container
Tapered end on part is unlocked successively, is put into collecting box, waits separately transporting again after being collected into a certain number of tapered ends.One packaging
Case, which generally requires 2 workers and is carried out at the same time, plucks lock work, from manual release, plucks to be locked into and is put into tapered end collecting box, substantially need to
The a small number of ten 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 exists
ETA estimated time of arrival extends, and also will produce a series of corresponding influences.
That is, with the raising of modern automation technology and the promotion of automated container terminal efficiency, it is this
The artificial technique for tearing lock, dress lock open, it is high to be engaged in this repeatability high labour and labor intensity to occupy a large amount of labour manpower
Work, also constrains the raising of container terminal running efficiency.Meanwhile there are the work cars such as truck, fork truck for dock work environment
Contact is frequent, live tail gas pollution；And the dangerous situations such as falling object from high altitude, influence the safety for dismounting lock personnel and health.
Invention content
It is an object of the invention to overcome the deficiencies of existing technologies, a kind of the multi-functional of container semi-automatic twist lock is provided and is torn open
Assembling device, to 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 the multi-functional of container semi-automatic twist lock is torn open
Assembling device, including floating retaining mechanism and the mechanism for assembling-disassembling that is installed on the floating retaining mechanism, the floating retaining mechanism
For locking or unlocking the mechanism for assembling-disassembling in horizontal and vertical direction；The mechanism for assembling-disassembling includes twistlock clamping structure and lock tongue
Clamp system, the twistlock clamp system are used for clamp or release twistlock；The lock tongue clamp system is used to press from both sides with the twistlock
Tight mechanism cooperation, clamps the lock tongue of twistlock and is rotated between its unlocked position and locked position.
Preferably, the twistlock clamp system includes two groups of clamp assemblies for being relatively arranged on floating retaining mechanism, two groups
The space for accommodating twistlock is formed between the clamp assembly.
Preferably, the clamp assembly includes the clamping holder being installed on floating retaining mechanism, is installed on the clamping
Clamping actuator on holder and the clamp arm being connected with the clamping actuator, the clamping actuator driving clamp arm to close or
It is moved far from twistlock direction.
Preferably, the clamp arm includes the clamp arm ontology being connected with clamping actuator, and is distinguished by the both ends of clamp arm ontology
The long clamp arm and short clamp arm, the long clamp arm that bending is formed are longer than short clamp arm.
Preferably, the long clamp arm and twistlock drawstring are located at the same side, and two of two groups of clamp assemblies under original state
The distance between long clamp arm is less than the width of the holder of twistlock drawstring.
Preferably, the clamp arm is in or approximation is U-shaped.
Preferably, the lock tongue clamp system include lock tongue clamp body, be set on lock tongue clamp body at least three
Lock tongue clamp arm component is organized, and the rotary drive being connected with lock tongue clamp body, lock tongue clamp arm component described in three groups is pressed from both sides in lock tongue
Circumferentially distributed on tight ontology, lock tongue clamp arm component described in every two groups is located at the both sides of twistlock lock tongue, and every group of lock tongue clamp arm
Component includes two lock tongue clamp arm, and two lock tongue clamp arm of the twistlock lock tongue per side are located at the both sides in twistlock lock tongue axle center,
The lock tongue clamp arm component clamps lock tongue under the driving of the rotary drive and between its unlocked position and locked position
Rotation.
Preferably, the attaching/detaching apparatus further includes the rotation blocking machine for being limited to the rotation of lock tongue clamp system
Structure, the rotation blocking mechanism include the blocking limiting plate being set on lock tongue clamp body bottom surface, are set on upper mounting plate
Blocking actuator and with the blocking end plate that is connected of blocking actuator, the blocking end plate stretches under the driving for stopping actuator
Go out, stops the blocking limiting plate.
Preferably, the rotary drive is connected by key axle sleeve with lock tongue clamp body, and passes through an actuator bearing
It is installed on floating retaining mechanism.
Preferably, the floating retaining mechanism includes upper mounting plate, lower installation board, connection upper mounting plate and lower installation board
Rocker piece, and the upper positioning device being connected with upper mounting plate sliding and the lower positioning device being connected with lower installation board sliding, it is described
Upper mounting plate, the mechanism for assembling-disassembling installation are locked or unlocked to upper positioning device and the cooperation of lower positioning device in horizontal and vertical direction
In on the upper mounting plate.
The beneficial effects of the invention are as follows：
1, it can coordinate with industrial robot, complete the dismounting of the semi-automatic twist lock connected between container, it can be by day
The influence of gas situation is small, and can work continuously, a large amount of to reduce automated container dock staff, improves dock safety pipe
Reason is horizontal, and improves the disassembly efficiency of container semi-automatic twist lock, and then realizes the comprehensive operating effect of automated container dock
The promotion of rate can replace the work of artificial dismounting semi-automatic twist lock completely.
2, it matches, can be moved in horizontal and vertical both direction, to adjust attaching/detaching apparatus with floating retaining mechanism
Position to adapt to the position of twistlock, be placed on transfer platform or truck vehicle frame different location every time to offsetting container and produce
Raw deviation.
3, two long clamp arm of twistlock clamping structure can hold in the palm the twistlock lock body of anacline, inclined to solve twistlock center of gravity
Problem, to be unlocked conducive to the clamping of twistlock, and the square groove of the composition of U clamp arm limits being slided during operating for twistlock
Or it falls off.
4, one be arranged on clamp system clamps guide rod cylinder stroke and is more than another clamping guide rod cylinder, in long stroke
Cylinder installation detection cylinder piston position magnetic switch, the effect of clamped position and alarm signal can be provided respectively.
5,6 lock tongue clamp arm on lock tongue clamp system are circumferentially distributed, and every four clamp a kind of twistlock lock tongue, can divide
Not Shi Yongyu single drawstring and double drawstring twistlock lock tongues clamping, realize the multifunctional application of twistlock attaching/detaching apparatus of the present invention, and can
Implement radial power drive lock tongue rotation suitable to lock tongue, in counter clockwise direction under the driving of rotary cylinder.In addition, lock tongue clamp arm
Both meet clamp system intensity requirement, and also reduce the weight of fixture.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention and industrial robot work；
Fig. 2 is the dimensional structure diagram of floating retaining mechanism of the present invention；
Fig. 3 is the dimensional structure diagram under the stop cylinder retracted mode of attaching/detaching apparatus of the present invention；
Fig. 4 is the dimensional structure diagram under the stop cylinder stretching state of attaching/detaching apparatus of the present invention；
Fig. 5 is the structural schematic diagram under the U-shaped work clamp arm original state of the present invention；
Fig. 6 is the side structure schematic view of Fig. 5；
Fig. 7 is the status architecture schematic diagram after left U-shaped work clamp arm of the invention is stretched out；
Fig. 8 is the status architecture schematic diagram after the left and right U-shaped work clamp arm of the present invention is stretched out；
Fig. 9 is the U-shaped work clamp arm of the present invention without the structural schematic diagram under lock alarm condition；
Figure 10 is the clamped original state lower structure schematic diagram of single drawstring twistlock lock tongue；
Figure 11 is the clamped original state lower structure schematic diagram of double drawstring twistlock lock tongues；
Figure 12 is the structural schematic diagram that lock tongue clamp arm is distributed on lock tongue clamp body；
Figure 13 is the overlooking structure diagram that lock tongue clamp arm is distributed on lock tongue clamp body.
Reference numeral：
100, the attaching/detaching apparatus of semi-automatic twist lock, 110, floating retaining mechanism, 111, upper mounting plate, 112, lower installation board,
113, rocker piece, 114, X-axis guide rod, 115, Y-axis guide rod, 116, bearing, 118, upper positioning cylinder, 120, lower positioning gas
Cylinder, 122, upper positioning pin, 123, the first sliding groove, 124, spring, 130, mechanism for assembling-disassembling, 140, twistlock clamping structure, 141, Zuo Jia
Locking bracket, 142, left clamping actuator, 143, left clamp arm, 144, clamp arm ontology, 145, long clamp arm, 146, short clamp arm, 151, right
Clamp holder, 152, right clamping actuator, 153, right clamp arm, 160, lock tongue clamp system, 161, lock tongue clamp body, 162, rotation
Turn actuator, 163, actuator bearing, 164, key axle sleeve, 165/A0/A1/B0/B1/C0/C1, lock tongue clamp arm, 171, blocking limit
Position plate, 172, blocking actuator, 173, blocking end plate, 200, industrial robot, 300, container, 400, semi-automatic twist lock,
401, single drawstring twistlock lock tongue, 402, double drawstring twistlock lock tongues, 500, bridge crane transfer platform, 600, corner fittings, 700, tapered end carrier,
800, carrier transmission belt, 900, connecting flange.
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 Multi-functional foldable device 100 of disclosed container semi-automatic twist lock, work
When making in the mounting disc (not shown) of industrial robot 200, half can be controlled certainly by automatic control system (not shown)
The semi-automatic twist lock connected between container 300 is completed in the action of the attaching/detaching apparatus 100 and industrial robot 200 of dynamic twistlock
400 carry out automatically unlock dismounting or installation locking, can replace the work of artificial dismounting semi-automatic twist lock completely.
When container 400 is positioned over bridge crane transfer platform 500 or truck when tearing open on lock support, semi-automatic torsion to be removed
Lock 400 is mounted on the corner fittings 600 of container, and unlocked state is waited in lockset.Semi-automatic twist lock generally comprises twistlock main body
(not shown) is mounted on the upper lock tongue (not shown) in twistlock main body, lower lock tongue (not shown), twistlock branch with upper lock tongue linkage
Frame (not shown) and drawstring (not shown), drawstring and twistlock housing are set to twistlock body side, in this way, semi-automatic twist lock 400
When hanging in 600 mounting groove of corner fittings, because of the presence of drawstring and twistlock housing, 400 center of gravity of twistlock is biased to drawstring side, so as to cause
Semi-automatic twist lock main body 404 to have drawstring side inclination.Limit of this inclined direction with the installation of twistlock main body and corner fittings 600
System, towards corner fittings 600 apart from nearest 300 sides of container.
In addition, being equipped with laser sensor (not shown) or vision system (not shown) on bridge crane transfer platform 500, it is used for
Whether there is the position of semi-automatic twist lock 400 and semi-automatic twist lock 400 on detection corner fittings 600, and transmits these information to industry
The control system of robot 200 is controlled the action of robot 200 by robot control system.
In conjunction with shown in Fig. 2~Fig. 4, a kind of Multi-functional foldable device of disclosed container semi-automatic twist lock
100, including：Floating retaining mechanism 110 and mechanism for assembling-disassembling 130, floating retaining mechanism 110 pass through bolt by connecting flange 900
In the mounting disc of industrial robot 200, is locked or unlocked for the position to mechanism for assembling-disassembling 130；Mechanism for assembling-disassembling
130 are installed on floating retaining mechanism 110, and the lock tongue for clamping twistlock simultaneously revolves between its unlocked position and locked position
Turn, or unclamps twistlock 400.
Specifically, in conjunction with shown in Fig. 2 and Fig. 3, floating retaining mechanism 110 includes upper mounting plate 111, lower installation board 112, floats
Motion block 113, X-axis guide rod 114, Y-axis guide rod 115, upper positioning device and lower positioning device.Upper mounting plate 111 and lower installation
About 112 plate is oppositely arranged, and the two positioned at the rocker piece 113 between them by connecting, X-axis guide rod 114 and Y-axis guide rod
115 both pass through rocker piece 113, and are mutually perpendicular setting, in the present embodiment, the X-axis shown in Fig. 4 of X-axis guide rod 114
Direction passes through rocker piece 113, the Y direction shown in Fig. 4 of Y-axis guide rod 115 to pass through rocker piece 113.Upper positioning device is set
It sets between upper mounting plate 111 and rocker piece 113, and is slidably connected by the first connection structure with upper mounting plate 111；Lower positioning
Device setting is slidably connected between lower installation board 112 and rocker piece 113, and with lower installation board 112 by the second connection structure.
In the present embodiment, lower installation board 112 is mounted on by connecting flange 900 in the mounting disc of industrial robot 200, upper mounting plate
111 for installing mechanism for assembling-disassembling 130.
As shown in Fig. 2, the opposite end of 111 bottom surface of upper mounting plate and the opposite end of 112 top surface of lower installation board are set respectively
There is bearing 116, the bearing 116 for fixing X-axis guide rod 114 and Y-axis guide rod 115 respectively.Specifically, X-axis guide rod 114
The both ends of both ends and Y-axis guide rod 115 be separately fixed on adjacent bearing 116.X-axis guide rod 114 and Y-axis guide rod
115, which present bottom, installs on rocker piece 113, i.e., X-axis guide rod 114 is arranged close to upper mounting plate 111, Y-axis guide rod 115
It is arranged close to lower installation board 112.
Specifically, being respectively equipped with a positioning on rocker piece 113 and upper mounting plate 111 and the close end face of lower installation board 112
Slot (not shown), upper positioning device and lower positioning device are respectively disposed in corresponding locating slot.Upper positioning device includes upper fixed
Position cylinder 118 and the upper locating piece (not shown) being connected with upper positioning cylinder 118, the upper locating piece of the driving of upper positioning cylinder 118
It is moved forward and backward in locating slot；Lower positioning device includes lower positioning cylinder 120 and the lower positioning that is connected with lower positioning cylinder 120
Block (not shown), the lower lower locating piece of the driving of positioning cylinder 120 are moved forward and backward in locating slot.
More specifically, in conjunction with shown in Fig. 2, the first connection structure include the upper positioning pin 122 being arranged on upper locating piece and
The first sliding groove 123 that is on upper mounting plate 111 and being slided with the cooperation of upper positioning pin 122 is set；Second connection structure includes setting
Set the lower positioning pin (not shown) on lower locating piece and be arranged on lower installation board 112 and with lower detent fit slide
Second sliding slot (not shown), when upper positioning cylinder 118 drives upper locating piece to be moved forward and backward in locating slot, upper locating piece band
Dynamic upper positioning pin 122 is moved forward and backward in the first sliding groove 123；Instantly before the lower locating piece of the driving of positioning cylinder 118 is in locating slot
After when moving, lower locating piece drives lower positioning pin to be moved forward and backward in second sliding slot.Upper positioning cylinder 118 in the present embodiment drives
Dynamic upper locating piece and upper positioning pin 122 are parallel to 114 direction of the Y-axis guide rod movement, to realize floating retaining mechanism 110
In the locking or unlock of X-direction.The lower lower locating piece of the driving of positioning cylinder 118 and lower positioning pin are parallel to 114 side of X-axis guide rod
To movement, to realize locking or unlock of the floating retaining mechanism 110 in Y direction.
Preferably, the locating slot in the present embodiment is funnel type locating slot, can make the positioning of floating retaining mechanism 110 more
Add precisely.In other embodiments of the invention, other shapes such as triangular shape etc. can also be used to realize the accurate of locking device
Positioning.
Preferably, the X-axis guide rod 114 in the present embodiment and Y-axis guide rod 115 are respectively equipped with two, so that rocker piece
113 more stablize in location free procedure.
Specifically, the operation principle of floating retaining mechanism of the present invention is：When upper locating piece is respectively being connect with lower locating piece
Cylinder promotion when being moved to the bottom of corresponding funnel type 117, i.e. the slot end of funnel type locating slot.Upper locating piece is under
Locating piece sticks into 117 bottom of funnel type away from one end of cylinder, while being formed to upper locating piece and lower positioning by setting cylinder
The stroke of block is defined, after reaching upper locating piece and lower locating piece presetting stroke, upper locating piece with lower locating piece not
It can continue to move to.Rocker piece 113 is located at 115 centre position of X-axis guide rod 114 and Y-axis guide rod at this time, thus by rocker piece
113 fix with position locking in upper mounting plate 111 and lower installation board 112.Cylinder stroke is according to floating in the embodiment of the present invention
The size dimension of block, i.e. funnel type position what ungraduated ruler little progress row in trough rim was selected, can also be adopted in the other embodiment of the present invention
Engaged with the outer wall of upper and lower locating piece with the wide opening end margin of funnel type locating slot, or sets other blocking locating piece fortune
Capable component.
As shown in Fig. 2, also it is fixedly installed spring 124 respectively between rocker piece 113 and bearing 116, the peace of spring 124
It is identical as 115 direction of Y-axis guide rod as X-axis guide rod 114 respectively to fill direction.When upper positioning device and lower positioning device unlock
When, i.e., upper positioning cylinder 118 drives upper locating piece, lower positioning cylinder 118 to drive lower wide opening of the locating piece to funnel type locating slot
When end is mobile, can making rocker piece 113 under the action of spring 124 at this time, quickly adjustment resets.
Preferably, upper mounting plate 111 and lower installation board 112 are equipped with track (not shown), track can be used for cylinder 118,
It is oriented in 120 taxiing procedures, it is mobile more to stablize.
In conjunction with shown in Fig. 3 and Fig. 4, mechanism for assembling-disassembling 130 includes twistlock clamping structure 140 and lock tongue clamp system 160,
In, twistlock clamping structure 140 is used for clamp or release twistlock main body comprising two groups of clamp assemblies, two groups of clamp assembly difference
The both sides of 111 top surface of upper mounting plate are set to, and are oppositely arranged on upper mounting plate 111, is formed and is held between two groups of clamp assemblies
Receive the space of twistlock.For ease of description, it is respectively left clamp assembly and right clamp assembly to define two groups of clamp assemblies.Wherein,
Left clamp assembly includes left clamping holder 141, left clamping actuator 142 and left clamp arm 143, and equally, right clamp assembly includes the right side
Holder 151, right clamping actuator 152 and right clamp arm 153 are clamped, left and right clamps holder 141,151 and is respectively arranged at upper mounting plate
The left and right sides of 111 top surfaces, left and right clamp actuator 152,142 and are respectively arranged on corresponding clamping holder 141,151,
And left and right clamps actuator 152,142 and is connected respectively with corresponding clamp arm 143,153, clamps actuator 142,152 and drives
Clamp arm 143,153 is moved to closer or far from 400 direction of twistlock, to realize from both sides clamp or release twistlock 400.This implementation
In example, left and right, which clamps actuator 152,142, can use guide rod cylinder.
Left and right clamp arm 143,153 includes integrally formed clamp arm ontology 144, long clamp arm 145 and short clamp arm 146, clamp arm
Ontology 144 is connected with respective clamping actuator 142, long clamp arm 145 and short clamp arm 146 by respective clamp arm ontology 144 both ends
Bending is formed respectively.In the present embodiment, long clamp arm 145 is longer than short clamp arm 146, and long clamp arm 145 be located at twistlock drawstring it is same
Side, and as shown in Figure 5 and Figure 6, in the initial state, the distance B between the long clamp arm in left and right 145 is less than the holder 403 of twistlock drawstring
Width, in this way, during semi-automatic twist lock main body is inserted in left and right clamp arm 143,153, semi-automatic twist lock drawstring branch
Frame 403 is held up by the long clamp arm 145 of left and right clamp arm simultaneously, is horizontal.In addition, in the present embodiment, left and right clamp arm 143,153
It is in or approximate U-shaped shape, the shape can limits twistlock 400 and slide or fall off during rotation.
Lock tongue clamp system 160 includes 161, three groups of lock tongue clamp arm components of lock tongue clamp body and rotary drive 162, this
In embodiment, rotary drive 162 is installed on by an actuator bearing 163 on upper mounting plate 111, and positioned at the folder of left and right two
Between locking bracket 141,151, when implementation, rotary cylinder can be used in rotary drive 162.Lock tongue clamp body 161 passes through key axis
Set 164 is connected with rotary drive 162.Every group of lock tongue clamp arm component includes two intervals and the phase on lock tongue clamp body 161
To the lock tongue clamp arm 165 of setting, the line of two lock tongue clamp arm 165 passes through the central point of lock tongue clamp body 161, the present embodiment
In, three groups of lock tongue clamp arm components (i.e. 6 lock tongue clamp arm 165) are uniformly circumferentially distributed on lock tongue clamp body 161.In Figure 12
Shown, lock tongue clamp arm A0 and lock tongue clamp arm A1 are one group of lock tongue clamp arm component, and lock tongue clamp arm B0 and lock tongue clamp arm B1 are one group of lock
Tongue clamp arm component, lock tongue clamp arm C0 and lock tongue clamp arm C1 are one group of lock tongue clamp arm component.
Preferably, as shown in figure 13, the center line of lock tongue clamp arm (A0, A1, B0, B1) and lock tongue clamp arm column (B0, B1, C0,
C1 angled X between center line), the wherein angles X are set as 120 °~130 °.
The setting structure of three groups of lock tongue clamp arm components of lock tongue clamp system 160, can make attaching/detaching apparatus of the present invention both
Suitable for the clamping of single drawstring twistlock lock tongue 401, and suitable for the clamping of double drawstring twistlock lock tongues 402.Specifically, such as Figure 10 institutes
Show, two groups of lock tongue clamp arm components (lock tongue clamp arm B0 and lock tongue clamp arm B1, lock tongue clamp arm C0 and lock tongue clamp arm C1) are for being clamped list
When drawstring twistlock lock tongue 401, this two groups of lock tongue clamp arm components are located at the both sides of twistlock lock tongue 401, wherein lock tongue clamp arm B0
Respectively it is located at the both sides in 401 axle center of twistlock lock tongue with lock tongue clamp arm C0, lock tongue clamp arm B1 and lock tongue clamp arm C1.
As shown in figure 11, two groups of lock tongue clamp arm components (lock tongue clamp arm A0 and lock tongue clamp arm A1, lock tongue clamp arm B0 and lock tongue folders
Arm B1) for double drawstring twistlock lock tongues 402 to be clamped when, this two groups of lock tongue clamp arm components are located at the both sides of twistlock lock tongue 402,
Wherein, lock tongue clamp arm A0 and lock tongue clamp arm B1, lock tongue clamp arm B1 and lock tongue clamp arm A1 are respectively located at 402 axle center of twistlock lock tongue
Both sides.
Two groups of lock tongue clamp arm components are set to the both sides of 161 top surface of lock tongue clamp body, and every group of lock tongue clamp arm component packet
Two lock tongue clamp arm 165 are included, two lock tongue clamp arm 165 are located at the both sides in twistlock lock tongue axle center.
Further, a kind of Multi-functional foldable device of container semi-automatic twist lock of the present invention further includes rotation blocking
Mechanism, for carrying out blocking limit to the rotation of lock tongue clamp system.Specifically, in the present embodiment, rotation blocking mechanism includes
Stop limiting plate 171, blocking actuator 172 and blocking end plate 173, wherein blocking limiting plate 171 is fixed on lock tongue clamp body
On 161 bottom surface, blocking actuator 172 is fixed on upper mounting plate 111, and blocking end plate 173 is connected with blocking actuator 172,
Stop cylinder 172 can be used in blocking actuator, and blocking end plate 173 is connected with the piston rod of stop cylinder 172.In original state
Under, the piston rod of stop cylinder 172 is retracted, and blocking limiting plate 171 can bypass blocking end plate 173, when the piston of stop cylinder 172
Bar stretches out, and driving blocking end plate 173 is stretched out to close to the bottom surface direction of lock tongue clamp body 161, in this way, when blocking limiting plate
171 rotations are stopped, are stopped rotating to when being contacted with blocking end plate 173.Preferably, the center line and lock of barrier plate 173 are limited
Angled Y between the center line of tongue clamp arm A0, A1, B0, B1, wherein Y are in 60 °~70 °.
Preferably, upper and lower positioning cylinder 118,120, left and right clamping guide rod cylinder 142,152, rotary cylinder 162 and resistance
It keeps off on the cylinder body of cylinder 172 and is mounted on the magnetic switch (not shown) of detection cylinder piston position, for detecting and feeding back gas
The cylinder piston position signal controls the entire of attaching/detaching apparatus 100 to control system, by control system and tears lock and dress lock process open.This implementation
In example, magnetic switch is set in cylinder block outer wall groove.
Specifically, the magnetic switch of 3 detection cylinder piston positions is installed in the right outer wall groove for clamping guide rod cylinder 152
(not shown), their installation site are respectively：One is mounted on the final position that cylinder piston is fully retracted, and one is mounted on
The position of twistlock is clamped in cylinder piston completely, and one is mounted on the fully extended stroke end position of cylinder piston.When twistlock is torn open
100 clip position mistake of assembling device or twistlock fall off out of left and right U-shaped folder arm 143,153, cause left and right U-shaped folder arm 143,153
When interior no tapered end, the right piston rod for clamping guide rod cylinder 152 can be fully extended, as shown in Figure 9.At this point, control system receives peace
Mounted in (alarm) signal of the magnetic switch of the right stroke end position for clamping guide rod cylinder 152, the control of industrial robot 200 is turned round
Lock 100 stop motion of attaching/detaching apparatus.At this point, left and right U-shaped folder arm 143,153 spacing A3<A2.
In addition, in the present embodiment, the right stroke for clamping guide rod cylinder 152 is set and is more than the left row for clamping guide rod cylinder 142
What journey, 100 clip position mistake of twistlock attaching/detaching apparatus detectable in this way or twistlock fell off out of left and right U-shaped folder arm 143,153
Situation as interchangeable, can also be arranged the left stroke for clamping guide rod cylinder 142 and be more than right clamping guide rod cylinder 152 certainly
Stroke, by left clamping guide rod cylinder 142 detect above two fortuitous event.
The attaching/detaching apparatus of the present invention realizes the action of various mechanical parts using cylinder, can also use electronic or hydraulic pressure
The mode of driving realizes the action of the various mechanical parts in attaching/detaching apparatus.
100 original state of Multi-functional foldable device of container semi-automatic twist lock of the present invention is：Rocker piece 113 is located at X-axis
115 centre position of guide rod 114 and Y-axis guide rod, and rocker piece 113 and position locking in upper mounting plate 111 and lower installation board 112
It is fixed；The cylinder 142,152 of two groups of clamp assemblies is retracted, and original state as shown in the figure is in.
When semi-automatic twist lock attaching/detaching apparatus 100 of the present invention works in the mounting disc of industrial robot 200, pass through work
Semi-automatic twist lock attaching/detaching apparatus 100 is transported to 400 place corner fittings 600 of semi-automatic twist lock on container 300 by industry robot 200
Underface receives the laser sensor or vision system that are installed on container transfer platform 500 by manipulator control system,
Judge the position for whether having tapered end and tapered end on corner fittings 600, it is semi-automatic if there is tapered end, then by the control lifting of robot 200
Immediately below twistlock attaching/detaching apparatus 100 to twistlock 400, because the height of transfer platform 500 be it is fixed, semi-automatic twist lock 400 it is each
A size is also relatively-stationary.So the lifting semi-automatic twist lock of industrial robot 200 device 100 can quilt to the height for tearing lock open
It presets.
When semi-automatic twist lock attaching/detaching apparatus 100 is located at the lower section of twistlock 400, and when close to 400 rotatable lock tongue of twistlock,
The control of cylinder 118,120 in the upper and lower positioning device in floating retaining mechanism 110 on twistlock attaching/detaching apparatus 100 is corresponding
Locating piece 119,121 is retracted.At this point, floating retaining mechanism 110 is in the unlocked state, the upper mounting plate of floating retaining mechanism 110
111 and the mechanism for assembling-disassembling 130 that is mounted thereon can be along X, Y direction planar movement.
With the lifting of semi-automatic twist lock attaching/detaching apparatus 100, semi-automatic twist lock main body be inserted in left and right U-shaped folder arm 143,
Between 153, in the process, the long clamp arm 145 and twistlock drawstring of left and right U-shaped folder arm 143,153 are in the same direction, and such as Fig. 5 and Fig. 6 institutes
Show, the holder that the distance between the long clamp arm 145 of left and right U-shaped folder arm 143,153 B is less than twistlock drawstring is set under original state
The width of 403 horizontal directions, and left and right U-shaped folder arm 143,153 spacing are A0 at this time.So in semi-automatic twist lock main body quilt cover
During entering in left and right U-shaped folder arm 143,153, semi-automatic twist lock drawstring holder 403 is simultaneously by 145 support of U-shaped folder brachium clamp arm
Rise be horizontal, can solve the problems, such as semi-automatic twist lock main body to have drawstring side inclination.
After twistlock main body is inserted between left and right U-shaped folder arm 143,153, as shown in fig. 7, left clamping guide rod cylinder 142
Left U-shaped folder arm 143 is driven to stretch out, after the completion of action, at this point, the distance between left U-shaped folder arm 143 and right U-shaped folder arm 153 are
A1；As shown in figure 8, right clamping guide rod cylinder 152, which drives right U-shaped folder arm 153 to stretch out, clamps twistlock main body.At this point, left U-shaped folder arm
143 at a distance from right U-shaped folder arm 153 be A2.During this, twistlock lock tongue is caught in two groups of lock tongue clamp arm 165.Because lock tongue
Width is less than twistlock body width, so left and right U-shaped folder arm 143,153 spacing A2 are less than or equal to twistlock body width.
Preferably, because bridge crane is transported to the container 300 on transfer platform 500, the position placed every time has deviation.When
When the action that twistlock main body is clamped in left and right U-shaped folder arm 143,153 is completed, upper mounting plate 111 and two groups of clampings being mounted thereon
Component can move on floating retaining mechanism 110, and the position of adjustment twistlock attaching/detaching apparatus 100 is to adapt to the position of twistlock 400
It sets.
After control system receives the position signal of the clamping twistlock in right clamping guide rod cylinder 152, control system is logical
Crossing solenoid valve (not shown) driving rotary cylinder 162 drives the lock tongue clamp arm 165 on lock tongue clamp body 161 to block twistlock lock tongue
Do rotation counterclockwise.Because twistlock 400 is internally provided with the mechanism that blocking lock tongue rotation stops, so, lock tongue is rotated in blocking machine
It can stop at structure.At this point, the magnetic switch on 162 cylinder body of rotary cylinder, 162 piston position of detection and feedback rotary cylinder
Confidence number gives control system.
After control system receives the signal that the rotation of 162 piston of rotary cylinder stops, industrial robot controls changer
Structure 130 is clamped twistlock 400 and moves disengaging corner fittings 600 straight down, just completes twistlock 400 in this way and unlocks dismounting from corner fittings 600
Process.
After industrial robot 200 drives twistlock attaching/detaching apparatus 100 and clamped twistlock 400 is detached from corner fittings 600, industry
Robot 200 controls entire twistlock attaching/detaching apparatus 100 and overturns, carrier transmission belt twistlock 400 being put near transfer platform 500
In tapered end carrier 700 on 800.Later, the rotary cylinder 162 on twistlock attaching/detaching apparatus 100 drives on lock tongue clamp body 161
Lock tongue clamp arm 165 block twistlock lock tongue and rotate clockwise, drive twistlock lock tongue spinning reduction.Left and right clamps guide rod cylinder
142, the 152 respective U-shaped folder arms of control 143,153 open simultaneously；Twistlock 400 can be fixed on tapered end carrier 700.
When need will be stored in the semi-automatic twist lock on tapered end carrier 700 400, pack into the container on corner fittings 600 when.Machine
Tool hand 200 controls twistlock attaching/detaching apparatus 100 and takes out twistlock 400 from tapered end carrier 700, is reloaded into the corner fittings 600 on container.
Twistlock 400 is taken out from tapered end carrier 700, is reloaded into the process of corner fittings 600, and lock and fixed semi-automatic twist lock 400 are torn open with above-mentioned
Process on the contrary, details are not described herein again.
The operational motion of the above attaching/detaching apparatus is essentially the same to single, double drawstring twistlock disassembly process.But in double drawstring twistlocks
Dress lock during, the upper lock tongue (not shown) of double drawstring twistlocks needs to rotate clockwise certain angle just after being inserted in corner fittings 600
It can switch to working condition from unlocked state release to hang in corner fittings 600.This state needs rotary cylinder 162 that lock tongue is driven to clamp
Ontology 161 drives lock tongue under double drawstring twistlocks to rotate clockwise a relatively-stationary angle from unlocked position, this angle one
As be 60 °~70 °.
Specific operation process is：After the upper lock tongue of double drawstring twistlocks is inserted in corner fittings 600, control system drive magnetic valve
172 piston rod of stop cylinder controlled on twistlock attaching/detaching apparatus stretches out, and then controls rotary cylinder 162 and drives lock tongue clamp body
Lock tongue rotates clockwise above-mentioned 60 °~70 ° angles from unlocked position under the double drawstring twistlocks of 161 drivings, is clamped when being installed on lock tongue
The blocking limiting plate 171 of 161 downside of ontology stops after knocking blocking end plate 173, and the magnetism for being mounted on rotary cylinder 162 at this time is opened
After pass detects that rotary cylinder 162 stops, the control of control system drive magnetic valve clamps guide rod cylinder 142, the contracting of 152 piston rods
It returns, U-shaped folder arm 143,153 is driven to open, unclamp twistlock ontology.
After control system detects that the U-shaped folder arm 143,153 for clamping guide rod cylinder opens, industrial robot controls twistlock
Attaching/detaching apparatus moves downward so that attaching/detaching apparatus leaves the dress lock process that twistlock completes the double drawstring twistlocks of dress.
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 Multi-functional foldable device of container semi-automatic twist lock, which is characterized in that including floating retaining mechanism and installation
Mechanism for assembling-disassembling on the floating retaining mechanism, the floating retaining mechanism are used to lock or unlock in horizontal and vertical direction
The mechanism for assembling-disassembling；The mechanism for assembling-disassembling includes twistlock clamping structure and lock tongue clamp system, and the twistlock clamp system is used for
Clamp or release twistlock；The lock tongue clamp system be used for the twistlock clamp system coordinate, clamp the lock tongue of twistlock and
It is rotated between its unlocked position and locked position.
2. attaching/detaching apparatus according to claim 1, which is characterized in that the twistlock clamp system is oppositely arranged including two groups
The space for accommodating twistlock is formed between the clamp assembly of floating retaining mechanism, clamp assembly described in two groups.
3. attaching/detaching apparatus according to claim 2, which is characterized in that the clamp assembly includes being installed on floating locking machine
Clamping holder, the clamping actuator being installed on the clamping holder on structure and the clamp arm being connected with the clamping actuator,
The clamping actuator drives clamp arm to be moved to closer or far from twistlock direction.
4. attaching/detaching apparatus according to claim 3, which is characterized in that the clamp arm includes the folder being connected with clamping actuator
Arm body, and the long clamp arm and short clamp arm, the long clamp arm that are formed by the both ends difference bending of clamp arm ontology are longer than short clamp arm.
5. attaching/detaching apparatus according to claim 4, which is characterized in that the long clamp arm is located at the same side with twistlock drawstring,
And the distance between two long clamp arm of two groups of clamp assemblies are less than the width of the holder of twistlock drawstring under original state.
6. attaching/detaching apparatus according to claim 4, which is characterized in that the clamp arm is in or approximation is U-shaped.
7. attaching/detaching apparatus according to claim 1, which is characterized in that the lock tongue clamp system includes that lock tongue clamps this
Body, at least three groups of lock tongue clamp arm components being set on lock tongue clamp body, and the rotation being connected with lock tongue clamp body drive
Part, lock tongue clamp arm component described in three groups is circumferentially distributed on lock tongue clamp body, and lock tongue clamp arm component described in every two groups distinguishes position
In the both sides of twistlock lock tongue, and every group of lock tongue clamp arm component includes two lock tongue clamp arm, two lock tongues of the twistlock lock tongue per side
Clamp arm is located at the both sides in twistlock lock tongue axle center, and the lock tongue clamp arm component clamps lock under the driving of the rotary drive
Tongue simultaneously rotates between its unlocked position and locked position.
8. attaching/detaching apparatus according to claim 7, which is characterized in that the attaching/detaching apparatus further includes for being clamped to lock tongue
The rotation blocking mechanism that the rotation of mechanism is limited, the rotation blocking mechanism include being set on lock tongue clamp body bottom surface
Blocking limiting plate, the blocking actuator that is set on upper mounting plate and the blocking end plate being connected with blocking actuator, the resistance
Gear end plate stretches out under the driving of blocking actuator, stops the blocking limiting plate.
9. attaching/detaching apparatus according to claim 7, which is characterized in that the rotary drive is pressed from both sides by key axle sleeve and lock tongue
Tight ontology is connected, and is installed on floating retaining mechanism by an actuator bearing.
10. attaching/detaching apparatus according to claim 1, which is characterized in that the floating retaining mechanism include upper mounting plate, under
Mounting plate, the rocker piece for connecting upper mounting plate and lower installation board, and with the upper mounting plate upper positioning device that is connected of sliding and under
The connected lower positioning device of mounting plate sliding, the upper positioning device and the cooperation of lower positioning device are locked in horizontal and vertical direction
Or unlock upper mounting plate, the mechanism for assembling-disassembling are installed on the upper mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810652918.2A CN108555565A (en) | 2018-06-22 | 2018-06-22 | A kind of Multi-functional foldable device of container semi-automatic twist lock |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810652918.2A CN108555565A (en) | 2018-06-22 | 2018-06-22 | A kind of Multi-functional foldable device of container semi-automatic twist lock |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108555565A true CN108555565A (en) | 2018-09-21 |
Family
ID=63554329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810652918.2A Pending CN108555565A (en) | 2018-06-22 | 2018-06-22 | A kind of Multi-functional foldable device of container semi-automatic twist lock |
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| CN (1) | CN108555565A (en) |
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| CN112192193A (en) * | 2020-10-10 | 2021-01-08 | 黎允聪 | Automatic lock picking device for container twist lock of port and wharf |
| WO2021026861A1 (en) * | 2019-08-15 | 2021-02-18 | Abb Schweiz Ag | Gripper for handling twistlock |
| WO2021031058A1 (en) * | 2019-08-19 | 2021-02-25 | Abb Schweiz Ag | Gripper for handling twistlock |
| CN112919161A (en) * | 2021-03-03 | 2021-06-08 | 苏州车泊特智能科技有限公司 | Automatic disassembly and assembly system for container lock button |
| WO2022061873A1 (en) * | 2020-09-28 | 2022-03-31 | Abb Schweiz Ag | Apparatus and method of operating twistlock and associated robot |
| CN114655591A (en) * | 2022-02-25 | 2022-06-24 | 安徽大学绿色产业创新研究院 | Unlocking device for container twist lock and using method thereof |
| CN116161405A (en) * | 2023-04-25 | 2023-05-26 | 宁德时代新能源科技股份有限公司 | Fixing device and conveying equipment |
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| CN114269510B (en) * | 2019-08-15 | 2023-04-18 | Abb瑞士股份有限公司 | Gripper for actuating a twist lock |
| WO2021026861A1 (en) * | 2019-08-15 | 2021-02-18 | Abb Schweiz Ag | Gripper for handling twistlock |
| CN114269510A (en) * | 2019-08-15 | 2022-04-01 | Abb瑞士股份有限公司 | Gripper for actuating a twist lock |
| WO2021031058A1 (en) * | 2019-08-19 | 2021-02-25 | Abb Schweiz Ag | Gripper for handling twistlock |
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| CN114206545B (en) * | 2019-08-19 | 2023-09-12 | Abb瑞士股份有限公司 | Holder for actuating a twist lock |
| EP4017678A4 (en) * | 2019-08-19 | 2023-05-24 | Abb Schweiz Ag | Gripper for handling twistlock |
| WO2022061873A1 (en) * | 2020-09-28 | 2022-03-31 | Abb Schweiz Ag | Apparatus and method of operating twistlock and associated robot |
| CN112192193A (en) * | 2020-10-10 | 2021-01-08 | 黎允聪 | Automatic lock picking device for container twist lock of port and wharf |
| CN112919161A (en) * | 2021-03-03 | 2021-06-08 | 苏州车泊特智能科技有限公司 | Automatic disassembly and assembly system for container lock button |
| CN112919161B (en) * | 2021-03-03 | 2022-06-14 | 苏州车泊特智能科技有限公司 | Automatic disassembly and assembly system for container lock button |
| CN114655591B (en) * | 2022-02-25 | 2022-09-13 | 安徽大学绿色产业创新研究院 | Unlocking device for container twist lock and using method thereof |
| CN114655591A (en) * | 2022-02-25 | 2022-06-24 | 安徽大学绿色产业创新研究院 | Unlocking device for container twist lock and using method thereof |
| CN116161405A (en) * | 2023-04-25 | 2023-05-26 | 宁德时代新能源科技股份有限公司 | Fixing device and conveying equipment |
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