WO2021026861A1

WO2021026861A1 - Gripper for handling twistlock

Info

Publication number: WO2021026861A1
Application number: PCT/CN2019/100722
Authority: WO
Inventors: Jiafan ZHANG; Ye Tian; Yichao Mao
Original assignee: Abb Schweiz Ag
Priority date: 2019-08-15
Filing date: 2019-08-15
Publication date: 2021-02-18
Also published as: CN114269510B; CN114269510A

Abstract

A gripper (1) for handling a twistlock (2), the twistlock (2) comprises a body (20), a first cone (21) and a second cone (22). The gripper (1) comprises: a flange plate (10) comprising a first surface (100), a second surface (102) opposite to the first surface (101), and a side surface (103) between the first surface (101) and the second surface (103); a twister (11) arranged on the first surface (101) of the flange plate (10) and configured to twist the first cone (21) of the twistlock (2) during mounting or dismounting the twistlock (2); a pair of brackets (12) coupled to the side surface (103) of the flange plate (10) opposite to each other and configured to be rotatable along the side surface (103) relative to the flange plate (10); a pair of clamps (13) supported by the respective brackets (12) and configured to hold the body (20) of the twistlock (2) during mounting or dismounting the twistlock (2); and a clutch (14) configured to allow the brackets (12) to rotate relative to the flange plate (10) in a disengaged state and to block the brackets (12) from rotating relative to the flange plate (10) in an engaged state.

Description

GRIPPER FOR HANDLING TWISTLOCK

FIELD

Embodiments of present disclosure generally relate to the field of twistlock handling, and more particularly, to a gripper for handling a twistlock for use in fixing a container, a robot comprising the gripper, a method of removing the twistlock from the container by using the gripper, and a method of mounting the twistlock onto the container by using the gripper.

BACKGROUND

Twistlocks are devices that are used in transport, and are commonly used with shipping containers conforming to ISO regulation (International Standards Organization) . Such twistlocks are predominantly used in shipping where the twistlocks interlock between corner castings of two adjacent containers, or in shipping where containers are fixed to fixed castings provided on the deck of a ship. Modern ports aim to realize high efficiency and automation of container loading and unloading. However, twistlock handling becomes a stumbling block for such an automation process.

FIG. 1 illustrates a perspective view of a conventional twistlock 2 for use by a container. As shown in FIG. 1, the twistlock 2 includes a body 20, a first cone 21 (also referred to as a lower cone) , and a second cone 22 (also referred to as an upper cone) . During use, the first cone 21 or the second cone 22 may be fixed onto the corresponding container. FIG. 2 illustrates a conventional method of removing the twistlock 2 from the container 3. As shown in FIG. 2, when removing the twistlock 2 from the container 3, an operator needs to hold the body 20 of the twistlock 2 with one hand and twist the first cone 21 with the other hand to unlock and pull out the twistlock 2 from the container 3. A mounting process of the twistlock 2 onto the container 3 is in the reverse order. The manual operation on the twistlock 2 renders the twistlock handling process laborious and time consuming.

CN Patent Publication No. CN208391402U discloses a multifunctional twistlock handling device. As shown in its FIG. 3, the twistlock handling device includes a pair of clamps for holding the body of the twistlock, a pair of driving devices for driving the respective clamps to translate, a twister for twisting the first cone of the twistlock, a motor or cylinder for driving the twister to rotate, and some other components. The above twistlock handling device has a complicated construction, a heavy weight and a large size. Moreover, a robot force control technology may not be used in the above twistlock handling device due to its complicated construction. As such, straight twisting of the lower cone of the twistlock without any feedback may lower the success rate of twistlock handling dramatically.

SUMMARY

Embodiments of the present disclosure provide a gripper for handling a twistlock for use by a container, a robot comprising the gripper, a method of removing the twistlock from the container by using the gripper, and a method of mounting the twistlock onto the container by using the gripper.

In a first aspect, a gripper for handling a twistlock is provided. The twistlock comprises a body, a first cone and a second cone. The gripper comprises: a flange plate comprising a first surface, a second surface opposite to the first surface, and a side surface between the first surface and the second surface; a twister arranged on the first surface of the flange plate and configured to twist the first cone of the twistlock during mounting or dismounting the twistlock; a pair of brackets coupled to the side surface of the flange plate opposite to each other and configured to be rotatable along the side surface relative to the flange plate; a pair of clamps supported by the respective brackets and configured to hold the body of the twistlock during mounting or dismounting the twistlock; and a clutch configured to allow the brackets to rotate relative to the flange plate in a disengaged state and to block the brackets from rotating relative to the flange plate in an engaged state.

In some embodiments, the gripper further comprises a bearing connecting the brackets to the side surface of the flange plate.

In some embodiments, the gripper further comprises a force sensor arranged between the twister and the first surface of the flange plate and configured to detect a force condition of the twister.

In some embodiments, the gripper further comprises a pair of driving devices arranged on the respective brackets and configured to drive the respective clamps.

In some embodiments, each of the driving devices is selected from a group consisting of a motor and a cylinder.

In some embodiments, each of the brackets is generally L-shaped.

In some embodiments, the flange plate is a flange of an end rotation axis of a robot.

In a second aspect, a robot is provided. The robot comprises the gripper according to the first aspect of the present disclosure.

In a third aspect, a method of removing a twistlock from a container by using the gripper according to the first aspect of the present disclosure is provided. The method comprises causing the clamps to hold the body of the twistlock when the clutch is in the engaged state, wherein the second cone of the twistlock is locked in the container; and causing the twister to twist the first cone of the twistlock after the clutch is switched into the disengaged state, such that the twistlock is unlocked from the container.

In some embodiments, the method further comprises: causing the gripper to pull the twistlock out of the container and insert the second cone of the twistlock into a storage device after the clutch is switched into the engaged state; causing the twister to twist the first cone of the twistlock after the clutch is switched into the disengaged state, such that the twistlock is locked onto the storage device; and causing the clamps to release the body of the twistlock after the clutch is switched into the engaged state.

In a fourth aspect, a method of mounting a twistlock onto a container by using the gripper according to the first aspect of the present disclosure is provided. The method comprises causing the clamps to hold the body of the twistlock when the clutch is in the engaged state, wherein the second cone of the twistlock is locked in a storage device; causing the twister to twist the first cone of the twistlock after the clutch is switched into the disengaged state, such that the second cone of the twistlock is unlocked from the storage device; causing the gripper to pull the twistlock out of the storage device and insert the second cone of the twistlock into the container after the clutch is switched into the engaged state; causing the twister to twist the first cone of the twistlock after the clutch is switched into the disengaged state, such that the twistlock is locked onto the container; and causing the clamps to release the body of the twistlock after the clutch is switched into the engaged state.

According to various embodiments of the present disclosure, the clamps are rotatably coupled to the side surface of the flange plate via the respective brackets, and the clutch is used to allow the brackets to rotate relative to the flange plate in the disengaged state and to block the brackets from rotating relative to the flange plate in the engaged state. With such an arrangement, the clamps and the twister may rotate together when the clutch is in the engaged state, and the twister may rotate relative to the clamps when the clutch is in the disengaged state so as to twist the first cone of the twistlock. Compared to the conventional twistlock handling device as described above, the gripper of the present disclosure is simple in construction, small in size, and light in weight, because of the particular structure of the gripper. In addition, the twistlock handling process is much smarter and reliable.

DESCRIPTION OF DRAWINGS

Drawings described herein are provided to further explain the present disclosure and constitute a part of the present disclosure. The example embodiments of the disclosure and the explanation thereof are used to explain the present disclosure, rather than to limit the present disclosure improperly.

FIG. 1 illustrates a perspective view of a conventional twistlock for use by a container;

FIG. 2 illustrates a conventional method of removing the twistlock from the container;

FIG. 3 illustrates a schematic view of a gripper for handling the twistlock, in accordance with an embodiment of the present disclosure;

FIG. 4 illustrates a schematic view of a gripper for handling the twistlock, in accordance with another embodiment of the present disclosure; and

FIGS. 5-14 illustrate an example process of removing the twistlock from the container by using the gripper, in accordance with an embodiment of the present disclosure.

Throughout the drawings, the same or similar reference symbols are used to indicate the same or similar elements.

DETAILED DESCRIPTION OF EMBODIEMTNS

Principles of the present disclosure will now be described with reference to several example embodiments shown in the drawings. Though example embodiments of the present disclosure are illustrated in the drawings, it is to be understood that the embodiments are described only to facilitate those skilled in the art in better understanding and thereby achieving the present disclosure, rather than to limit the scope of the disclosure in any manner.

The term “comprises” or “includes” and its variants are to be read as open terms that mean “includes, but is not limited to. ” The term “or” is to be read as “and/or” unless the context clearly indicates otherwise. The term “based on” is to be read as “based at least in part on. ” The term “being operable to” is to mean a function, an action, a motion or a state can be achieved by an operation induced by a user or an external mechanism. The term “one embodiment” and “an embodiment” are to be read as “at least one embodiment. ” The term “another embodiment” is to be read as “at least one other embodiment. ” The terms “first, ” “second, ” and the like may refer to different or same objects. Other definitions, explicit and implicit, may be included below. A definition of a term is consistent throughout the description unless the context clearly indicates otherwise.

Unless specified or limited otherwise, the terms “mounted, ” “connected, ” “supported, ” and “coupled” and variations thereof are used broadly and encompass direct and indirect mountings, connections, supports, and couplings. Furthermore, “connected” and “coupled” are not restricted to physical or mechanical connections or couplings. In the description below, like reference numerals and labels are used to describe the same, similar or corresponding parts in the figures. Other definitions, explicit and implicit, may be included below.

As discussed above, the conventional twistlock handling device has a complicated construction, a heavy weight and a large size. Moreover, a robot force control technology may not be used in the conventional twistlock handling device due to its complicated construction. According to embodiments of the present disclosure, to simplify the construction of the gripper, the clamps are rotatably coupled to the side surface of the flange plate via the respective brackets, and the clutch is used to allow the brackets to rotate relative to the flange plate in the disengaged state and to block the brackets from rotating relative to the flange plate in the engaged state. The above idea may be implemented in various manners, as will be described in detail in the following paragraphs.

Hereinafter, the principles of the present disclosure will be described in detail with reference to FIGS. 3-14. Referring to FIG. 3 first, FIG. 3 illustrates a schematic view of a gripper 1 for handling the twistlock 2, in accordance with an embodiment of the present disclosure. The twistlock 2 may have various known constructions. For example, the twistlock 2 may include a body 20, a first cone 21 (also referred to as a lower cone) , and a second cone 22 (also referred to as an upper cone) . The first cone 21 and the second cone 22 are linked to each other. That is, when one of the first cone 21 and the second cone 22 is driven to rotate, the other one of the first cone 21 and the second cone 22 rotates accordingly. During use, the first cone 21 and the second cone 22 may be fixed onto the corresponding containers. It is to be noted that the present disclosure is directed to a new gripper 1 for handling the twistlock 2, rather than improvements of the twistlock 2 per se. Thus, the internal construction of the twistlock 2 and its operating principle would not be described in detail hereinafter.

As shown in FIG. 3, the gripper 1 generally includes a flange plate 10, a twister 11, a pair of brackets 12, a pair of clamps 13, and a clutch 14.

The flange plate 10 is used as a base for supporting other parts of the gripper 1. As shown in FIG. 3, the flange plate 10 includes a first surface 101, a second surface 102 opposite to the first surface 101, and a side surface 103 between the first surface 101 and the second surface 102. The second surface 102 of the flange plate 10 may be coupled to an arm of a robot (not shown) . In some embodiments, the flange plate 10 is a flange of an end rotation axis of a robot. For example, in a conventional six-axis robot, the end rotation axis is the sixth axis of the robot. Under driving of the end rotation axis of the robot, the flange plate 10 may rotate together with the components arranged thereon. In other embodiments, the flange plate 10 may be connected to the flange of the end rotation axis of the robot. Similarly, the flange plate 10 and the components arranged thereon may be driven by the end rotation axis of the robot to rotate.

The twister 11 is arranged on the first surface 101 of the flange plate 10 for twisting the first cone 21 of the twistlock 2 during mounting the twistlock 2 onto the container 3 or dismounting the twistlock 2 from the container 3. In some embodiments, as shown in FIG. 3, the twister 11 includes two parts spaced apart from each other on the first surface 101 of the flange plate 10. The two parts may cooperate with each other so as to twist the first cone 21 of the twistlock 2. It is to be noted that the construction of the twister 11 is not limited to that shown in FIG. 3. In other embodiments, the twister 11 may include more than two parts arranged on the first surface 101 of the flange plate 10 in various forms. Similarly, these parts may cooperate with each other so as to twist the first cone 21 of the twistlock 2.

The brackets 12 are coupled to the side surface 103 of the flange plate 10 opposite to each other so as to support the respective clamps 13. Each of the brackets 12 is rotatable along the side surface 103 relative to the flange plate 10. In some embodiments, each of the brackets 12 is generally L-shaped. In other embodiments, each of the brackets 12 may be of other shapes. The scope of the present disclosure is not intended to be limited in this respect.

In some embodiments, the brackets 12 may be connected to the side surface 103 of the flange plate 10 via a bearing 15. With the bearing 15, the brackets 12 and thus the clamps 13 may rotate relative to the flange plate 10 freely. In other embodiments, the brackets 12 may be connected to the side surface 103 of the flange plate 10 through other connection mechanisms, such as slide rails, as long as the brackets 12 may rotate relative to the flange plate 10. The scope of the present disclosure is not intended to be limited in this respect.

The clamps 13 are used to hold the body 20 of the twistlock 2 during mounting the twistlock 2 onto the container 3 or dismounting the twistlock 2 from the container 3. In some embodiments, as shown in FIG. 3, the gripper 1 further includes a pair of driving devices 17 arranged on the respective brackets 12 and connected to the respective clamps 13. Under driving of the respective driving devices 17, the clamps 13 may translate with respect to each other so as to hold or release the body 20 of the twistlock 2. The driving devices 17 may be implemented in various forms. For example, each of the driving devices 17 may be a motor or a cylinder or other driving mechanisms.

In some embodiments, the gripper 1 may include only one driving device 17 for driving one of the clamps 13. For example, the driving device 17 on the right of FIG. 3 may be omitted and the clamp 13 on the right of FIG. 3 may be directly mounted on the bracket 12. With such an arrangement, the clamp 13 on the left of FIG. 3 may be driven by the driving device 17 so as to translate towards or away from the clamp 13 on the right of FIG. 3.

The clutch 14 is used to control relative rotation between the brackets 12 and the flange plate 10. Specifically, when the clutch 14 is in a disengaged state, the clutch 14 may allow the brackets 12 to rotate relative to the flange plate 10, and when the clutch 14 is in an engaged state, the clutch 14 may block the brackets 12 from rotating relative to the flange plate 10. In other words, in the disengaged state, the clutch 14 may allow the twister 11 to rotate relative to the clamps 13, and in the engaged state, the clutch 14 may allow the clamps 13 and the twister 11 to rotate together under driving of the robot.

According to various embodiments of the present disclosure, the clamps 13 are rotatably coupled to the side surface 103 of the flange plate 10 via the respective brackets 12, and the clutch 14 is used to allow the brackets 12 to rotate relative to the flange plate 10 in the disengaged state and to block the brackets 12 from rotating relative to the flange plate 10 in the engaged state. With such an arrangement, the clamps 13 and the twister 11 may rotate together when the clutch 14 is in the engaged state, and the twister 11 may rotate relative to the clamps 13 when the clutch 14 is in the disengaged state so as to twist the first cone 21 of the twistlock 2. Compared to the conventional twistlock handling device, the gripper 1 of the present disclosure is simple in construction, small in size, and light in weight. In addition, the twistlock handling process is much smarter and reliable.

FIG. 4 illustrates a schematic view of a gripper 1 for handling the twistlock 2, in accordance with another embodiment of the present disclosure. The grippers 1 as shown in FIGS. 4 and 3 have similar constructions, except that the gripper 1 of FIG. 4 further includes a force sensor 16. The force sensor 16 is arranged between the twister 11 and the first surface 101 of the flange plate 10 so as to detect a force condition of the twister 11. With the force condition of the twister 11, a robot force control technology may be used by the robot. Specifically, the robot may adjust the position of the flange plate 10 such that the lower cone 21 of the twistlock 2 may be twisted properly.

In embodiments of the present disclosure, a robot including the gripper 1 as described with reference to FIGS. 3 and 4 is provided. The gripper 1 may be mounted on an end rotation axis of the robot and formed as a portion of the robot. As described above, in a conventional six-axis robot, the end rotation axis is the sixth axis of the robot.

Embodiments of the present disclosure also provide a method of removing the twistlock 2 from the container 3 by using the gripper 1. FIGS. 5-14 illustrate an example process of removing the twistlock 2 from the container 3. The method may be performed by the robot provided with the gripper 1 in accordance with embodiments of the present disclosure.

As shown in FIG. 5, the robot causes the clamps 13 to hold the body 20 of the twistlock 2 when the clutch 14 is in the engaged state. At this point, the second cone 22 of the twistlock 2 is locked in the container 3. FIG. 6 illustrates the current relative position relationship between the twister 11 and the clamps 13.

As shown in FIG. 7, the robot causes the twister 11 to twist the first cone 21 of the twistlock 2 in a direction indicated by an arrow after the clutch 14 is switched into the disengaged state, such that the twistlock 2 is unlocked from the container 3. FIG. 8 illustrates the current relative position relationship between the twister 11 and the clamps 13.

As shown in FIG. 9, the robot causes the gripper 1 to pull the twistlock 2 out of the container 3 and rotate relative to the container 3 after the clutch 14 is switched into the engaged state.

As shown in FIG. 10, the robot causes the gripper 1 to insert the second cone 22 of the twistlock 2 into a storage device 4 with the clutch 14 still in the engaged state. The storage device 4 is used to collect the twistlock 2 dismounted from the container 3. FIG. 11 illustrates the current relative position relationship between the twister 11 and the clamps 13.

As shown in FIG. 12, the robot causes the twister 11 to twist the first cone 21 of the twistlock 2 in a direction indicated by an arrow after the clutch 14 is switched into the disengaged state, such that the twistlock 2 is locked onto the storage device 4. FIG. 13 illustrates the current relative position relationship between the twister 11 and the clamps 13.

As shown in FIG. 14, the robot causes the clamps 13 to release the body 20 of the twistlock 2 after the clutch 14 is switched into the engaged state. So far, the removing process of the twistlock 2 from the container 3 is completed and the gripper 1 is ready for removing another twistlock.

Embodiments of the present disclosure further provide a method of mounting the twistlock 2 onto the container 3 by using the gripper 1. The mounting process of the twistlock 2 is in the reverse order than the removing process of the twistlock 2 as discussed above with reference to FIGS. 5-14. Specifically, the mounting process of the twistlock 2 may include the following actions: causing the clamps 13 to hold the body 20 of the twistlock 2 when the clutch 14 is in the engaged state, wherein the second cone 22 of the twistlock 2 is locked in a storage device 4; causing the twister 11 to twist the first cone 21 of the twistlock 2 after the clutch 14 is switched into the disengaged state, such that the second cone 22 of the twistlock 2 is unlocked from the storage device 4; causing the gripper 1 to pull the twistlock 2 out of the storage device 4 and insert the second cone 22 of the twistlock 2 into the container 3 after the clutch 14 is switched into the engaged state; causing the twister 11 to twist the first cone 21 of the twistlock 2 after the clutch 14 is switched into the disengaged state, such that the twistlock 2 is locked onto the container 3; and causing the clamps 13 to release the body 20 of the twistlock 2 after the clutch 14 is switched into the engaged state. So far, the mounting process of the twistlock 2 onto the container 3 is completed and the gripper 1 is ready for mounting another twistlock.

While several inventive embodiments have been described and illustrated herein, those of ordinary skill in the art will readily envision a variety of other means and/or structures for performing the function and/or obtaining the results and/or one or more of the advantages described herein, and each of such variations and/or modifications is deemed to be within the scope of the inventive embodiments described herein. More generally, those skilled in the art will readily appreciate that all parameters, dimensions, materials, and configurations described herein are meant to be exemplary and that the actual parameters, dimensions, materials, and/or configurations will depend upon the specific application or applications for which the inventive teachings is/are used. Those skilled in the art will recognize, or be able to ascertain using no more than routine experimentation, many equivalents to the specific inventive embodiments described herein. It is, therefore, to be understood that the foregoing embodiments are presented by way of example only and that, within the scope of the appended claims and equivalents thereto, inventive embodiments may be practiced otherwise than as specifically described and claimed. Inventive embodiments of the present disclosure are directed to each individual feature, system, article, material, kit, and/or method described herein. In addition, any combination of two or more such features, systems, articles, materials, kits, and/or methods, if such features, systems, articles, materials, kits, and/or methods are not mutually inconsistent, is included within the inventive scope of the present disclosure.

Claims

A gripper (1) for handling a twistlock (2) , the twistlock (2) comprising a body (20) , a first cone (21) and a second cone (22) , the gripper (1) comprising:

a flange plate (10) comprising a first surface (101) , a second surface (102) opposite to the first surface (101) , and a side surface (103) between the first surface (101) and the second surface (102) ;

a twister (11) arranged on the first surface (101) of the flange plate (10) and configured to twist the first cone (21) of the twistlock (2) during mounting or dismounting the twistlock (2) ;

a pair of brackets (12) coupled to the side surface (103) of the flange plate (10) opposite to each other and configured to be rotatable along the side surface (103) relative to the flange plate (10) ;

a pair of clamps (13) supported by the respective brackets (12) and configured to hold the body (20) of the twistlock (2) during mounting or dismounting the twistlock (2) ; and

a clutch (14) configured to allow the brackets (12) to rotate relative to the flange plate (10) in a disengaged state and to block the brackets (12) from rotating relative to the flange plate (10) in an engaged state.
The gripper (1) according to claim 1, further comprising a bearing (15) connecting the brackets (12) to the side surface (103) of the flange plate (10) .
The gripper (1) according to claim 1, further comprising a force sensor (16) arranged between the twister (11) and the first surface (101) of the flange plate (10) and configured to detect a force condition of the twister (11) .
The gripper (1) according to claim 1, further comprising a pair of driving devices (17) arranged on the respective brackets (12) and configured to drive the respective clamps (13) .
The gripper (1) according to claim 4, wherein each of the driving devices (17) is selected from a group consisting of a motor and a cylinder.
The gripper (1) according to claim 1, wherein each of the brackets (12) is generally L-shaped.
The gripper (1) according to claim 1, wherein the flange plate (10) is a flange of an end rotation axis of a robot.
A robot comprising the gripper (1) according to any of claims 1-7.
A method of removing a twistlock (2) from a container (3) by using the gripper (1) according to any of claims 1-7, comprising:

causing the clamps (13) to hold the body (20) of the twistlock (2) when the clutch (14) is in the engaged state, wherein the second cone (22) of the twistlock (2) is locked in the container (3) ; and

causing the twister (11) to twist the first cone (21) of the twistlock (2) after the clutch (14) is switched into the disengaged state, such that the twistlock (2) is unlocked from the container (3) .
The method according to claim 9, further comprising:

causing the gripper (1) to pull the twistlock (2) out of the container (3) and insert the second cone (22) of the twistlock (2) into a storage device (4) after the clutch (14) is switched into the engaged state;

causing the twister (11) to twist the first cone (21) of the twistlock (2) after the clutch (14) is switched into the disengaged state, such that the twistlock (2) is locked onto the storage device (4) ; and

causing the clamps (13) to release the body (20) of the twistlock (2) after the clutch (14) is switched into the engaged state.
A method of mounting a twistlock (2) onto a container (3) by using the gripper (1) according to any of claims 1-7, comprising:

causing the clamps (13) to hold the body (20) of the twistlock (2) when the clutch (14) is in the engaged state, wherein the second cone (22) of the twistlock (2) is locked in a storage device (4) ;

causing the twister (11) to twist the first cone (21) of the twistlock (2) after the clutch (14) is switched into the disengaged state, such that the second cone (22) of the twistlock (2) is unlocked from the storage device (4) ;

causing the gripper (1) to pull the twistlock (2) out of the storage device (4) and insert the second cone (22) of the twistlock (2) into the container (3) after the clutch (14) is switched into the engaged state;

causing the twister (11) to twist the first cone (21) of the twistlock (2) after the clutch (14) is switched into the disengaged state, such that the twistlock (2) is locked onto the container (3) ; and

causing the clamps (13) to release the body (20) of the twistlock (2) after the clutch (14) is switched into the engaged state.