WO2021073212A1 - 一种集装箱转运系统及方法 - Google Patents

一种集装箱转运系统及方法 Download PDF

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Publication number
WO2021073212A1
WO2021073212A1 PCT/CN2020/107842 CN2020107842W WO2021073212A1 WO 2021073212 A1 WO2021073212 A1 WO 2021073212A1 CN 2020107842 W CN2020107842 W CN 2020107842W WO 2021073212 A1 WO2021073212 A1 WO 2021073212A1
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WO
WIPO (PCT)
Prior art keywords
clamp
container
gripper
assembly
locking member
Prior art date
Application number
PCT/CN2020/107842
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English (en)
French (fr)
Inventor
张骞
许明瀚
汪悟希
李红梅
张运广
吕谦和
王国宏
Original Assignee
青岛大学
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Application filed by 青岛大学 filed Critical 青岛大学
Publication of WO2021073212A1 publication Critical patent/WO2021073212A1/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
    • B66C21/00—Cable cranes, i.e. comprising hoisting devices running on aerial cable-ways
    • B66C21/02—Cable cranes, i.e. comprising hoisting devices running on aerial cable-ways with cable-ways supported on framework swingably connected to groundengaging elements
    • 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
    • B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
    • B65G63/002—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles
    • B65G63/004—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles for containers
    • 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
    • B66C1/10—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 mechanical means
    • B66C1/101—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 mechanical means for containers

Definitions

  • This application relates to the field of transportation technology, and in particular to a container transfer system and method.
  • a container is a component tool that can be loaded with or unpackaged goods for transportation, and is convenient for loading and unloading with mechanical equipment.
  • the vessel loaded with the container arrives at the port, it needs to transfer the container to the yard.
  • Fig. 1 is a schematic diagram of the structure of a container 5 transfer system in the prior art.
  • the container 5 is lifted by the crane 2 on the pier 1 and placed on the ground for transfer
  • the transfer car 6 transports the container 5 to the bottom of the empty rail 3, lifts the container 5 to a height suitable for the hoisting of the empty rail 3, and mounts the container 5 on the empty rail 3, and the empty rail 3 holds the container 5 Transfer to storage yard 7.
  • the bridge crane 2 puts the container 5 on the transfer truck 6, and the container 5 moves up and down in the height direction; the transfer truck 6 lifts the container 5 to a height suitable for the lifting of the empty rail 3, and the container 5 is in Move up in the height direction.
  • the transfer efficiency is low.
  • the purpose of this application is to provide a container transfer system and method to help solve the problem of low container transfer efficiency in the prior art.
  • the specific plan is as follows:
  • an embodiment of the present application provides a container transfer system, which includes a crane set on a wharf and an empty rail set between the wharf and the yard;
  • the bridge crane is connected to the upper end of the locking member through a first gripper, the first gripper is used to grasp or release the upper end of the locking member, and the lower end of the locking member is connected to the clamp assembly, The clamp assembly is used to clamp the container;
  • a clamp fixing assembly is provided under the empty rail, and the bridge crane is used to transport the clamp assembly to a position corresponding to the clamp fixing assembly, and the clamp fixing assembly is used to fix or loosen the clamp assembly;
  • a second gripper is provided on the empty rail, and the second gripper is used to grasp or release the upper end of the locking member
  • the empty rail is used to transfer the second gripper and/or the container held by the second gripper between the wharf and the yard.
  • the clamp assembly includes a cable collector and a clamp, the lower end of the locking member is connected with the cable collector, and the cable collector is connected with the clamp through a rope.
  • the clamp fixing assembly includes a support column, a turntable, and a clamp fixing part
  • the turntable is arranged at the top of the support column and is rotatably connected to the support column
  • the clamp fixing part is fixedly connected to the turntable
  • the height of the clamp fixing part corresponds to the height of the rope collector
  • the clamp fixing part is used to fix or loosen the rope collector.
  • the cable collector has a circular shape
  • the clamp fixture includes a fixed module and a movable module
  • both the fixed module and the movable module are semicircular shapes matching the shape of the cable collector.
  • the connection relationship between the module and the movable module is configured as follows: in the first state, the fixed module and the movable module form a semicircle that opens toward the cable collector; in the second state, the fixed module and the movable module form a closed Round shape.
  • the locking member includes an upper through hole
  • the first gripper is used to grasp or release the upper end of the locking member, specifically: the first gripper is used to grip the upper through hole of the locking member;
  • the second gripper is used to grasp or release the upper end of the locking member, specifically: the second gripper is used to grip or release the upper through hole of the locking member.
  • the locking member further includes a lower end through hole
  • the clamp assembly is connected to the lower end of the locking member through a third gripper
  • the third gripper is used to grasp the lower end of the locking member Through hole.
  • the wharf includes two or more ship docking positions, and the running path of the empty rail covers the two or more ship docking positions.
  • the bridge crane is connected to the first gripper through a connecting rope, and a rotating buckle is provided between the connecting rope and the first gripper.
  • an embodiment of the present application provides a container transfer method, applying the system according to any one of the above-mentioned first aspects, and the method includes:
  • the second gripper on the control empty rail grasps the upper end of the lock fastener
  • the empty rail transports the clamp assembly holding the container to the yard
  • the method further includes:
  • the empty rail transports the clamp assembly that does not clamp the container to a position that matches the clamp fixing assembly
  • the running path of the empty rail covers two or more ship docking positions, so that two or more ships can unload containers at the same time, which improves efficiency.
  • Figure 1 is a schematic diagram of the structure of a container transfer system in the prior art
  • Figure 2 is a schematic structural diagram of a container transfer system provided by an embodiment of the application.
  • Figure 3 is a schematic structural diagram of another container transfer system provided by an embodiment of the application.
  • Fig. 4 is an enlarged schematic diagram of the dashed frame in Fig. 3;
  • Figure 5 is a schematic structural diagram of a lock and a grip provided by an embodiment of the application.
  • FIG. 6 is a schematic diagram of a matching structure of a clamp fixing assembly and a cable collector according to an embodiment of the application;
  • FIG. 7 is a schematic diagram of the matching structure of another clamp fixing assembly and the cable collector provided by an embodiment of the application.
  • the symbols in the figure are represented as: 1-terminal, 2-bridge crane, 3-empty rail, 4-ship, 5-container, 6-transfer car, 7-yard, 8-lock fastener, 9-clamp assembly, 901-cable collector, 902-clamp, 10-first gripper, 11-second gripper, 12-third gripper, 13-rotating buckle, 14-fixture fixing assembly, 1401-support column, 1402-turntable , 1403-fixture fixture, 14031-fixed module, 14032-movable module.
  • FIG. 2 is a schematic structural diagram of a container transfer system provided by an embodiment of the application.
  • the container transfer system provided by an embodiment of the present application includes a crane 2 set on a wharf 1 and a crane 2 set on a wharf 1 and a storage yard. 7 (not shown in the figure) between the empty track 3.
  • the left and right sides of the wharf 1 are provided with docking positions for ships 4, and each docking position for ships 4 is provided with a bridge crane 2, and the running path of the empty rail 3 covers the two ships. 4 parking positions. It should be pointed out that those skilled in the art can set more than two docking positions for ships 4 according to actual needs, and the running path of the empty rail 3 is matched with the docking positions of the ship 4, which is not specifically limited in this application.
  • Fig. 3 is a schematic structural diagram of another container transfer system provided by an embodiment of the application
  • Fig. 4 is an enlarged schematic diagram of the dashed box in Fig. 3, as shown in Fig. 3 in combination with Fig. 4, in the embodiment of the present application, the bridge crane 2
  • the locking element 8 is connected to the clamp assembly 9, and the clamp assembly 9 is used to clamp the container 5.
  • the operator can control the crane 2 in the operating room to transport the container 5 from the ship 4 to the corresponding position of the empty rail 3.
  • FIG 5 is a schematic structural diagram of a locking member and a grip provided by an embodiment of the application.
  • the locking member 8 includes an upper through hole and a lower through hole.
  • a gripper 10 is connected, and a rotating buckle 13 is also provided between the connecting rope and the first gripper 10.
  • the rotating buckle 13 can make the first gripper 10, the locking member 8, the clamp assembly 9, the container 5, etc., under the action of gravity Keep it in the vertical direction.
  • the locking member 8 and the clamp assembly 9 are connected by a third gripper 12.
  • the clamp assembly 9 includes a cable collector 901 and a clamp 902.
  • the locking member 8 is connected to a third gripper 12 through a through hole at the lower end, and the third gripper 12 is connected to the cable collector 901 through a connecting rope.
  • 901 is connected to the clamp 902 by a connecting rope.
  • the crane 2 lifts the container 5 from the ship 4 and moves in the direction of the empty rail 3.
  • a clamp fixing assembly 14 is provided under the empty rail 3, and the clamp fixing assembly 14 is used to fix the clamp assembly 9.
  • the container 5 is clamped on the clamp assembly 9, which is also used to fix the container 5 at the same time.
  • FIG. 6 is a schematic diagram of the matching structure of a clamp fixing assembly and a cable collector according to an embodiment of the application.
  • the clamp fixing assembly 14 includes a supporting column 1401, a turntable 1402, and a clamp fixing member 1403.
  • the turntable 1402 is arranged at the top of the support column 1401 and is rotatably connected to the support column 1401.
  • the clamp fixing member 1403 is fixedly connected to the turntable 1402.
  • the height of the clamp fixing member 1403 is the same as that of the cable collector 901. Corresponding to the height.
  • FIG. 7 is a schematic diagram of the mating structure of another clamp fixing assembly and a cable collector provided by an embodiment of the application.
  • the cable collector 901 is circular
  • the clamp fixing member 1403 includes a fixing module 14031
  • the movable module 14032, the fixed module 14031 and the movable module 14032 are both semicircular shapes matching the shape of the rope collector 901, and the connection relationship between the fixed module 14031 and the movable module 14032 is configured as follows: In the state, the fixed module 14031 and the movable module 14032 form a semicircle opening toward the cable collector 901; in the second state, the fixed module 14031 and the movable module 14032 form a closed circle.
  • the fixed module 14031 is provided with a cavity for accommodating the movable module 14032.
  • the movable module 14032 is retracted in the cavity of the fixed module 14031.
  • the fixture holder 1403 It is a semicircle with one side open; in the second state, the movable module 14032 protrudes from the cavity of the fixed module 14031, and the movable module 14032 is connected with the two ends of the fixed module 14031 to form a closed circle.
  • the clamp fixture 1403 is in the first state. At this time, it is a semicircle opening toward the cable collector 901, as shown in Figure 7-a; the bridge crane 2 drives the cable collector 901 to face The clamp fixing member 1403 moves in the direction.
  • the cable collector 901 When the cable collector 901 is embedded in the semicircle, it stops moving after it collides with the clamp fixing member 1403, and the movable module 14032 in the clamp fixing member 1403 extends from the cavity of the fixed module 14031 Out, the clamp fixture 1403 transitions from the first state to the second state, as shown in Figure 7-b; as the movable module 14032 extends from the cavity of the fixed module 14031, the two ends of the movable module 14032 and the fixed module 14031 Connected to form a closed circle.
  • the running path of the empty rail covers two or more ship docking positions, so that two or more ships can unload containers at the same time, which improves efficiency.
  • this application also provides a container transshipment method, which mainly includes the following steps:
  • Step S101 Control the crane 2 to move the clamp assembly 9 to a position that matches the container 5.
  • the bridge crane 2 is connected to the clamp assembly 9 through the first gripper 10, the locking member 8 and the clamp assembly 9;
  • Step S102 controlling the clamp assembly 9 to clamp the container 5;
  • Step S103 controlling the crane 2 to move the clamp assembly 9 holding the container 5 to a position matching the clamp fixing assembly 14;
  • Step S104 controlling the clamp fixing assembly 14 to fix the clamp assembly 9;
  • Step S105 controlling the first gripper 10 to release the upper end of the locking member 8;
  • Step S106 controlling the second gripper 11 on the empty rail 3 to grasp the upper end of the locking member 8;
  • Step S107 controlling the clamp fixing assembly 14 to loosen the clamp assembly 9;
  • Step S108 The empty rail 3 transports the clamp assembly 9 holding the container 5 to the yard 7;
  • Step S109 After arriving at the yard 7, control the clamp assembly 9 to loosen the container 5, and stack the container 5 on the yard 7;
  • Step S110 The empty rail 3 transports the clamp assembly 9 that has not clamped the container 5 to a position matching the clamp fixing assembly 14;
  • Step S111 controlling the clamp fixing assembly 14 to fix the clamp assembly 9 of the unclamped container 5;
  • Step S112 controlling the second gripper 11 on the empty rail 3 to release the upper end of the locking member 8;
  • Step S113 Control the first gripper 10 on the bridge crane 2 to grasp the upper end of the locking member 8, and transfer the clamp assembly 9 of the non-clamped container 5 from the empty rail 3 to the bridge crane 2;
  • the disclosed apparatus, equipment, and method may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or integrated.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection between devices or units through some interfaces, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ship Loading And Unloading (AREA)

Abstract

一种集装箱转运系统及方法，所述系统包括设置在码头(1)上的桥吊(2)和设置在码头(1)和堆场(7)之间的空轨(3)；所述桥吊(2)通过第一抓手(10)与锁扣件(8)的上端相连，所述第一抓手(10)用于抓住或松开所述锁扣件(8)的上端，所述锁扣件(8)的下端与夹具组件(9)相连，所述夹具组件(9)用于夹持集装箱(5)；所述空轨(3)下方设有夹具固定组件(14)，所述桥吊(2)用于将所述夹具组件(9)运送至与夹具固定组件(14)相对应的位置，所述夹具固定组件(14)用于固定或松开所述夹具组件(9)；所述空轨(3)上设有第二抓手(11)，所述第二抓手(11)用于抓住或松开所述锁扣件(8)的上端。采用该系统转运集装箱，集装箱在高度方向上不存在上下移动，提高了转运效率。

Description

一种集装箱转运系统及方法
本申请要求于2019年10月18日提交中国专利局、申请号201910994107.5、发明名称为“一种集装箱转运系统及方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及交通运输技术领域，特别涉及一种集装箱转运系统及方法。
背景技术
集装箱是能装载包装或无包装货进行运输，并便于用机械设备进行装卸搬运的一种组成工具。在港口，装载集装箱的船舶在到达港口后，需要将集装箱转移至堆场。
图1为现有技术中一种集装箱5转运系统结构示意图，如图1所示，船舶4停靠到码头1后，由码头1上的桥吊2将集装箱5吊起，放到地面上的转运车6上，转运车6将集装箱5运至空轨3的下方，将集装箱5顶升到适合空轨3吊起的高度，将集装箱5挂载到空轨3上，空轨3将集装箱5转运至堆场7。
在上述集装箱5转运系统中，桥吊2将集装箱5放至转运车6上，集装箱5在高度方向上下移；转运车6将集装箱5顶升到适合空轨3吊起的高度，集装箱5在高度方向上上移。也就是说，将集装箱5由船舶4转移至空轨3的过程中，集装箱5存在上下移动，转运效率较低。
发明内容
有鉴于此，本申请的目的在于提供一种集装箱转运系统及方法，以利于解决现有技术中集装箱转运效率低的问题。其具体方案如下：
第一方面，本申请实施例提供了一种集装箱转运系统，包括设置在码头上的桥吊和设置在码头和堆场之间的空轨；
所述桥吊通过第一抓手与锁扣件的上端相连，所述第一抓手用于抓住或松开所述锁扣件的上端，所述锁扣件的下端与夹具组件相连，所述夹具组件用于夹持集装箱；
所述空轨下方设有夹具固定组件，所述桥吊用于将所述夹具组件运送至与夹具固定组件相对应的位置，所述夹具固定组件用于固定或松开所述夹具组件；
所述空轨上设有第二抓手，所述第二抓手用于抓住或松开所述锁扣件的上端；
所述空轨用于在码头和堆场之间传送所述第二抓手和/或所述第二抓手抓持的集装箱。
优选地，所述夹具组件包括集索器和夹具，所述锁扣件的下端与所述集索器相连，所述集索器通过绳索与所述夹具相连。
优选地，所述夹具固定组件包括支撑柱、转盘和夹具固定件，所述转盘设置在所述支撑柱的顶端，与所述支撑柱转动连接，所述夹具固定件与所述转盘固定连接，所述夹具固定件的高度与所述集索器的高度相对应，所述夹具固定件用于固定或松开所述集索器。
优选地，所述集索器为圆形，所述夹具固定件包括固定模块和活动模块，所述固定模块和活动模块均为与所述集索器形状相匹配的半圆形，所述固定模块和活动模块的连接关系被配置为：在第一状态下，所述固定模块和活动模块组成朝向集索器开口的半圆形；在第二状态下，所述固定模块和活动模块组成闭合的圆形。
优选地，所述锁扣件包括上端通孔；
所述第一抓手用于抓住或松开所述锁扣件的上端，具体为：所述第一抓手用于抓住所述锁扣件的上端通孔；
所述第二抓手用于抓住或松开所述锁扣件的上端，具体为：所述第二抓手用于抓住或松开所述锁扣件的上端通孔。
优选地，所述锁扣件还包括下端通孔，所述夹具组件通过第三抓手与所述锁扣件的下端相连，所述第三抓手用于抓住所述锁扣件的下端通孔。
优选地，所述码头包括两个或两个以上船舶停靠位，所述空轨的运行路径覆盖所述两个或两个以上船舶停靠位。
优选地，所述桥吊通过连接绳索与所述第一抓手相连，所述连接绳索与所述第一抓手之间设有旋转扣。
第二方面，本申请实施例提供了一种集装箱转运方法，应用上述第一方面任一项所述的系统，所述方法包括：
控制桥吊将所述夹具组件移动至于集装箱相匹配的位置，所述桥吊通过 第一抓手、锁扣件和所述夹具组件相连；
控制所述夹具组件夹持住所述集装箱；
控制所述桥吊将夹持有集装箱的夹具组件移动至与所述夹具固定组件相匹配的位置；
控制所述夹具固定组件固定住所述夹具组件；
控制所述第一抓手松开所述锁扣件的上端；
控制空轨上的第二抓手抓住所述锁扣件的上端；
控制所述夹具固定组件松开所述夹具组件；
所述空轨将夹持有集装箱的夹具组件运送至堆场；
到达堆场后，控制所述夹具组件松开所述集装箱，将所述集装箱堆放在所述堆场。
优选地，在控制所述夹具组件松开所述集装箱之后，还包括：
所述空轨将未夹持集装箱的夹具组件运送至与所述夹具固定组件相匹配的位置；
控制所述夹具固定组件固定住所述未夹持集装箱的夹具组件；
控制所述空轨上的第二抓手松开所述锁扣件的上端；
控制所述桥吊上的第一抓手抓住所述锁扣件的上端，将所述未夹持集装箱的夹具组件由空轨转运至桥吊。
本申请实施例所提供的一种集装箱转运系统及方法至少包括以下优点：
1、集装箱由桥吊转移至空轨时，在同一高度方向上转移，集装箱在高度方向上不存在上下移动，提高转运效率；
2、集装箱由桥吊转移至空轨时，连同夹具组件一起转移，避免了集装箱反复装夹，操作简单；
3、空轨的运行路径覆盖两个或两个以上船舶停靠位，使得两个或两个以上船舶可以同时卸载集装箱，提高效率。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的实施例，对于本领域普通技术人员来讲，在不 付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1为现有技术中一种集装箱转运系统结构示意图；
图2为本申请实施例提供的一种集装箱转运系统结构示意图；
图3为本申请实施例提供的另一种集装箱转运系统结构示意图；
图4为图3中虚线框的放大示意图；
图5为本申请实施例提供的一种锁扣件和抓手的结构示意图；
图6为本申请实施例提供的一种夹具固定组件与集索器的配合结构示意图；
图7为本申请实施例提供的另一种夹具固定组件与集索器的配合结构示意图；
图中的符号表示为：1-码头，2-桥吊，3-空轨，4-船舶，5-集装箱，6-转运车，7-堆场，8-锁扣件，9-夹具组件，901-集索器，902-夹具，10-第一抓手，11-第二抓手，12-第三抓手，13-旋转扣，14-夹具固定组件，1401-支撑柱，1402-转盘，1403-夹具固定件，14031-固定模块，14032-活动模块。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
针对现有技术中存在的问题，本申请提供了一种集装箱转运系统。图2为本申请实施例提供的一种集装箱转运系统结构示意图，如图2所示，本申请实施例提供的集装箱转运系统包括设置在码头1上的桥吊2和设置在码头1和堆场7(图中未示出)之间的空轨3。为了提高转运效率，本申请实施例中码头1的左右两侧均设有船舶4停靠位，每个船舶4停靠位上均设有桥吊2，空轨3的运行路径覆盖住该两个船舶4停靠位。需要指出的是，本领域技术人员可以根据实际需要设置两个以上的多个船舶4停靠位，空轨3的运行路径与船舶4停靠位相匹配设置，本申请对此不做具体限定。
图3为本申请实施例提供的另一种集装箱转运系统结构示意图，图4为图3中虚线框的放大示意图，如图3并结合图4所示，在本申请实施例中，桥吊2通过锁扣件8与夹具组件9相连，所述夹具组件9用于夹持集装箱5，操作人员 可以在操作室内控制桥吊2将集装箱5由船舶4运送至空轨3对应的位置。
图5为本申请实施例提供的一种锁扣件和抓手的结构示意图，如图5所示，所述锁扣件8包括上端通孔和下端通孔，桥吊2通过连接绳索与第一抓手10相连，连接绳索与第一抓手10之间还设有旋转扣13，该旋转扣13可以使第一抓手10、锁扣件8、夹具组件9、集装箱5等在重力作用下保持在竖直方向。
锁扣件8与夹具组件9通过第三抓手12相连。具体地，夹具组件9包括集索器901和夹具902，所述锁扣件8通过下端通孔连接第三抓手12，第三抓手12通过连接绳索与集索器901相连，集索器901通过连接绳索与夹具902相连。
采用上述连接结构，桥吊2将集装箱5从船舶4上吊起后，往空轨3方向移动。为了将集装箱5由桥吊2转移到空轨3上，在本申请实施例中，所述空轨3下方设有夹具固定组件14，该夹具固定组件14用于固定夹具组件9，当然，如果夹具组件9上夹持有集装箱5，其同时也用于固定集装箱5。
图6为本申请实施例提供的一种夹具固定组件与集索器的配合结构示意图，如图6所示，所述夹具固定组件14包括支撑柱1401、转盘1402和夹具固定件1403，所述转盘1402设置在所述支撑柱1401的顶端，与所述支撑柱1401转动连接，所述夹具固定件1403与所述转盘1402固定连接，所述夹具固定件1403的高度与所述集索器901的高度相对应。
图7为本申请实施例提供的另一种夹具固定组件与集索器的配合结构示意图，如图7所示，所述集索器901为圆形，所述夹具固定件1403包括固定模块14031和活动模块14032，所述固定模块14031和活动模块14032均为与所述集索器901形状相匹配的半圆形，所述固定模块14031和活动模块14032的连接关系被配置为：在第一状态下，所述固定模块14031和活动模块14032组成朝向集索器901开口的半圆形；在第二状态下，所述固定模块14031和活动模块14032组成闭合的圆形。具体来说，固定模块14031设有用于容置活动模块14032的空腔，在第一状态下，活动模块14032缩在固定模块14031的空腔内，此时，从外观来看，夹具固定件1403为一侧开口的半圆形；在第二状态下，活动模块14032从固定模块14031的空腔内伸出，且活动模块14032与固定模块14031的两端相连，组成闭合的圆形。
结合图7来看，初始状态下，夹具固定件1403处于第一状态，此时为朝向 集索器901开口的半圆形，如图7-a所示；桥吊2带动集索器901朝向夹具固定件1403的方向移动，当集索器901嵌入该半圆形中，与夹具固定件1403相抵触后，停止运动，夹具固定件1403中的活动模块14032从固定模块14031的空腔中伸出，夹具固定件1403由第一状态向第二状态转变，如图7-b所示；随着活动模块14032从固定模块14031的空腔中伸出，活动模块14032与固定模块14031的两端相连，组成闭合的圆形，此时，将集索器901固定，如图7-b所示；在将集索器901固定住后，桥吊2上的第一抓手10可以松开锁扣件8，然后空轨3上的第二抓手11抓住锁扣件8，完成集装箱5由桥吊2向空轨3的过渡；之后，夹具固定件1403可以松开集索器901，由第二状态向第一状态转变，如图7-d所示；夹具固定件1403的活动模块14032完全缩入固定模块14031的空腔内后，转变为第一状态，如图7-e所示；然后，空轨3带动集索器901脱离所述夹具固定件1403，如图7-f所示。此时，集装箱5与夹具组件9一起悬挂在空轨3上，然后空轨3将集装箱5转运至堆场7。
到达堆场7后，松开夹具902，将集装箱5放置在堆场7，空轨3将未夹持集装箱5的夹具组件9转运至桥吊2，重新起吊集装箱5。如此循环往复。
本申请实施例所提供的一种集装箱转运系统至少包括以下优点：
1、集装箱由桥吊转移至空轨时，在同一高度方向上转移，集装箱在高度方向上不存在上下移动，提高效率；
2、集装箱由桥吊转移至空轨时，连同夹具组件一起转移，避免了集装箱反复装夹，操作简单；
3、空轨的运行路径覆盖两个或两个以上船舶停靠位，使得两个或两个以上船舶可以同时卸载集装箱，提高效率。
在上述集装箱转运系统的基础上，本申请还提供了一种集装箱转运方法，其主要包括以下步骤：
步骤S101：控制桥吊2将所述夹具组件9移动至于集装箱5相匹配的位置，所述桥吊2通过第一抓手10、锁扣件8和所述夹具组件9相连；
步骤S102：控制所述夹具组件9夹持住所述集装箱5；
步骤S103：控制所述桥吊2将夹持有集装箱5的夹具组件9移动至与所述夹具固定组件14相匹配的位置；
步骤S104：控制所述夹具固定组件14固定住所述夹具组件9；
步骤S105：控制所述第一抓手10松开所述锁扣件8的上端；
步骤S106：控制空轨3上的第二抓手11抓住所述锁扣件8的上端；
步骤S107：控制所述夹具固定组件14松开所述夹具组件9；
步骤S108：所述空轨3将夹持有集装箱5的夹具组件9运送至堆场7；
步骤S109：到达堆场7后，控制所述夹具组件9松开所述集装箱5，将所述集装箱5堆放在所述堆场7；
步骤S110：所述空轨3将未夹持集装箱5的夹具组件9运送至与所述夹具固定组件14相匹配的位置；
步骤S111：控制所述夹具固定组件14固定住所述未夹持集装箱5的夹具组件9；
步骤S112：控制所述空轨3上的第二抓手11松开所述锁扣件8的上端；
步骤S113：控制所述桥吊2上的第一抓手10抓住所述锁扣件8的上端，将所述未夹持集装箱5的夹具组件9由空轨3转运至桥吊2；
返回步骤S101。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的方法，可以参考前述系统实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置，设备和方法，可以通过其它的方式实现。例如，以上所描述的设备实施例仅仅是示意性的，例如，单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个装置，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，设备或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语 仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语″包括″、″包含″或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句″包括一个......″限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本申请所提供的一种服务器上电状态监测系统及方法、计算机存储器及设备进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (10)

  1. 一种集装箱转运系统，其特征在于，包括设置在码头上的桥吊和设置在码头和堆场之间的空轨；
    所述桥吊通过第一抓手与锁扣件的上端相连，所述第一抓手用于抓住或松开所述锁扣件的上端，所述锁扣件的下端与夹具组件相连，所述夹具组件用于夹持集装箱；
    所述空轨下方设有夹具固定组件，所述桥吊用于将所述夹具组件运送至与夹具固定组件相对应的位置，所述夹具固定组件用于固定或松开所述夹具组件；
    所述空轨上设有第二抓手，所述第二抓手用于抓住或松开所述锁扣件的上端；
    所述空轨用于在码头和堆场之间传送所述第二抓手和/或所述第二抓手抓持的集装箱。
  2. 根据权利要求1所述的系统，其特征在于，所述夹具组件包括集索器和夹具，所述锁扣件的下端与所述集索器相连，所述集索器通过绳索与所述夹具相连。
  3. 根据权利要求2所述的系统，其特征在于，所述夹具固定组件包括支撑柱、转盘和夹具固定件，所述转盘设置在所述支撑柱的顶端，与所述支撑柱转动连接，所述夹具固定件与所述转盘固定连接，所述夹具固定件的高度与所述集索器的高度相对应，所述夹具固定件用于固定或松开所述集索器。
  4. 根据权利要求3所述的系统，其特征在于，所述集索器为圆形，所述夹具固定件包括固定模块和活动模块，所述固定模块和活动模块均为与所述集索器形状相匹配的半圆形，所述固定模块和活动模块的连接关系被配置为：在第一状态下，所述固定模块和活动模块组成朝向集索器开口的半圆形；在第二状态下，所述固定模块和活动模块组成闭合的圆形。
  5. 根据权利要求1所述的系统，其特征在于，所述锁扣件包括上端通孔；
    所述第一抓手用于抓住或松开所述锁扣件的上端，具体为：所述第一抓手用于抓住所述锁扣件的上端通孔；
    所述第二抓手用于抓住或松开所述锁扣件的上端，具体为：所述第二抓 手用于抓住或松开所述锁扣件的上端通孔。
  6. 根据权利要求5所述的系统，其特征在于，所述锁扣件还包括下端通孔，所述夹具组件通过第三抓手与所述锁扣件的下端相连，所述第三抓手用于抓住所述锁扣件的下端通孔。
  7. 根据权利要求1所述的系统，其特征在于，所述码头包括两个或两个以上船舶停靠位，所述空轨的运行路径覆盖所述两个或两个以上船舶停靠位。
  8. 根据权利要求1所述的系统，其特征在于，所述桥吊通过连接绳索与所述第一抓手相连，所述连接绳索与所述第一抓手之间设有旋转扣。
  9. 一种集装箱转运方法，其特征在于，应用权利要求1-8任一项所述的系统，所述方法包括：
    控制桥吊将所述夹具组件移动至于集装箱相匹配的位置，所述桥吊通过第一抓手、锁扣件和所述夹具组件相连；
    控制所述夹具组件夹持住所述集装箱；
    控制所述桥吊将夹持有集装箱的夹具组件移动至与所述夹具固定组件相匹配的位置；
    控制所述夹具固定组件固定住所述夹具组件；
    控制所述第一抓手松开所述锁扣件的上端；
    控制空轨上的第二抓手抓住所述锁扣件的上端；
    控制所述夹具固定组件松开所述夹具组件；
    所述空轨将夹持有集装箱的夹具组件运送至堆场；
    到达堆场后，控制所述夹具组件松开所述集装箱，将所述集装箱堆放在所述堆场。
  10. 根据权利要求9所述的集装箱转运方法，其特征在于，在控制所述夹具组件松开所述集装箱之后，还包括：
    所述空轨将未夹持集装箱的夹具组件运送至与所述夹具固定组件相匹配的位置；
    控制所述夹具固定组件固定住所述未夹持集装箱的夹具组件；
    控制所述空轨上的第二抓手松开所述锁扣件的上端；
    控制所述桥吊上的第一抓手抓住所述锁扣件的上端，将所述未夹持集装箱的夹具组件由空轨转运至桥吊。
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CN110713120A (zh) * 2019-10-18 2020-01-21 青岛大学 一种集装箱转运系统及方法

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