CN207810517U - A kind of automated container handling system based on top walking sky rail - Google Patents
A kind of automated container handling system based on top walking sky rail Download PDFInfo
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- CN207810517U CN207810517U CN201721692708.3U CN201721692708U CN207810517U CN 207810517 U CN207810517 U CN 207810517U CN 201721692708 U CN201721692708 U CN 201721692708U CN 207810517 U CN207810517 U CN 207810517U
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- traveling trolley
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Abstract
The utility model discloses a kind of automated container handling systems based on top walking sky rail, belong to Container Intermodal Transportation correlative technology field comprising the traveling trolley on the walking sky rail of top is set, the elevating mechanism, AGV trolleies, the laser emitter being separately positioned on traveling trolley and AGV trolleies and the laser pickoff that are connected to traveling trolley, navigation communication part, server and the positioning component being arranged on traveling trolley being arranged on AGV trolleies.The automated container handling system based on top walking sky rail of the utility model, the location information by positioning component for detecting traveling trolley in real time；The communication part that navigates is used for the navigator fix of AGV trolleies；Server judges the position of traveling trolley and AGV trolleies for the location information and navigator fix information according to receiving, and sends instructions to traveling trolley and AGV trolleies to control the two quickly to loading position, and all transfer efficients are higher, and flexibility is good, and accuracy is high.
Description
Technical field
The utility model belongs to Container Intermodal Transportation correlative technology field, and in particular to one kind is empty based on top walking
The automated container handling system of rail.
Background technology
Transport always play important role in state economic development, with China's expanding economy and with foreign countries
Trade continues to increase, and the carrier in China is also faced with new requirement and challenge.How to improve conevying efficiency, reduce logistics
Cost has become the major issue for promoting modern logistics development, and multimodal transport is just come into being.
Multimodal transport (intermodality) and be referred to as composite transport, be two kinds and its more than the vehicles
The transportational process for being mutually linked, transporting and completing jointly, multimodal transport are greatly reduced as a kind of dynamical means of transportation
Due to time loss caused by transhipment during cargo transport, the efficiency of cargo transport is improved, the hair of logistics is represented
New direction is opened up, is just increasingly developed and applies.
Currently, relevant technical staff in the field has done some researchs, such as existing patent CN for multimodal transport
A kind of multimodal transport intercommunicating system is disclosed in 106379747 comprising rail system, container handling trolley and switching dress
It sets, container is transported to switching device by transport truck, then by the switching device by freight lifting to container handling
On trolley；Although above system can realize the multimodal transport of cargo to promote the efficiency of cargo transport to a certain extent, its
It needs that multiple conversion equipments are arranged to complete the collecting and distributing of cargo, and needs to consider the setting of switching device, cost is higher, and operation is multiple
Miscellaneous, the position of Distribution Center is difficult to convert；In addition, above-mentioned multimodal transport intercommunicating system is mainly completed using wireless local net mode
The transmission of train information, the information of transmission are easy to be interfered by same region other equipment, and accuracy is poor, all transfer efficients compared with
It is low.
Utility model content
For the disadvantages described above or Improvement requirement of the prior art, the utility model provides a kind of empty based on top walking
A kind of turnover effect is studied and devised to the automated container handling system of rail based on the work characteristics of existing container handling
The higher automated container handling system based on top walking sky rail of rate；The automatic assembling and disassembling system is by being arranged positioning component
The location information of AGV trolleies is detected with navigation communication part in real time and navigator fix information is real-time transmitted to server, then
The real time position of traveling trolley and AGV trolleies is judged by server, and calculates loading position automatically, while being sent instructions to away
Row trolley and AGV trolleies quickly reach loading position to control it, improve all transfer efficients, and on traveling trolley and AGV trolleies
Laser emitter and laser pickoff is respectively set, the two is provided commonly for the contraposition of traveling trolley and AGV trolleies, effectively ensures
Align accuracy and the efficiency of loading and unloading.
To achieve the above object, the utility model provides a kind of automated container handling system based on top walking sky rail
System, for completing the automatic loading and unloading of container by top walking sky rail, which is characterized in that
The automated container handling system includes traveling trolley, elevating mechanism, AGV trolleies, navigation communication part, service
Device and positioning component；Wherein,
The traveling trolley is arranged on the track girder of the top walking sky rail, is used to drive the elevating mechanism
It is moved horizontally along the track girder；The elevating mechanism is connected to the traveling trolley, is used to clamp the container and band
Move container lifting；The setting of the positioning component part is used to detect the traveling in real time on the traveling trolley
The location information of trolley, and the location information is transferred to the server；The navigation communication part is arranged in the AGV
On trolley, it is used for the navigator fix of the AGV trolleies, and navigator fix information to be transferred to the server；The service
Device judges that the traveling trolley and the AGV are small for the location information and the navigator fix information according to receiving
The real time position of vehicle, and loading position is calculated automatically, while the traveling trolley and the AGV trolleies are sent instructions to control
The traveling trolley and the AGV trolleies quickly reach loading position and complete the handling of the container.
The automated container handling system further includes laser emitter and swashs as a further improvement of the utility model,
Optical receiver, the laser emitter and the laser pickoff are separately positioned on the traveling trolley and the AGV trolleies,
For realizing the rapid-aligning between the traveling trolley and the AGV trolleies.
As a further improvement of the utility model, the elevating mechanism include lifters, container spreader, traction machine and
Tapered end for locking the container, the container spreader connects one end of the lifters and the tapered end, described to drag
Draw machine and connects the other end of the traveling trolley and the lifters for driving the lifters to move up and down.
The elevating mechanism further includes accompanying to control cable as a further improvement of the utility model, described in connection
Traveling trolley and the container spreader, are used to control the movement of the container spreader, and by the locking of the container
Feedback of status gives the server, and then the server controls the tapered end according to the locking state information received
Coupling mechanism force size.
The elevating mechanism further includes camera as a further improvement of the utility model, and the camera setting exists
On the container spreader, it is used to shoot the image of the container, and the image data taken is transferred to the clothes
Business device, handles the described image data received for the server and is obtained the label of the container, after
And the server sends instructions to the elevating mechanism and locks the container to control the tapered end.
Further include warning member as a further improvement of the utility model, the warning member is arranged in the traveling trolley
On, it is used to judge the container nearby there are sending out alarm when obstacle according to described image data when the server,
To remind operating personnel to carry out emergency action in time.
The positioning component is Gray bus position detection component as a further improvement of the utility model,.
The positioning component includes antenna box, Gray bus, address coding hair as a further improvement of the utility model,
Raw device and address coding receiver, the Gray bus are laid with along the track girder, are correspondingly arranged with the traveling trolley；
The fixing end in the track girder, described address code generator and antenna box setting is arranged in described address encoder receiver
On the traveling trolley.
The traveling trolley includes two on the top walking sky rail as a further improvement of the utility model,
Spaced car body, be provided on the car body traction machine and along direction of travel be arranged at intervals with two pairs of motor wheels with
In its traveling on the top walking sky rail, the motor wheel is connected to servo motor and under servo motor driving
Rotation then drives the car body to move by the motor wheel.
Encoder is additionally provided on the traveling trolley as a further improvement of the utility model, the encoder is used
In the rotating speed for detecting the motor wheel.
In general, have the above technical solutions conceived by the present invention are compared with the prior art, with following
Beneficial effect：
(1) the automated container handling system based on top walking sky rail of the utility model, by the way that positioning group is arranged
Part detects the location information of the traveling trolley in real time, and location information is transferred to server；Setting navigation communication part
It is transferred to server for the navigator fix of AGV trolleies, and by navigator fix information；Server is used for according to the position received
Information and navigator fix information judge the real time position of traveling trolley and AGV trolleies, and calculate loading position automatically, send out simultaneously
It send instruction quickly to reach loading position to traveling trolley and AGV trolleies to control traveling trolley and AGV trolleies, improves container
All transfer efficients of transport；
(2) the automated container handling system based on top walking sky rail of the utility model, in traveling trolley and AGV
Laser emitter and laser pickoff are respectively set on trolley, the two is provided commonly for the contraposition between traveling trolley and AGV trolleies,
Be effectively guaranteed traveling trolley and AGV trolleies docks accuracy, improves the efficiency of loading and unloading；
(3) camera is arranged to clap in the automated container handling system based on top walking sky rail of the utility model
The image of container is taken the photograph, and the image data taken is transferred to server；And by server to the picture number that receives
According to being handled, to obtain the label of container, then server sends instructions to elevating mechanism and locks packaging to control tapered end
Case, improves efficiency, and flexibility is preferable；
(4) the automated container handling system based on top walking sky rail of the utility model, sets on traveling trolley
Warning member is set, for judging container nearby there are sending out alarm when obstacle, for operation according to image data when server
Personnel carry out emergency action and provide guarantee in time, substantially increase the safety during automatic loading and unloading；
(5) the automated container handling system based on top walking sky rail of the utility model, it is simple in structure, cost compared with
It is low, it is with strong applicability, the accuracy and controllability of multimodal transport are substantially increased, the cost of multimodal transport is reduced, improves
The efficiency of automated container handling.
Description of the drawings
Fig. 1 is the entirety of the automated container handling system based on top walking sky rail in the utility model embodiment
Structural schematic diagram；
Fig. 2 is the another of the automated container handling system based on top walking sky rail in the utility model embodiment
The partial schematic diagram of one angle；
Fig. 3 is the positioning of the automated container handling system based on top walking sky rail in the utility model embodiment
The connection block diagram of component and server；
In all the appended drawings, same reference numeral indicates identical technical characteristic, specially：1. track girder, 2. travelings
Trolley, 3. elevating mechanisms, 4. container spreaders, 5. Gray buses, 6. laser emitters, 7. cameras, 8. containers, 9. laser
Receiver, 10.AGV trolleies, 11. navigation communication parts, 12. servers, 13. positioning components, 131. antenna boxes, 132. addresses are compiled
Code device generator, 133. address scrambler receivers, 14. traction machines, 15. motor wheels, 17. buffers, 18. circuits, 20. locks
Head, 21. brake members.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only explaining this
Utility model is not used to limit the utility model.
As long as in addition, technical characteristic involved in the various embodiments of the present invention described below each other it
Between do not constitute conflict and can be combined with each other.
Top walking sky rail automated container handling system in one preferred embodiment as illustrated in figures 1-3,
In, Fig. 1 is the overall structure of the automated container handling system based on top walking sky rail in the utility model embodiment
Schematic diagram；Fig. 2 is the another of the automated container handling system based on top walking sky rail in the utility model embodiment
The partial schematic diagram of one angle；Fig. 3 is that the container based on top walking sky rail in the utility model embodiment fills automatically
The positioning component of unloading system and the connection block diagram of server.
Further, it is preferable to which the automated container handling system in embodiment includes traveling trolley 2, elevating mechanism 3, laser
Transmitter 6, laser pickoff 9, AGV trolleies 10, navigation communication part 11, server 12 and positioning component 13.
Wherein, traveling trolley 2 is arranged on the walking sky rail of top, and the top walking sky rail in preferred embodiment is by rail
Road beam 1 and track support column composition, track girder 1 are open track, and upper surface is provided with the rail for 2 traveling of traveling trolley
Road, traveling trolley 2 is in 1 upper edge circuit of track girder, 18 horizontal movement；Elevating mechanism 3 is connected on traveling trolley 1, is used to drive
Container 8 is lifted to be loaded and unloaded；Laser emitter 6 and laser pickoff 9 are preferably provided at traveling trolley 2 respectively and AGV is small
On vehicle 10, the two is provided commonly for the accurate contraposition between traveling trolley 2 and AGV trolleies 10, and the laser in preferred embodiment occurs
Device 6 may also be arranged on the elevating mechanism 3 on traveling trolley 2.
Further, positioning component 13 is arranged on traveling trolley 2, is used to detect the position letter of traveling trolley 2 in real time
Breath, and the location information detected is transferred to server 12；Navigation communication part 11 is set on AGV trolleies 10, is used for
It is transferred to server 12 to the navigator fix of AGV trolleies 10, and by navigator fix information；Server 12 believes the position received
Breath and navigator fix information are handled, and are controlled traveling trolley 2, AGV trolleies 10 and elevating mechanism 3 according to handling result and carried out
Corresponding action.
Further and specifically, it is preferable to which the traveling trolley 2 in embodiment is slow including two car bodies, four pairs of 15, two groups of motor wheels
Device 17 and brake member 21 are rushed, two car bodies are arranged at intervals on along circuit 18 on track girder 1, and elevating mechanism 3 is connected to car body；Each
Car body upper edge direction of travel is arranged at intervals with two pairs of motor wheels 15, and the setting of 15 respective carter beam of each pair of motor wheel is opposite on the car body
Both sides, i.e. two couple in four pairs of motor wheels 5 is separately positioned on one opposite both ends in two car bodies, four pairs of motor wheels
Two further pairs in 5 are separately positioned on another the opposite both ends in two car bodies；Further, motor wheel 5 and servo
Motor is connected, and servo motor driving motor wheel 5 rotates, and then motor wheel 5 is moved with motor vehicles bodies, and thus traveling trolley 2 is in-orbit
Beam 1 upper edge circuit 18 in road moves.
It is further preferred that being additionally provided with encoder on traveling trolley 2 in preferred embodiment, encoder is for detecting electricity
The rotating speed of wheel 5；And two groups of buffers 17 are preferably respectively arranged on two car bodies, it is respectively used to carry out corresponding car body
Buffering is to reduce the vibration that car body is subject to；It is further preferred that brake member 21 is provided on motor wheel 15, for two car bodies
Brake.
Further and specifically, it is preferable to which the elevating mechanism 3 in embodiment includes lifters, container spreader 4, camera 7, drags
Draw machine 14, retinue control cable and tapered end 20.
Wherein, lifters are connected to traveling trolley 2 by traction machine 14, and one end of container spreader 4 is connected to lifters,
The other end is connected to the tapered end 20 for locking container 8.Traction machine 14 is connected with lifters, for driving lifters
It moves up and down；It is further preferred that traction machine 14 is arranged below traveling trolley 2, and the both ends for control cable of accompanying connect respectively
It is connected to traveling trolley 2 and container spreader 4, retinue control cable is used to control the movement of container spreader 4, and by container 8
Locking state feed back to server 12, then server 12 controls tapered end according to the locking state of the container 8 received
The size of 20 coupling mechanism force.
Camera 7 is preferably provided on container spreader 4, the image for shooting container 8, and the image that will be taken
Data are transferred to server 12, are then handled the image data received by server 12, to obtain the mark of container 8
Number, and then 12 firing order of server picks up container 8 to elevating mechanism 3 to control the whereabouts of elevating mechanism 3, and pass through tapered end 20
Lock container 8；After container 8 is thus lifted to certain altitude, servo motor driving traveling trolley 2 is normally walked along circuit 18
Row.
Laser emitter 6 and laser pickoff 9 are separately positioned on 2 bottom of traveling trolley and AGV trolleies 10, to realize away
The accurate contraposition of row trolley 2 and AGV trolleies 10, to improve the efficiency of loading and unloading；It is further preferred that laser emitter 6 is preferable
It is arranged on container spreader 4, to realize the accurate contraposition of container spreader 4 and AGV trolleies 10.
Further, it is preferable to positioning component 13 in embodiment is used to detect the location information of traveling trolley 2, and by position
Information is transferred to server 12, by server 12 according to location information and come auto-navigation communication part 11 to navigation positioning data
Judge the real time position of traveling trolley 2 and AGV trolleies 10, and calculate best loading position automatically, while sending instructions to away
Row trolley 2 and AGV trolleies 10 reach best handler to control traveling trolley 2 and AGV trolleies 10, to realize container 8
Quick despatch.
Positioning component 13 is preferably Gray bus position detection component comprising antenna box 131, Gray bus 5, address are compiled
Code generator (i.e. address coding transmitter) 132 and address coding receiver 133, Gray bus 5 are laid with along track girder 1,
It is oppositely arranged with traveling trolley 2；The fixing end in track girder 1, address coding generator 132 is arranged in address coding receiver 133
And antenna box 131 is arranged on traveling trolley 2.
Further specifically, positioning component 13 is led to by the electromagnetic coupling between Gray bus 5 and antenna box 131
Letter, and detect position of the antenna box 131 on 5 length direction of Gray bus while communication；Address coding generator 132
For synthesizing and amplifying address coding signal；Address coding signal is transmitted to Gray by antenna box 131 by electromagnetic coupling mode
Address coding signal is transmitted to geology encoder receiver 133 by busbar 5, Gray bus 5 again, and geology encoder receiver 133 docks
The signal received carries out phase bit comparison, and the location information of obtained traveling trolley 2 is transferred to server 12.
Further, the automated container handling system of top walking sky rail is also wrapped in the preferred embodiment in the utility model
Warning member is included, warning member is arranged on traveling trolley 2, and collection is found when server 12 handles the graph data received
When vanning 8 nearby judges that traveling trolley 2 reaches the limit of position there are barrier or according to location information, issue instructions to
Warning member, alarm will send out alarm, to remind operating personnel to carry out emergency action in time.
The automated container handling system of walking sky rail in top provided by the utility model, positioning component 13 is for real
When detection traveling trolley 2 location information, and location information is transferred to server 12；The communication part 11 that navigates is small for AGV
The navigator fix of vehicle 10, and navigator fix information is transferred to server 12；Server 12 is used for according to the position letter received
Breath and navigator fix information judge the real time position of traveling trolley 2 and AGV trolleies 10, and calculate loading position automatically, simultaneously
It sends instructions to traveling trolley 2 and AGV trolleies 10 and quickly reaches loading position to control traveling trolley 2 and AGV trolleies 10, improve
All transfer efficients.In addition, laser emitter 6 and laser pickoff 9 are separately positioned on traveling trolley 2 and AGV trolleies 10, the two
The contraposition being provided commonly between traveling trolley 2 and AGV trolleies 10, is effectively guaranteed the efficiency of loading and unloading.
As it will be easily appreciated by one skilled in the art that the above is only the preferred embodiment of the utility model only, not
To limit the utility model, any modification made within the spirit and principle of the present invention, equivalent replacement and change
Into etc., it should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of automated container handling system based on top walking sky rail, for being completed by top walking sky rail
The automatic loading and unloading of container, which is characterized in that
Container (8) automatic assembling and disassembling system includes traveling trolley (2), elevating mechanism (3), AGV trolleies (10), navigation communication
Component (11), server (12) and positioning component (13)；Wherein,
The traveling trolley (2) is arranged on the track girder (1) of the top walking sky rail, is used to drive the elevator
Structure (3) is moved horizontally along the track girder (1)；The elevating mechanism (3) is connected to the traveling trolley (2), is used to clamp
The container (8) simultaneously drives the container to lift；The setting of positioning component (13) part is in the traveling trolley (2)
On, it is used to detect the location information of the traveling trolley (2) in real time, and the location information is transferred to the server
(12)；The navigation communication part (11) is arranged on the AGV trolleies (10), is used for the navigation of the AGV trolleies (10)
Positioning, and navigator fix information is transferred to the server (12)；The server (12) is used for according to receiving
Location information and the navigator fix information judge the real time position of the traveling trolley (2) and the AGV trolleies (10), and
It is automatic to calculate loading position, while the traveling trolley (2) and the AGV trolleies (10) are sent instructions to control the traveling
Trolley (2) and the AGV trolleies (10) quickly reach loading position and complete the handling of the container (8).
2. the automated container handling system according to claim 1 based on top walking sky rail, wherein the packaging
Case (8) automatic assembling and disassembling system further includes laser emitter (6) and laser pickoff (9), the laser emitter (6) and described is swashed
Optical receiver (9) is separately positioned on the traveling trolley (2) and the AGV trolleies (10), for realizing that the traveling is small
Rapid-aligning between vehicle (2) and the AGV trolleies (10).
3. the automated container handling system according to claim 1 based on top walking sky rail, wherein the lifting
Mechanism (3) includes lifters, container spreader (4), traction machine (14) and the tapered end (20) for locking the container (8),
The container spreader (4) connects one end and the tapered end (20) of the lifters, is walked described in traction machine (14) connection
Row trolley (2) and the other end of the lifters move up and down for the driving lifters.
4. the automated container handling system according to claim 3 based on top walking sky rail, wherein the lifting
Mechanism (3) further includes retinue control cable, connects the traveling trolley (2) and the container spreader (4), is used to control
The movement of the container spreader (4), and the locking state of the container (8) is fed back into the server (12), then
The server (12) controls the size of the coupling mechanism force of the tapered end (20) according to the locking state information received.
5. the automated container handling system according to claim 4 based on top walking sky rail, wherein the lifting
Mechanism (3) further includes camera (7), and the camera (7) is arranged on the container spreader (4), is used to shoot described
The image of container (8), and the image data taken is transferred to the server (12), for the server (12)
The described image data received are handled and obtain the label of the container (8), then server (12) hair
Instruction is sent to lock the container (8) to the elevating mechanism (3) to control the tapered end (20).
6. the automated container handling system according to claim 5 based on top walking sky rail, wherein further include report
Alert part, the warning member are arranged on the traveling trolley (2), are used for when the server (12) is according to described image data
The container (8) is judged nearby there are alarm is sent out when obstacle, to remind operating personnel to carry out emergency action in time.
7. the automated container handling system according to any one of claims 1 to 5 based on top walking sky rail,
In, the positioning component (13) is Gray bus position detection component.
8. the automated container handling system according to claim 7 based on top walking sky rail, wherein the positioning
Component (13) includes antenna box, Gray bus, address coding generator and address coding receiver, and the Gray bus is along institute
Track girder (1) laying is stated, is correspondingly arranged with the traveling trolley (2)；Described address encoder receiver is arranged in the track
The fixing end of beam (1), described address code generator and the antenna box are arranged on the traveling trolley (2).
9. the automated container handling system based on top walking sky rail according to any one of claim 3~5,
In, the traveling trolley (2) includes two spaced car bodies on the top walking sky rail, is arranged on the car body
There is the traction machine (14) and is arranged at intervals with two pairs of motor wheels (15) for it in the top walking along direction of travel
Traveling on empty rail, the motor wheel (15) is connected to servo motor and is rotated by the servo motor, then by described
Motor wheel (15) drives the car body movement.
10. the automated container handling system according to claim 9 based on top walking sky rail, wherein it is described walk
Encoder is provided on row trolley (2), the encoder is used to detect the rotating speed of the motor wheel (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721692708.3U CN207810517U (en) | 2017-12-07 | 2017-12-07 | A kind of automated container handling system based on top walking sky rail |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721692708.3U CN207810517U (en) | 2017-12-07 | 2017-12-07 | A kind of automated container handling system based on top walking sky rail |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116280021A (en) * | 2023-05-12 | 2023-06-23 | 江苏新时代造船有限公司 | Container positioning mechanism in double-fuel power container cabin |
| CN116767876A (en) * | 2023-07-12 | 2023-09-19 | 南京翔维物流设备制造有限公司 | Port logistics container loading and unloading equipment and method thereof |
-
2017
- 2017-12-07 CN CN201721692708.3U patent/CN207810517U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116280021A (en) * | 2023-05-12 | 2023-06-23 | 江苏新时代造船有限公司 | Container positioning mechanism in double-fuel power container cabin |
| CN116280021B (en) * | 2023-05-12 | 2023-08-11 | 江苏新时代造船有限公司 | Container positioning mechanism in double-fuel power container cabin |
| CN116767876A (en) * | 2023-07-12 | 2023-09-19 | 南京翔维物流设备制造有限公司 | Port logistics container loading and unloading equipment and method thereof |
| CN116767876B (en) * | 2023-07-12 | 2024-01-26 | 南京翔维物流设备制造有限公司 | Port logistics container loading and unloading equipment and method thereof |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |