CN113184575B

CN113184575B - Automatic disassembling and assembling system and method for lock button of container in wharf

Info

Publication number: CN113184575B
Application number: CN202110484705.5A
Authority: CN
Inventors: 吴聪颖; 杨庆研; 李诗; 郑军
Original assignee: Matrixtime Robotics Shanghai Co ltd
Current assignee: Matrixtime Robotics Shanghai Co ltd
Priority date: 2021-04-30
Filing date: 2021-04-30
Publication date: 2023-03-21
Anticipated expiration: 2041-04-30
Also published as: CN113184575A

Abstract

The invention relates to an automatic dismounting and mounting system for a container lock button of a wharf, which comprises a platform, wherein a travelling channel is arranged in the middle of the platform and is used for a truck to pass through; two sides of the travelling channel are respectively provided with two sets of corner lock dismounting units and a set of middle lock dismounting unit, and the corner lock dismounting units and the middle lock dismounting units are respectively used for dismounting lock buttons at the corner parts and the middle part of the container; still include the location perception system, the location perception system includes: the system comprises a first monitoring camera arranged at the inlet end of a traffic channel, a second monitoring camera and a display screen arranged at the outlet end of the traffic channel, and laser sensors arranged at two sides of the traffic channel; the laser sensor is used for scanning and positioning the container, displaying on the display screen and prompting a driver of the truck to stop at a dismounting position; wherein the first monitoring camera and the second monitoring camera identify the container number by taking a picture of the container to determine the type of the lock knob. The invention can save labor force, improve the disassembly and assembly efficiency and is beneficial to the realization of unmanned ports.

Description

Automatic disassembling and assembling system and method for lock button of container in wharf

Technical Field

The invention belongs to the technical field of special equipment for wharf containers, and particularly relates to an automatic wharf container lock button dismounting system and an automatic wharf container lock button dismounting method.

Background

With the development of international trade, container transportation has spread to all marine countries in the world, and containerization of world marine cargo has become the most important means of loading and transporting. The container is connected and fixed on the cargo ship through a lock button. When loading, the lock button is installed in the corner piece at the bottom of the container with the crane on the container truck, and the container is hoisted to the ship by the bridge crane. When unloading, the container is lifted to the collecting card from the cargo ship, the container lock button is removed, and the container is transported to a storage yard.

At present, most of ports adopt a manual lock disassembling and assembling mode, and each container needs 2-4 workers to perform the lock disassembling and assembling operation. The safety is low, and the cost of labor is high, has hindered the propulsion of full automatization harbour construction. The demand for automatic disassembly and assembly equipment is increasingly strong.

Patent 201620190588.6 provides an automatic dismouting lock system based on transfer platform, and this system need lift by crane the box with higher authority from cargo ship or container truck to the transfer platform earlier, carries out operation on next step after the dismouting lock, and efficiency is lower, and does not mention the management of lock button commodity circulation.

The patent 201821424067.8 arranges the dismounting system on the bridge crane, occupies the lifting space of the bridge crane, has low lifting efficiency of a single container, and does not mention the management of lock button logistics.

Patent 201821599448.X provides an automatic system of dismouting lock after to container location, but lock button with lock case transportation and storage, long-term artifical supplementary locking that needs during lock is adorned to the garage change, lock button storage capacity is not enough, can not realize full automation. And the robot is fixedly installed and used, so that the dismounting and mounting clamp heads need to be frequently replaced when containers of different sizes are operated, and the dismounting and mounting efficiency is influenced.

Disclosure of Invention

The invention aims to provide an automatic disassembling and assembling system and method for a container lock button of a wharf, which can save labor force, improve disassembling and assembling efficiency and facilitate realization of unmanned ports.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides a pier container lock button automatic assembly disassembly system which characterized in that:

comprises a platform 10, wherein the middle of the platform 10 is a driving channel for a truck 60 to pass through; two sets of corner lock dismounting units 20 and one set of middle lock dismounting unit 30 are respectively arranged at two sides of the travelling channel, and the corner lock dismounting units 20 and the middle lock dismounting units 30 are respectively used for dismounting lock buttons 80 at the corners and the middle parts of the container 70;

still include the location perception system, the location perception system includes: the system comprises a first monitoring camera 11 arranged at the inlet end of a traffic channel, a second monitoring camera 12 and a display screen 13 arranged at the outlet end of the traffic channel, and laser sensors 14 arranged at two sides of the traffic channel; wherein the laser sensor 14 is used for scanning and positioning the container 70, displaying on the display screen 13 and prompting a driver of the truck 60 to stop at the dismounting position; wherein the first monitoring camera 11 and the second monitoring camera 12 identify the container number by taking a picture of the container 70 to determine the type of the lock knob 80.

Further, the angle lock dismounting unit 20 comprises a manipulator 23, a clamping hand 24 for clamping the lock button 80 is arranged on the manipulator 23, and the manipulator 23 is mounted on a ground rail 22 and used for moving back and forth parallel to the traffic channel.

Further, the lock storage 40 is further included, the lock storage 40 includes two rows of parallel lock storage brackets 42, a plurality of layers of lock drawers 43 are installed in the lock storage brackets 42, lock boxes 44 are placed on the lock drawers 43, and lock buttons 80 are placed in the lock boxes 44; be equipped with lock box fork truck 41 between two rows of lock storehouse supports 42, be equipped with lock box transfer chain 21 between ground rail 22 and the lock box fork truck 41, lock box fork truck 41 is used for transporting lock box 44 to lock box transfer chain 21 from lock storehouse support 42.

Further, the middle lock disassembling and assembling unit 30 includes a manipulator 23, a clamping hand 24 for clamping the lock button 80 is provided on the manipulator 23, and a 3D camera is installed on the clamping hand 24 for positioning the corner fitting 71 and the lock button 80 of the container 70.

Further, the middle lock case 31 is provided at front and rear sides of the middle lock disassembling and assembling unit 30 for storing the lock knob 80.

Further, a central lock frame 32 is provided at a rear side of the middle lock attaching and detaching unit 30 for storing the lock knob 80.

A method for a wharf container lock button automatic disassembly and assembly system is characterized in that: after the truck 60 drives into the driving channel in the middle of the platform 10, the position of the container is determined by the positioning sensing system, the central control system sends a parking instruction to the driver through the output of the display screen 13, and then the automatic assembly and disassembly of the lock buttons 80 are completed by the four sets of corner lock assembly and disassembly units 20 and the two sets of middle lock assembly and disassembly units 30.

Further, when two 20-foot containers 70 are lifted simultaneously, two sets of middle lock disassembling units 30 are used for disassembling and assembling the corner lock buttons 80 at the adjacent ends of the two containers 70, and four sets of corner lock disassembling and assembling units 20 are used for disassembling and assembling the corner lock buttons 80 at the opposite ends of the two containers 70.

Furthermore, the central control system is provided with an independent industrial personal computer, is arranged in the central control cabinet 50, is configured with a positioning sensing system, distributes dismounting tasks for each dismounting unit, is simultaneously used for communicating with a port information system, acquires dismounting information of the container 70 and feeds back a dismounting lock result; each dismounting unit is provided with an independent industrial personal computer and a control cabinet, the industrial personal computer receives dismounting tasks of the central control system and processes 3D visual positioning of the lock button 80; the control cabinet is provided with a PLC to control all actions of the dismounting unit; each node communicates with TCP/IP.

Further, when the lock is installed, the central control system controls the lock box forklift 41 and the lock box conveyor line 21 to take the lock box 44 out of the warehouse and convey the lock box to the lock installing position; the positioning sensing system detects the position of the container 70, prompts a driver to adjust the position through the display screen 13 and stops the vehicle; each disassembling and assembling unit manipulator 23 moves to a photographing position, and after the 3D camera positions a lock hole, the clamping hand 24 grabs the lock knob 80 from the lock box 44 and installs the lock knob into the corner fitting 71 of the container 70; after completion, the manipulator 23 is reset, the lock box 44 is transported back to the lock magazine support 42, and the truck 60 is driven away;

when the lock is unlocked, the central control system controls the lock box forklift 41 and the lock box conveyor line 21 to discharge the empty lock box 44 out of the warehouse and convey the empty lock box to the lock loading position; the positioning sensing system detects the position of the container 70, prompts a driver to adjust the position through the display screen 13, and stops the vehicle; each disassembling and assembling unit manipulator 23 moves to a photographing position, and after the locking button 80 is positioned by the 3D camera, the clamping hand 24 detaches the locking button 80 from the corner piece 71 and puts the locking button into the empty lock box 44; after completion, the manipulator 23 is reset and the truck 60 is driven away; after the next truck 60 completes the lock, the lock box 44 is again empty and is transported into the lock magazine support 42.

Compared with the prior art, the invention has the following beneficial effects:

(1) The invention provides an automatic lock button dismounting system for a wharf container, which can realize automatic lock button conveying and lock button resetting, has a lock warehouse system with large storage capacity, finishes automatic dismounting of lock buttons when a container stays on a container truck, can save labor force, improves dismounting efficiency, and is beneficial to realization of unmanned ports.

(2) Each disassembling and assembling unit is provided with an independent lock button storage and conveying system, and the lock buttons are stored on the lock storehouses, so that the capacity of the lock storehouses is large. The lock buttons in different forms can be disassembled and assembled according to requirements, the disassembling and assembling task is completed, and the frequent warehouse replacement and the manual warehouse loading during the lock assembling are avoided. The equipment lock button is carried through the lock box form, and lock box cun goes into the lock steamer tray, and different units and equipment room lock steamer tray can be replaced each other, and the degree of flexibility is high.

(3) The disassembly and assembly unit strictly distinguishes the special modules for middle lock disassembly and angle lock disassembly, and low efficiency caused by frequent head replacement is avoided. Be furnished with the ground rail, can adjust the dismouting position according to not unidimensional container, strong adaptability compares in the dismouting equipment of changing the chuck in order to adapt to not unidimensional, and work efficiency is high.

(4) The equipment processes communication by a central system, operates a perception algorithm, and is independently controlled by each dismounting unit, so that the modularization degree is higher, the implementation period is short, and the dismounting units can be replaced mutually.

Drawings

Fig. 1 is a schematic plane structure diagram of an automatic quay container lock button disassembling and assembling system.

Fig. 2 is a schematic perspective view of an automatic locking button dismounting system for a container in a quay.

Fig. 3 is a schematic view of a partial structure of the automatic locking button dismounting system for a quay container.

Fig. 4 is a schematic diagram of a lock warehouse structure of the automatic quay container lock button disassembling and assembling system.

Fig. 5 is a schematic structural view of a manipulator of the automatic quay container lock button disassembling and assembling system.

Fig. 6 is a schematic view of a control system of the automatic quay container lock button disassembling and assembling system.

In the figure: 10-platform, 11-first monitoring camera, 12-second monitoring camera, 13-display screen, 14-laser sensor, 20-corner lock dismounting unit, 21-lock box conveying line, 22-ground rail, 23-mechanical arm, 24-gripper, 30-middle lock dismounting unit, 31-middle lock box, 32-central lock frame, 40-lock warehouse, 41-lock box forklift, 42-lock warehouse support, 43-lock drawer, 44-lock box, 50-central control cabinet, 60-truck, 70-container, 71-corner fitting and 80-lock button.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, 2, 3, 4 and 5, an automatic lock button mounting and dismounting system for a container on a wharf is integrally arranged on a driving route of a truck 60,

comprises a platform 10, wherein the middle of the platform 10 is a driving channel for a truck 60 to pass through; two sets of corner lock dismounting units 20 and one set of middle lock dismounting unit 30 are respectively arranged on two sides of the travelling channel, and the corner lock dismounting units 20 and the middle lock dismounting units 30 are respectively used for dismounting lock buttons 80 at the corner and the middle of the container 70.

The angle lock dismounting unit 20 comprises a manipulator 23, a clamping hand 24 for clamping the lock button 80 is arranged on the manipulator 23, and the manipulator 23 is mounted on a ground rail 22 and used for moving back and forth parallel to the travelling channel.

The middle lock disassembling and assembling unit 30 comprises a manipulator 23, a clamping hand 24 for clamping the lock button 80 is arranged on the manipulator 23, and a 3D camera is arranged on the clamping hand 24 and used for positioning the corner piece 71 and the lock button 80 of the container 70. The middle lock case 31 is provided at both front and rear sides of the middle lock disassembly and assembly unit 30 for storing the lock knob 80. The central lock frame 32 is provided on the back side of the middle lock attaching and detaching unit 30 for storing the lock knob 80.

In order to adapt to the self-adaptive disassembly and assembly of various lock buttons 80, the disassembly and assembly head of the clamping hand 24 can be quickly replaced, and the replacement mechanism adopts the existing mature technology and is automatically connected with electricity and gas. A storage area for the grippers 24 may be provided, and a plurality of grippers 24 may be stored. The manipulator 23 is mounted on the ground rail 22 and can move along with the ground rail 22 to adapt to the disassembly and assembly of container lock buttons 80 with different sizes and specifications.

The platform 10 is further provided with a lock storage 40, each corner lock dismounting unit 20 is provided with a set of lock storage 40, the lock storage 40 comprises two rows of parallel lock storage brackets 42, a plurality of layers of lock drawers 43 are installed in the lock storage brackets 42, lock boxes 44 are placed on the lock drawers 43, and lock buttons 80 are placed in the lock boxes 44; be equipped with lock box fork truck 41 between two rows of lock storehouse supports 42, be equipped with lock box transfer chain 21 between ground rail 22 and the lock box fork truck 41, lock box fork truck 41 is used for transporting lock box 44 to lock box transfer chain 21 from lock storehouse support 42. The lock buttons 80 are stored in the locker house holder 42 by the lock boxes 44, and one lock box 44 can accommodate 2 lock buttons 80. A plurality of lock boxes 44 form a lock drawer 43, the lock drawer 43 can be taken out from the lock storage bracket 42 and replaced among different disassembly and assembly units and different disassembly and assembly equipment, and the storage reversing of the lock button 80 is realized.

Automatic dismouting system of pier container lock button still includes the location perception system, the location perception system includes: the system comprises a first monitoring camera 11 arranged at the inlet end of a traffic channel, a second monitoring camera 12 and a display screen 13 arranged at the outlet end of the traffic channel, and laser sensors 14 arranged at two sides of the traffic channel; wherein the laser sensor 14 is used for scanning and positioning the container 70, displaying on the display screen 13 and prompting a driver of the truck 60 to stop at the dismounting position; wherein the first monitoring camera 11 and the second monitoring camera 12 identify the container number by taking a picture of the container 70 to determine the type of the lock knob 80.

The method for automatically disassembling and assembling the lock knob of the container at the wharf comprises the following steps:

after the truck 60 drives into the driving channel in the middle of the platform 10, the position of the container is determined by the positioning sensing system, the central control system sends a parking instruction to the driver through the output of the display screen 13, and then the automatic assembly and disassembly of the lock buttons 80 are completed by the four sets of corner lock assembly and disassembly units 20 and the two sets of middle lock assembly and disassembly units 30. The central control system is provided with an independent industrial personal computer, is arranged in the central control cabinet 50, is provided with a positioning sensing system, distributes dismounting tasks for all dismounting units, is simultaneously used for communicating with a port information system, acquires dismounting information of the container 70 and feeds back a dismounting lock result; each dismounting unit is provided with an independent industrial personal computer and a control cabinet, the industrial personal computer receives dismounting tasks of the central control system and processes 3D visual positioning of the lock button 80; the control cabinet is provided with a PLC to control all actions of the dismounting unit; each node communicates with TCP/IP.

When locking, the central control system controls the lock box forklift 41 and the lock box conveyor line 21 to take the lock box 44 out of the warehouse and convey the lock box to a locking position; the positioning sensing system detects the position of the container 70, prompts a driver to adjust the position through the display screen 13 and stops the vehicle; each disassembling and assembling unit manipulator 23 moves to a photographing position, and after the 3D camera positions a lock hole, the clamping hand 24 grabs the lock knob 80 from the lock box 44 and installs the lock knob into the corner fitting 71 of the container 70; after completion, the manipulator 23 is reset, the lock box 44 is transported back to the lock magazine support 42, and the truck 60 is driven away;

when the lock is unlocked, the central control system controls the lock box forklift 41 and the lock box conveyor line 21 to discharge the empty lock box 44 out of the warehouse and convey the empty lock box to the lock loading position; the positioning sensing system detects the position of the container 70, prompts a driver to adjust the position through the display screen 13 and stops the vehicle; each dismounting unit manipulator 23 moves to a photographing position, and after the locking button 80 is positioned by the 3D camera, the clamping hand 24 detaches the locking button 80 from the corner fitting 71 and places the locking button into the empty lock box 44; after completion, the manipulator 23 is reset and the truck 60 is driven away; after the next truck 60 completes the lock, the lock box 44 is again empty and is transported into the lock magazine support 42.

When two 20-foot containers 70 are lifted simultaneously, two sets of middle lock disassembly and assembly units 30 are utilized to disassemble and assemble the corner lock buttons 80 at the adjacent ends of the two containers 70, and four sets of corner lock disassembly and assembly units 20 are utilized to disassemble and assemble the corner lock buttons 80 at the back ends of the two containers 70.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a pier container lock button automatic assembly disassembly system which characterized in that:

the platform comprises a platform (10), wherein a traffic channel is arranged in the middle of the platform (10) and is used for a truck (60) to pass through; two sides of the travelling channel are respectively provided with two sets of corner lock disassembly and assembly units (20) and a set of middle lock disassembly and assembly units (30), and the corner lock disassembly and assembly units (20) and the middle lock disassembly and assembly units (30) are respectively used for disassembling and assembling lock buttons (80) at the corners and the middle part of the container (70);

the corner lock disassembly and assembly device is characterized by further comprising a lock storage (40), each corner lock disassembly and assembly unit (20) is provided with one lock storage (40), each lock storage (40) comprises two rows of lock storage supports (42) which are arranged in parallel, a plurality of layers of lock drawers (43) are installed in the lock storage supports (42), lock boxes (44) are placed on the lock drawers (43), and lock buttons (80) are placed in the lock boxes (44); a lock box forklift (41) is arranged between the two rows of lock warehouse supports (42), a lock box conveying line (21) is arranged between the ground rail (22) and the lock box forklift (41), and the lock box forklift (41) is used for conveying the lock boxes (44) to the lock box conveying line (21) from the lock warehouse supports (42);

still include the location perception system, the location perception system includes: the monitoring system comprises a first monitoring camera (11) arranged at the inlet end of a traffic channel, a second monitoring camera (12) and a display screen (13) arranged at the outlet end of the traffic channel, and laser sensors (14) arranged at two sides of the traffic channel; the laser sensor (14) is used for scanning and positioning the container (70), displaying on the display screen (13) and prompting a driver of the truck (60) to stop at a disassembly and assembly position; wherein the first monitoring camera (11) and the second monitoring camera (12) identify the container number by taking a picture of the container (70) to determine the type of the lock knob (80).

2. The dock container lock button automatic release system of claim 1, wherein: the angle lock dismounting unit (20) comprises a manipulator (23), a clamping hand (24) used for clamping a lock button (80) is arranged on the manipulator (23), and the manipulator (23) is installed on a ground rail (22) and used for moving back and forth in parallel with a travelling channel.

3. The dock container lock button automatic release system of claim 1, wherein: well lock dismouting unit (30) are including manipulator (23), be equipped with tong (24) that are used for pressing from both sides to get lock button (80) on manipulator (23), install the 3D camera on tong (24) for corner fittings (71) and lock button (80) location to container (70).

4. The dock container lock button automatic release system of claim 3, wherein: the front side and the rear side of the middle lock dismounting unit (30) are provided with middle lock boxes (31) for storing lock buttons (80).

5. The dock container lock button automatic release system of claim 3, wherein: the back side of the middle lock dismounting unit (30) is provided with a central lock frame (32) used for storing a lock button (80).

6. The method for automatic lock knob removal and installation system for quay container as claimed in any one of claims 1 to 5 wherein: after a truck (60) drives into a driving channel in the middle of the platform (10), the position of the container is determined through a positioning sensing system, a central control system sends a parking instruction to a driver through the output of a display screen (13), and then the automatic dismounting and mounting of a lock button (80) are completed through four sets of corner lock dismounting and mounting units (20) and two sets of middle lock dismounting and mounting units (30);

when locking, the central control system controls a lock box forklift (41) and a lock box conveying line (21) to take a lock box (44) with a lock out of the warehouse and convey the lock box to a locking position, and a clamping hand (24) grabs a lock knob (80) from the lock box (44) and installs the lock knob into a corner fitting (71) of a container (70);

when the lock is unlocked, the central control system controls the lock box forklift (41) and the lock box conveying line (21) to take the empty lock box (44) out of the warehouse and convey the empty lock box to the lock loading position, and the clamping hand (24) unloads the lock knob (80) from the corner piece (71) and puts the empty lock box (44).

7. The method for automatic lock knob disassembly and assembly system for quay container as claimed in claim 6, wherein: when two 20-foot containers (70) are lifted simultaneously, two sets of middle lock disassembling units (30) are used for disassembling and assembling corner lock buttons (80) at the adjacent ends of the two containers (70), and four sets of corner lock disassembling and assembling units (20) are used for disassembling and assembling the corner lock buttons (80) at the back ends of the two containers (70).

8. The method for automatic lock knob disassembly and assembly system for quay container as claimed in claim 6, wherein: the central control system is provided with an independent industrial personal computer, is arranged in a central control cabinet (50), is provided with a positioning sensing system, distributes dismounting tasks for all dismounting units, is simultaneously used for communicating with a port information system, acquires dismounting information of the container (70) and feeds back a dismounting lock result; each dismounting unit is provided with an independent industrial personal computer and a control cabinet, the industrial personal computer receives dismounting tasks of the central control system and processes 3D visual positioning of the lock buttons (80); the control cabinet is provided with a PLC to control all actions of the dismounting unit; each node communicates with TCP/IP.

9. The method for automatic lock knob disassembly and assembly system for quay container as claimed in claim 6, wherein: when the lock is installed, the central control system controls the lock box forklift (41) and the lock box conveying line (21) to take the lock box (44) with the lock out of the warehouse and convey the lock box to the lock installing position; the positioning sensing system detects the position of the container (70), prompts a driver to adjust the position through a display screen (13), and stops the vehicle; each disassembling and assembling unit manipulator (23) moves to a photographing position, and after the 3D camera positions a lock hole, a clamping hand (24) grabs a lock knob (80) from a lock box (44) and is installed in a corner fitting (71) of a container (70); after the completion, the manipulator (23) is reset, the lock box (44) is transported back to the lock warehouse support (42), and the truck (60) is driven away;

when the lock is unlocked, the central control system controls the lock box forklift (41) and the lock box conveying line (21) to take the empty lock box (44) out of the warehouse and convey the empty lock box to the lock loading position; the positioning sensing system detects the position of the container (70), prompts a driver to adjust the position through a display screen (13), and stops the vehicle; each dismounting unit mechanical arm (23) moves to a photographing position, and after the locking button (80) is positioned through the 3D camera, the clamping hand (24) detaches the locking button (80) from the corner piece (71) and places the locking button into the empty lock box (44); after the completion, the manipulator (23) is reset, and the truck (60) drives away; after the next truck (60) completes the lock, the lock box (44) is empty and then transported into the lock magazine rack (42).