WO2019007318A1 - Automatic mounting and dismounting system for container twistlock - Google Patents

Abstract

An automatic mounting and dismounting system for a container twistlock. The system comprises a container body (10), and twistlock trays (40), a conveying belt (30), a mechanical arm (20), a tray intercepting device (60), a twistlock storage box (50), and a twistlock push rod (51,52) that are disposed in the container body (10). In a lock mounting mode, if the number of twistlocks (70) on the conveying belt (30) is reduced to a lower limit value, the tray intercepting device (60) stretches out to intercept an empty twistlock tray (40) on the conveying belt (30); at the intercepting position, the twistlock push rod (51, 52) pushes a twistlock (70) on an upper-layer support in the twistlock storage box (50) into the empty twistlock tray (40) to perform a lock supplementing operation. In a lock dismounting mode, if the number of twistlocks (70) on the conveying belt (30) is increased to an upper limit value, the tray intercepting device (60) stretches out to intercept a twistlock tray (40) having a twistlock (70) on the conveying belt (30); at the intercepting position, the twistlock push rod (51, 52) pushes the twistlock (70) on the twistlock tray (40) into a support in a layer of the twistlock storage box (50) to complete a lock removing operation. Automatic dismounting and mounting of a container twistlock is achieved, and a function of storing a certain number of twistlocks (70) is provided.

Description

Container twist lock automatic disassembly system

Cross-reference to related applications

The present application claims priority to Chinese Patent Application No. JP-A No. No. No. No. No. No. No. No. No. No. No.

Technical field

The present application relates to the technical field of container loading and unloading special equipment, and in particular to a container twist-lock automatic disassembly and assembly system.

Background technique

The container is a large loading container with a certain strength, rigidity and specifications for use in turnover. Container transportation is the safest carrier for modern cargo transportation, and safety is the "lifeline" for container transportation. The box carrying more than ten tons of heavy cargo, once slipped or rolled over from the car body, will bring immeasurable loss to personal life and property safety. Therefore, during the shipping of the container, the containers must be connected and fixed by special locks. The removal or installation of the locks must be completed during the lifting of the container from the ship to the terminal or from the terminal to the ship at the container terminal.

At the current container terminal, the installation and removal of the container twist lock is done manually. One container shore bridge needs to have two staff members on the ground to complete the installation and removal of the twist lock. A lot of labor. Moreover, due to the large number of on-site mobile machinery, factors such as vehicle exhaust, dust and bad weather have seriously affected the health of the on-site staff and serious traffic safety hazards, thus seriously hindering the development of safe production at ports and terminals. And the improvement of work efficiency.

Summary of the invention

In order to solve the technical problem of at least one aspect, the present application provides a container twist-lock automatic disassembly and assembly system, which can replace the traditional manual operation mode, complete the automatic installation and disassembly work of the twist lock used in the container, and can significantly improve the work. Efficiency to ensure safe operation.

This application is implemented using the following technical solutions:

A container twist-lock automatic disassembly system includes a box body including an inner chamber formed by a top surface and surrounding side walls, the top surface forming a carrying platform configured to park a container, at the top a plurality of twist-lock receptacles configured to pass through the twist lock are disposed on the surface; a twist lock tray configured to carry the twist lock, a conveyor belt carrying and transporting the twist lock tray, a robot, a tray intercepting device, a twist lock storage box and a twist lock push rod; wherein the mechanical hand removes the twist lock from the twist lock tray and is installed in the lock hole of the container under the locking operation; Under the working condition, the twist lock on the container is disassembled and placed in the twist lock tray; the tray intercepting device is configured to intercept the twist lock tray to prevent the twist lock tray from moving with the conveyor belt; The storage box is configured to store a twist lock, comprising a motor, a telescopic rod and a plurality of brackets configured to store the twist lock, the motor being telescoped by driving the telescopic rod to control the bracket to move up or down layer by layer; Twist lock push rod under locking condition If the number of twist locks on the conveyor belt drops to a set lower limit value, the tray intercepting device extends to intercept an empty twist lock tray on the conveyor belt, and in the intercepting position, the twist lock push rod will A twist lock on the upper bracket in the twist lock storage box is pushed onto the empty twist lock tray, and then the tray intercepting device is retracted, and the twist lock tray loaded with the twist lock continues to be transported along with the conveyor belt, waiting for the layer After the bracket is emptied, the motor driving telescopic rod in the twist lock storage box protrudes to push the bracket to rise one layer; in the unlocking condition, if the number of twist locks on the conveyor belt increases to the set upper limit value The tray intercepting device extends to intercept the twist lock tray on the conveyor belt with a twist lock, and in the intercepting position, the twist lock push rod pushes the twist lock on the twist lock tray into one of the twist lock storage boxes On the layer bracket, the tray intercepting device is then retracted, and the empty twist lock tray is continuously transported with the conveyor belt. After the layer bracket is full, the motor drive telescopic rod in the twist lock storage tank is retracted, and the control is performed. The bracket is lowered one layer.

Optionally, in order to realize the orderly storage of the twist lock in the twist lock storage box, the present invention can be accurately controlled to automatically control the twist lock from the twist lock storage box to the twist lock tray during the lock repair operation. The twist lock in the twist lock storage box is stored layer by layer from the bottom layer of the bracket, and in the lock lock condition, the motor in the twist lock storage box is configured to drive the telescopic rod to control the bracket Moving up the layer, so that the twisted lock on the uppermost layer of the bracket is opposite to the twist lock tray stopped at the intercepting position; in the unlocking condition, the motor in the twist lock storage tank is configured to be driven The telescopic rod control bracket is moved down layer by layer, so that the empty shelf on the lowermost layer on the bracket faces the twist lock tray stopped at the intercepting position. The operation mode of controlling the motor drive bracket to move up and down layer by layer is realized to realize the orderly storage and automatic lock of the twist lock in the twist lock storage box. This design method can significantly simplify the software program design of the system and reduce the program development. Difficulty.

Optionally, the conveyor belt is wound in a circle and is provided with at least one layer; the twist lock storage box is located outside the conveyor belt; the twist lock push rod is provided with two, one of which is located in the twist lock storage box The outer side is configured to push the twist lock in the twist lock storage box into the twist lock tray to realize the lock lock; another twist lock push rod is located inside the conveyor belt, and is configured to be in the twist lock tray The twist lock is pushed into the twist lock storage box to achieve clear lock.

Optionally, in order to ensure that the twist lock tray runs smoothly on the conveyor belt, and the robot can easily grasp or store the twist lock on the twist lock tray, the twist lock tray is designed as a polygonal bracket structure, and the twist lock tray includes a bottom plate, a top plate, and a support plate connected between the bottom plate and the top plate; a twist lock chute is formed on the top plate, and an opening of the twist lock chute faces an outer side of the conveyor belt, and the twist lock is along The opening slides into the twist lock chute, and the lock portion of the twist lock is located above the twist lock chute, and the lock tongue portion of the twist lock is located below the twist lock chute, and the twist lock is supported by the twist lock chute so that Accurately grab the robot.

Optionally, in order to accurately determine whether a twist lock is installed on the twist lock tray, the tray intercepting device is designed to include a pole and a telescopic lever perpendicular to the pole, and the pole is mounted on the pole The upper and lower detection switches are configured to detect whether a twist lock passes, and the lower detection switch is configured to detect whether a twist lock tray passes, and judges that the tray interception device is twisted by the detection result of the two detection switches. Whether the tray is an empty tray, and according to the judgment result, the telescopic lever is extended to intercept the twist lock tray or maintain the default retracting state.

Optionally, in order to lock the twist lock tray on the conveyor belt before the start of the container twist lock automatic disassembly and assembly operation, after the container twist lock automatic disassembly and assembly operation ends, the twist lock on the conveyor belt is automatically cleaned, The utility model is further provided with a lock slide, a lock intercepting device, a lock slide, a lock intercepting device and a clear lock telescopic rod in the container twist lock automatic disassembly and assembly system; wherein the lock slide channel is configured Carrying a twist lock and sliding the twist lock thereon; the lock intercepting device is located in the inner chamber, and under the twist lock supply condition, intercepting the empty space on the conveyor belt passing the position of the lock slide a twist lock tray, the twist lock is slid into the empty twist lock tray along the lock slide to realize locking; the lock intercepting device is retracted after the empty twist lock tray is loaded with the twist lock, so that The twist lock tray continues to be transported with the conveyor belt; the lock slide is inclined and disposed adjacent to a side of the conveyor belt that is low, away from a side of the conveyor belt; the lockout intercepting device is located in the interior chamber In the case of twist lock cleaning, interception a twist-lock tray on the conveyor belt that passes through the position of the lockout slide and is equipped with a twist lock; the lock-locking telescopic rod is on the twist-lock tray intercepted by the lock-off intercepting device under the twist-lock cleaning condition The twist lock is pushed into the exit slide, so that the twist lock slides along the exit slide and falls into a storage box located outside the box to achieve clear lock.

Optionally, two mutually parallel telescopic slide bars are respectively disposed in the lock slide channel and the lock slide chute, and the telescopic slide bar is in a contracted state by default, and is located in an internal cavity formed by the box body. Wherein the two telescopic slide bars in the lock chute extend under the twist lock supply condition, and the inner side of the telescopic slide bar is opposite to the twist lock tray intercepted by the lock intercepting device, and the telescopic The outer side of the sliding rod extends outward through the box; the two telescopic sliding rods in the locking slide are horizontally arranged or the outer side is inclined upward relative to the inner side, so that the twist lock on the sliding rod is under the action of its own gravity Automatically sliding into the twist lock tray; the two telescopic slide bars in the lock slide slide out under the twist lock cleaning condition, the inner side of the telescopic slide bar and the twist lock intercepted by the lock intercepting device The tray is facing right, the outer side of the telescopic slide bar extends outwardly through the box to a storage box outside the box; the two telescopic slide bars in the lock slide are inclined, and the outer side is opposite to the inner side Tilt down so that the twist lock on the slider is heavy on itself Under the action, automatically slides to the outside of the storage tank.

Optionally, in order to automatically transfer the twist lock in the twist lock storage to the external storage box, the present application designs the tray intercepting device to intercept the twist lock tray above the conveyor belt under the twist lock cleaning condition. The twist lock push rod pushes the twist lock in the twist lock storage box into different empty twist lock trays in turn, empties the twist lock in the twist lock storage box, and further acts by means of the lock intercepting device and the clear lock telescopic rod The transfer of the twist lock from the twist lock storage box to the external storage box is realized.

Optionally, in order to facilitate the fixed parking of the container on the carrying platform, the present application further includes a positioning block, a lifting device and a translation device in the container twist-lock automatic disassembly system; the positioning block is configured to be in a container The parking position on the carrying platform is limited, and the positioning block includes a plurality of, distributed on opposite sides of the carrying platform along the length direction and opposite sides in the width direction; wherein the bearing is distributed Positioning stops on opposite sides of the table along the length direction are installed in the box body, and positioning stops distributed on opposite sides of the carrying table in the width direction are located on the top surface of the box; the lifting device is located The inner chamber formed by the box is configured to perform lifting control on the positioning blocks distributed on opposite sides of the carrying platform along the length direction to control the positioning block in the longitudinal direction to extend out of the box or Retracting into the casing; the translating device is mounted on the top surface of the casing or in the casing, and is configured to perform positioning stops on opposite sides of the loading platform in the width direction Translation control to control the horizontally displaced or horizontally displaced position of the positioning block in the width direction, and by adjusting the moving position of the positioning block in the width direction, the area formed by the plurality of positioning stops can be exactly 20 feet Two 20-foot, one 40-foot or one 45-foot containers are sized to provide accurate limits for different sized containers parked on the platform, allowing distribution at the four corners of the container The twist lock or the keyhole is just aligned with the twist lock jack provided on the carrying platform, so that the robot inside the box can twist and unload the container.

Optionally, the lifting device comprises a cylinder, a pneumatic push rod and a pneumatic pin, the pneumatic push rod being connected to the cylinder in a manner capable of telescopic movement along the cylinder, the pneumatic pin being capable of pushing the pneumatic pin The relative position between the rod and the cylinder is locked.

Optionally, in order to enable the container twist-lock automatic disassembly system of the present application to be disassembled and assembled with different types of twist locks, the present application further provides an inner portion of the container twist-lock automatic disassembly and assembly system. A clamp storage table in the chamber and a special clamp for the twist lock disposed on the clamp storage table, the twist lock special clamp includes a plurality of types for the robot to select and replace.

Optionally, the box body is formed by splicing a first box body and a second box body, and the first box body and the second box body are disposed between the first box body and the second box body a telescopic device for describing a relative distance between the second cabinets, wherein the container can be parked between the first box and the second box, the robot has at least four, and is parked in the container The mechanical hand is symmetrically disposed on two sides of the container under the working condition between the first box and the second box; the conveyor belt can transfer the twist lock tray to each of the The position of the robot for each of the robots to disassemble and twist the container.

Optionally, the box body is surrounded by a top surface, a surrounding side wall and a bottom surface, and a traveling wheel and a lifting device are disposed below the bottom surface of the box body, and the traveling wheel has at least four a jacking device is in one-to-one correspondence with the traveling wheel, the jacking device is installed between the walking wheel and a bottom surface of the box body, and is configured to jack up the box body so that the box body is in the Move the position under the action of the walking wheel.

Optionally, the box body is surrounded by a top surface, a surrounding side wall and a bottom surface, and a buffer damper device capable of fixing the box body to the ground is disposed on a bottom surface of the box body.

Optionally, a position detecting switch capable of detecting a parking position of the container is further disposed in an inner cavity of the casing.

Optionally, a contact switch is disposed in each of the twist lock trays, and the twist switch is disposed in the twist lock tray, the contact switch is in a closed state; In the working condition of the twist lock tray, the contact switch is in an off state.

Optionally, a top support beam is disposed on an inner side of the top surface of the case.

Optionally, a moving track capable of moving by the robot is further disposed in the inner chamber of the casing.

Optionally, a slide rail is provided on the top surface of the box for translation of the positioning block disposed along the width direction of the box body.

Optionally, a vent hole is further formed on a side wall of the casing.

Compared with the prior art, the container twist-lock automatic disassembly system of the present application has the following advantages and positive effects:

The container twist-lock automatic disassembly and assembly system of the present application can be configured into a plurality of container loading and unloading working conditions, realizing automatic disassembly and installation of various types of container twist locks, greatly improving the automation level of container terminal loading and unloading operations, and greatly reducing the number of The number of on-site staff has reduced labor costs, improved the safety management level and production efficiency of the terminal, and ensured the personal safety of field operators;

The present invention encloses the container twist-lock automatic disassembly system in a box body, and configures the box body into a container carrying platform, thereby not only reducing the overall size of the device, but also facilitating the overall lifting of the changeover, and Protects the unit and helps extend the life of the entire system;

By setting a twist lock storage box in the container twist lock automatic disassembly and assembly system, the system can have the function of storing a certain number of container twist locks, and the twist lock on the conveyor belt is designed by designing the twist lock push rod and the twist lock storage box. Automatic replenishment or cleaning, so that the system can engage in continuous disassembly and lock operation of different containers for a long time without manual replenishment, further improving the automation of the system.

Other features and advantages of the present application will become more apparent from the detailed description of the embodiments.

DRAWINGS

1 is a top plan view showing an overall structure of an embodiment of a container twist-lock automatic disassembly and assembly system according to the present application;

Figure 2 is a perspective view of Figure 1;

3 is a side perspective view of the overall architecture of an embodiment of the container twist-lock automatic disassembly and assembly system proposed by the present application;

Figure 4 is a schematic structural view of an embodiment of a lifting device;

Figure 5 is a schematic structural view of an embodiment of a twist-lock tray with a base removed;

Figure 6 is a longitudinal cross-sectional view of the twist lock tray with the base mounted;

Figure 7 is a bottom structural view of a twist lock tray with a base mounted thereon;

Figure 8 is a partial cross-sectional view of an embodiment of a twist lock storage case;

Figure 9 is a schematic block diagram of an embodiment of a tray intercepting device.

10 is a top plan view showing an overall structure of an embodiment of the container twist-lock automatic disassembly system of the present application different from the robot arrangement of FIG. 1;

11 is a top plan view showing an overall structure of an embodiment of a container body twist dismounting system according to the present application in which a box body is spliced by a first box body and a second box body;

Figure 12 is a side perspective view of the container of Figure 11 on a carrier;

Figure 13 is a side perspective view of the container of Figure 11 between a first housing and a second housing;

Figure 14 is a schematic view of the operation of the twist lock push rod;

Figure 15 is a schematic view showing the structure of a twist lock tray in which a contact switch is mounted and the base is removed.

16 is a schematic view showing the working flow of the container twist-lock automatic disassembly and assembly system proposed in the present application.

Detailed ways

The specific embodiments of the present application are described in detail below with reference to the accompanying drawings.

The container twist-lock automatic disassembly system of the embodiment includes a box body 10, and the box body 10 is surrounded by the top surface 100, the surrounding side wall 130 and the bottom surface 140, and is relatively compared with those shown in FIG. 1 to FIG. A closed internal chamber. Of course, for the container twist-lock automatic dismounting system with a fixed position, the bottom surface 140 may not be provided, and the inner chamber may be directly surrounded by the top surface 100 and the surrounding side walls 130.

A loading platform 117 configured to park the container 1 is formed by the top surface 100 of the casing 10, and the loading platform 117 is located in an intermediate portion of the top surface 100 of the casing 10 to serve as a parking area for the container 1. In order to increase the supporting strength of the loading platform 117, it is preferable to add a top supporting beam 118 inside the casing 10 so as to be located on the inner side surface of the top surface of the casing 10 to ensure the safety of the container 1 at the top surface 100 of the casing. park.

In addition, at the top surface 100 of the casing 10, specifically at the peripheral position of the loading platform 117, a plurality of twist-lock receptacles 101-112 are also opened, as shown in FIG. After the container 1 is parked on the carrying platform 117, by aligning the twist-lock receptacles 101-112 with the bottom corner position of the container 1, the bottom of the container 1 can be made for the container 1 equipped with the twist lock The twist lock extends into the casing 10 to facilitate the unlocking operation; and for the container 1 to which the twist lock is to be installed, the lock hole at the bottom of the container 1 can be penetrated inside the casing 10 to facilitate the locking. operation.

In this embodiment, twelve twist-lock receptacles 101-112 are preferably formed in the top surface 100 of the casing 10, as shown in FIG. 1, so that the container 1 can be parked on a plurality of containers 1 of different specifications.

Optionally, in order to accurately limit the parking position of the container 1 on the carrying platform 117, to ensure that the locking hole position of the container 1 can be aligned with the twist-lock receptacles 101-112 opened by the top surface 100 of the box, In the embodiment, a plurality of positioning stoppers 151-158 are further disposed on the casing 10, and are distributed on opposite sides of the loading platform 117 along the longitudinal direction and opposite sides in the width direction, wherein the distribution is along the carrying platform 117. The positioning stoppers on the opposite sides of the longitudinal direction are mounted in the casing 10, and the positioning stoppers distributed on opposite sides of the loading platform 117 in the width direction are located on the top surface 100 of the casing 10. This embodiment is described by taking eight positioning stops 151-158 as an example. Preferably, six positioning stops 151-1156 are distributed on opposite sides of the carrying platform 117 along the length direction, and three on each side. A pair of stoppers in which three pairs of positions are opposed to each other are formed, and the positioning stoppers 151-156 are installed in the casing 10. The other two positioning stops 157, 158 are distributed on opposite sides of the carrier 117 in the width direction, and the positioning stops 157, 158 are located on the top surface of the case 10 and are located at the center position. Preferably, the top surface 150 of each of the positioning stops 151-1158 is designed as an outer high and low guide bevel, as shown in FIG. 3, thereby expanding the area of the lower opening of the container 1, so that the shore bridge driver only needs to transport the container 1 The container 1 can be accurately placed in the lower parking area, and the container 1 can be accurately parked under the guiding action of the guiding slope to the set parking position on the carrying platform 117, thereby significantly reducing the operation difficulty of the shore bridge driver.

In order to facilitate the overall transportation of the box body 10, in the embodiment, a lifting lock hole 113-116 is opened on the top surface 100 of the box body 10. In addition, a lifting device 160 is disposed in the box body 10, as shown in FIG. Shown. The lifting device 160 is mounted at the bottom of the positioning stoppers 151-156 distributed along the longitudinal direction of the loading table 117, and is configured to control the positioning stoppers 151-156 in the longitudinal direction to rise or fall to control the positioning stoppers 151 in the longitudinal direction. The -156 extends out of the housing 10 or retracts into the housing 10. Further, a translating device 170 is further disposed inside or on the top surface 100 of the casing 10, as shown in FIG. 1, configured to align with the positioning block 157 which is erected on the top surface 100 and distributed along the width direction of the loading table 117. , 158 performs inward or outward translation control.

Specifically, a 20-foot container can be parked in the left or right half of the carrier 117 when a 20-foot container needs to be disassembled. Taking the left half as an example, when the shore bridge driver lifts a 20-foot container to the loading platform 117, the size of the container can be first input into the control device 2 in the system, and the control device 2 can It is an industrial PLC or a computer. The control device 2 may be built in the casing 10 or may be separately disposed outside the casing 10, as shown in FIG. The control device 2 controls the lifting device 160 to retract the positioning block inside the casing 10 by default from the inside of the casing 10 according to the size of the input container. For a 20-foot container, only the length direction can be The four positioning stops 151, 152, 154, 155 are raised and the translation device 170 is controlled to translate the right positioning stop 157 outward to the maximum position, using five positioning stops 151, 152, 154, 155, 157 Define a parking area for a 20-foot container. When the shore bridge driver hoists and lowers the 20-foot container onto the carrying platform 117, the right side wall of the container slides against the inner wall of the positioning block 157 until it is lowered onto the carrying platform 117. At this time, the bottom of the container The four twist locks or keyholes are aligned one-to-one with the four twist- lock receptacles 101, 103, 110, 112 on the carrier 117, thereby enabling accurate parking of the container on the carrier 117.

Similarly, when two 20-foot containers need to be disassembled and locked, the control lifting device 160 can raise the six positioning stops 151-156 in the longitudinal direction and control the translation device 170 to two in the width direction. Each of the positioning stops 157, 158 is translated outward to the maximum position, and the 20-foot container on the left side is limited by the positioning stops 151, 152, 154, 155, 157, using the positioning stops 152, 153, 155, 156 158 limits the 20-foot container on the right side, thereby enabling accurate parking of the two 20-foot containers on the platform 117.

For a 40-foot container, the six positioning stops 151-156 in the length direction can be raised, and the two positioning stops 157, 158 in the width direction can be translated inward to the maximum position, thereby utilizing eight Positioning stops 151-158 define an accurate parking position for a 40 foot container.

Similarly, for a 45-foot container, the six positioning stops 151-156 in the length direction can be raised, and the two positioning stops 157, 158 in the width direction can be outwardly translated to the maximum position, thereby An accurate parking position of the 45 foot container is defined by eight positioning stops 151-158.

Optionally, in order to further improve the parking position of the container 1 on the loading platform 117 to further improve the accuracy of the parking position of the container 1, the position detecting switch 121 is further added to the four corner positions of the loading platform 117 in this embodiment. 122, as shown in FIG. 1, the detection signal fed back by the position detecting switches 121, 122 is received by the control device 2 to determine whether the container 1 is accurately parked. If it is detected that the container 1 is not parked in place, the control device 2 can output a control command to the shore bridge, informing the shore bridge driver to lift the container 1 to re-park. As a result, the container twist lock can be automatically disassembled in a single 20-foot, double 20-foot, single-40-foot, and single-45-foot service in a twist-lock automatic dismounting device, improving the general purpose of the device. Sex.

As a preferred structural design of the lifting device 160, as shown in FIG. 4, the cylinder 161, the pneumatic push rod 162 and the pneumatic pin 163 are connected. The pneumatic push rod 162 is connected to the cylinder 1161 in a manner capable of telescopic movement along the cylinder 161. The pin 163 is capable of locking the relative position between the pneumatic push rod 162 and the cylinder 161. When it is required to control the positioning stops 151-156 to rise, firstly, the pneumatic pin 163 is controlled to retract, and the pneumatic push rod 162 is released; then, the control cylinder 161 pushes the pneumatic push rod 162 to rise, thereby pushing the positioning blocks 151-156 out of the box. 10, and when the positioning stops 151-156 rise to the preset position, the control cylinder 161 is stopped, and the pneumatic pin 163 is controlled to extend, locking the pneumatic push rod 162. Conversely, after the twist-lock disassembly operation is finished, the pneumatic pin 163 can be first retracted to release the pneumatic push rod 162; then, the control cylinder 161 pulls down the pneumatic push rod 162, thereby re-retracting the positioning block 151-156 to the box. The body 10, and when the positioning stops 151-156 are lowered to the preset position, controls the cylinder 161 to stop running, and controls the pneumatic pin 163 to extend, locking the pneumatic push rod 162. Retracting the positioning stops 151-156 to the case 10 can facilitate the overall lifting and changing operation of the case 10.

As a preferred structural design of the translating device 170, as shown in FIG. 1, a cylinder 171, a pneumatic push rod 172 connected to the cylinder 171, and a pneumatic pin 173 for locking control of the cylinder push rod 172 may also be included. The specific working principle of the translating device 170 can be referred to the related description of the lifting device 160. The cylinder 171 is horizontally extended or horizontally retracted by driving the pneumatic push rod 172, and then the positioning stops 157, 158 connected to the cylinder push rod 172 are controlled. Pan outward or inward.

Preferably, in the embodiment, the sliding surface 174 of the positioning block 157, 158 disposed in the width direction of the casing 10 can be further opened on the top surface 100 of the casing 10, as shown in FIG. 157, 158 slide along the slide 174, which can reduce the thrust or traction force that the cylinder 171 needs to control when the positioning stops 157, 158 are translated.

In order to perform an automatic disassembly and lock operation on the container 1 parked on the carrying platform 117, in this embodiment, a robot 20, a conveyor belt 30, a twist lock tray 40, and a twist lock are disposed in an internal chamber enclosed by the casing 10. Main parts such as the storage box 50 and the tray intercepting device 60 are as shown in FIG. 2.

Wherein, the twist lock tray 40 is configured to carry the twist lock 70 and is placed on the conveyor belt 30, carried by the conveyor belt 30 and conveyed. In the present embodiment, the conveyor belt 30 is preferably designed to be annular, that is, to form a loop around which the carrier twist-lock tray 40 is circulated around the robot 20. The conveyor belt 30 may be provided with one layer, or two layers may be disposed above and below, as shown in FIG. 3, of course, more layers may be provided as needed. A roller 33 is mounted below each conveyor belt 30, and the roller 33 is controlled to rotate by a control device 2 in the system to drive the conveyor 30 to operate.

Further, in the present embodiment, the twist lock storage case 50 is preferably disposed outside the endless conveyor belt 30, and the robot hand 20 is located inside the endless conveyor belt 30.

When the robot 20 is in the locking operation, the twist lock 70 on the conveyor belt 30 is grasped and moved to the position of the twist lock jacks 101-112 of the top surface 100 of the cabinet, and the twist lock 70 is inserted into the twist lock jack. In the 101-112 and into the container lock hole aligned with the twist lock jacks 101-112, and then the twist lock 70 is rotated, for example, the twist lock 70 is rotated by 90° to complete the lock operation. During the unlocking operation, the robot 20 first moves to the position of the twist-lock receptacles 101-112 of the top surface 100 of the cabinet, and grasps the twist lock 70 that extends through the twist-lock receptacles 101-112 into the interior of the cabinet 10. And rotating the twist lock 70, for example, by rotating 90° in the reverse direction, detaching the twist lock 70 from the bottom of the container, and then placing it on the twist lock tray 40 above the conveyor belt 30, so that the disassembled twist lock 70 continues to be transported along with the conveyor belt 30. Then, the disassembly lock operation is completed.

Preferably, a moving rail 21 capable of moving the robot 20 is also provided in the internal chamber of the casing 10.

The robot 20 may be provided in one unit or in multiple units. For example, as shown in FIG. 2, it is preferable to provide three robots 20 in the casing 10 for containers of different sizes, and all of the three robots are moved along the moving rails 21 provided on the bottom surface 140 of the casing. When a single 20-inch container is parked on the carrying platform 117, the middle robot 20 can be started to cooperate with the robot 20 on the parking position side according to the parking position of the container on the loading platform 117, and the disassembly and locking operation can be performed; When the platform 117 is parked in a double 20-foot container, three robots 20 can be activated to simultaneously perform the disassembly and lock operation to improve work efficiency. When a single 40-foot or single-45-foot container is parked on the carrying platform 117, the two robots 20 on both sides can be activated to disassemble the two twist locks on opposite sides of the container. For another example, as shown in FIG. 10, six robots 20 are preferably disposed in the casing 10 for the containers of different sizes, and two conveyor belts 30 are horizontally disposed, and three robots 20 and one are disposed on the inner side of each conveyor belt 30, respectively. The moving rail 21 and the six robots 20 are all moved along the moving rail 21, and the six robots 20 are selectively used according to containers of different sizes. For the start-up and activity track control of the robot 20, it can be completed by the control device 2 in the system, thereby replacing the manual operation mode, and the automatic installation and disassembly work of the container twist lock is completed.

In the present embodiment, the twist lock tray 40 is preferably designed as a polygonal support structure, as shown in FIG. 5, including a polygonal bottom plate 41, a top plate 42, and a support plate 43 connected between the bottom plate 41 and the top plate 42. The twist lock tray 40 is hollow and open on one side, and the top plate 42 is formed with a strip-shaped twist lock chute 44, and the twist lock chute 44 forms an opening 47 on the open side of the twist lock tray 40, and the opening 47 It faces the outside of the conveyor belt 30. When the twist lock 70 is installed, the twist lock 70 can be slid into the twist lock chute 44 along the opening 47, and the lock tongue 72 of the twist lock 70 is partially located below the top plate 42, and the lock 71 is partially located on the top plate 42. Above, as shown in FIG. 6, the twist lock 70 is supported on the top plate 42 to facilitate the robot 20 to take the twist lock 70.

In this embodiment, the twist lock tray 40 is designed as a polygonal bracket structure having a certain strength and rigidity, which not only ensures the relative state of the twist lock 70 during the transportation process, but also ensures smooth running on the conveyor belt 30 and prevents operation. Interfere with each other. In addition, in this embodiment, the base 45 can be further mounted under the bottom plate 41 of the twist lock tray 40. As shown in FIG. 6 and FIG. 7, an easy-to-replace wear pad 46 can be added under the base 45, and the side of the base 45 is provided. A cushion (not shown) may be added to reduce the collision between the twist lock trays 40, thereby extending the service life of the twist lock tray 40.

In order to make the twist-lock automatic dismounting system of the embodiment have the ability to store a certain number of twist locks, so that the disassembly system can work continuously for a long time in the locking work or the unlocking operation, avoiding the twist lock on the conveyor belt 30. When the 70 is used up or full, the disassembly and lock operation is forced to be interrupted. In this embodiment, a twist lock storage box 50 is further disposed in the internal chamber formed by the box 10, and is configured to store the twist lock 70, as shown in the figure. 2 is shown. The twist lock storage box 50 may be provided with one, but preferably a plurality of them to improve the twist lock storage capacity.

In order to realize the automatic transfer between the twist lock storage box 50 and the twist lock tray 40, the twist lock storage box 50 is preferably designed as a shelf structure, as shown in FIG. 8, including the motor 501 and the telescopic rod. 502 and multilayer support 503. The motor 501 and the telescopic rod 502 are preferably disposed at the bottom of the multi-layer bracket 503. The rotating shaft of the motor 501 is coupled to the telescopic rod 502 to drive the telescopic rod 502 to extend or retract by controlling the rotation shaft to rotate forward or reverse. The outer end of the telescopic rod 502 is connected to the bottom of the multi-layer bracket 503, and the telescopic rod 502 is extended or retracted by the control to control the multi-layer bracket 503 to rise layer by layer or down layer by layer. Only one position for storing one twist lock 70 can be left on each layer bracket 503 (ie, only one twist lock 70 is stored for each layer bracket), and a position for storing a plurality of twist locks 70 can be left (ie, each layer) The bracket can store a plurality of twist locks 70). The structure design of each layer bracket 503 can be similar to the structure design of the twist lock tray 40 shown in FIG. 5, that is, a twist lock support structure is arranged on each layer bracket 503, so that the twist lock 70 is in a supporting state, which is convenient for taking. put.

At a position corresponding to each of the twist lock storage tanks 50, a tray intercepting device 60 is provided, preferably mounted on the inside of the conveyor belt 30, to be configured to intercept the twist lock tray 40 passing through the location of the twist lock storage tank 50, preventing the The twist lock tray 40 moves with the conveyor belt 30.

Preferably, the tray intercepting device 60 includes a pole 601, a telescopic lever 602, an upper detecting switch 603, and a lower detecting switch 604, as shown in FIG. The upright 601 can be erected on the inner side of the transmission belt 30, on which the detection switch 603 and the lower detection switch 604 are mounted, and the upper detection switch 603 is positioned above, and the height is locked with the lock of the twist lock 70 mounted on the twist lock tray 40. The height of the head portion 71 is substantially equal, the lower detection switch 604 is positioned lower, and the height is lower than the height of the top plate 42 of the twist lock tray 40. The telescopic lever 602 is mounted at a position near the bottom of the upright 601 and is perpendicular to the upright 601. The upper detecting switch 603 is configured to detect whether or not the twist lock 70 passes, and the lower detecting switch 604 is configured to detect whether the twist lock tray 10 passes, and determine whether the twist lock tray 40 that is about to pass the tray intercepting device 60 is determined according to the detection result of the two detecting switches. The tray is empty, and according to the judgment result, the telescopic lever 602 is extended to intercept the twist lock tray 40 or maintain the default retracted state. For the telescopic lever 602, either an electric telescopic rod or a pneumatic telescopic rod can be used, and the telescopic movement can be performed under the control of the control device 2 in the system.

At a position corresponding to each of the twist lock storage tanks 50, a twist lock push rod is provided to be configured to push the twist lock 70 on the twist lock tray 40 into the twist lock storage box 50, or to twist the lock storage box The twist lock 70 of 50 is loaded onto the twist lock tray 40. Preferably, two twist- lock push rods 51, 52 are provided, as shown in Figures 2 and 14, the twist-lock push rod 51 is located inside the conveyor belt 30, and in close proximity to the tray intercepting device 60, is configured to twist the lock tray 40 The upper twist lock 70 is pushed into the twist lock storage box 50; the twist lock push rod 52 is located outside the twist lock storage box 50, and is configured to push the twist lock 70 stored in the twist lock storage box 50 into the twist lock tray 40. in.

The specific working principle is: when the container twist-lock automatic disassembly and assembly system of the embodiment is in the locking working condition, after a long period of locking operation, the twist lock 70 on the conveyor belt 30 may be left in order to lock the lock. The operation can continue, and the control device 2 in the system automatically turns on the lock-up mode upon detecting that the number of twist locks on the conveyor belt 30 has dropped to a preset lower limit value.

That is, the control device 2 activates the upper detection switch 603 and the lower detection switch 604 to detect the twist lock tray 40 on the conveyor belt 30 where the twist lock storage box 50 is located, and if the valid detection signal fed back by the lower detection switch 604 is received, it is determined. When the twist lock tray 40 passes, if the valid detection signal fed back by the upper detection switch 604 is received at the same time, it is determined that the twist lock 70 is currently installed on the twist lock tray 40, and at this time, the default retraction state of the telescopic shift lever 602 is maintained. The twist lock tray 40 is released so that the twist lock tray 40 continues to be conveyed to the robot 20 following the conveyor belt 30. When the detection switch 604 detects that the twist lock tray 40 has passed but does not receive the effective detection signal fed back by the upper detection switch 604, it is determined that there is no twist lock 70, that is, an empty tray, on the currently twisted lock tray 40. The control device 2 outputs a control signal to control the telescopic lever 602 to extend, intercepting the twist lock tray 40 passing through the twist lock storage case 50, and sliding the twist lock tray 40 relative to the conveyor belt 30.

After the empty twist lock tray 40 is successfully intercepted by the tray intercepting device 60, the twist lock push rod 52 located outside the twist lock storage box 50 is extended, and the twist lock on the uppermost bracket of the twist lock storage box 50 is pushed into the twist In the lock tray 40, the lock-up operation is completed. Then, the control device 2 controls the telescopic lever 602 in the tray intercepting device 60 to be retracted, and is released for the twist lock tray 40 loaded with the twist lock, so that it continues to be transported with the conveyor belt 30, and after the layer bracket is emptied, the twist lock storage box The motor-driven telescopic rod 502 of 50 extends and pushes the bracket up one level.

In the embodiment, the twist lock storage box 50 follows the way of storing the twist lock from the lower layer to the upper layer layer by layer; and when the lock is taken, the manner of taking the lock from the upper layer to the lower layer layer by layer is followed.

After the lock-up mode is turned on, the lock-up condition is entered, and the motor 501 in the twist-lock storage box 50 drives the telescopic rod 502 to control the bracket to move up layer by layer, and the layer bracket 503 on the conveyor belt 30 is placed on the uppermost twist lock. The position of the twist lock tray 40 is aligned, and the opening direction of the twist lock chute 44 of all the twist lock trays 40 on the conveyor belt 30 faces the outer side of the conveyor belt 30. When the empty twist lock tray 40 is stopped by the tray intercepting device 60 at the intercepting position, the uppermost twist lock in the twist lock storage box 50 is just opposite to the twist lock tray 40 of the intercept position, and the twist lock is pushed by the twist lock push rod 52. The twist lock in the storage box 50 is horizontally moved, and then pushed into the twist lock chute 44 of the twist lock tray 40 to complete the lock-up operation. Then, the motor 501 in the twist lock storage box 50 drives the support 503 up one level, aligning the lower layer bracket 503 with the position of the twist lock tray 40 on the conveyor belt 30, waiting to fill the next empty twist lock tray 40. Lock the job. If a plurality of twist locks 70 are stored on each of the layer brackets 503, the twist locks on each layer of the brackets 503 need to be emptied, and then the control brackets 503 are moved up by layer.

On the other hand, when the container twist-lock automatic dismounting system of the embodiment is in the de-locking condition, most of the twist-lock trays 40 on the conveyor belt 30 may be loaded with the twist-lock 70 after a long period of unlocking operation. In order to enable the unlocking operation to continue, the control device 2 in the system automatically turns on the lock mode when detecting that the number of twist locks on the conveyor belt 30 has risen to a preset upper limit value.

That is, the control device 2 activates the upper detection switch 603 and the lower detection switch 604 to detect the twist lock tray 40 on the conveyor belt 30 where the twist lock storage box 50 is located, and if the valid detection signal fed back by the lower detection switch 604 is received, it is determined. When the twist lock tray 40 passes, if the effective detection signal fed back by the upper detection switch 604 is received at the same time, it is determined that the twist lock 70 is currently installed on the twist lock tray 40. At this time, the control device 2 outputs a control signal to control the telescopic shift lever. The 602 is extended to intercept the twist lock tray 40 that has passed through the twist lock storage case 50, causing the twist lock tray 40 to slide relative to the conveyor belt 30.

When the twist lock tray 40 equipped with the twist lock 70 is successfully intercepted by the tray intercepting device 60, the twist lock push rod 51 located inside the conveyor belt 30 is extended, and the twist lock 70 in the twist lock tray 40 is pushed into the twist lock storage box. The 50th is located on the empty shelf of the lowermost layer or a certain layer, and the lock operation is completed. Then, the control device 2 controls the telescopic gear lever 602 in the tray intercepting device 60 to retract, and the empty twist lock tray 40 is released, so that it continues to be transported with the conveyor belt 30, and after the layer bracket is full, the twist lock storage tank The motor drives the telescopic rod to retract and the control bracket descends one layer.

In the un-locking condition, the motor 501 in the twist-lock storage box 50 drives the telescopic rod 502 to control the bracket 503 to move down layer by layer, and moves a layer of the bracket full of the twist lock down, leaving a layer of bracket and intercepting above the space. The position of the twist lock tray 40 is flush, so that the currently lowermost empty shelf on the bracket is opposite to the twist lock tray 40 stopped at the intercepting position, and receives the twist lock 70 pushed by the twist lock push rod 51, The twist lock 70 is stored.

For each layer of conveyor belt 30, a different twist lock storage tank 50 can be used to achieve an orderly storage of the twist lock 70.

In addition, the container twist-lock automatic disassembly system of the embodiment further supports the twist lock supply working condition and the twist lock cleaning working condition. That is, there may be no twist lock 70 in the conveyor belt 30 and the twist lock storage tank 50 before the system transition first performs the disassembly lock operation, and it needs to be supplied from the outside. In order to facilitate the operation of the lock, the present embodiment is further provided with a lock slide 31 and a lock intercepting device 61 on one side of the conveyor belt 30, as shown in FIG.

Wherein, the lock chute 31 is configured to carry the twist lock 70 and slide the twist lock 70 thereon; the lock intercepting device 61 is located in the inner chamber, and under the twist lock supply condition, the intercepting conveyor 30 passes through the lock chute The empty twist lock tray 40 at the position of the 31, the twist lock 70 slides into the empty twist lock tray 40 along the lock slide 31 to realize the lock; the lock intercepting device 61 is loaded with the twist lock 70 in the empty twist lock tray 40. After retracting, the twist lock tray 40 continues to be transported with the conveyor belt 30.

Preferably, two locking slide rods disposed parallel to each other are disposed in the lock slide chute 31, and the telescopic slide rod is in a contracted state by default, and is located in an internal chamber formed by the box body 10, so as to facilitate The system as a whole hoisted the transition. When the lock operation is required, the telescopic slide bar is controlled to extend, and the inner side of the telescopic slide bar is opposite to the twist lock tray 40 intercepted by the lock intercepting device 61, and the outer side of the telescopic slide bar passes through the box body 10 It extends outside to the external storage box 80. The telescopic slide bar forms a support frame of the twist lock 70, and may be horizontally disposed, or may be formed in an inclined state in which the outer side is high and the inner side is low. The twist lock 70 in the outer storage box 80 is manually or mechanically loaded onto the telescopic slide bar, and the twist lock 70 on the telescopic slide bar is made by the thrust (horizontal setting) or the self-gravity of the twist lock 70 (inclined setting). Slide into the twist lock tray 40 that is intercepted by the lock intercepting device 61.

The lock-off intercepting device 61 intercepts the empty twist-lock tray 40 on the conveyor belt 30 passing the position of the lock slide 31 under the twist-lock supply condition, and then releases the twist lock 70 on the empty twist lock tray 40 and then releases it. The twist lock tray 40 equipped with the twist lock 70 is continuously conveyed with the conveyor belt 30. When the number of twist locks on the conveyor belt 30 reaches the upper limit value, the twist lock 70 on the twist lock tray 40 is transferred into the twist lock storage box 50 by the tray intercepting device 60 and the twist lock push rod 51, in the twist lock storage box. A part of the twist lock 70 is stored in 50. After the twist lock 70 on the conveyor belt 30 and the twist lock storage box 50 reaches a certain number, the lock operation is stopped, and the disassembly lock operation mode is transferred.

After the system performs the disassembly lock operation, the lockout operation can be performed. That is, all of the twist locks 70 in the system are transferred to the external storage box 80 to facilitate the overall lifting and transition of the system. To this end, the present embodiment is further provided with a lock slide 32, a lock intercepting device 62 and a clear lock telescopic rod 53 on one side of the conveyor belt 30, as shown in FIG.

Wherein, the lock chute 32 is disposed obliquely, and the side adjacent to the conveyor belt 30 is high, and the side away from the conveyor belt 30 is low; the lock intercepting device 62 is located in the inner chamber, and under the twist lock cleaning condition, the intercepting conveyor belt 30 passes through The twist lock tray 40 is provided with the twist lock 70 at the position where the lock slide 32 is located; the lock lock telescopic rod 53 pushes the twist lock 70 on the twist lock tray 40 intercepted by the lock intercepting device 62 under the twist lock cleaning condition. The lock chute 32 is inserted into the lock chute 32, and the twist lock 70 is slid along the exit chute 32 and falls into the outer storage box 80 located in the casing 10 to achieve clear lock.

Preferably, the lockout slide 32 is preferably located on the same side of the conveyor belt 30 as the lock slide 31.

Preferably, the ejecting slide 32 is provided with two telescopic sliding rods arranged in parallel with each other, and the telescopic sliding rod is in a contracted state by default, and is located in the internal cavity formed by the casing 10 to facilitate the system. Overall hoisting transition. When the lock-up operation is required, the telescopic slide bar is controlled by the control device 2 in the system, and the inner side of the telescopic slide bar is opposite to the twist-lock tray 40 intercepted by the lock-out intercepting device 62, and the outer side of the telescopic slide bar is worn. The case 10 extends outwardly to the outer storage box 80. The telescopic slider forms a support frame of the twist lock 70, forming an inclined state in which the inner side is low and the outer side is high, so that the twist lock 70 is slid into the outer storage box 80 by its own gravity.

In the twist lock cleaning condition, the tray intercepting device 60 intercepts the twist lock tray 40 above the conveyor belt 30, and the twist lock push rod pushes the twist lock 70 in the twist lock storage box 50 into different empty twist lock trays 40 in sequence. , the twist lock in the twist lock storage box 50 is emptied.

Specifically, the lock-out intercepting device 62 intercepts the twist-lock tray 40 on the conveyor belt 30 that passes through the position of the lock-out slide 32 and is equipped with the twist lock 70 under the twist-lock cleaning condition. After the interception intercepting device 62 is successfully intercepted, the control device 2 controls the clear lock telescopic rod 53 to extend from the default retracted state, and pushes the twist lock 70 on the twist lock tray 40 onto the lock slide 32, and along The lock chute 32 falls into the external storage box 80. Then, the lockout intercepting device 62 releases the empty twist lock tray 40, so that the empty twist lock tray 40 continues to be transported with the conveyor belt 30. When the number of twist locks on the conveyor belt 30 drops to the lower limit value, the twist lock 70 stored in the twist lock storage tank 50 is pushed into the empty twist lock tray 40 by the tray intercepting device 60 and the twist lock push rod 52, and continues. It is transported to the position where the lock chute 32 is located. When there is no twist lock 70 on both the conveyor belt 30 and the twist lock storage tank 50, the lock-up operation is stopped and the hoisting transition is awaited.

In the present embodiment, the lock intercepting device 61 and the lock intercepting device 62 can be designed according to the tray intercepting device 60, and the clear lock telescopic rod 53 can adopt the same structure as the twist lock push rods 51, 52. design.

The working flow chart of the container twist-lock automatic disassembly system is shown in Figure 16, which is detailed as follows:

After the container twist-lock automatic disassembly and assembly system is installed in place, it has three modes of ship completion after unloading, unloading and disassembly.

Wherein, the container is locked in the loading mode: the system determines the number of locks on the conveyor belt 30 on the line body, and if the quantity value is greater than the set value, the lock operation is started, and if the quantity value is less than the set value, the start is started. In the replenishment system, in the replenishing system, it is preferred to determine the number of internal storage locks, that is, the value of the number of locks in the twist lock storage box 50. When the quantity value is 0, the internal replenishment system is started, the internal replenishment system works, and the replenishment lock is entered. Working condition, enters the locking work, when the quantity value is greater than 0, the external replenishment system is started, the button lock supply condition is entered, and the manual re-locking is notified, and the manual re-locking is confirmed to start the locking work;

Demolition of the container in the unloading mode: the system determines the number of locks on the conveyor belt 30 on the line body. If the quantity is less than the set value, the de-locking work is started. If the quantity is greater than the set value, the separation system is started. In the separation system, it is preferred to determine the number of internal storage locks, that is, the number of locks in the twist lock storage box 50. When the quantity value is less than the set value, the internal separation system is started, the internal storage system works, and the torque is entered. The lock 70 is pushed into the lock lock operation in the twist lock storage box 50. When the quantity value is greater than the set value, the external separation system is started, and the button lock cleaning condition is entered, and the lock operation is performed after the cleaning is completed;

In the ship completion mode, the system performs the lock clearing operation, and the system first determines the internal storage lock head, that is, the value of the lock head in the twist lock storage box 50, when the quantity value is greater than 0, The internal replenishing system is activated to enter the replenishing condition, and the lock on the line body, that is, the conveyor belt 30, is transported to the twist lock storage box 50. When the quantity value is 0, the line head is continuously determined to be the lock on the conveyor belt 30. The quantity value, when the quantity value is 0, start the external separation system and perform button lock cleaning until the line body, that is, the number of locks on the conveyor belt is 0, that is, the end of work, waiting for the transition.

In view of the different types of twist locks that may be used by different containers, in order to ensure that the robot 20 can accurately perform the disassembly and lock operation, the present embodiment optionally adds a jig storage table 90 in the casing 10, as shown in FIG. Shown. The jig storage table 90 may be provided one or a plurality of them, which are located in an internal chamber formed by the casing 10, preferably disposed inside the conveyor belt 30, to facilitate operation of the robot 20. A plurality of types of twist lock special jigs 91 can be placed on each of the jig storage tables 90. The control device 2 determines whether the current twist lock special jig 91 is consistent with the type of the twist lock 70 according to the type of twist lock used by the container. Consistently, the control device 2 controls the automatic control robot 20 to move to the jig storage table 90 to directly perform the disassembly and lock operation. If not, the control device 2 controls the automatic control robot 20 to replace the required special lock for the twist lock according to the program setting. After the 91, the disassembly lock operation is performed. When the robot 20 picks up the twist lock 70 from the conveyor belt 30, an intercepting device 63 may be added to the pick-and-place position of the robot 20, and after the twist lock tray 40 is intercepted, the robot 20 is controlled to grasp or put the twist lock 70.

The control device 2 performs centralized control on the execution components of the system through the communication cable on the one hand, and performs data interaction with the shore bridge of the transport container 1 by wired or wireless communication on the other hand to transmit the disassembly lock and lift. instruction. Specifically, when the shore bridge driver removes the container 1 from the cargo ship, it hovers it onto the carrying platform 117, and then sends a control command to the control device 2 to lock or unlock. When the control device 2 receives the control command for locking or unlocking from the shore bridge, it detects whether the container 1 is parked in place, and if the parking is in place, the smart robot 20 is activated to perform the locking or unlocking operation. After the lock or unlock operation is completed, the control device 2 sends a job completion command to the shore bridge, notifies the shore bridge to hook, and the container 1 is hoisted to the trailer for transport.

When the container twist-lock automatic disassembly system needs to change the field, the hook of the crane is inserted into the lifting lock holes 113-116 of the box 10 to hoist the overall transition of the box 10.

The power supply required for the entire container twist-lock automatic disassembly system can be provided by the external power supply of the container shore bridge, or the generator can be configured to provide power supply by itself.

Optionally, ventilation holes 131 and 132 are further formed on the side wall 130 of the casing 10, as shown in FIG. 3, so that the heat generated by each of the internal components of the casing 10 is quickly released and processed for each execution in the system. The parts provide a more suitable ambient temperature.

Optionally, in order to prevent the disassembly and assembly operation from being affected by bad weather, as shown in FIG. 11 and FIG. 13 , the box body 10 is formed by splicing the first box body 1001 and the second box body 1001 in the first box body. A telescopic device 1003 is provided between the 1001 and the second casing 1002 for adjusting the relative distance between the first casing 1001 and the second casing 1002. The container 1 can be parked in the first casing 1001 and the second casing 1002. Between the two, the robot 20 has at least four, and under the condition that the container 1 is parked between the first box 1001 and the second box 1002, the robot 20 is symmetrically disposed on both sides of the container 1; the belt 30 can be twisted The lock tray 40 is transported to a position close to each of the robots 20 for the respective robots 20 to perform the disassembly and twisting operation of the container 1.

Therefore, in the working state, the telescopic device 1003 composed of the telescopic cylinder assembly or the telescopic cylinder assembly and the like separates the first tank 1001 from the second tank 1002, and the shore bridge operates the container transport equipment to transport the container 1 to the first Between a box 1001 and the second box 1002, the container twist-lock automatic disassembly system is in a semi-enclosed space; in the non-working state, the telescopic device 1003 is in a retracted state, the first box 1001 and the second box 1002 The container twist-lock automatic disassembly and assembly system is in a completely enclosed space, thereby avoiding the impact of bad weather on the disassembly and assembly project, and the container twist-lock automatic disassembly and assembly system is stable and reliable.

The container transportation device may be a horizontal transportation device disposed inside the cabinet 10, or a separate transportable transport device, or a hoisting transport device, and the container transport device is connected to the control device 2, and the robot 20 When ready, the control device 2 issues an instruction to control the transport container 1 to enter the cabinet 10, and the position detecting switch outputs the position parking detection signal to the control device 2 when the container transport device parks the container 1 to the standard position, through the control device 2 The container transport equipment is controlled to stop transportation, and the robot 20 is started to perform the disassembly and lock operation. After the robot 20 completes the disassembly and lock operation, the control device 2 issues an instruction to control the container transport equipment transport container 1 to leave the cabinet 10.

Of course, in a state in which the first casing 1001 and the second casing 1002 are joined together, the container 1 may be hoisted on the loading platform 117 above the top surface 130 to be twisted and detached.

Preferably, as shown in FIG. 11 to FIG. 13, in this case, it is preferable to provide six robots 20 in the casing 10 and to horizontally arrange two conveyor belts 30, one of which is disposed inside the casing and the first One side of the box 1001 corresponds to one side, and the other layer of the belt 30 is disposed on the side of the box 10 corresponding to the second box 1002. Three robots 20 and one movement are respectively disposed inside the belt 30 of each layer. The track 21 and the six robots 20 are all moved along the moving rail 21, and the six robots 20 are selectively used according to the container 1 of different sizes.

In addition, the number of the robots 20 may be set to four or more than four. When the number of the robots 20 is four, each of the inner belts 30 is provided with two, corresponding to the four corners of the container 1. operation.

Optionally, in order to facilitate the movement of the entire box 10, the installation box 10 is surrounded by the top surface 100, the surrounding side walls 130 and the bottom surface 140, and a walking wheel 1005 is disposed below the bottom surface 140 of the box 10. And the lifting device 1006, the traveling wheel 1005 has at least four, the lifting device 1006 is in one-to-one correspondence with the traveling wheel 1005, and the lifting device 1006 is installed between the traveling wheel 1005 and the bottom surface 140 of the casing 10, and is configured to jack up the box. The body 10 moves the box 10 under the action of the traveling wheel 1005.

When it is necessary to move the entire casing 10, the jacking device 1006 composed of a telescopic cylinder assembly or a telescopic cylinder assembly or the like jacks up the casing 10, and moves the casing 10 through the traveling wheel 1005. Preferably, the traveling wheel 1005 is The universal wheel, after the box 10 is moved into position, the jacking device 1006 is retracted and the box 10 is fixed.

Optionally, in order to reduce the shock force received when the box 10 is in contact with the ground, the installation box 10 is surrounded by the top surface 100, the side wall 130 and the bottom surface 140, and the bottom surface 140 of the box 10 is provided with The casing 10 is fixed to a cushioning damper device 1007 on the ground, and the cushioning damper device 1007 may be a shock absorbing rubber block or the like.

Optionally, as shown in FIG. 15 , in order to enable the control device 2 in the system to accurately determine whether there is a twist lock 70 in the twist lock tray 40, a contact switch 401 is respectively disposed in each twist lock tray 40, and the twist lock 70 is set. In the operating condition in the twist lock tray 40, the contact switch 401 is in a closed state; in the working condition in which the twist lock 70 is separated from the twist lock tray 40, the contact switch 401 is in an open state.

When the contact switch 401 is touched and closed, a trigger signal is sent to the control device 2 to control the lock.

In addition, an intelligent identification positioning sensor can be separately installed at the front end of each robot 20, and the information of the bottom corner area of the container 1 is captured by the intelligent identification sensor positioning sensor, and is sent to the control device 2, and the control device 2 is based on the lock previously saved. The identification information of the hole identifies the specific position of the keyhole, and quickly and accurately calculates the boundary and the center position of the keyhole, and then controls the twist lock special jig 91 to carry the twist lock 70 to the position of the lock hole, and installs the twist lock 70 to the container. In the bottom of the lock hole, rotate, complete the lock operation, the principle of unlocking is the same.

Further, in order to ensure that the robot 20 can accurately pick up the twist lock 70 from the conveyor belt 30, and further improve the work efficiency, a twist lock hole can be provided in each of the twist lock trays 40.

In addition, in order to make the container twist-lock automatic disassembly and assembly system capable of alarming in case of abnormal situation, an alarm device is provided, and the alarm device is electrically connected or signal-connected to the control device 2, and can output an abnormal alarm when encountering an abnormal working condition. Signals, the guardian handles the abnormal situation; in order to avoid the situation of the robot alarm caused by the accident during the disassembly and lock operation, the compensator alarm device can be set for the robot 20, and the overload signal is advanced in advance when the accident occurs. Passed to the robot 20, the robot 20 will react in advance to avoid an alarm.

Of course, the above is only a preferred embodiment of the present application, and it should be noted that those skilled in the art can make several improvements and refinements without departing from the principles of the present application. Retouching should also be considered as protection of this application.

Industrial applicability

The container twist-lock automatic disassembly and assembly system provided by the embodiment of the present application can adapt to the container terminal operation process, can be used for various container dismantling ship operations, realize automatic disassembly and installation of various types of container fixed twist locks, and greatly improve container terminal disassembly. The automatic level of the machine can greatly reduce the number of on-site staff, reduce labor costs and improve work efficiency.

Claims (20)

1. A container twist-lock automatic disassembly and assembly system, comprising:

   a case comprising an inner chamber formed by a top surface and a surrounding side wall, the top surface forming a carrier configured to park the container, and the top surface is provided with a plurality of twists configured to be twisted through a lock jack; disposed in the internal chamber:

   a twist lock tray configured to carry a twist lock;

   a conveyor belt carrying and transporting the twist lock tray;

   a robot, which, under the locking condition, removes the twist lock from the twist lock tray and installs it into the lock hole of the container; in the case of the unlocking operation, the twist lock on the container is disassembled and placed in the lock In the twist lock tray;

   a tray intercepting device configured to intercept the twist lock tray to prevent the twist lock tray from moving with the conveyor belt;

   a twist lock storage box configured to store a twist lock, comprising a motor, a telescopic rod and a plurality of brackets configured to store the twist lock, the motor being telescopically driven by the telescopic rod to control the bracket to move up or down layer by layer shift;

   The twist lock push rod, in the locking operation condition, if the number of twist locks on the conveyor belt drops to a set lower limit value, the tray intercepting device extends to intercept the empty twist lock tray on the conveyor belt, In the intercepting position, the twist lock push rod pushes the twist lock on the upper bracket in the twist lock storage box onto the empty twist lock tray, and then the tray intercepting device is retracted, and the twist lock is loaded The lock tray continues to be transported along with the conveyor belt. After the layer bracket is emptied, the motor driven telescopic rod in the twist lock storage box protrudes to push the bracket to rise one layer; in the unlocking condition, if the belt is on the conveyor belt When the number of twist locks is increased to a set upper limit value, the tray intercepting device extends to intercept the twist lock tray on the conveyor belt with a twist lock, and in the intercepting position, the twist lock push rod will twist the lock on the twist lock tray Pushing onto one of the brackets of the twist lock storage box, and then the tray intercepting device is retracted, and the empty twist lock tray is continuously transported with the conveyor belt, and after the layer bracket is full, the twist lock storage box The motor drive telescopic rod is retracted, and the control is Stand down a level.
2. The container twist-lock automatic disassembly and assembly system according to claim 1, wherein the twist lock in the twist-lock storage box is stored layer by layer from the lower layer of the bracket to the upper layer.

   The motor in the twist lock storage tank is configured to drive the telescopic rod to control the bracket to move up layer by layer, thereby locking the uppermost layer on the bracket and stopping at the intercepting position. The twist lock tray is facing;

   In the unlocking condition, the motor in the twist lock storage tank is configured to drive the telescopic rod control bracket to move down layer by layer, so as to place the lowermost empty rack on the bracket and stop at the intercepting position. The twist lock tray is facing right.
3. The container twist-lock automatic dismounting system according to claim 1 or 2, wherein the conveyor belt is wound in a circle and is provided with at least one layer; the twist-lock storage tank is located outside the conveyor belt; Two push rods are disposed, one of which is located outside the twist lock storage tank, configured to push the twist lock in the twist lock storage box into the twist lock tray; another twist lock push rod is located on the conveyor belt The inner side is configured to push a twist lock in the twist lock tray into the twist lock storage case.
4. The container twist-lock automatic dismounting system according to any one of claims 1 to 3, wherein the twist lock tray is a polygonal support structure, comprising a bottom plate, a top plate and a connection between the bottom plate and the top plate. a support plate; a twist lock chute is formed on the top plate, and an opening of the twist lock chute faces an outer side of the conveyor belt, and the twist lock slides into the twist lock chute along the opening, and the lock of the twist lock Partially above the top plate, the locking tongue portion of the twist lock is located below the top plate.
5. The container twist-lock automatic dismounting system according to any one of claims 1 to 4, wherein the tray intercepting device comprises a pole and a telescopic lever perpendicular to the upright, at the pole There are two upper and lower detection switches mounted thereon, and the upper detection switch is configured to detect whether a twist lock passes, and the lower detection switch is configured to detect whether a twist lock tray passes, and judges that the tray intercepting device is about to pass according to the detection result of the two detection switches. Whether the twist lock tray is an empty tray, and according to the judgment result, the telescopic shift lever is extended to intercept the twist lock tray or maintain the default retracting state.
6. The container twist-lock automatic disassembly and assembly system according to any one of claims 1 to 5, further comprising:

   a lock chute configured to carry a twist lock and to cause the twist lock to slide thereon;

   a locking intercepting device, located in the inner chamber, intercepting an empty twist-lock tray on the conveyor belt passing the position of the lock-up chute under the twist-lock supply condition, and the twist lock is sliding along the lock The track slides into the empty twist lock tray; the lock intercepting device retracts after the empty twist lock tray is loaded with the twist lock, so that the twist lock tray continues to be transported along with the conveyor belt;

   a lockout slideway which is disposed obliquely and has a side adjacent to the conveyor belt that is high and a side that is away from the conveyor belt is low;

   a lockout intercepting device, which is located in the inner chamber, and in the twist lock cleaning condition, intercepts the twist lock tray on the conveyor belt that passes through the position of the lockout slide and is equipped with a twist lock;

   Clearing the telescopic rod, in the twist lock cleaning condition, pushing the twist lock on the twist lock tray intercepted by the lock intercepting device into the lock slide, so that the twist lock is along the release slide It slides down and falls into a storage box located outside the cabinet.
7. The container twist-lock automatic disassembly and assembly system according to claim 6, wherein two locking sliders parallel to each other are disposed in the lock slide and the output slide, and the telescopic slide is in default a contracted state and located in an internal chamber formed by the casing; wherein

   The two telescopic slide bars of the lock slide slide extend under the twist lock supply condition, and the inner side of the telescopic slide bar is opposite to the twist lock tray intercepted by the lock intercepting device, and the telescopic slide bar is The outer side extends outward through the box; the two telescopic slides in the lock slide are horizontally disposed or the outer side is inclined upwardly relative to the inner side;

   Two telescopic slide bars of the release slide extend in a twist lock cleaning condition, and an inner side of the telescopic slide bar is opposite to a twist lock tray intercepted by the lock intercepting device, and the telescopic slide bar is The outer side extends outwardly through the box to a storage box outside the box; two of the locking slides are disposed obliquely, and the outer side is inclined downward relative to the inner side.
8. The container twist-lock automatic disassembly and assembly system according to claim 6, wherein:

   In the twist lock cleaning condition, the tray intercepting device intercepts the twist lock tray above the conveyor belt, and the twist lock push rod pushes the twist lock in the twist lock storage box into different empty twist locks in sequence In the tray, empty the twist lock in the twist lock storage box.
9. The container twist-lock automatic disassembly and assembly system according to any one of claims 1 to 8, further comprising:

   Positioning a stop configured to limit a parking position of the container on the carrying platform, the positioning stop comprising a plurality of, oppositely distributed on opposite sides of the carrying platform along the length direction and relative in the width direction Two sides; wherein positioning locators distributed on opposite sides of the carrying platform along the length direction are installed in the box, and positioning locating blocks distributed on opposite sides of the carrying table in the width direction are located in the box Top surface of the body;

   a lifting device, located in the inner chamber formed by the box, configured to perform lifting control on the positioning blocks distributed on opposite sides of the carrying platform along the length direction to control the positioning block extension in the longitudinal direction Out of the box or retracted into the box;

   a translating device mounted on a top surface of the box or in the box body, configured to perform translation control on positioning blocks distributed on opposite sides of the carrying platform in the width direction to control positioning in the width direction The block moves horizontally or horizontally.
10. The container twist-lock automatic disassembly and assembly system according to claim 9, wherein:

    The lifting device comprises a cylinder, a pneumatic push rod and a pneumatic pin.

    The pneumatic push rod is coupled to the cylinder in a manner that is telescopically movable along the cylinder, the pneumatic pin being capable of locking a relative position between the pneumatic push rod and the cylinder.
11. The container twist-lock automatic disassembly and assembly system according to any one of claims 1 to 10, further comprising:

    a jig storage table located in an internal chamber formed by the case;

    A twist-lock special clamp, which includes a plurality of types, is placed on the clamp storage table for the robot to select and replace.
12. The container twist-lock automatic disassembly and assembly system according to any one of claims 1 to 11, characterized in that:

    The box body is formed by splicing a first box body and a second box body, and the first box body and the second box are adjustable between the first box body and the second box body a telescopic device of a relative distance between the bodies, the container being able to be parked between the first box and the second box,

    The robot has at least four, and the mechanical hand is symmetrically disposed on two sides of the container when the container is parked between the first box and the second box;

    The conveyor belt can transport the twist lock tray to a position close to each of the robots for each of the robots to disassemble and twist the container.
13. The container twist-lock automatic disassembly and assembly system according to any one of claims 1 to 12, characterized in that:

    The box body is surrounded by a top surface, a surrounding side wall and a bottom surface.

    a traveling wheel and a lifting device are disposed below the bottom surface of the box, the traveling wheel has at least four, the lifting device is in one-to-one correspondence with the traveling wheel, and the lifting device is mounted on the Between the traveling wheel and the bottom surface of the casing, the casing is arranged to lift the casing to move the casing under the action of the traveling wheel.
14. The container twist-lock automatic disassembly and assembly system according to any one of claims 1 to 13, characterized in that:

    The box body is surrounded by a top surface, a surrounding side wall and a bottom surface.

    A cushioning damper capable of fixing the casing to the ground is provided on a bottom surface of the casing.
15. The container twist-lock automatic disassembly and assembly system according to any one of claims 1 to 14, characterized in that:

    A position detecting switch capable of detecting a parking position of the container is further provided in an inner cavity of the casing.
16. The container twist-lock automatic disassembly and assembly system according to any one of claims 1 to 15, characterized in that:

    Each of the twist lock trays is respectively provided with a contact switch, wherein the twist lock is disposed in the twist lock tray, the contact switch is in a closed state; and the twist lock is separated from the twist lock tray. Under the working condition, the contact switch is in an off state.
17. The container twist-lock automatic disassembly and assembly system according to any one of claims 1 to 16, characterized in that:

    A top support beam is disposed on an inner side surface of the top surface of the case.
18. The container twist-lock automatic disassembly and assembly system according to any one of claims 1 to 17, wherein:

    A moving rail that can be moved by the robot is also provided in the internal chamber of the casing.
19. The container twist-lock automatic disassembly and assembly system according to any one of claims 1 to 18, characterized in that:

    A slide for translating the positioning stopper provided along the width direction of the casing is further provided on the top surface of the casing.
20. The container twist-lock automatic disassembly and assembly system according to any one of claims 1 to 19, characterized in that:

    Ventilation holes are also formed in the side walls of the casing.

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