CN111792362A - Container transfer equipment and container air transportation device - Google Patents
Container transfer equipment and container air transportation device Download PDFInfo
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- CN111792362A CN111792362A CN202010647422.3A CN202010647422A CN111792362A CN 111792362 A CN111792362 A CN 111792362A CN 202010647422 A CN202010647422 A CN 202010647422A CN 111792362 A CN111792362 A CN 111792362A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
Abstract
The invention discloses container transferring equipment and an air container transporting device, wherein the container transferring equipment comprises an equipment mounting frame, a lifting mechanism and a manipulator assembly, the lifting mechanism is arranged on the equipment mounting frame, the lifting mechanism is provided with a telescopic part, and the manipulator assembly is arranged on the telescopic part; the mechanical arm assembly comprises a mechanical arm and a lock head mechanism; the mechanical arm has a horizontal direction swing freedom degree and a vertical direction swing freedom degree, and the lock head mechanism is arranged at the free end of the mechanical arm; the lock mechanism is provided with a rotary lock matched with a side hole of the corner fitting of the container, and the rotary lock is rotatably arranged in the lock mechanism. The container transfer equipment and the container air transportation device provided with the equipment can directly butt joint the air transportation device and the container truck, thereby eliminating the complex intermediate transfer operation in the prior art, having good flexibility and strong specificity, and greatly improving the container transfer efficiency.
Description
Technical Field
The application belongs to the technical field of logistics transportation, and particularly relates to container transfer equipment and a container air transportation device.
Background
At present, the port collecting and dredging system in China is mainly completed by roads (the occupied road ratio is up to 84%), the road transportation environment pollution is large, the transportation cost is high, and particularly the problem of facility connection of the last kilometer of container ports becomes the primary problem of the development of the comprehensive transportation system in China. In order to solve the problem, an empty rail intelligent transportation system applied to port container logistics is emerging in the prior art, and the empty rail intelligent transportation system can cross roads, rivers, factories and the like so as to solve the problem of container transportation in the last kilometer.
In a multi-type intermodal system (air rail intelligent transportation system), the modes of transporting containers between an air rail and other transportation equipment (such as a shore bridge, a yard bridge, a gantry crane, a reach stacker, an AGV, a railway flatcar and the like) can be roughly divided into two types: top lifting equipment (such as a shore bridge, a field bridge, a gantry crane, a front crane and the like) and bottom hauling equipment (such as a container truck, an AGV trolley, a railway flat car and the like).
When the air rail intelligent transportation system transfers containers, the air transportation vehicles lift the containers through ground lifting equipment to be connected and assembled with the vehicle bodies of the air transportation vehicles, the containers and the vehicle bodies can be connected and assembled only by means of external lifting equipment in the operation mode, the lifting equipment is moved to a fixed place in butt joint with the vehicle bodies during operation, then the containers are hoisted to the lifting equipment, then the lifting equipment is operated to connect and assemble the containers and the vehicle bodies, after all the containers and the vehicle bodies are connected and assembled, the lifting equipment needs to be moved away, the operation is complicated, and due to poor flexibility and poor specificity, the assembly line type switching requirement cannot be completely met.
Disclosure of Invention
In order to solve the technical problems, the invention provides container transfer equipment and a container air transportation device, which can be directly butted with the air transportation device and a container truck, and solves the problems of complex transfer and low efficiency of containers between space transportation and road transportation.
The technical scheme adopted for achieving the purpose of the invention is that the container transferring equipment comprises an equipment mounting frame, a lifting mechanism and a manipulator assembly, wherein the lifting mechanism is mounted on the equipment mounting frame and is provided with a telescopic part, and the manipulator assembly is mounted on the telescopic part;
the mechanical arm assembly comprises a mechanical arm and a lock head mechanism; the mechanical arm has a horizontal direction swing freedom degree and a vertical direction swing freedom degree, and the lock head mechanism is installed at the free end of the mechanical arm;
the lock mechanism is internally provided with a rotary lock, and the rotary lock is rotatably arranged in the lock mechanism; the lock mechanism is driven by the mechanical arm, and can be switched between two states, namely locking the container by extending the rotary lock into a side hole of a corner fitting of the container and unlocking the rotary lock and the corner fitting.
Optionally, the mechanical arm includes a translation mechanism, a yaw driving mechanism and a pitch driving mechanism, wherein:
one end of the translation mechanism is hinged with the telescopic part, and the other end of the translation mechanism is hinged with the lock head mechanism;
the horizontal swinging driving mechanism is arranged on the telescopic part and is hinged with the translation mechanism through a hinge part so as to drive the translation mechanism to swing in the horizontal direction;
the fixed end of the side elevation driving mechanism is hinged to the telescopic part, and the telescopic end of the side elevation driving mechanism is hinged to the translation mechanism so as to drive the translation mechanism to swing in the vertical direction.
Optionally, the translation mechanism is a four-bar linkage structure, and four bars are hinged to form a quadrangle; among four connecting rods:
the first connecting rod is used for being hinged with the telescopic part and the hinged piece;
the second connecting rod is hinged with the telescopic end of the side elevation driving mechanism, and the hinged position is located in the middle of the second connecting rod;
and the third connecting rod is hinged with the lock head mechanism, and the third connecting rod and the first connecting rod form opposite sides of a quadrangle.
Optionally, the mechanical arm is of a symmetrical structure and is composed of two translation mechanisms, two yaw driving mechanisms and two side pitch driving mechanisms, and the two translation mechanisms are respectively hinged to two sides of the lock mechanism.
Optionally, the lock mechanism includes a hinge seat, a lock reference surface, a hinge pin, and the rotary lock; wherein:
the lock head reference surface is hinged and installed in the hinge seat through the hinge pin;
the rotary lock head is rotatably arranged on the lock head reference surface;
the two translation mechanisms are respectively hinged with the two vertical side edges of the hinged support.
Optionally, a mounting seat is arranged at the bottom end of the telescopic portion, and the manipulator assembly is mounted on the mounting seat.
Optionally, 2 equipment mounting racks are arranged, the 2 equipment mounting racks are arranged at intervals, and the distance is matched with the length of the container;
the equipment mounting bracket is door type, two are installed to the last symmetry of equipment mounting bracket elevating system.
Optionally, the equipment mounting frame is provided with a guide wheel, and the guide wheel is in rolling contact with the telescopic part.
Optionally, the container transfer device further comprises a CCD vision monitoring system, and a CCD camera of the CCD vision monitoring system is installed in the locking mechanism.
Based on the same inventive concept, the invention also provides a container air transportation device which comprises the container transfer equipment.
According to the technical scheme, the container transferring equipment comprises an equipment mounting frame, a lifting mechanism and a manipulator assembly, wherein the lifting mechanism is mounted on the equipment mounting frame and is provided with a telescopic part, and the manipulator assembly is mounted on the telescopic part. The equipment mounting frame can install the container transfer equipment in the existing container air transportation device (such as an air rail intelligent transportation system and a container overhead crane), and the lifting mechanism is used for enabling the manipulator assembly to be locked on the container from the lower part of the manipulator assembly to the height of the container truck, so that the container transfer equipment is directly butted with the air transportation device and the container truck, and the container transfer is realized.
The manipulator assembly is the key part that whole container transfer equipment snatched the container, and the manipulator assembly includes arm and tapered end mechanism, and the arm has horizontal direction swing degree of freedom and vertical direction swing degree of freedom, and tapered end mechanism installs in the free end of arm. In the process of receiving and taking the container, the lock head mechanism is a key component, and the lock head mechanism is used for realizing the locking and unlocking of the container. Through the operation of the yaw (horizontal direction swing) and the side pitch (vertical direction swing) of the mechanical arm, the lock head mechanism can be accurately aligned with the corner fittings of the container, and the container is locked or unlocked.
The lock mechanism is provided with a rotary lock, and the rotary lock is rotatably arranged in the lock mechanism. When the side surface of the container and the lock head mechanism form an included angle, the rotary lock head can deflect along with the container in a self-adaptive mode, so that the rotary lock head is inserted into a side surface hole of the corner piece at the bottom of the container to lock the corner piece at the bottom of the container. The lock mechanism is driven by the mechanical arm and can be switched between two states of locking the container by extending the rotary lock into the side hole and unlocking the rotary lock and the corner fitting so as to grab and place the container.
Compared with the prior art, the container transfer equipment provided by the invention can directly grab the container from the air transportation device to place on the appointed container truck or directly grab the container from the container truck to transfer to the air transportation device, so that the complex intermediate transfer operation in the prior art is eliminated, the flexibility is good, the specificity is strong, and the container transfer efficiency is greatly improved. The container air transportation device provided by the invention can eliminate the existing ground jacking equipment or lifting transfer trolley by configuring the container transfer equipment, saves the equipment cost and the operation cost, and improves the container transfer efficiency.
Drawings
Fig. 1 is a schematic structural view of container transferring equipment according to embodiment 1 of the present invention;
fig. 2 is a view showing an installation structure of a robot assembly in the container transferring apparatus of fig. 1;
FIG. 3 is a top view of FIG. 2;
FIG. 4 is a side view of FIG. 2;
FIG. 5 is a schematic diagram of a latch mechanism of the robot assembly of FIG. 2;
fig. 6 is a schematic structural view of an air transportation device for containers according to embodiment 2 of the present invention;
fig. 7 is a schematic view of the operation principle of the container transferring device provided by the invention.
Description of reference numerals: 100-container transfer equipment; 110-an equipment mounting rack; 120-lifting mechanism, 121-lifting driving mechanism, 122-expansion part; 130-a robot assembly; 131-mechanical arm, 10-translation mechanism; 20-a yaw drive mechanism; 30-pitch drive mechanism; 40-a lock head mechanism, 41-a hinge seat, 42-a lock head reference surface, 43-a hinge pin and 44-a rotary lock head; 200-container, 201-corner fittings.
Detailed Description
In order to make the present application more clearly understood by those skilled in the art to which the present application pertains, the following detailed description of the present application is made with reference to the accompanying drawings by way of specific embodiments.
Example 1:
an embodiment of the present invention provides a container transferring apparatus 100, which has a structure as shown in fig. 1, and includes an apparatus mounting frame 110, a lifting mechanism 120, and a manipulator assembly 130, wherein the lifting mechanism 120 is mounted on the apparatus mounting frame 110, the lifting mechanism 120 has a telescopic portion 122, and the manipulator assembly 130 is mounted on the telescopic portion 122.
The container transfer equipment 100 provided by the invention can be applied to any existing container air transportation device (such as an air rail intelligent transportation system and a container overhead crane) and can also be used independently to realize the lifting transfer of the container. The device has the characteristics of high positioning precision and high transferring efficiency. The structure of the container transferring apparatus 100 provided by the present invention will be described in detail below with reference to an exemplary embodiment:
the equipment mounting rack 110 is a mounting base of the whole container transferring equipment 100 and is also a connecting structure of the container transferring equipment 100 when being applied to an existing container air transportation device, the equipment mounting rack 110 has high structural strength, the specific structure of the equipment mounting rack is suitable for meeting the use requirement, and the specific structure is not limited by the invention.
Considering that the existing container air transportation devices generally have a traveling beam (e.g., an air rail of an air rail intelligent transportation system, a traveling beam of a container overhead crane), referring to fig. 1, the equipment mounting rack 110 in this embodiment is preferably of a gate type, and an inner hollow region thereof is used for enabling the equipment mounting rack 110 to be erected on the traveling beam of the container air transportation device.
Considering that the container corner fittings are arranged at four corners of the container body, 4 manipulator assemblies 130 are arranged in the whole container transferring equipment 100, each manipulator assembly 130 is driven by one lifting mechanism 120, the equipment mounting rack 110 is provided with 2 manipulator assemblies, the 2 equipment mounting racks 110 are arranged at intervals, the intervals are matched with the length of the container, and the four lifting mechanisms 120 are symmetrically arranged on one equipment mounting rack 110 in a group.
The lifting mechanism 120 is used for driving the manipulator assembly 130 and the container grabbed by the manipulator assembly to lift, and the lifting mechanism 120 comprises a lifting driving mechanism 121 and a telescopic part 122 driven by the lifting driving mechanism. The lifting mechanism 120 may be any conventional lifting mechanism, such as a motor-driven rack and pinion mechanism, a chain elevator, an electric push rod, etc.
In order to ensure the smoothness and the lifting accuracy of the lifting movement of the telescopic part 122, in the present embodiment, preferably, a guide wheel 123 is disposed on the device mounting bracket 110, and the guide wheel 123 is in rolling contact with the telescopic part 122, as shown in fig. 1.
In order to avoid damage to the original structure of the telescopic portion 122, it is preferable to provide a mounting seat 124 at the bottom end of the telescopic portion 122, and mount a robot assembly 130 on the mounting seat 124, as shown in fig. 2.
The robot assembly 130 is a key component of the entire container transferring apparatus 100 for grasping the container, and referring to fig. 2, the robot assembly 130 includes a robot arm 131 and a lock mechanism 40; the mechanical arm 131 has a horizontal direction swing degree of freedom and a vertical direction swing degree of freedom, and the lock mechanism 40 is mounted to a free end of the mechanical arm 131. The mechanical arm 131 may be an existing mechanical arm, and may swing on a horizontal plane or a vertical plane, and the specific structure is not limited in the present invention.
The lock mechanism 40 is a key component in the process of accessing the container. The lock mechanism 40 is internally provided with a rotary lock 44, and the rotary lock 44 is rotatably arranged in the lock mechanism 40; the locking mechanism 40 is driven by the mechanical arm 131 and can be switched between a state that the rotary locking head 44 extends into a side hole of the corner fitting 201 of the container to lock the container and a state that the rotary locking head 44 is unlocked from the corner fitting 201.
The present embodiment provides a preferred solution for the mechanical arm 131, and referring to fig. 2 to 4, the mechanical arm 131 of the present embodiment includes a translation mechanism 10, a yaw driving mechanism 20, and a pitch driving mechanism 30. One end of the translational mechanism 10 is hinged to the telescopic part 122, the other end is hinged to the lock mechanism 40, and the translational mechanism 10 is used for driving the lock mechanism 40 to swing on a horizontal plane and a vertical plane. The yaw driving mechanism 20 and the pitch driving mechanism 30 respectively drive the translational mechanism 10 to swing on a horizontal plane and a vertical plane.
Specifically, referring to fig. 2 and 3, the yaw driving mechanism 20 is mounted on the telescopic portion 122, and the yaw driving mechanism 20 is hinged to the translation mechanism 10 through a hinge 50 to drive the translation mechanism 10 to swing in the horizontal direction, and the lock mechanism 40 always keeps translating during yaw. The fixed end of the side elevation driving mechanism 30 is hinged on the telescopic part 122, and the telescopic end is hinged with the translation mechanism 10 to drive the translation mechanism 10 to swing in the vertical direction. The yaw driving mechanism 20 and the roll driving mechanism 30 can adopt any existing linear displacement mechanism, in this embodiment, a hydraulic cylinder or an air cylinder is preferred, and the fixed end of the roll driving mechanism 30 is a cylinder barrel, and the telescopic end is a piston.
Because the translation mechanism 10 swings in both the horizontal plane and the vertical plane, it is still hinged to the telescopic portion 122, the yaw driving mechanism 20, the pitch driving mechanism 30, and the lock mechanism 40. In order to meet the above-mentioned structural action requirement, referring to fig. 2 and 3, in the present embodiment, the translation mechanism 10 is a four-bar linkage structure, and four bars are hinged to form a quadrilateral (not limited to a parallelogram).
Among the four links of the translation mechanism 10: the first link 11 is used for being hinged with the telescopic part 122 and the hinge 50, as shown in fig. 2 and 3; the second link 12 is used for being hinged with the telescopic end of the sidelay driving mechanism 30, and the hinged position 31 is located in the middle of the second link, as shown in fig. 3 and 4; the third link 13 is used for hinging with the lock head mechanism 40, and the third link 13 and the first link 11 form opposite sides of a quadrangle.
In order to further improve the position accuracy of the lock mechanism 40, the mechanical arm 131 is preferably a symmetrical structure and is composed of two translation mechanisms 10, two yaw driving mechanisms 20 and two pitch driving mechanisms 30. That is, each translation mechanism 10 is driven by a yaw driving mechanism 20 and a pitch driving mechanism 30, and the two translation mechanisms 10 are respectively hinged at two sides of the lock mechanism 40. The two translation mechanisms 10 can be linked, so that the lock head mechanism 40 can swing in the horizontal direction and the vertical direction, and the spatial position of the lock head mechanism 40 is adjusted; the spatial position and the posture of the lock mechanism 40 can be finely adjusted by single action.
The lock mechanism 40 is a key component in the process of accessing the container. Referring to fig. 5, in the present embodiment, the lock mechanism 40 includes a hinge base 41, a lock reference surface 42, a hinge pin 43, and a rotary lock 44. The hinged support 41 is a mounting base for each component of the lock mechanism 40, and the two translation mechanisms 10 are respectively hinged with two vertical side edges of the hinged support 41. The lock head reference surface 42 is hinged in the hinge base 41 through a hinge pin 43, and the lock head reference surface 42 is used for being attached to the side face of the container corner fitting in the process of inserting the rotary lock head 44 into the side face hole to play a positioning role.
The rotary lock 44 is rotatably mounted on the lock reference surface 42, and the rotary lock 4 is shaped to be inserted into a side hole of a corner fitting at the bottom of the container, for example, the side hole of the corner fitting is a kidney-shaped hole, and then the rotary lock 4 is also shaped as a kidney. To ensure that the rotary lock head 44 is inserted into the side hole of the corner fitting smoothly and automatically, the surface of the rotary lock head 44 is tapered, and the tapered surface plays a guiding role in the process of inserting the rotary lock head 44 into the side hole.
To improve the intelligence of the container transferring apparatus 100, the container transferring apparatus 100 preferably further comprises a CCD vision monitoring system, and a CCD camera 140 of the CCD vision monitoring system is installed in the locking mechanism 40, as shown in fig. 3. And a CCD visual detection system is adopted to intelligently position the container, so that the container is intelligently transferred.
Example 2:
based on the same inventive concept, the present embodiment provides a container air-transport apparatus in which the container transferring device 100 of embodiment 1 described above is configured. For example, if the container air transportation device is an air rail intelligent transportation system 400, the container transferring equipment 100 can be installed on the air rail 401 of the air rail intelligent transportation system 400 through the equipment installing frame 110, as shown in fig. 6. For another example, if the container air transportation device is a container crane, the container transfer apparatus 100 may be mounted on a traveling beam of the container crane through the apparatus mounting frame 110.
Referring to fig. 7, taking an air-rail intelligent transportation system 400 equipped with the container transferring device 100 as an example, the container transferring device and the operation method of the container air transportation device of the embodiment of the present invention are as follows:
firstly, transferring the container from an air rail intelligent transportation system to a container truck:
1. when the container spreader 402 of the empty rail intelligent transportation system 400 transports the container 200 to the position right above the container transfer device 100, the safety protection claws of the container spreader 402 are opened, the lifting mechanism 120 starts to act, the gear rack mechanism is driven by the motor, and the manipulator assembly 130 is lifted to a specified position (the lifting height of the container transfer device 100 is determined because the height sizes of 20ft, 40ft and 45ft containers are the same).
2. After the intelligent positioning of the CCD visual monitoring system, a yaw oil cylinder (namely, a yaw driving mechanism 20) and a side pitch oil cylinder (namely, a side pitch driving mechanism 30) start to work, the translation mechanism 10 is adjusted to a proper position to receive the container 200 on the empty rail, the bottom corner piece 201 of the container 200 is locked through the lock head mechanism 40, the action of the lock head mechanism 40 is as shown in FIG. 7, when an included angle exists between the side surface of the container 200 and the lock head reference surface 42, the lock head 44 can be rotated to be capable of deflecting along with the container in a self-adaptive manner, and after the lock head reference surface 42 is attached to the side surface of the container corner piece 201, the lock head mechanism 40 acts to lock the side surface hole of the container bottom corner piece 201.
3. The container spreader 402 (which locks the upper container corner fitting so as not to interfere with the locking action of the container transferring apparatus 100) is opened and removed, and the lifting mechanism 120 starts to operate to lower the robot assembly 130 to a designated position. The intelligent positioning is carried out through a CCD visual detection system, the container 200 is placed on the container truck 500 which is stopped in a designated area through the work of the transverse moving oil cylinder and the side pitching oil cylinder, the lock head mechanism 40 is loosened, and the transfer work of the container 200 from the empty rail 400 to the container truck 500 is completed.
Secondly, transferring the container from the container truck to an air rail intelligent transportation system: the specific operation process is the reverse process of the above three steps, and the specific content is not described herein again.
Through the embodiment, the invention has the following beneficial effects or advantages:
1) the container transfer equipment provided by the invention can directly grab the container from the air transportation device to place on the appointed container truck or directly grab the container from the container truck to transfer to the air transportation device, so that the complex intermediate transfer operation in the prior art is eliminated, the flexibility is good, the specificity is strong, and the container transfer efficiency is greatly improved.
2) According to the container transfer equipment provided by the invention, the lock mechanism can swing on a horizontal plane and a vertical plane through arranging the special manipulator assembly, the spatial position is adjusted, and the spatial posture of the lock mechanism can be finely adjusted, so that the lock mechanism is accurately aligned with the corner fittings of the container, the container is automatically locked or unlocked, and the position requirement on ground equipment during the container transfer is reduced.
3) According to the container air transportation device provided by the invention, the existing ground jacking equipment or lifting transfer trolley can be eliminated by configuring the container transfer equipment, so that the equipment cost and the operation cost are saved, the whole container transfer equipment is hung on the air rail through the equipment mounting frame, the floor area is reduced, the utilization rate of the air rail station field is improved, and the container transfer efficiency is also improved.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A container transfer apparatus, characterized in that: the manipulator assembly is arranged on the telescopic part;
the mechanical arm assembly comprises a mechanical arm and a lock head mechanism; the mechanical arm has a horizontal direction swing freedom degree and a vertical direction swing freedom degree, and the lock head mechanism is installed at the free end of the mechanical arm;
the lock mechanism is internally provided with a rotary lock, and the rotary lock is rotatably arranged in the lock mechanism; the lock mechanism is driven by the mechanical arm, and can be switched between two states, namely locking the container by extending the rotary lock into a side hole of a corner fitting of the container and unlocking the rotary lock and the corner fitting.
2. The container transfer apparatus of claim 1, wherein: the mechanical arm comprises a translation mechanism, a yaw driving mechanism and a side pitch driving mechanism, wherein:
one end of the translation mechanism is hinged with the telescopic part, and the other end of the translation mechanism is hinged with the lock head mechanism;
the horizontal swinging driving mechanism is arranged on the telescopic part and is hinged with the translation mechanism through a hinge part so as to drive the translation mechanism to swing in the horizontal direction;
the fixed end of the side elevation driving mechanism is hinged to the telescopic part, and the telescopic end of the side elevation driving mechanism is hinged to the translation mechanism so as to drive the translation mechanism to swing in the vertical direction.
3. The container transferring apparatus according to claim 2, wherein: the translation mechanism is of a four-connecting-rod structure, and four connecting rods are hinged to form a quadrangle; among four connecting rods:
the first connecting rod is used for being hinged with the telescopic part and the hinged piece;
the second connecting rod is hinged with the telescopic end of the side elevation driving mechanism, and the hinged position is located in the middle of the second connecting rod;
and the third connecting rod is hinged with the lock head mechanism, and the third connecting rod and the first connecting rod form opposite sides of a quadrangle.
4. The container transfer apparatus of claim 3, wherein: the mechanical arm is of a symmetrical structure and consists of two translation mechanisms, two yaw driving mechanisms and two side pitch driving mechanisms, and the two translation mechanisms are respectively hinged to two sides of the lock head mechanism.
5. The container transfer apparatus of claim 4, wherein: the lock head mechanism comprises a hinged support, a lock head reference surface, a hinged pin and the rotary lock head; wherein:
the lock head reference surface is hinged and installed in the hinge seat through the hinge pin;
the rotary lock head is rotatably arranged on the lock head reference surface;
the two translation mechanisms are respectively hinged with the two vertical side edges of the hinged support.
6. The container transfer apparatus of claim 1, wherein: the bottom of pars contractilis is provided with the mount pad, manipulator assembly install in on the mount pad.
7. The container transfer apparatus of claim 1, wherein: the number of the equipment mounting frames is 2, the 2 equipment mounting frames are arranged at intervals, and the distance is matched with the length of the container;
the equipment mounting bracket is door type, two are installed to the last symmetry of equipment mounting bracket elevating system.
8. The container transfer apparatus of claim 7, wherein: be provided with the leading wheel on the equipment fixing frame, the leading wheel with pars contractilis rolling contact.
9. The container transfer apparatus of claim 1, wherein: the container transfer equipment further comprises a CCD visual monitoring system, and a CCD camera of the CCD visual monitoring system is installed in the lock mechanism.
10. An air transportation device for a container, which is characterized in that: container air transport unit comprising a container transferring device according to any of claims 1-9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010647422.3A CN111792362B (en) | 2020-07-07 | 2020-07-07 | Container transfer equipment and container air transportation device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010647422.3A CN111792362B (en) | 2020-07-07 | 2020-07-07 | Container transfer equipment and container air transportation device |
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| CN111792362A true CN111792362A (en) | 2020-10-20 |
| CN111792362B CN111792362B (en) | 2022-03-01 |
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| WO2022143184A1 (en) * | 2020-12-31 | 2022-07-07 | 青岛港国际股份有限公司 | Air rail train lifting appliance, control system thereof and control method therefor |
| CN112660844A (en) * | 2021-01-11 | 2021-04-16 | 青岛港国际股份有限公司 | Interactive system for air rail transportation and ground transportation |
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| CN111792362B (en) | 2022-03-01 |
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