CN113336103A - Discharging system and method for horizontal carrying unmanned vehicle for port containers - Google Patents
Discharging system and method for horizontal carrying unmanned vehicle for port containers Download PDFInfo
- Publication number
- CN113336103A CN113336103A CN202110530570.1A CN202110530570A CN113336103A CN 113336103 A CN113336103 A CN 113336103A CN 202110530570 A CN202110530570 A CN 202110530570A CN 113336103 A CN113336103 A CN 113336103A
- Authority
- CN
- China
- Prior art keywords
- clamping
- container
- rods
- sides
- lifting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
- B66C19/002—Container cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/101—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means for containers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Ship Loading And Unloading (AREA)
Abstract
The invention discloses a discharging system and method for a port container horizontal carrying unmanned vehicle, which comprises a support, wherein a lifting frame, a cross beam and a top plate are sequentially arranged in the support from bottom to top, a moving device is arranged at the top in the cross beam, a lifting device is arranged at the top of the moving device, the bottom of the lifting device is connected with a clamping mechanism through a sling, two pushing blocks are arranged on two sides of the lifting frame, a pushing hydraulic cylinder is arranged between each pushing block and the bottom of the support, a cross rod is arranged in the lifting frame, clamping jaw mechanisms are arranged on two sides of the cross rod, clamping sleeves matched with the clamping mechanism are arranged at the tops of the clamping jaw mechanisms, and two distance sensors are arranged at the bottom of the front surface of the lifting frame. Has the advantages that: through the two clamping jaw mechanisms and the lifting frame capable of lifting, when the lifting device lifts and unloads the container, the waiting unmanned carrying vehicle can be temporarily unloaded, so that the unmanned carrying vehicle enters the next operation period, and the working efficiency of the unmanned carrying vehicle is improved.
Description
Technical Field
The invention belongs to the field of unmanned ports, and particularly relates to a system and a method for horizontally transporting unmanned vehicles to discharge containers in a port.
Background
Containers are the fundamental carrier of ocean-going commercial transport of goods, and in port environments, the transfer and handling of containers is the most fundamental task. In modern port transportation operations, an unmanned aerial vehicle is generally used as a carrier to transfer containers, and after the containers are transferred to a destination, the containers are hoisted and unloaded by a discharge crane, and then the containers are loaded on a cargo ship or stacked on a wharf. The artificial amount of labour that can significantly reduce through the operation of unmanned, but because the goods quantity in harbour is numerous, shifts the during operation through unmanned car, because the discharge process is slow, unmanned car can have more latency, can not unload until the hoist accomplishes once the transportation, and this causes the waste of certain degree to the time undoubtedly.
Chinese patent CN107720323A discloses a discharging system and method for a port container horizontal transport unmanned vehicle, which is recorded for solving the problems of long waiting time for discharging the existing unmanned vehicle and low efficiency of port operation environment. Utilize lifting device and receiving device to carry out temporary shelving with the container at unmanned aerial vehicle top in this application to liberation unmanned aerial vehicle drops into next transfer operation once more. But still need in this application to unmanned aerial vehicle installation lifting mechanism, subaerial receiving device isotructure can occupy the space on ground simultaneously, is unfavorable for the facility of harbour traffic, and the cooperation between receiving device and the lifting device isotructure is clear and definite simple inadequately in this application simultaneously.
An effective solution to the problems in the related art has not been proposed yet.
Disclosure of Invention
The purpose of the invention is as follows: the system and the method for horizontally transporting the unmanned vehicle for discharging the containers in the port are provided to overcome the technical problems in the prior art.
The technical scheme is as follows: the utility model provides a harbour container horizontal transport unmanned vehicles discharge system, which comprises a bracket, the inside crane that upwards has set gradually by the bottom of support, crossbeam and roof, the top is provided with mobile device in the crossbeam, the mobile device top is provided with hoisting accessory, the hoisting accessory bottom is connected with clamping mechanism through the hoist cable, the crane both sides all are provided with two ejector pads, be provided with the top between ejector pad and the support bottom and push away the pneumatic cylinder, the inside horizontal pole that is provided with of crane, the horizontal pole both sides all are provided with jack catch mechanism, jack catch mechanism top is provided with the joint cover with clamping mechanism matched with, crane front bottom is provided with two distance sensor, jack catch mechanism below is provided with the transport unmanned vehicles, the roof top is.
In further embodiment, the crane forms a Chinese character ri structure with the horizontal pole, and the crane both sides all are provided with two stoppers, and the support inboard is seted up with stopper matched with spacing groove, can fix two jack catch mechanisms to ensure the stability and the security of crane through the spacing groove.
In a further embodiment, the clamping mechanism comprises a connecting frame arranged at the bottom of the sling, the connecting frame is of an inverted-convex structure, the bottoms of two sides of the connecting frame are respectively provided with a plurality of clamping through holes which are arranged at equal intervals, the inner sides of the clamping through holes are mutually communicated in the connecting frame to form a containing cavity, the top of the containing cavity is provided with a first electromagnet, the bottom of the containing cavity is provided with a magnetic column, one side of the magnetic column is provided with a plurality of clamping rods which are inserted through the clamping through holes, the bottom of one end, far away from the connecting frame, of each clamping rod is movably connected with the connecting rod, the bottom of the connecting rod is movably connected with the bottom of one side of the connecting frame, and the middle position of the bottom of the connecting frame is provided with two second electromagnets, so that the clamping mechanism can be installed and detached in the clamping sleeve through the up-and down movement of the clamping rods, the second electromagnets can help the clamping mechanism to be quickly positioned and matched with the clamping grooves through the clamping rods, the fixed connection between the clamping mechanism and the clamping sleeve is realized.
In a further embodiment, a plurality of equidistant clamping grooves which are arranged and matched with the clamping rods are formed in two sides of the clamping sleeve, a transverse rod is arranged at the inner bottom of the clamping sleeve, and two magnetic blocks matched with the second electromagnet are arranged at the top of the transverse rod, so that the clamping rods can be fixed inside the clamping grooves to be connected and fixed.
In a further embodiment, the clamping jaw mechanism comprises a main board arranged at the bottom of the clamping sleeve, sliding cavities are formed in two sides of the interior of the main board, a supporting rod is inserted in the sliding cavity, a threaded rod which is perpendicular to the supporting rod and is in threaded fit with the supporting rod is inserted in the middle of the supporting rod, a motor chamber is arranged in the middle of the top of the main board, a driving motor is arranged at the bottom of the motor chamber, the two threaded rods are inserted in the motor chamber and are in connection with the driving motor, limiting rods are arranged on two sides of the threaded rod, the limiting rods are inserted through the supporting rod and are fixed in the sliding cavities, box body buckles are arranged at the bottoms of two ends of the supporting rod, a pulley is arranged between the box body buckles and the limiting rods, wheel grooves which are matched with the pulley are formed in the top and the bottom of the sliding cavities, therefore, the width of the supporting rod can be adjusted through the driving motor, containers with different lengths can be met, and the containers can be installed and fixed through the action of the box body buckles, thereby realize hoist and mount, guarantee the safety steadiness between jack catch mechanism and the container.
In further embodiment, mainboard top both sides all are provided with rope drive arrangement, and mainboard top is openly all provided with the generator with the back, and the mainboard openly all is provided with the side lever of placing of a plurality of equidistance arrangements with the back, places the side lever and keeps away from and be provided with the curb plate between the one end of mainboard to can carry out further hoist and mount to the container and fix, fix the container bottom through putting down the rope, and then further strengthen the security performance of hoist and mount.
In a further embodiment, the crane inboard is provided with two sets ofly and places side lever matched with and places the support, places the trapezium structure that the support is inside fretwork, and places the support top and set up a plurality ofly and place side lever matched with standing groove to can place jack catch mechanism between the crane, and through the joint cooperation with placing the support, guarantee the mainboard in the stability of placing the in-process, be convenient for to the installation of container.
In further embodiment, place the side lever and be cylindrical structure, place the tank bottom for with place the convex structure of side lever with the diameter, and the standing groove top is the arc structure to can make and place the side lever and can slide into the standing groove that corresponds, and guarantee that it is in the position placed in the middle, and then ensure that jack catch mechanism is in the intermediate position all the time, be convenient for control the management.
According to another aspect of the invention, a method for horizontally transporting unmanned vehicles for discharging port containers is provided,
the horizontal transfer unmanned vehicle unloading method for the port container comprises the following steps:
s1, the carrying unmanned vehicle moves to the bottom of the lifting frame through positioning, and is located under the jaw mechanism through the operation of the distance sensor;
s2, clamping and hoisting the container carrying the top of the unmanned vehicle according to preset rules, and fixing the container by the jaw mechanism;
s3, the clamping claw mechanism is lifted through the matching of the clamping mechanism and the clamping sleeve and the lifting device;
s4, sliding on the top of the beam through the moving device to transfer the container to a discharging area;
s5, unloading the container, separating the container from the jaw mechanism, and recovering the container through the lifting device and the moving device;
and S6, suspending the claw mechanism above the lifting frame to realize the unloading of the container at one time.
In the embodiment of one step, the preset rule is that when the jaw mechanism connected with the clamping mechanism is lifting the container, the other jaw mechanism positioned at the top of the lifting frame falls down to lift the container; when the jaw mechanism which is being connected with the clamping mechanism is not hoisted with the container, the carrying unmanned vehicle waits for the jaw mechanism which is running to recover and hoist the jaw mechanism.
Has the advantages that:
1. through the crane that sets up two jack catch mechanisms and liftable, can carry out the container and lift by crane when unloading at hoisting accessory, carry out temporary unloading to the transport unmanned car of waiting for, make it get into next operation cycle to improve the work efficiency of transport unmanned car, and then improve the efficiency that the harbour container was unloaded.
2. Through setting up jack catch mechanism, latch mechanism and joint cover, can carry out stable connection to the container and fix to when guaranteeing hoist and mount stable safety, improve the assembly hoisting efficiency between hoisting accessory and the container, thereby accelerate the discharge and the loading to the container.
3. The side rods are placed and the support is placed through the arrangement, so that the clamping jaw mechanism can be ensured to be located at the middle positions of two sides of the lifting frame while being stable, the supporting rods can be adjusted conveniently, the container can be lifted conveniently, and the stability is improved.
4. Through set up bracing piece and rope hoisting accessory simultaneously at the mainboard, can carry out many-sided hoist and mount protection to the container, carry out different joint installations to the container of different grade type to improve the practicality of system.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of an architecture according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a clamping mechanism and a jaw mechanism according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a jaw mechanism according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a jaw mechanism according to an embodiment of the present invention;
figure 5 is a schematic view of a crane according to an embodiment of the invention;
FIG. 6 is a schematic structural diagram of a snapping mechanism, according to an embodiment of the invention;
FIG. 7 is a cross-sectional view of a snapping mechanism, according to an embodiment of the invention;
fig. 8 is a flow chart of a method according to an embodiment of the present invention.
In the figure:
1. a support; 2. a lifting frame; 3. a cross beam; 4. a top plate; 5. a mobile device; 6. a hoisting device; 7. a sling; 8. a clamping mechanism; 801. a connecting frame; 802. clamping the through hole; 803. an accommodating chamber; 804. a first electromagnet; 805. a magnetic column; 806. a clamping and connecting rod; 807. a connecting rod; 808. a second electromagnet; 9. pushing the pushing block; 10. a pushing hydraulic cylinder; 11. a cross bar; 12. a jaw mechanism; 1201. a main board; 1202. a sliding cavity; 1203. a support bar; 1204. a threaded rod; 1205. a motor chamber; 1206. a drive motor; 1207. a limiting rod; 1208. a box body is buckled; 1209. a pulley; 1210. a wheel groove; 13. a clamping sleeve; 14. a distance sensor; 15. carrying the unmanned vehicle; 16. a balancing weight; 17. a limiting block; 18. a limiting groove; 19. a clamping groove; 20. a magnetic block; 21. a rope drive device; 22. a generator; 23. placing a side rod; 24. a side plate; 25. placing a bracket; 26. and (6) placing the groove.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
According to the embodiment of the invention, a system and a method for horizontally transporting unmanned vehicles to unload harbor containers are provided.
As shown in fig. 1-7, the unloading system of the horizontal-transfer unmanned vehicle for the harbor container according to the embodiment of the invention comprises a support 1, wherein a lifting frame 2 is sequentially arranged in the support 1 from the bottom to the top, crossbeam 3 and roof 4, the top is provided with mobile device 5 in the crossbeam 3, 5 tops of mobile device are provided with hoisting accessory 6, hoisting accessory 6 bottom is connected with latch mechanism 8 through hoist cable 7, 2 both sides of crane all are provided with two ejector pad 9, be provided with top push hydraulic cylinder 10 between ejector pad 9 and the 1 bottom of support, 2 inside horizontal poles 11 that are provided with of crane, 11 both sides of horizontal pole all are provided with jack catch mechanism 12, jack catch mechanism 12 top is provided with the latch cover 13 with latch mechanism 8 matched with, 2 positive bottoms of crane are provided with two distance sensor 14, jack catch mechanism 12 below is provided with carries unmanned car 15, 4 tops of roof are provided with balancing weight 16.
Through the scheme of the invention, by arranging the two jaw mechanisms 12 and the lifting frame 2 which can be lifted, when the lifting device 6 lifts and unloads the container, the waiting unmanned carrying vehicle 15 can be temporarily unloaded, so that the next operation period is entered, the working efficiency of the unmanned carrying vehicle 15 is improved, and the unloading efficiency of the container at the port is further improved. Through setting up jack catch mechanism 12, latch mechanism 8 and joint cover 13, can carry out stable connection to the container and fix to when guaranteeing hoist and mount stable safety, improve the assembly between hoisting accessory 6 and the container and lift by crane efficiency, thereby accelerate the discharge and the loading to the container.
In one embodiment, the crane 2 and the cross rod 11 form a structure shaped like a Chinese character 'ri', two limit blocks 17 are arranged on two sides of the crane 2, and a limit groove 18 matched with the limit blocks 17 is formed in the inner side of the support 1, so that two jaw mechanisms 12 can be fixed, and the stability and the safety of the crane 2 are ensured through the limit groove 18.
In one embodiment, the clamping mechanism 8 comprises a connecting frame 801 arranged at the bottom of the sling 7, the connecting frame 801 is of an inverted-convex structure, the bottoms of two sides of the connecting frame 801 are respectively provided with a plurality of clamping through holes 802 which are arranged at equal intervals, the inner sides of the clamping through holes 802 are communicated with each other inside the connecting frame 801 to form a containing cavity 803, the top of the containing cavity 803 is provided with a first electromagnet 804, the bottom of the containing cavity 803 is provided with a magnetic column 805, one side of the magnetic column 805 is provided with a plurality of clamping rods 806 which are inserted through the clamping through holes 802, the bottom of one end of each clamping rod 806, which is far away from the connecting frame 801, is movably connected with a connecting rod 807, the bottom of the connecting rod 807 is movably connected with the bottom of one side of the connecting frame 801, two second electromagnets 808 are arranged at the middle position of the bottom of the connecting frame 801, so that the clamping mechanism 8 can be installed and detached inside the clamping sleeve 13 by up and down movement of the clamping rod 806, and the clamping mechanism 8 can be rapidly positioned by the second electromagnets 808, and the clamping mechanism 8 is fixedly connected with the clamping sleeve 13 through the matching of the clamping rod 806 and the clamping groove 19.
The working principle of the clamping mechanism 8 is as follows: when the clamping operation starts, the first electromagnet 804 starts to operate, the magnetic pole 805 moves upward, at this time, an obtuse angle is formed between the clamping rod 806 and the connecting rod 807, and the clamping mechanism 8 is narrow in width and can enter the clamping sleeve 13. When the magnet enters the inside of the clamping sleeve 13, the second electromagnet 808 is turned on, so that the second electromagnet 808 is in butt joint with the magnetic block 20, then the first electromagnet 804 is powered off, the magnetic column 805 moves downwards, so that the clamping rod 806 is clamped with the clamping groove 19, and the clamping mechanism 8 is fixedly connected with the clamping sleeve 13. Further, the second electromagnet 808 can generate a force on the magnetic pole 805 to enhance the action of the catch lever 806 on the catch groove 19. Finally, the lifting and unloading of the container can be realized through the lifting device 6.
In one embodiment, a plurality of clamping grooves 19 which are arranged at equal intervals and matched with the clamping rods 806 are formed in two sides of the clamping sleeve 13, a cross rod is arranged at the bottom in the clamping sleeve 13, and two magnetic blocks 20 matched with the second electromagnet 808 are arranged at the top of the cross rod, so that the clamping rods 806 can be fixed inside the clamping grooves 19 to be connected and fixed.
In one embodiment, the jaw mechanism 12 includes a main plate 1201 disposed at the bottom of the clamping sleeve 13, sliding cavities 1202 are formed on both sides of the main plate 1201, a support rod 1203 is inserted into the sliding cavity 1202, a threaded rod 1204 which is perpendicular to and in threaded fit with the support rod 1203 is inserted into a middle position of the support rod 1203, a motor chamber 1205 is disposed at a middle position of the top of the main plate 1201, a driving motor 1206 is disposed at the bottom of the motor chamber 1205, the two threaded rods 1204 are inserted into the motor chamber 1205 and are in threaded fit with the driving motor 1206, stop rods 1207 are disposed on both sides of the threaded rod 1204, the stop rods 1207 are inserted through the support rod 1203 and fixed inside the sliding cavity 1202, box buckles 1208 are disposed at the bottoms of both ends of the support rod 1203, a pulley 1209 is disposed between the box buckles 1208 and the stop rods 1207, a pulley 1210 which is in fit with the pulley 1209 is formed at the top and the bottom of the sliding cavity 1202, so that the width of the support rod 1203 can be adjusted by the driving motor 1206, satisfy the container of different length to install fixedly the container through the effect of box buckle 1208, thereby realize hoist and mount, guarantee the safety steadiness between jack catch mechanism 12 and the container.
The working principle of the jaw mechanism 12 is as follows: the pushing hydraulic cylinder 10 is opened to pull the lifting frame 2 downwards, and in the falling process, the claw mechanism 12 adjusts the width of the supporting rod 1203 according to the length of the container calculated by the system. That is, the rotation of the driving motor 1206 is controlled to drive the threaded rod 1204, so that the supporting rods 1203 on both sides are driven by the threaded rod 1204 to move directionally, and the supporting rods 1203 keep moving towards both sides stably under the action of the limiting rods 1207 and the pulleys 1209 until the length of the container is adjusted to be the same as that of the container. Then, the crane 2 falls on the top of the container, and is clamped and fixed in four clamp rings at the top of the container through a box body clamp 1208. At this time, the pushing hydraulic cylinder 10 pushes the crane 2 upward to separate the container from the unmanned carrying vehicle 15, so that the unmanned carrying vehicle 15 can perform the next round of transfer work.
In one embodiment, rope driving devices 21 are arranged on two sides of the top of the main plate 1201, generators 22 are arranged on the front face and the back face of the top of the main plate 1201, a plurality of side rods 23 which are arranged at equal intervals are arranged on the front face and the back face of the main plate 1201, and a side plate 24 is arranged between one ends, far away from the main plate 1201, of the side rods 23, so that the container can be further hoisted and fixed, the bottom of the container is fixed by putting down ropes, and the hoisting safety performance is further enhanced.
In one embodiment, crane 2 inboard is provided with two sets ofly and places side lever 23 matched with and places support 25, places support 25 and is the trapezium structure of inside fretwork, and places support 25 top and set up a plurality ofly and place side lever 23 matched with standing groove 26 to can place jack catch mechanism 12 between crane 2, and through the joint cooperation with placing support 25, guarantee the stability of mainboard 1201 in the process of placing, be convenient for the installation to the container.
In one embodiment, the placing side rod 23 is a cylindrical structure, the bottom of the placing groove 26 is an arc-shaped structure with the same diameter as the placing side rod 23, and the top of the placing groove 26 is an arc-shaped structure, so that the placing side rod 23 can slide into the corresponding placing groove 26, and the clamping jaw mechanism 12 is ensured to be in a centered position, thereby ensuring that the clamping jaw mechanism 12 is always in an intermediate position, and facilitating the control and management.
There is also provided, in accordance with an embodiment of the present invention, a method for unloading a horizontal transfer drone vehicle for a port container, as shown in fig. 8, the method including the steps of:
s1, the unmanned carrying vehicle 15 runs to the bottom of the lifting frame 2 through positioning, and the unmanned carrying vehicle runs right below the claw mechanism 12 through the distance sensor 14;
s2, clamping and hoisting the container carrying the top of the unmanned vehicle 15 according to preset rules, and fixing the container by the jaw mechanism 12;
s3, through the matching of the clamping mechanism 8 and the clamping sleeve 13, the clamping claw mechanism 12 is lifted through the lifting device 6;
s4, the container is transferred to a discharging area by sliding the moving device 5 on the top of the beam 3;
s5, unloading the container, separating the container from the jaw mechanism 12, and recovering the container through the lifting device 6 and the moving device 5;
and S6, suspending the claw mechanism 12 above the lifting frame 2 to realize the unloading of the container at one time.
In one embodiment, the preset rule is that when the jaw mechanism 12 connected with the clamping mechanism 8 is hoisting the container, another jaw mechanism 12 positioned at the top of the crane 2 falls to hoist the container; when the jaw mechanism 12 being connected to the latch mechanism 8 is not being hoisted with the container, the carrier drone 15 waits for the running jaw mechanism 12 to retrieve and hoist it.
For the convenience of understanding the technical solutions of the present invention, the following detailed description will be made on the working principle or the operation mode of the present invention in the practical process.
In practical application, the unloading system is installed on a port operation platform, in normal operation, a carrying unmanned vehicle 15 provided with a positioning device loads a container to drive into the device, and the lifting frame 2 is divided into two parts, so that the running track of the carrying unmanned vehicle 15 is set into two exclusive tracks, namely, the two tracks are positioned right below the two jaw mechanisms 12. The unmanned vehicles 15 respectively enter the lower parts of the jaw mechanisms 12 where no container is placed under the control of the system to unload.
In actual operation, when the unmanned vehicle 15 is carried soon, the system starts to detect, when the container is detected to be arranged at the bottom of the jaw mechanism 12 connected with the clamping mechanism 8, the unmanned vehicle 15 is driven into the track below the jaw mechanism 12 arranged on the lifting frame 2, the distance sensor 14 in front detects and starts to record until the container completely enters and stops the probability, the length of the container is obtained through computer operation, and the unmanned vehicle 15 is carried to move to the position right below the jaw mechanism 12. At this time, the pushing hydraulic cylinder 10 is opened to pull the crane 2 downwards, and in the falling process, the jaw mechanism 12 adjusts the width of the supporting rod 1203 according to the length of the container calculated by the system. That is, the rotation of the driving motor 1206 is controlled to drive the threaded rod 1204, so that the supporting rods 1203 on both sides are driven by the threaded rod 1204 to move directionally, and the supporting rods 1203 keep moving towards both sides stably under the action of the limiting rods 1207 and the pulleys 1209 until the length of the container is adjusted to be the same as that of the container. Then, the crane 2 falls on the top of the container, and is clamped and fixed in four clamp rings at the top of the container through a box body clamp 1208. At this time, the pushing hydraulic cylinder 10 pushes the crane 2 upward to separate the container from the unmanned carrying vehicle 15, so that the unmanned carrying vehicle 15 can perform the next round of transfer work.
After hoisting accessory 6 and mobile device 5 accomplished once and unloaded, when retrieving, because there is a container crane 2 top this moment, so unload the opposite side of crane 2 with the jack catch mechanism 12 of top earlier, mobile device 5 moves its top promptly and loosens latch mechanism 8 and makes jack catch mechanism 12 drop to crane 2 top, first electro-magnet 804 circular telegram operation for magnetic column 805 upward movement, at this moment, be the obtuse angle between bayonet joint 806 and the connecting rod 807, the narrower can get into in bayonet joint cover 13 of latch mechanism 8 width. When the magnet enters the inside of the clamping sleeve 13, the second electromagnet 808 is turned on, so that the second electromagnet 808 is in butt joint with the magnetic block 20, then the first electromagnet 804 is powered off, the magnetic column 805 moves downwards, so that the clamping rod 806 is clamped with the clamping groove 19, and the clamping mechanism 8 is fixedly connected with the clamping sleeve 13. Further, the second electromagnet 808 can generate a force on the magnetic pole 805 to enhance the action of the catch lever 806 on the catch groove 19. Finally, the lifting and unloading of the container can be realized through the lifting device 6.
In summary, according to the above technical solution of the present invention, by providing two claw mechanisms 12 and the lifting frame 2 capable of lifting, when the lifting device 6 lifts and unloads a container, the waiting unmanned carrying vehicle 15 can be temporarily unloaded to enter the next operation cycle, so as to improve the working efficiency of the unmanned carrying vehicle 15, and further improve the unloading efficiency of the port container. Through setting up jack catch mechanism 12, latch mechanism 8 and joint cover 13, can carry out stable connection to the container and fix to when guaranteeing hoist and mount stable safety, improve the assembly between hoisting accessory 6 and the container and lift by crane efficiency, thereby accelerate the discharge and the loading to the container. Place side lever 23 and place support 25 through the setting, can ensure its intermediate position that is in crane 2 both sides when guaranteeing that gripper mechanism 12 is stable, be convenient for adjust and realize the hoist and mount of container to bracing piece 1203, improve stability. Through set up bracing piece 1203 and rope drive arrangement 21 simultaneously at mainboard 1201, can carry out many-sided hoist and mount protection to the container, carry out different joint installations to the container of different grade type to improve the practicality of system.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The unloading system of the horizontal-carrying unmanned vehicle for the containers in the port comprises a support (1), wherein a lifting frame (2), a cross beam (3) and a top plate (4) are sequentially arranged in the support (1) from the bottom to the top, a moving device (5) is arranged at the top in the cross beam (3), a lifting device (6) is arranged at the top of the moving device (5), the bottom of the lifting device (6) is connected with a clamping mechanism (8) through a sling (7), two pushing blocks (9) are arranged on two sides of the lifting frame (2), a pushing hydraulic cylinder (10) is arranged between each pushing block (9) and the bottom of the support (1), a cross rod (11) is arranged in the lifting frame (2), clamping jaw mechanisms (12) are arranged on two sides of the cross rod (11), a clamping sleeve (13) matched with the clamping mechanism (8) is arranged at the top of each clamping jaw mechanism (12), the lifting frame (2) is provided with two distance sensors (14) at the bottom of the front side, a carrying unmanned vehicle (15) is arranged below the jaw mechanism (12), and a balancing weight (16) is arranged at the top of the top plate (4).
2. The port container horizontal transfer unmanned vehicle unloading system of claim 1, wherein the crane (2) and the cross bar (11) form a structure like a Chinese character 'ri', two limit blocks (17) are arranged on both sides of the crane (2), and limit grooves (18) matched with the limit blocks (17) are formed in the inner side of the bracket (1).
3. The port container horizontal-carrying unmanned vehicle unloading system according to claim 1, wherein the clamping mechanism (8) comprises a connecting frame (801) arranged at the bottom of the sling (7), the connecting frame (801) is of an inverted-convex-shaped structure, the bottoms of both sides of the connecting frame are provided with a plurality of clamping through holes (802) which are arranged at equal intervals, the inner sides of the clamping through holes (802) are communicated with each other inside the connecting frame (801) to form a containing cavity (803), the top of the containing cavity (803) is provided with a first electromagnet (804), the bottom of the containing cavity (803) is provided with a magnetic column (805), one side of the magnetic column (805) is provided with a plurality of clamping rods (806) which penetrate through the clamping through holes (802), the bottom of one end, far away from the connecting frame (801), of the clamping rods (806) is movably connected with a connecting rod (807), and the bottom of the connecting rod (807) is movably connected with the bottom of one side of the connecting frame (801), two second electromagnets (808) are arranged at the middle position of the bottom of the connecting frame (801).
4. The port container horizontal transfer unmanned vehicle unloading system as claimed in claim 3, wherein a plurality of clamping grooves (19) which are arranged at equal intervals and matched with the clamping rods (806) are formed on two sides of the clamping sleeve (13), a cross bar is arranged at the bottom in the clamping sleeve (13), and two magnetic blocks (20) matched with the second electromagnets (808) are arranged at the top of the cross bar.
5. The port container horizontal-handling unmanned aerial vehicle unloading system according to claim 1, wherein the jaw mechanism (12) comprises a main plate (1201) arranged at the bottom of the clamping sleeve (13), sliding cavities (1202) are formed in the main plate (1201) on two sides of the interior of the main plate, a supporting rod (1203) is inserted in each sliding cavity (1202), a threaded rod (1204) which is perpendicular to and in threaded fit with the supporting rod (1203) is inserted in the middle of the supporting rod (1203), a motor chamber (1205) is arranged in the middle of the top of the main plate (1201), a driving motor (1206) is arranged at the bottom of the motor chamber (1205), two threaded rods (1204) are inserted into the motor chamber (1205) and are connected with the driving motor (1206), limiting rods (1207) are arranged on two sides of the threaded rod (1204), and the limiting rods (1207) are inserted through the supporting rods (1203) and fixed in the sliding cavities (1202), the bottom of the two ends of the supporting rod (1203) is provided with a box body buckle (1208), the supporting rod (1203) is located between the box body buckle (1208) and the limiting rod (1207), and the top and the bottom of the sliding cavity (1202) are provided with a wheel groove (1210) matched with the pulley (1209).
6. The port container horizontal transfer unmanned aerial vehicle unloading system of claim 5, wherein rope driving devices (21) are arranged on two sides of the top of the main plate (1201), generators (22) are arranged on the front surface and the back surface of the top of the main plate (1201), a plurality of equidistantly arranged placing side rods (23) are arranged on the front surface and the back surface of the main plate (1201), and a side plate (24) is arranged between one ends, far away from the main plate (1201), of the placing side rods (23).
7. The port container horizontal transfer unmanned aerial vehicle unloading system according to claim 6, wherein two sets of placing brackets (25) matched with the placing side rods (23) are arranged on the inner side of the lifting frame (2), the placing brackets (25) are of a trapezoidal structure with a hollow inner part, and the top of each placing bracket (25) is provided with a plurality of placing grooves (26) matched with the placing side rods (23).
8. The port container horizontal transfer unmanned aerial vehicle unloading system of claim 7, wherein the placing side bars (23) are cylindrical structures, the bottom of the placing groove (26) is a circular arc structure with the same diameter as the placing side bars (23), and the top of the placing groove (26) is an arc structure.
9. A method for unloading a horizontal transfer unmanned port container vehicle, which is used for realizing the operation of the unloading system of the horizontal transfer unmanned port container vehicle of any one of claims 1-8, and is characterized by comprising the following steps:
s1, the carrying unmanned vehicle (15) runs to the bottom of the lifting frame (2) through positioning, and is located under the jaw mechanism (12) through the running of the distance sensor (14);
s2, clamping and hoisting the container on the top of the unmanned vehicle (15) to fix the container by the jaw mechanism (12) according to preset rules;
s3, the clamping claw mechanism (12) is lifted through the matching of the clamping mechanism (8) and the clamping sleeve (13) and the hoisting device (6);
s4, the containers are transferred to a discharging area by sliding on the tops of the cross beams (3) through the moving device (5);
s5, unloading the container, separating the container from the jaw mechanism (12), and recovering the container through the lifting device (6) and the moving device (5);
s6, the claw mechanism (12) is suspended above the lifting frame (2) to realize the unloading of the container at one time.
10. The method for unloading a port container horizontal transfer unmanned vehicle as claimed in claim 9, wherein the preset rule is that when the jaw mechanism (12) connected with the clamping mechanism (8) is lifting the container, another jaw mechanism (12) on the top of the lifting frame (2) falls to lift the container; when the jaw mechanism (12) which is connected with the clamping mechanism (8) is not hoisted with the container, the carrying unmanned vehicle (15) waits for the jaw mechanism (12) which is running to recover and hoist.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110530570.1A CN113336103A (en) | 2021-05-15 | 2021-05-15 | Discharging system and method for horizontal carrying unmanned vehicle for port containers |
| PCT/CN2021/101559 WO2022241899A1 (en) | 2021-05-15 | 2021-06-22 | Port container horizontal carrying unmanned vehicle unloading system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110530570.1A CN113336103A (en) | 2021-05-15 | 2021-05-15 | Discharging system and method for horizontal carrying unmanned vehicle for port containers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113336103A true CN113336103A (en) | 2021-09-03 |
Family
ID=77470291
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110530570.1A Withdrawn CN113336103A (en) | 2021-05-15 | 2021-05-15 | Discharging system and method for horizontal carrying unmanned vehicle for port containers |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113336103A (en) |
| WO (1) | WO2022241899A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114249006A (en) * | 2021-12-23 | 2022-03-29 | 安徽春华智能科技有限公司 | Hoisting positioning device for container crane |
| CN116654793A (en) * | 2023-07-26 | 2023-08-29 | 河南巨人起重机集团有限公司 | Tipping regulating device of crane |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2042357A1 (en) * | 1970-08-26 | 1972-03-02 | Tax H | Container capture frame |
| KR100306297B1 (en) * | 1999-05-19 | 2001-09-24 | 한만엽 | Power transfer system of gantry crane |
| JP4817908B2 (en) * | 2006-03-23 | 2011-11-16 | 三井造船株式会社 | Spreader anti-collision device |
| ITMO20080088A1 (en) * | 2008-03-27 | 2009-09-28 | Luciano Fantuzzi | PORT FACING CRANE FOR LIFTING AND HANDLING LOADS, PARTICULARLY CONTAINERS |
| KR101125039B1 (en) * | 2009-12-24 | 2012-03-22 | 한국과학기술원 | Crane spreader and auto landing method thereof |
| CN107720323B (en) * | 2017-11-14 | 2019-10-18 | 深圳市招科智控科技有限公司 | Harbour container level carries unmanned vehicle discharging system and method |
| CN207434895U (en) * | 2017-11-16 | 2018-06-01 | 岭南师范学院 | A kind of harbour container loop wheel machine |
-
2021
- 2021-05-15 CN CN202110530570.1A patent/CN113336103A/en not_active Withdrawn
- 2021-06-22 WO PCT/CN2021/101559 patent/WO2022241899A1/en active Application Filing
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114249006A (en) * | 2021-12-23 | 2022-03-29 | 安徽春华智能科技有限公司 | Hoisting positioning device for container crane |
| CN114249006B (en) * | 2021-12-23 | 2023-10-03 | 安徽江河智能装备集团有限公司 | Hoisting and positioning device for container crane |
| CN116654793A (en) * | 2023-07-26 | 2023-08-29 | 河南巨人起重机集团有限公司 | Tipping regulating device of crane |
| CN116654793B (en) * | 2023-07-26 | 2024-01-02 | 河南巨人起重机集团有限公司 | Tipping regulating device of crane |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022241899A1 (en) | 2022-11-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2128074B1 (en) | Straddle carrier | |
| CN113336103A (en) | Discharging system and method for horizontal carrying unmanned vehicle for port containers | |
| US4715762A (en) | Grappler system for lifting apparatus | |
| US4546891A (en) | Grappler system for lifting apparatus | |
| WO2019007318A1 (en) | Automatic mounting and dismounting system for container twistlock | |
| KR100719031B1 (en) | Loading device for iso containers | |
| CN105174072B (en) | Solve handling method and the gantry crane that automated container terminal AGV mutually waits with gantry crane | |
| KR100306296B1 (en) | Gentry crane having circulating trolley | |
| CN203529469U (en) | Container loading and unloading system of lifting type double-layer girder quay crane | |
| CN219949739U (en) | Photovoltaic board intelligent mounting equipment | |
| CN116424870A (en) | Photovoltaic board intelligent mounting equipment | |
| CN215974524U (en) | Lifting appliance equipment and traveling crane equipment | |
| KR20110049144A (en) | Unloading system and method of container | |
| RU202746U1 (en) | Magnetic traverse for moving metal loads | |
| CN214988767U (en) | Automatic loading and unloading system for wharf container | |
| CN211169591U (en) | Quick dismounting and transferring device for container | |
| CN109747671B (en) | Special carrier for railway goods | |
| CN201301033Y (en) | Hoisting pallet of generator | |
| EP2128073A1 (en) | Straddle carrier | |
| KR100215523B1 (en) | Transfer apparatus for loading and unloading cargo into ann from a ship | |
| CN218258246U (en) | Surfactant storage barrel transfer device | |
| CN111689390B (en) | Method for transferring rail crane | |
| CN216140935U (en) | Plate turnover device of container loading platform | |
| CN108423561B (en) | Container crane | |
| CN219603128U (en) | Beam unloading equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210903 |