CN207817526U - A kind of sky rail automated container handling system - Google Patents
A kind of sky rail automated container handling system Download PDFInfo
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- CN207817526U CN207817526U CN201721692707.9U CN201721692707U CN207817526U CN 207817526 U CN207817526 U CN 207817526U CN 201721692707 U CN201721692707 U CN 201721692707U CN 207817526 U CN207817526 U CN 207817526U
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- traveling trolley
- container
- server
- agv trolleies
- handling system
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Abstract
The utility model belongs to Container Intermodal Transportation correlative technology field, it discloses a kind of empty rail automated container handling systems, the system comprises track girder, the door shape column for being connected to the track girder, the traveling trolley being arranged on track girder, the elevating mechanism for being connected to the traveling trolley, AGV trolleies, the laser emitter being separately positioned on the traveling trolley and the AGV trolleies and laser pickoff, navigation communication part, server and the positioning component being arranged on the traveling trolley being arranged on the AGV trolleies；The server is used to judge the position of the traveling trolley and the AGV trolleies according to the location information from the positioning component and the navigator fix information from the navigation communication part, and sends instructions to the traveling trolley and the AGV trolleies to control the two quickly to loading position.The utility model week, transfer efficient was higher, and flexibility is good, accurate qualitative height.
Description
Technical field
The utility model belongs to Container Intermodal Transportation correlative technology field, more particularly, to a kind of empty rail container
Automatic assembling and disassembling system.
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.Wherein, multimodal transport is as a kind of dynamical means of transportation, generation
The table developing direction of logistics.
Currently, relevant technical staff in the field has done some researchs for multimodal transport, as patent CN106379747 is disclosed
A kind of multimodal transport intercommunicating system, the multimodal transport intercommunicating system include rail system, container handling trolley and switching
Container is transported to switching device by device by transport truck, then by the switching device by freight lifting to packaging box installed
It unloads on trolley, this mode needs that the collecting and distributing of multiple conversion equipments completion cargos is arranged, and needs to consider the setting of switching device, at
This is higher, and the position of Distribution Center is difficult to convert；In addition, the multimodal transport intercommunicating system is mainly using wireless local net mode come complete
At the transmission of train information, the information of transmission is 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 rail container and fills automatically
A kind of higher empty rail packaging of all transfer efficients is studied and devised to unloading system based on the work characteristics of existing container handling
Case automatic assembling and disassembling system.The positioning component of the sky rail automated container handling system for detecting the traveling trolley in real time
Location information, and the location information is transferred to the server；Navigation communication part the leading for the AGV trolleies
Boat positioning, and navigator fix information is transferred to the server；The server is used for according to the position letter received
Breath and the navigator fix information judge the real time position of the traveling trolley and the AGV trolleies, and calculate handling automatically
Position, while it is fast to control the traveling trolley and the AGV trolleies to send instructions to the traveling trolley and the AGV trolleies
Speed reaches loading position, improves all transfer efficients.In addition, the laser emitter and the laser pickoff are separately positioned on institute
It states on traveling trolley and the AGV trolleies, the two is provided commonly for the contraposition between the traveling trolley and the AGV trolleies, has
Effect it ensure that and align the accuracy efficiency of loading and unloading.
To achieve the above object, the utility model provides a kind of empty rail automated container handling system, it is characterised in that：
The sky rail automated container handling system includes traveling trolley, elevating mechanism, laser emitter, laser pick-off
Device, AGV trolleies, navigation communication part, server and positioning component, the traveling trolley are arranged on track girder, are used for band
The elevating mechanism is moved to move horizontally along the track girder；The elevating mechanism is connected to the traveling trolley, is used to clamp
Container and the drive container lifting；It is small that the laser emitter and the laser pickoff are separately positioned on the traveling
On vehicle and the AGV trolleies, the two is provided commonly for the contraposition between the traveling trolley and the AGV trolleies；
The setting of the positioning component part is used to detect the position of the traveling trolley in real time on the traveling trolley
Confidence ceases, and the location information is transferred to the server；The navigation communication part is arranged on the AGV trolleies,
It is used for the navigator fix of the AGV trolleies, and navigator fix information is transferred to the server；The server is used for root
Judge the real-time of the traveling trolley and the AGV trolleies according to the location information and the navigator fix information that receive
Position, 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.
Further, the elevating mechanism includes lifters, container spreader, traction machine and tapered end, the container crane
Tool connects one end of the lifters and the tapered end, and the traction machine connects the another of the traveling trolley and the lifters
End, is used to drive the lifters to move up and down；The tapered end is for locking the container.
Further, the elevating mechanism further includes retinue control cable, and the retinue controls traveling described in cable connection
Trolley and the container spreader, are used to control the movement of the container spreader, and by the locking state of the container
Feed back to the server；The server is used to be controlled according to the locking state information of the container received described
The size of the coupling mechanism force of tapered end.
Further, the elevating mechanism further includes camera, and the camera is arranged on the container spreader,
Image for shooting the container, and the image data taken is transferred to the server；The server is used for
The described image data received are handled, to obtain the label of the container, then the server sends instruction
To the elevating mechanism container is locked to control the tapered end.
Further, the empty rail automated container handling system further includes warning member, and the warning member is arranged described
On traveling trolley, it is used to judge the container according to described image data when the server that nearby there are sent out when obstacle
Go out alarm, to remind operating personnel to carry out emergency action in time.
Further, the positioning component is Gray bus position detection component.
Further, the positioning component includes that antenna box, Gray bus, address coding generator and address coding receive
Device, the Gray bus are laid with along the track girder, are oppositely arranged with the traveling trolley；Described address encoder receiver
Fixing end in the track girder is set, and described address code generator and the antenna box are arranged on the traveling trolley.
Further, the traveling trolley includes two car bodies and four pairs of motor wheels, and two car bodies are oppositely arranged, institute
Traction machine is stated to be arranged on the car body；Two couple in four pairs of motor wheels is separately positioned on one in two car bodies
Opposite both ends, the two further pairs in four pairs of motor wheels are separately positioned on the opposite of another in two car bodies
Both ends；The motor wheel is connected to servo motor, and the servo motor is used to that the motor wheel to be driven to rotate, thus the electricity
Wheel drives the car body movement.
Further, encoder is additionally provided on the traveling trolley, the encoder is for detecting the motor wheel
Rotating speed.
Further, the traveling trolley further includes two pairs of directive wheels, and two pairs of directive wheels are separately positioned on two institutes
It states on car body, and is respectively adjacent to the corresponding motor wheel setting；The directive wheel for matched with the track girder come for
The mobile offer guiding of the traveling trolley.
In general, the utility model the above technical solutions conceived by the present invention are compared with the prior art,
The empty rail automated container handling system of offer mainly has the advantages that：
1. the positioning component is used to detect the location information of the traveling trolley in real time, and the location information is transmitted
To the server；The navigation communication part is used for the navigator fix of the AGV trolleies, and navigator fix information is transferred to
The server；The server judges described for the location information and the navigator fix information according to receiving
The real time position of traveling trolley and the AGV trolleies, and loading position is calculated automatically, while sending instructions to the traveling trolley
And the AGV trolleies quickly reach loading position to control the traveling trolley and the AGV trolleies, improve all transfer efficients；
2. the laser emitter and the laser pickoff are separately positioned on the traveling trolley and the AGV trolleies
On, the two is provided commonly for the contraposition between the traveling trolley and the AGV trolleies, is effectively guaranteed the efficiency of loading and unloading；
3. the camera is used to shoot the image of the container, and the image data taken is transferred to the clothes
Business device；The server is for handling the described image data received, to obtain the label of the container, then
The server sends instructions to the elevating mechanism and locks the container to control the tapered end, improves efficiency, flexibly
Property is preferable；
4. the warning member is arranged on the traveling trolley, it is used to be sentenced according to described image data when the server
Break and the container nearby there are alarm is sent out when obstacle, to remind operating personnel to carry out emergency action in time, improves peace
Quan Xing；
5. the positioning component is Gray bus position detection component, it can be effectively prevented the interference of other equipment, carried
The high safety of information transmission；
6. the retinue control cable is used to control the movement of the container spreader, and by the locking shape of the container
State feeds back to the server；The server is used for according to the locking state information of the container received to control
The size for stating the coupling mechanism force of tapered end improves accuracy and controllability；
7. the structure of the sky rail automated container handling system is simple, cost is relatively low, with strong applicability.
Description of the drawings
Fig. 1 is the use state signal for the empty rail automated container handling system that the preferred embodiment of the utility model provides
Figure；
Fig. 2 is the partial schematic diagram of the empty rail automated container handling system in Fig. 1；
Fig. 3 is the connection block diagram of the positioning component and server of the empty rail automated container handling system in Fig. 1；
Fig. 4 is the partial schematic diagram of another angle of the empty rail automated container handling system in Fig. 1.
In all the appended drawings, identical reference numeral is used for indicating identical element or structure, wherein：1- track girders, 2-
Trolley out of shape, 3- elevating mechanisms, 4- container spreaders, 5- Gray buses, 6- laser emitters, 7- cameras, 8- containers, 9-
Laser pickoff, 10-AGV trolleies, 11- navigation communication parts, 12- servers, 13- positioning components, 131- antenna boxes, 132-
Location encoder generator, 133- address scrambler receivers, 14- traction machines, 15- motor wheels, 16- directive wheels, 17- buffers,
18- circuits, 19- retinue control cables, 20- tapered ends, 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 used to explain
The utility model is not used to limit the utility model.In addition, institute in the various embodiments of the present invention described below
The technical characteristic being related to can be combined with each other as long as they do not conflict with each other.
It please refers to Fig.1, Fig. 2, Fig. 3 and Fig. 4, the empty rail automated container handling that the preferred embodiment of the utility model provides
System, the sky rail automated container handling system includes traveling trolley 2, elevating mechanism 3, laser emitter 6, laser pickoff
9, AGV trolleies 10, navigation communication part 11, server 12 and positioning component 13.The traveling trolley 2 is arranged on track girder 1,
It is in 1 upper edge circuit of the track girder, 18 horizontal movement.The elevating mechanism 3 is connected on the traveling trolley 1, is used for band
The dynamic lifting of container 8 is to be loaded and unloaded.The laser emitter 6 and the laser pickoff 9 are separately positioned on the elevator
On structure 3 and the AGV trolleies 10, the two is provided commonly for the accurate contraposition between the traveling trolley 2 and the AGV trolleies 10.
13 part of the positioning component is arranged on the traveling trolley 2, is used to detect the position letter of the traveling trolley 2 in real time
Breath, and the location information detected is transferred to the server 12.The navigation communication part 11 is set to the AGV
On trolley 10, it is used for the navigator fix to the AGV trolleies 10, and navigator fix information to be transferred to the server 12.
The server 12 handles the location information received and the navigator fix information, and according to handling result control
It makes the traveling trolley 2, the AGV trolleies 10 and the elevating mechanism 3 and carries out corresponding actions.In present embodiment, the sky
Rail automated container handling system further includes a shape column, and the door shape column is connected to the track girder.
The traveling trolley 2 includes two car bodies, four pairs of motor wheels 15, two pairs of directive wheels, 16, two groups of buffers 17 and brake
Vehicle part 21, two car body interval settings, the elevating mechanism 3 are connected to the car body.Two in four pairs of motor wheels 5
To one opposite both ends being separately positioned in two car bodies, the two further pairs in four pairs of motor wheels 5 are distinguished
The opposite both ends of another in two car bodies are set.The motor wheel 5 is connected with servo motor, the servo
Motor drives the motor wheel 5 to rotate, and then the motor wheel 5 drives the car body to move, and thus the traveling trolley 2 is in institute
Circuit 18 described in 1 upper edge of track girder is stated to move.In present embodiment, the traveling trolley 2 is additionally provided with encoder, the coding
Device is used to detect the rotating speed of the motor wheel 5；The traveling trolley 2 is for running box track girder and door shape column.
Two pairs of directive wheels 16 are separately positioned on two car bodies.The directive wheel 16 is adjacent to the corresponding electricity
Wheel 15 is arranged, and is used to match with the track girder 1 to provide guiding for the movement of the traveling trolley 2.
Buffer 17 described in two groups is separately positioned on two car bodies, and be respectively used to the corresponding car body into
Row buffering is to reduce the vibration that the car body is subject to.The brake member 21 is arranged on the motor wheel 15, for two institutes
State the brake of car body.
The elevating mechanism 3 include lifters, container spreader 4, camera 7, traction machine 14, retinue control cable 19 and
Tapered end 20.The lifters are connected to the traveling trolley 2 by the traction machine 14, and one end of the container spreader 4 connects
The lifters are connected to, the other end is connected to the tapered end 20.The traction machine 14 is connected with the lifters, is used to drive
Move moving up and down for the lifters.In present embodiment, the traction machine 14 is arranged on the traveling trolley 2.The lock
First 20 for locking the container 8.The both ends of the retinue control cable 19 are connected to the traveling trolley 2 and described
Container spreader 4, the retinue control cable 19 are used to control the movement of the container spreader 4, and by the container 8
Locking state feeds back to the server 12.The service its 12 controlled according to the locking state of the container 8 received
Make the size of the coupling mechanism force of the tapered end 20.
The camera 7 is arranged on the container spreader 4, is used to shoot the image of the container 8, and will clap
The image data taken the photograph is transferred to the server 12.The server 12 handles the described image data received,
To obtain the label of the container 8, and then 12 firing order of the server gives the elevating mechanism 3 to control the lifting
Mechanism 3 picks up the container 8 in whereabouts, and locks the container 8 by the tapered end 20；When the container 8 is elevated
To after certain altitude, the servo motor drives the traveling trolley 2 along 18 normal traveling of the circuit.
The laser emitter 6 and the laser pickoff 9 are separately positioned on the container spreader 4 and the AGV is small
On vehicle 10, to realize the accurate contraposition of the container spreader 4 and the AGV trolleies 10, to improve the efficiency of loading and unloading.
The positioning component 13 is used to detect the location information of the traveling trolley 2, and the location information is transferred to
The server 12, the navigator fix that the server 12 arrives according to the positional information and from the navigation communication part 12
Data judge the real time position of the traveling trolley 2 and the AGV trolleies 10, and calculate best loading position automatically, simultaneously
It sends instructions to the traveling trolley 2 and the AGV trolleies 10 and is reached with controlling the traveling trolley 2 and the AGV trolleies 10
Best handler, to realize the quick despatch of the container 8.
The positioning component 13 is 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, the Gray bus 5 is along the track girder 1
It is laid with, is oppositely arranged with the traveling trolley 2.The fixation in the track girder 1 is arranged in described address encoder receiver 133
End, described address code generator 132 and the antenna box 131 are arranged on the traveling trolley 2.
The positioning component 13 is led to by the electromagnetic coupling between the Gray bus 5 and the antenna box 131
Letter, and detect position of the antenna box 131 on 5 length direction of the Gray bus while communication.Described address
Code generator 132 is for synthesizing and amplifying address coding signal.Address coding signal is passed through electromagnetism coupling by the antenna box 131
Conjunction mode is transmitted to the Gray bus 5, and described address encoded signal is transmitted to the geology and encoded by the Gray bus 5 again
Receiver 133, the geology encoder receiver 133 carry out phase bit comparison, and the traveling that will be obtained to the signal received
The location information of trolley 2 is transferred to the server 12.
The sky rail automated container handling system further includes warning member, and the warning member is arranged in the traveling trolley 2
On.The server 12 found when handling the graph data received the container 8 nearby there are barrier or
When judging that the traveling trolley 2 reaches the limit of position according to the positional information, the warning member is issued instructions to, it is described
Alarm will send out alarm, to remind operating personnel to carry out emergency action in time.
Sky rail automated container handling system provided by the utility model, positioning component for detecting the traveling in real time
The location information of trolley, and the location information is transferred to the server；The navigation communication part is small for the AGV
The navigator fix of vehicle, and navigator fix information is transferred to the server；The server is used for according to receiving
Location information and the navigator fix information judge the real time position of the traveling trolley and the AGV trolleies, and count automatically
Loading position is calculated, while sending instructions to the traveling trolley and the AGV trolleies to control the traveling trolley and the AGV
Trolley quickly reaches loading position, improves all transfer efficients.In addition, the laser emitter and the laser pickoff are set respectively
It sets on the traveling trolley and the AGV trolleies, the two is provided commonly for pair between the traveling trolley and the AGV trolleies
Position, 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 sky rail automated container handling system, it is characterised in that：
The sky rail automated container handling system includes traveling trolley, elevating mechanism, laser emitter, laser pickoff, AGV
Trolley, navigation communication part, server and positioning component, the traveling trolley are arranged on track girder, are used to drive described
Elevating mechanism is moved horizontally along the track girder；The elevating mechanism is connected to the traveling trolley, is used to clamp container
And drive the container lifting；The laser emitter and the laser pickoff are separately positioned on the traveling trolley and institute
It states on AGV trolleies, the two is provided commonly for the contraposition between the traveling trolley and the AGV trolleies；
The setting of the positioning component part is used to detect the position letter of the traveling trolley in real time on the traveling trolley
Breath, and the location information is transferred to the server；The navigation communication part is arranged on the AGV trolleies, uses
It is transferred to the server in the navigator fix of the AGV trolleies, and by navigator fix information；The server is used for basis and connects
The location information that receives and the navigator fix information judge the real-time position of the traveling trolley and the AGV trolleies
It sets, and calculates loading position automatically, while sending instructions to the traveling trolley and the AGV trolleies are small to control the traveling
Vehicle and the AGV trolleies quickly reach loading position.
2. sky rail automated container handling system as described in claim 1, it is characterised in that：The elevating mechanism includes lifting
Part, container spreader, traction machine and tapered end, the container spreader connects one end of the lifters and the tapered end, described
Traction machine connects the traveling trolley and the other end of the lifters, is used to drive the lifters to move up and down；It is described
Tapered end is for locking the container.
3. sky rail automated container handling system as claimed in claim 2, it is characterised in that：The elevating mechanism further include with
Row control cable, the retinue control traveling trolley and the container spreader described in cable connection, are used to control the collection
The movement of vanning suspender, and the locking state of the container is fed back into the server；The server is used for basis and connects
The locking state information of the container received controls the size of the coupling mechanism force of the tapered end.
4. sky rail automated container handling system as claimed in claim 2, it is characterised in that：The elevating mechanism further includes taking the photograph
As head, the camera is arranged on the container spreader, be used to shoot the image of the container, and will take
Image data is transferred to the server；The server is for handling the described image data received, to obtain
The label of the container, then the server send instructions to the elevating mechanism and lock the collection to control the tapered end
Vanning.
5. sky rail automated container handling system as claimed in claim 4, it is characterised in that：The sky rail container fills automatically
Unloading system further includes warning member, and the warning member is arranged on the traveling trolley, is used for when the server is according to
Image data judges the container nearby there are alarm is sent out when obstacle, to remind operating personnel to carry out answering jerking movement in time
Make.
6. sky rail automated container handling system as described in any one in claim 1-5, it is characterised in that：The positioning component
For Gray bus position detection component.
7. sky rail automated container handling system as claimed in claim 6, it is characterised in that：The positioning component includes antenna
Case, Gray bus, address coding generator and address coding receiver, the Gray bus are laid with along the track girder,
It is oppositely arranged with the traveling trolley；The fixing end in the track girder is arranged in described address encoder receiver, and described address is compiled
Code generator and the antenna box are arranged on the traveling trolley.
8. such as claim 2-5 any one of them sky rail automated container handling systems, it is characterised in that：The traveling trolley
Including two car bodies and four pairs of motor wheels, two car bodies are oppositely arranged, and the traction machine is arranged on the car body；Four pairs
Two couple in the motor wheel is separately positioned on one opposite both ends in two car bodies, in four pairs of motor wheels
Two further pairs be separately positioned on another the opposite both ends in two car bodies；The motor wheel is connected to servo electricity
Machine, the servo motor is for driving the motor wheel to rotate, and thus the motor wheel drives the car body movement.
9. sky rail automated container handling system as claimed in claim 8, it is characterised in that：It is also set up on the traveling trolley
There are encoder, the encoder to be used to detect the rotating speed of the motor wheel.
10. sky rail automated container handling system as claimed in claim 8, it is characterised in that：The traveling trolley further includes
Two pairs of directive wheels, two pairs of directive wheels are separately positioned on two car bodies, and are respectively adjacent to the corresponding motor wheel
Setting；The directive wheel with the track girder for matching to provide guiding for the movement of the traveling trolley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721692707.9U CN207817526U (en) | 2017-12-07 | 2017-12-07 | A kind of sky rail automated container handling system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721692707.9U CN207817526U (en) | 2017-12-07 | 2017-12-07 | A kind of sky rail automated container handling system |
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| CN207817526U true CN207817526U (en) | 2018-09-04 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109460018A (en) * | 2018-10-27 | 2019-03-12 | 共享智能铸造产业创新中心有限公司 | A kind of control method of intelligence sand exclusion systems |
| CN111562790A (en) * | 2020-07-14 | 2020-08-21 | 广州合创未来科技有限公司 | Control system and control method for automatic replacement of function box of mobile robot |
-
2017
- 2017-12-07 CN CN201721692707.9U patent/CN207817526U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109460018A (en) * | 2018-10-27 | 2019-03-12 | 共享智能铸造产业创新中心有限公司 | A kind of control method of intelligence sand exclusion systems |
| CN111562790A (en) * | 2020-07-14 | 2020-08-21 | 广州合创未来科技有限公司 | Control system and control method for automatic replacement of function box of mobile robot |
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