WO2020107914A1 - 集装箱锁销磁控智能分拣装置及其控制方法 - Google Patents

集装箱锁销磁控智能分拣装置及其控制方法 Download PDF

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Publication number
WO2020107914A1
WO2020107914A1 PCT/CN2019/097825 CN2019097825W WO2020107914A1 WO 2020107914 A1 WO2020107914 A1 WO 2020107914A1 CN 2019097825 W CN2019097825 W CN 2019097825W WO 2020107914 A1 WO2020107914 A1 WO 2020107914A1
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WO
WIPO (PCT)
Prior art keywords
lock pin
sorting device
container
gripper
magnetic
Prior art date
Application number
PCT/CN2019/097825
Other languages
English (en)
French (fr)
Inventor
邬承基
方红星
吕凯
程铿
王勇
Original Assignee
上海成业智能科技股份有限公司
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Application filed by 上海成业智能科技股份有限公司 filed Critical 上海成业智能科技股份有限公司
Priority to EP19891416.0A priority Critical patent/EP3889080A4/en
Priority to CA3121564A priority patent/CA3121564A1/en
Priority to JP2021531507A priority patent/JP7394474B2/ja
Priority to KR1020217019523A priority patent/KR20210093340A/ko
Priority to US17/298,504 priority patent/US20220396438A1/en
Priority to GB2109265.5A priority patent/GB2594824B/en
Publication of WO2020107914A1 publication Critical patent/WO2020107914A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/04—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means
    • B66C1/06—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means electromagnetic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D90/00—Component parts, details or accessories for large containers
    • B65D90/0006—Coupling devices between containers, e.g. ISO-containers
    • B65D90/0013—Twist lock
    • B65D90/002—Apparatus for manual or automatic installation/removal of twist-lock
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B65G2203/043—Magnetic
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion

Definitions

  • This article belongs to the field of automatic control technology, and relates to magnetic control equipment and intelligent material sorting control methods, for example, to an intelligent magnetic control lock pin sorting device for container lock pins and its control method.
  • container lock pins are roughly divided into split type, integral type, semi-automatic type and fully automatic type. Considering that there are some fixed connection locks, there are more than 100 types of container lock pins that need to be disassembled. In addition to the competitive relationship between shipping companies, the structure of container locks of different shipping companies is often different; different ships have different production times and different shipping companies jointly operate the same route.
  • the form of the container lock pin may also be different; even for the same ship, the added lock pin after the container lock pin is worn out may not be the same as the original lock pin, resulting in different types of container lock pins being installed on the same ship.
  • the lock pins of different lock eyes in the same container are also different; for example, for a double 20-foot container on the deck, the outer two corners of the rotary lock and the inner two corners of the connection lock The form is completely different. It can be seen from this that it is extremely difficult to develop a fully compatible automatic lock pin disassembly and assembly device, and there is no device and system in the world that has fully realized automatic lock pin disassembly and assembly.
  • This article provides a magnetic lock intelligent sorting device for container lock pins and its control method.
  • a magnetic lock pin gripper under the intelligent recognition of the type of container lock pin, a matching lock is selected in the lock pin basket according to the system instructions
  • the pins are extracted from the lock pin basket and transported to the designated location to realize the intelligent automatic sorting and sorting of the lock pins, which solves the problems of the prior art that the container lock pins cannot be automatically sorted, identified and compatible.
  • This article provides a container lock pin magnetically controlled intelligent sorting device, which includes a guide cylinder, a bidirectional telescopic component installed inside the guide cylinder, a bidirectional telescopic component link, a guide post, a universal joint, a magnetically controlled gripper, and at least A magnetic control head;
  • the bidirectional telescopic part is provided at the upper end of the guide cylinder, the lower part of the bidirectional telescopic part is connected to the connecting rod of the bidirectional telescopic part, the connecting rod of the bidirectional telescopic part is connected to the guide post, and the lower part of the guide column is fixedly installed
  • a universal joint, the lower part of the universal joint is connected with the magnetic control gripper;
  • the lower part of the magnetic control gripper is attached with the at least one magnetic control head, and each of the magnetic control heads is configured to attract the selected locking pin when the magnetic control gripper is pressed against the selected locking pin.
  • This paper also proposes a control method for a magnetic lock intelligent sorting device for container lock pins, including the following steps:
  • the intelligent sorting device When the container lock pin basket arrives at the first specified position, the intelligent sorting device is moved above the selected lock pin and lowered to the second specified position, so that the bidirectional telescopic component pushes the magnetic control gripper downward Until the magnetic gripper sticks to the selected lock pin; the intelligent sorting device extracts the selected lock pin and transports the extracted lock pin to the third designated location;
  • the picking pin of the intelligent sorting device is moved to a third designated position and then lowered to a designated height, so that the two-way telescopic part retracts the magnetron gripper into the guide cylinder, so that the magnetron head Disengage the lock pin, and make the lock pin fall off to the fourth designated position.
  • FIG. 1 is a schematic diagram of the structure of a magnetic lock intelligent sorting device for container lock pins in this paper.
  • FIG. 2 is a control flow chart of a magnetic lock intelligent sorting device for container lock pins in this paper.
  • 1 is a bidirectional telescopic part
  • 2 is a bidirectional telescopic part connecting rod
  • 3 is a guide cylinder
  • 4 is a guide column
  • 5 is a universal joint
  • 6 is a magnetically controlled gripper
  • 7 is a magnetically controlled head
  • 61 is a guided slope.
  • this article provides a magnetic locking intelligent sorting device for container lock pins, which is provided with a magnetic control gripper 6, and three magnetic control heads 7 are attached to the lower part of the magnetic control gripper 6, and the magnetic control head 7 can be based on actual conditions The number needs to be increased or decreased.
  • a universal joint 5 is installed on the upper part of the magnetic control gripper 6, and the universal joint 5 is fixed on the lower part of the guide column 4.
  • the guide cylinder 3 is the main body of the lock pin magnetically controlled intelligent sorting device in this article.
  • the upper end of the guide cylinder 3 is fixedly installed with a bidirectional telescopic component 1.
  • the lower part of the bidirectional telescopic component 1 is connected to the bidirectional telescopic component connecting rod 2.
  • the bidirectional telescopic component connecting rod 2 is bidirectional telescopic
  • the working part of the component 1, the two-way telescopic part connecting rod 2 is connected to the guide post 4, the guide post 4 is connected to the universal joint 5, and the magnetic control gripper 6 is connected to the guide post 4 via the universal joint 5.
  • the bidirectional telescopic member 1 is configured to be telescopic in the up-down direction, and the bidirectional telescopic member 1 may be a hydraulic telescopic rod, a pneumatic telescopic rod, an electric telescopic rod, or the like.
  • the lower part of the two-way telescopic member link 2 is connected to the guide post 4.
  • the universal joint 5 connected to the magnetic control gripper 6 adapts the magnetic control gripper to the shape of the matching locking pin, and the magnetic control head 7 can tightly attract the selected locking pin Lock the pin and extract it from the lock pin basket.
  • the upper edge of the magnetic control gripper 6 is provided with a guide slope 61, which can flexibly change the angle according to the shape of the lock pin under the traction of the universal joint 5, to ensure the magnetic control head 7 Close to the lock pin and grasp firmly, and can smoothly retract into the guide tube when releasing the extracted lock pin.
  • the guide slope 61 may be arranged in a ring shape along the upper edge of the magnetic control gripper 6, and the guide slope 61 may be arranged in a circular or square shape according to the shape of the guide cylinder 3, the The guide slope 61 is inclined from top to bottom in a direction away from the two-way telescopic member link 2.
  • the guide cylinder 3 can be made of a magnetic isolation material.
  • the container lock pin magnetically controlled intelligent sorting device is provided with a guide cylinder made of a magnetic isolation material, which can be adapted to extract any type of lock pin without restriction.
  • the driving method of the bidirectional telescopic member 1 may be electric driving, pneumatic driving or other power driving.
  • the magnetron head 7 attached to the lower part of the magnetron gripper 6 may be a magnetron head made of a permanent magnet attraction material, or a magnetron head with an electromagnetic attraction structure.
  • the lock pin magnetically controlled intelligent sorting device When the lock pin magnetically controlled intelligent sorting device receives the instruction to extract the lock pin, the device moves and descends to the top of the lock pin that is selected to be extracted by the lock pin basket, so the bidirectional telescopic part 1 pushes out the bidirectional telescopic part connecting rod 2 to guide The column 4 moves downwards, the magnetron gripper 6 extends out of the guide cylinder 3, the magnetron gripper 6 presses against the selected lock pin, the universal joint 5 connected to the magnetron gripper 6 can adapt the magnetron gripper to various locks With the pin shape, the magnetic control head 7 can tightly attract the selected lock pin and extract it from the lock pin basket.
  • the bidirectional telescopic part 1 contracts, the bidirectional telescopic part connecting rod 2 returns to the bidirectional telescopic part, the guide column 4 moves upward, the magnetic The control gripper 6 retracts the guide cylinder 3, because the volume of the extracted lock pin is larger than the guide cylinder 3, when the magnetic control gripper 6 retracts into the guide cylinder 3, the magnetic control head 7 is pulled away from the lock pin, the lock pin It is placed at the designated position.
  • the upper edge of the magnetic control gripper 6 is provided with a guide slope 61.
  • the guide slope 61 increases the distance between the magnetic control gripper 6 and the inner wall of the guide cylinder 3.
  • the shape of the lock pin flexibly changes the angle, ensuring that the magnetic head 7 can closely adhere to the lock pin and firmly grab various types of lock pins; when the magnetic handle 6 is retracted, the magnetic handle 6 can be guided smoothly Back inside the guide cylinder 3, it will not be caught by the wall of the guide cylinder.
  • this article also provides a control method for a container lock pin magnetically controlled intelligent sorting device.
  • the control steps are: when the container lock pin basket arrives at a specified location, the intelligent sorting device receives the instruction to extract the lock pin and select Match the lock pin in the lock pin basket and move to the top of the lock pin to lower it into place, then start the two-way telescopic part, and push the magnetic control handle down until it is close to the lock pin to be extracted; at this time, intelligent sorting The device starts the lifting procedure, extracts the selected lock pin, and instructs to leave the lock pin basket, and transports the extracted lock pin to the designated position.
  • the picking pin of the intelligent sorting device After the picking pin of the intelligent sorting device moves into place, it descends to the specified height, and the bidirectional telescopic component is reversely contracted according to the program.
  • the bidirectional telescopic component continues to contract, so that the magnetic control head is separated from the locking pin , The lock pin falls off and is placed at the designated position, and the intelligent sorting device completes the extraction and transportation of the lock pin and returns to the original position.
  • the magnetic lock intelligent sorting device for container lock pins in this paper is composed of two-way telescopic parts, guide columns, universal joints, magnetic control grippers and magnetic control heads to form a device that can magnetically attract the container lock pins.
  • the guide barrel can be adapted to extract any type of lock pin without restriction. Starting from identifying the model of the lock pin, after the command is received, the specified lock pin is found in the basket, and the magnetic control head is pushed by the bidirectional telescopic component to attract the lock pin, and the lock pin basket is extracted and transported to the specified position, and then the bidirectional expansion is started Parts, retract the magnetic head to disengage the lock pin, send the specified lock pin (same model) to the specified position, the whole process can be completed automatically.
  • the container lock pin magnetically controlled intelligent sorting device After receiving the command to search for the designated lock pin, the container lock pin magnetically controlled intelligent sorting device automatically moves to the location of the designated lock pin, and starts the process of the container lock pin magnetically controlled intelligent sorting device to extract the automatic lock pin.
  • Conveyor lock pin The lock pin is lifted away from the lock pin basket to start the conveying process; the lock pin moves to the specified position for placing the lock pin according to the designated path or fixed transmission facility until it reaches the designated position.
  • the device After receiving the instruction to extract the locking pin, the device moves to the position above the designated locking pin according to the position instruction of the program, lowers the magnetically controlled intelligent sorting device of the container locking pin, and starts the procedure for extracting the locking pin.
  • the two-way telescopic component starts the push-down function, and the magnetic control gripper is continuously pressed against the lock pin, so that the magnetic control head can closely adhere to the designated lock pin and lift up. After locking the pin, proceed to the next step.
  • the container lock pin magnetically controlled intelligent sorting device sends the extracted lock pin to the designated location, and the container lock pin magnetically controlled intelligent sorting device is lowered. , The program goes to the next step.
  • the system starts the lock pin disengagement procedure, the two-way telescopic part starts the contraction function, and the magnetic control gripper continuously retracts to the guide cylinder, so that the guide cylinder blocks the lock pin until the magnetic control head is separated from the lock pin.
  • the device After the automatic extraction of the lock pin is completed and transferred and placed to the designated position, the device returns to the starting position, ready to circulate again to implement automatic extraction and transmission of the lock pin.
  • control method of the container lock pin magnetically controlled intelligent sorting device includes the following steps:
  • the intelligent sorting device When the container lock pin basket arrives at the first specified position, the intelligent sorting device is moved above the selected lock pin and lowered to the second specified position, so that the two-way telescopic part pushes the magnetic control grip downward until the magnetic control The gripper sticks to the selected lock pin; the intelligent sorting device extracts the selected lock pin and transports the extracted lock pin to the third designated location;
  • the picking pin of the intelligent sorting device is moved to the third designated position and then lowered to the designated height, so that the two-way telescopic component retracts the magnetic control gripper into the guide cylinder, so that the magnetic control head is detached from the locking pin and the locking pin Drop off and place in the fourth designated position.
  • a magnetic lock intelligent sorting device for container lock pins uses a magnetic lock pin gripper.
  • the magnetic lock pin gripper obtains a grab command, it is aligned with the command in the container lock pin basket to select the grab.
  • Lock pin use the two-way telescopic part to push down the magnetic control gripper, and maintain the pressure until the lock pin can be stably and firmly attracted, then lift the lock pin, move to the point where the lock pin is placed; start the two-way telescopic part again, pull up
  • the magnetic control gripper is lifted, so that the lock pin magnetically attracted to the device is blocked by the guide cylinder and falls off, thereby completing the process of automatic grabbing and conveying to the target.
  • the magnetic control intelligent sorting device for container lock pins in this paper uses magnetic control grippers, which can replace manual adaptation and compatible grabbing of various types of lock pins. It solves the problem that a variety of lock pins require a variety of fixtures to adapt to and can not change fixtures frequently. The problem is that even if the lock pins in a lock pin basket are not of the same type, the device can be grasped freely.
  • This article embeds a unique AI algorithm, making full use of the power of AI technology, by scanning the lock pins in the lock pin basket, identifying different types of lock pins, and matching the type of lock pin required for the operation, issuing a sorting instruction to the magnetic control
  • the sorting device extracts the corresponding lock pin from the lock pin basket and transports it to the designated position.
  • the magnetic lock intelligent sorting device and control method of container lock pins in this paper, it can not only realize the intelligent identification of the type of container lock pins, but also automatically select the matching lock pins according to the instructions set by the system and extract them from the lock pin baskets. It comes out and is transported to the designated location, so as to realize the intelligent automatic sorting and sorting of the lock pins.

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Abstract

一种集装箱锁销磁控智能分拣装置及其控制方法，其中：双向伸缩部件（1）设置在导向筒（3）上端，双向伸缩部件（1）连接双向伸缩部件连杆（2），双向伸缩部件连杆（2）连接导向柱（4），导向柱（4）下部固定安装万向节（5），万向节（5）下部与磁控抓手（6）连接。磁控抓手（6）下部附装至少一个磁控头（7），每个磁控头（7）配置为在磁控抓手（6）压向选中的锁销时吸附住选中的锁销。该装置及其控制方法实现了集装箱锁销的智能自动分拣。

Description

集装箱锁销磁控智能分拣装置及其控制方法
本公开要求在2018年12月01日提交中国专利局、申请号为201811460681.4的中国专利申请的优先权，以上申请的全部内容通过引用结合在本公开中。
技术领域
本文属于自动控制技术领域，涉及磁控设备及智能物料分拣控制方法，例如涉及一种用于集装箱锁销的智能磁控锁销分拣装置及其控制方法。
背景技术
随着全球经济逐步回暖，海运量稳步提升，港口集装箱装卸量也不断攀升。但是由于物价、劳动力等成本增长较快，导致港口的边际利润呈现下降趋势。为此，港口转向高科技要效益，随着物联网技术的快速发展，港口装卸自动化作业得到了进一步发展，尤其实现了全自动作业的“无人化码头”，为码头降本增效提供了极好的技术手段，特别是那些吞吐量大的港口，更是对“无人化码头”改造趋之若鹜。我国目前已有多地港口实现了码头“无人化”，同时取得了显著的降本增效的效果。
但是在“无人化码头”中有一个不起眼的而在集装箱码头装卸时必不可少的作业流程，使得码头自动化无法实现真正的“无人化”，这就是集装箱锁销(又称：旋锁、固定锁、锁头、Lockpin等)拆装作业。
集装箱堆放在船上时，为了避免集装箱倾倒、滑移并且必须码齐集装箱，在集装箱上下箱之间均有锁销在箱体四角连接。其作业流程为：集装箱卡车将集装箱拉到码头船边时，必须先在箱底四角装上四个锁销后，方可由码头岸桥起吊集装箱装船；如此，每个集装箱在叠加到下层箱上时，锁销都会自动连接锁 住下层箱；而当集装箱卸下船送去堆场时，又须将箱底的四个锁销拆除，方可用集装箱卡车或跨运车送去码头堆场。
这样的作业流程目前均为人工作业，无论传统码头还是无人化码头、自动化码头，集装箱锁销均由人工拆装，每个桥吊一班两名工人，一天三班倒，需要八人(含替班)。
在港口装卸技术领域众所周知，集装箱锁销的拆卸安装是码头自动化技术中的一个难以解决的瓶颈问题。目前船用集装箱锁销的使用情况十分复杂，锁销的具体构造在国际上没有统一标准。根据我国相关标准，集装箱锁销大致分为分体式、整体式、半自动式和全自动式，考虑到存在一些固定式连接锁，需要拆卸的集装箱锁销至少有六大类100余种。加上各船运公司间的竞争关系，不同船运公司的集装箱锁销的结构形式往往不同；不同船舶的投产时间各不相同以及不同船运公司合营同一条航线等原因，同一航线不同船舶的集装箱锁销形式也可能不同；甚至对于同一船舶来说，集装箱锁销耗损后补充的锁销未必与原来的锁销相同，从而造成同一船舶上装有不同形式的集装箱锁销。此外，由于锁销加固要求不同，同一集装箱不同锁眼的锁销形式也不尽相同；例如，对于甲板上的双20英尺集装箱来说，其外部两角的转锁与内部两角的连接锁形式完全不同。由此可见，若要开发可以全兼容的自动化锁销拆装装置，其难度极大，全球至今尚无完全实现锁销自动化拆装的装置与系统。
当然，业内工程技术人员也在想方设法地试图实现锁销作业的自动化、无人化，例如设计通过中转平台采用机械手来拆装锁销，但还是无法解决这么多种类锁销的自动分拣和识别与兼容问题，仍然须要人工进行辅助作业。
有鉴于此，研制出能进入实际应用的集装箱锁销自动分拣提取整理装置，让“无人化码头”真正实现无人作业，是码头装卸技术工程师们梦寐以求的目标。
发明内容
本文提供了一种集装箱锁销磁控智能分拣装置及其控制方法，采用磁控锁销抓手，在对集装箱锁销类型的智能识别下，在锁销筐内根据系统指令选择匹配的锁销，从锁销筐内提取出来，输送到指定位置，实现锁销的智能化自动分拣整理，解决了上述现有技术存在的集装箱锁销不能自动分拣、识别与兼容的问题。
本文提供了一种集装箱锁销磁控智能分拣装置，包括导向筒、在所述导向筒内部安装的双向伸缩部件、双向伸缩部件连杆、导向柱、万向节、磁控抓手以及至少一个磁控头；
所述双向伸缩部件设置在所述导向筒上端，所述双向伸缩部件下部连接所述双向伸缩部件连杆，所述双向伸缩部件连杆连接所述导向柱，所述导向柱下部固定安装所述万向节，所述万向节下部与所述磁控抓手连接；
所述磁控抓手下部附装所述至少一个磁控头，每个所述磁控头配置为在所述磁控抓手压向选中的锁销时，吸附住选中的锁销。
本文还提出了一种用于集装箱锁销磁控智能分拣装置的控制方法，包括以下步骤：
当集装箱锁销筐送抵第一指定位置时，使所述智能分拣装置移动到选中的锁销上方并降下到第二指定位置，使所述双向伸缩部件向下推送所述磁控抓手，直至所述磁控抓手贴住选中的锁销；使所述智能分拣装置将选中的锁销提取起来并将提取的锁销输送至第三指定位置；
使所述智能分拣装置提取锁销移动到第三指定位置后下降到指定高度，使所述双向伸缩部件将所述磁控抓手收回到所述导向筒内，以使得所述磁控头脱离锁销，并使得锁销脱落置于第四指定位置上。
附图说明
图1是本文的一种集装箱锁销磁控智能分拣装置的构成示意图。
图2是本文的一种集装箱锁销磁控智能分拣装置的控制流程图。
附图标记：
1为双向伸缩部件，2为双向伸缩部件连杆，3为导向筒，4为导向柱，5为万向节，6磁控抓手，7为磁控头，61为导向坡度。
具体实施方式
参看图1，本文提供了一种集装箱锁销磁控智能分拣装置，它设有磁控抓手6，磁控抓手6下部附装三个磁控头7，磁控头7可根据实际需要增减数量，磁控抓手6上部安装万向节5，万向节5固定于导向柱4下部。
导向筒3是本文的锁销磁控智能分拣装置的主体，导向筒3上端固定安装双向伸缩部件1，双向伸缩部件1下部连接双向伸缩部件连杆2，双向伸缩部件连杆2是双向伸缩部件1的工作部件，双向伸缩部件连杆2连接导向柱4，导向柱4连接万向节5，磁控抓手6通过万向节5与导向柱4相连。
本实施例中，所述双向伸缩部件1配置为可沿上下方向伸缩，所述双向伸缩部件1可以为液压伸缩杆、气压伸缩杆、电动伸缩杆等。
在一实施例中，双向伸缩部件连杆2的下部连接导向柱4。
当磁控抓手6压向选中的锁销时，连接磁控抓手6的万向节5使磁控抓手适应所匹配的锁销外形，磁控头7即可紧紧吸住选中的锁销，并将锁销提取出锁销筐。
为了增加磁控抓手6与导向筒3内壁的间距，磁控抓手6的上沿设有导向坡61，在万向节5的牵引下可随锁销外形灵活变换角度，确保磁控头7紧贴锁销并抓取牢固，并在释放被提取的锁销时能顺利缩回导向筒内。
在本实施例中，所述导向坡61可以沿所述磁控抓手6的上沿呈环形设置，根据导向筒3形状的不同，所述导向坡61可以呈圆形或者方形设置，所述导向坡61自上向下朝远离所述双向伸缩部件连杆2的方向呈倾斜设置。
导向筒3可由隔磁材料制成，所述集装箱锁销磁控智能分拣装置外设有由隔磁材料制成的导向筒，能够不受限制地适应提取任何型号的锁销。
双向伸缩部件1的驱动方式可以是电力驱动、气动驱动或其他动力驱动。
磁控抓手6下部附装的磁控头7可以是由永磁吸引材料制成的磁控头，也可以是电磁吸引结构的磁控头。
本文的集装箱锁销磁控智能分拣装置的工作过程如下：
当锁销磁控智能分拣装置得到提取锁销的指令时，该装置移动并下降至锁销筐被选中的准备提取的锁销上方，于是双向伸缩部件1推出双向伸缩部件连杆2，导向柱4向下运动，磁控抓手6伸出导向筒3，磁控抓手6压向选中的锁销，连接磁控抓手6的万向节5可使磁控抓手适应各类锁销外形，磁控头7即可紧紧吸住选中的锁销，并将其提取出锁销筐。
当锁销磁控智能分拣装置按系统程序，将提取的锁销传送并下降至指定位置时，双向伸缩部件1收缩，双向伸缩部件连杆2退回双向伸缩部件，导向柱4向上运动，磁控抓手6缩回导向筒3，由于被提取的锁销体积大于导向筒3，当 磁控抓手6退回缩至导向筒3内时，磁控头7被拉开脱离锁销，锁销即被搁置于指定位置。
磁控抓手6的上沿设有导向坡61，当下压提取锁销时，导向坡61增加了磁控抓手6与导向筒3内壁的间距，在万向节5的牵引下，可随锁销的外形灵活变换角度，确保磁控头7能紧贴锁销，牢固地抓取起各种型号锁销；在收回磁控抓手6时，又可平顺地将磁控抓手6导回导向筒3内，不致被导向筒筒壁卡住。
参看图2，本文还提供了一种集装箱锁销磁控智能分拣装置的控制方法，其控制步骤为：当集装箱锁销筐送抵指定位置时，智能分拣装置接收提取锁销指令，选择锁销筐内所匹配的锁销，并移动到该锁销上方降下到位，随即启动双向伸缩部件，向下推送磁控抓手，直至紧贴住欲提取的锁销；此时，智能分拣装置启动提升程序，将选中的锁销提取起来，并指令离开锁销筐，将提取的锁销输送至指定位置。
智能分拣装置提取锁销移动到位后，下降到指定高度，按程序启动双向伸缩部件逆向收缩，当磁控抓手收回到导向筒内时，双向伸缩部件持续收缩，使磁控头脱离锁销，锁销脱落置于指定位置上，智能分拣装置完成锁销的提取输送，回复原位。
本文的集装箱锁销磁控智能分拣装置控制方法的基本流程原理如下：
本文的集装箱锁销磁控智能分拣装置由双向伸缩部件、导向柱、万向节、磁控抓手和磁控头组合成可将集装箱锁销磁吸起来的装置，外套隔磁材料所制的导向筒能不受限制地适应提取任何型号的锁销。从识别锁销型号开始，接指令后寻找到筐内指定锁销，通过双向伸缩部件推动磁控头来吸住该锁销，并提取 出锁销筐，输送至指定位置，然后再启动双向伸缩部件，缩回磁控头使与锁销脱离，将指定锁销(同型号)送至指定位置，全过程可自动完成。
下面结合图2描述本文的各个主要流程的关系。
(1)集装箱锁销磁控智能分拣装置在接到寻找指定锁销指令后，自动移动到指定锁销所在的位置，启动集装箱锁销磁控智能分拣装置提取该自动锁销的程序。
(2)提取锁销：集装箱锁销磁控智能分拣装置启动提取程序，双向伸缩部件向下推出双向伸缩部件连杆，使磁控抓手伸出导向筒，对准指定的锁销，持续下压锁销至所有磁控头都紧吸住锁销后，双向伸缩部件停止下推，集装箱锁销磁控智能分拣装置整体提升，锁销离开锁销筐。
(3)输送锁销：锁销提升离开锁销筐，启动输送程序；锁销按指定路径或固定传输设施，向指定的放置锁销位置移动，直至所指定的位置。
(4)放置锁销：锁销输送到指定位置后，启动锁销脱离程序，双向伸缩部件向上收起双向伸缩部件连杆，使磁控抓手缩回导向筒，当锁销被导向筒挡住时，持续收缩磁控抓手，磁控头被拉与锁销脱离，锁销被放置于指定位置，双向伸缩部件停止回收运动。
(5)集装箱锁销磁控智能分拣装置回归原位。
在实际应用中，本文的一种集装箱锁销磁控智能分拣装置控制方法的主要流程如下：
1、本装置接受到提取锁销的指令后，按程序的位置指令，移动到指定锁销的位置上方，降下集装箱锁销磁控智能分拣装置，启动提取锁销的程序。
2、提取锁销程序启动后，根据内置的设定，双向伸缩部件启动下推功能，并将磁控抓手持续压紧锁销，使磁控头能贴紧吸住所指定的锁销，提起锁销后则进入下一步。
3、锁销被提取离开锁销筐后，系统启动传送程序，集装箱锁销磁控智能分拣装置将提取到的锁销送到所指定的位置，降下集装箱锁销磁控智能分拣装置后，程序进入下一步。
4、锁销被传送到位后，系统启动锁销脱离程序，双向伸缩部件启动收缩功能，磁控抓手持续缩回至导向筒，使导向筒挡住锁销，直至磁控头与锁销脱离，完成了锁销自动提取并传送和放置到指定位置，装置回复到起始位置，准备再次循环实施自动提取和传输锁销。
在一实施例中，所述集装箱锁销磁控智能分拣装置的控制方法，包括以下步骤：
当集装箱锁销筐送抵第一指定位置时，使所述智能分拣装置移动到选中的锁销上方并降下到第二指定位置，使双向伸缩部件向下推送磁控抓手，直至磁控抓手贴住选中的锁销；使智能分拣装置将选中的锁销提取起来并将提取的锁销输送至第三指定位置；
使所述智能分拣装置提取锁销移动到第三指定位置后下降到指定高度，使双向伸缩部件将磁控抓手收回到导向筒内，以使得磁控头脱离锁销，并使得锁销脱落置于第四指定位置上。采用本文的集装箱锁销磁控智能分拣装置及其控制方法，可对各型号不同的锁销自动进行分拣，且不用因型号不同而更换提取锁销的夹具，实现了完全代替人工适应和兼容抓取各类型的锁销，即使一个锁销筐内的锁销不是一个类型，也可自如地抓取，并自动传送到指定位置，突破了集装箱锁销自动分拣的瓶颈。
本文的一种集装箱锁销磁控智能分拣装置，利用一种磁控锁销抓手，当磁控锁销抓手获得抓取指令后，在集装箱锁销筐内对准指令选择抓取的锁销，利用双向伸缩部件下推磁控抓手，并维持压力至锁销可被稳定牢固吸引，随后提起该锁销，移动至指定放置锁销的点位；再次启动双向伸缩部件，向上拉起磁控抓手，使被磁吸于装置的锁销受导向筒阻挡而脱落，从而完成自动抓取和输送至目标的过程。
本文的集装箱锁销磁控智能分拣装置利用磁控抓手，能代替人工适应和兼容抓取各类型的锁销，解决了多种锁销需要多种夹具来适应而无法频繁换夹具作业的难题，即使一个锁销筐内的锁销不是同一种类型，本装置也能抓取自如。
本文嵌入了独特的AI算法，充分利用AI技术的强大功能，通过扫描锁销筐內的锁销，识别不同类型的锁销，并匹配作业所需的锁销型号，发出分拣指令到磁控分拣装置，由其从锁销筐内提取相应的锁销，输送到指定位置。
应用本文的集装箱锁销磁控智能分拣装置及其控制方法，既可实现对集装箱锁销类型的智能识别，还能根据系统设置的指令，自动选择匹配的锁销，自锁销筐内提取出来，输送到指定位置，从而实现锁销的智能化自动分拣整理。

Claims (7)

  1. 一种集装箱锁销磁控智能分拣装置，包括导向筒(3)、在所述导向筒(3)内部安装的双向伸缩部件(1)、双向伸缩部件连杆(2)、导向柱(4)、万向节(5)、磁控抓手(6)以及至少一个磁控头(7)；
    所述双向伸缩部件(1)设置在所述导向筒(3)上端，所述双向伸缩部件(1)下部连接所述双向伸缩部件连杆(2)，所述双向伸缩部件连杆(2)连接所述导向柱(4)，所述导向柱(4)下部固定安装所述万向节(5)，所述万向节(5)下部与所述磁控抓手(6)连接；
    所述磁控抓手(6)下部附装所述至少一个磁控头(7)，每个所述磁控头(7)配置为在所述磁控抓手(6)压向选中的锁销时，吸附住选中的锁销。
  2. 根据权利要求1所述的集装箱锁销磁控智能分拣装置，其中，所述磁控抓手(6)的上沿设有导向坡(61)。
  3. 根据权利要求1所述的集装箱锁销磁控智能分拣装置，其中，所述导向筒(3)由隔磁材料制成。
  4. 根据权利要求1所述的集装箱锁销磁控智能分拣装置，其中，所述双向伸缩部件(1)采用电力驱动或气动驱动。
  5. 根据权利要求1所述的集装箱锁销磁控智能分拣装置，其中，所述磁控抓手(6)下部附装的每个所述磁控头(7)是永磁吸引的磁控头。
  6. 根据权利要求1所述的集装箱锁销磁控智能分拣装置，其中，所述磁控抓手(6)下部附装的每个所述磁控头(7)是电磁吸引结构的磁控头。
  7. 一种用于如权利要求1-6任一项所述的集装箱锁销磁控智能分拣装置的控制方法，包括以下步骤：
    当集装箱锁销筐送抵第一指定位置时，使所述智能分拣装置移动到选中的锁销上方并降下到第二指定位置，使所述双向伸缩部件(1)向下推送所述磁控抓 手(6)，直至所述磁控抓手(6)贴住选中的锁销；使所述智能分拣装置将选中的锁销提取起来并将提取的锁销输送至第三指定位置；
    使所述智能分拣装置提取锁销移动到第三指定位置后下降到指定高度，使所述双向伸缩部件(1)将所述磁控抓手(6)收回到所述导向筒(3)内，以使得所述磁控头(7)脱离锁销，并使得锁销脱落置于第四指定位置上。
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CN114269527A (zh) * 2019-09-30 2022-04-01 上海成业智能科技股份有限公司 一种抓取装置及其控制方法
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