WO2024037246A1 - 一种悬挂式集装箱运输系统装卸装置 - Google Patents

一种悬挂式集装箱运输系统装卸装置 Download PDF

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Publication number
WO2024037246A1
WO2024037246A1 PCT/CN2023/106300 CN2023106300W WO2024037246A1 WO 2024037246 A1 WO2024037246 A1 WO 2024037246A1 CN 2023106300 W CN2023106300 W CN 2023106300W WO 2024037246 A1 WO2024037246 A1 WO 2024037246A1
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WO
WIPO (PCT)
Prior art keywords
assembly
loading
telescopic
container
guide plate
Prior art date
Application number
PCT/CN2023/106300
Other languages
English (en)
French (fr)
Inventor
彭长福
白永平
蔡小波
徐华
靳宁
贾强
胡翌阳
尚勤
Original Assignee
中车资阳机车有限公司
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Filing date
Publication date
Application filed by 中车资阳机车有限公司 filed Critical 中车资阳机车有限公司
Publication of WO2024037246A1 publication Critical patent/WO2024037246A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/12—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/08—Runners; Runner bearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/10—Undercarriages or bogies, e.g. end carriages, end bogies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/14—Trolley or crane travel drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/02—Driving gear
    • B66D1/12—Driving gear incorporating electric motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/26—Rope, cable, or chain winding mechanisms; Capstans having several drums or barrels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details

Definitions

  • the invention relates to the field of suspended monorail transportation, and specifically relates to a suspended container transportation system loading and unloading device, which is used in the suspended container transportation system and is installed in container terminals, storage yards, transfer stations and other places. Its main function is to realize AGV transportation vehicles, Container loading and unloading operations between container trucks, railway vehicles and other transportation vehicles and suspended container transportation systems.
  • Container loading and unloading operations mainly include three lifting operations: top crane, side lift, and jacking. Places with large throughput such as docks, yards, and transfer stations gradually use top crane operations to replace other methods including side lift and jacking.
  • the lifting method has become a popular lifting method at present; container spreaders generally adopt an overall structure, mainly including a steel structure, a twist lock mechanism, a guide mechanism and a wire rope pulley group; four twist lock mechanisms are fixedly installed at the four corners of the spreader and are responsible for docking with the container ; 4 guide mechanisms are installed above the twist lock mechanism to assist the positioning and docking of the spreader and the container.
  • Some simple guide mechanisms are also installed on the side of the steel structure; the wire rope pulley group is responsible for connecting with the crane; by controlling the crane trolley and lifting mechanism, it can be realized The spreader rises, falls and moves forward and backward.
  • the overall container spreader needs to be integrated into the container transportation vehicle; each transportation vehicle needs to be equipped with a set of spreaders and lifting equipment.
  • Such an equipment that integrates a transport vehicle and a crane results in a complex structure, large mass, high cost, and poor transportation economy of the transport vehicle.
  • the purpose of this invention is: in the current suspended container transportation system, it is necessary to install both a vehicle operating mechanism and a spreader lifting mechanism; the equipment integrating the transportation vehicle and the crane results in a complex structure, large mass, and The problems of high cost and poor transportation economy are provided by a hanging container transportation system loading and unloading device, which solves the above problems.
  • a loading and unloading device for a suspended container transportation system including:
  • Track beam the track beam is provided with guide rails on both the horizontal plane and the vertical plane;
  • At least two lifting trolleys are slidably placed on the track beams; the lifting trolleys are provided with traveling mechanisms that match the guide rails;
  • the transmission mechanism is placed on the lifting trolley and is used for hoisting the container.
  • the track beam is provided with running rails on the horizontal plane, and the track beam is provided with positioning rails on the vertical plane;
  • the running mechanism includes: running wheels and positioning wheels; the running wheels are arranged below the lifting trolley and cooperate with the running rails; the positioning wheels are arranged on the internal side walls of the lifting trolley and cooperate with the positioning rails.
  • the running wheels include: a driving running wheel and a driven running wheel.
  • the driving running wheel drives the lifting trolley to move through a driving device; the driven running wheel is connected to the lifting trolley through a bearing.
  • the track beam is also provided with a stabilizing rail on the vertical surface and below the positioning rail;
  • the traveling mechanism also includes: a stabilizing wheel, which is arranged on the internal side wall of the lifting trolley and is located below the positioning wheel.
  • the stabilizing wheel cooperates with the stabilizing rail.
  • the transmission mechanism includes: a drive motor, a drive gearbox, and a drum; a steel wire rope is connected to the drum, and one end of the steel wire rope is connected to a fixed frame;
  • the torque output by the drive motor is transmitted to the drum through the drive gearbox after changing speed.
  • the rotation of the drum causes the steel wire rope to drive the fixed frame to move up and down.
  • the transmission mechanism also includes:
  • the Telescopic device includes: a left telescopic component and a right telescopic component.
  • the left telescopic component and the right telescopic component are connected through a beam component, so that the left telescopic component and the right telescopic component move synchronously and coordinately;
  • the ends of the left telescopic component and the right telescopic component are connected to a fixed frame, a guide plate assembly is installed on the fixed frame, and a twist lock device is provided in the guide plate assembly;
  • the guide plate assembly and the cross beam assembly can ensure the precise positioning of the twist lock device and the top corner piece of the container.
  • left telescopic assembly and the right telescopic assembly are composed of one first-stage telescopic arm, one final-stage telescopic arm and several intermediate-stage telescopic arms;
  • the first-level telescopic arms of the left telescopic assembly and the right telescopic assembly are connected through a cross beam assembly;
  • the final telescopic arms of the left telescopic assembly and the right telescopic assembly are both connected to the fixed frame.
  • the first-level telescopic arm is provided with a universal hinge component for connecting to the frame of the lifting trolley, so that the left telescopic component and the right telescopic component can freely rotate around the hinge point.
  • the beam assembly includes:
  • a first crossbeam and a second crossbeam, the first crossbeam and the second crossbeam are respectively hinged with the first-level telescopic arm of the left telescopic component and the right telescopic component;
  • a first axis hinge, the first beam and the second beam are hinged through the first axis hinge
  • the first axis hinge can not only connect the first beam and the second beam, but also ensure that the first beam and the second beam can rotate along the axis of the first axis hinge; when the container and the track beam are not placed in parallel, the container and the track will be
  • the beam has a certain angle, and the longitudinal distance between the top corner pieces on both sides of the container and the corresponding guide plate assembly is inconsistent; and the existence of the first axis hinge allows the telescopic assembly on one side to move outward according to the guidance of the guide plate assembly without driving the other side.
  • the guide plate components on both sides move outward at the same time to ensure that the guide plate components on both sides can be positioned with the top corner pieces.
  • first-level telescopic arm is provided with a shaft hinge seat
  • the first crossbeam and the second crossbeam are hingedly connected to the shaft hinge seat through a second shaft hinge;
  • the second axis hinge can constrain the left telescopic component and the right telescopic component to move synchronously in the transverse direction.
  • the cross beam can be used to correct the position deviation.
  • the assembly drives the guide plate assembly on the telescopic assembly on the other side to move together, allowing the two guide plate assemblies to simultaneously guide the twist lock device to position the container's top corner piece.
  • the guide plate assembly includes:
  • a power system connection interface through which the power of the wire rope is output to the guide plate assembly
  • twist lock device connection interface is used to install the twist lock device
  • Longitudinal guide plate which can adjust the longitudinal placement error of the container
  • Transverse guide plate which can adjust the horizontal placement error of the container.
  • the guide plate assembly is provided with two rotation lock device connection interfaces, and a total of two rotation lock devices are installed;
  • the longitudinal guide plate is arranged between two twist lock devices.
  • the telescopic device also includes:
  • a first push rod and a second push rod are arranged between the telescopic component and the lifting trolley frame. They can control the movement of the telescopic component in the longitudinal and transverse directions to achieve active positioning of the telescopic component. .
  • a transportation vehicle the transportation vehicle includes a traveling system, a chassis assembly, a boom assembly, and a rotation lock mechanism, and the chassis assembly is connected below the traveling system;
  • the boom assembly includes at least two knuckle arms, a bottom beam connected below the knuckle arms, and the knuckle arms are hingedly connected to the bottom frame assembly;
  • the rotating twist lock mechanism includes a link mechanism, a turn lock assembly, a first driving device, a cover plate, and a return pressure beam.
  • the link mechanism is connected to the first driving device.
  • the first driving device can drive the connecting rod by pushing or retracting it.
  • the mechanism controls the rotation of the twist lock assembly.
  • the bottom of the twist lock assembly is connected to the return pressure beam.
  • the return pressure beam is floatingly connected to the cover plate.
  • the cover plate is connected to the bottom beam.
  • the top of the twist lock assembly is higher than the upper surface of the bottom beam.
  • rotation lock mechanism also includes a spring, and each rotation lock assembly is connected to a return pressure beam, and the return pressure beam is floatingly connected to the cover plate through the spring.
  • a second driving device is provided below the pin
  • a limiting device is provided below the pin shaft.
  • the traveling system includes a traction motor, a universal shaft, a wheel set, a frame, a bolster, and a gear transmission.
  • the traction motor is connected to the frame.
  • the traction motor is connected to the gear transmission through the universal shaft.
  • the gear transmission is connected to the wheel.
  • the corbels are connected to the frame and chassis assemblies respectively.
  • the traveling system also includes a primary suspension damping system located between the frame and the gearbox, and a secondary suspension damping system and a drawbar located at the connection between the bolster and the chassis assembly.
  • the track beam includes columns, beam bridges, and elastic supports, and the columns and beam bridges are connected through elastic supports;
  • the beam bridge is a hollow cylindrical structure. There are rails and their fasteners on the lower side of the internal cavity of the beam bridge, and contact rails on the upper side of the internal cavity of the beam bridge.
  • a loading and unloading device for a suspended container transportation system comprising: a track beam, which is provided with guide rails on both the horizontal and vertical surfaces; and at least one lifting trolley, which is slidably placed on the track beam ;
  • the lifting trolley is equipped with a traveling mechanism that matches the guide rail; a transmission mechanism, the transmission mechanism is placed on the lifting trolley for hoisting containers;
  • this device is independent of the transport vehicle and is installed separately in the loading and unloading area; it adopts New technologies such as double drum structure without guide wheels, telescopic cantilever structure, new stabilization technology, adaptive twist lock device and multi-function drum; simplify the transport vehicle structure, reduce the quality of the vehicle itself, and reduce the number of hoisting equipment; It improves the utilization rate of hoisting equipment; reduces the difficulty of container positioning and reduces auxiliary operation time.
  • a loading and unloading device for a suspended container transportation system A telescopic device is also proposed, which can realize the linkage of the left and right telescopic devices through the crossbeam assembly, automatically correct the position error between the spreader and the top corner of the container, and ensure the twist lock device of the spreader. Can automatically position with corner pieces.
  • a loading and unloading device for a suspended container transportation system A transportation vehicle is also proposed, which is suitable for container transshipment or transportation of various transportation distances and types; and the transportation vehicle can connect the bottom corner of the container through a rotating twist-lock mechanism. parts, so that the bottom corner parts of the container bear the main load during transportation, which is safe and reliable; at the same time, the transportation vehicle adopts the traditional steel wheel and rail structure to drive the vehicle to run.
  • the technology is mature and reliable, the maintenance cost is low, the contact rail is powered, and it is green and environmentally friendly.
  • Figure 1 is a schematic structural diagram of a loading and unloading device of a suspended container transportation system
  • Figure 2 is a schematic structural diagram of a lifting trolley in a loading and unloading device of a suspended container transportation system
  • Figure 3 is a schematic structural diagram of the lifting trolley in the loading and unloading device of a suspended container transportation system from another perspective;
  • Figure 4 is a schematic structural diagram of a transfer lock device of the loading and unloading device of a suspended container transportation system
  • Figure 5 is a schematic diagram of hoisting a 20ft container using a lifting trolley
  • Figure 6 is a schematic diagram of hoisting a 40ft container using a lifting trolley
  • Figure 7 is a schematic diagram of hoisting two 20ft containers using a lifting trolley
  • Figure 8 is a schematic structural diagram of the telescopic device
  • Figure 9 is a schematic diagram of the use of the telescopic device.
  • Figure 10 is a schematic structural diagram of the crossbeam assembly
  • Figure 11 is a schematic diagram when the container and the track beam are not placed parallel;
  • Figure 12 is a schematic structural diagram of the guide plate assembly
  • Figure 13 is a schematic structural diagram when the guide plate assembly is used to position the two corner pieces between two containers;
  • Figure 14 is a schematic structural diagram of the guide plate assembly and the two corner pieces between the two containers after positioning;
  • Figure 15 is a schematic structural diagram of the telescopic arm
  • Figure 16 is a schematic structural diagram of a transport vehicle
  • Figure 17 is a schematic structural diagram of the walking system
  • Figure 18 is a schematic structural diagram of the chassis assembly and the boom assembly
  • Figure 19 is a schematic diagram of the relationship between transport vehicles and containers
  • Figure 20 is a schematic diagram of the connection of the boom assembly
  • Figure 21 is a schematic structural diagram of the rotation lock mechanism
  • Figure 22 is a cross-sectional view of Figure 21;
  • Figure 23 is a schematic structural diagram of the track beam (main line).
  • Figure 24 is a schematic structural diagram of the track beam (loading and unloading area).
  • the overall container spreader needs to be integrated into the container transportation vehicle; each transportation vehicle needs to be equipped with a set of spreaders and lifting equipment.
  • Such an equipment that integrates a transport vehicle and a crane results in a complex structure, large mass, high cost, and poor transportation economy of the transport vehicle.
  • this embodiment proposes a suspended container transportation system loading and unloading device, which is independent of the transportation vehicle and installed separately in the loading and unloading area; it adopts a double drum structure without guide wheels, a telescopic cantilever structure, and a new New technologies such as stable technology, adaptive twist lock device and multi-functional reel; simplify the structure of transport vehicles, reduce the quality of the vehicle itself and reduce the number of hoisting equipment; improve the utilization rate of hoisting equipment; reduce the difficulty of container positioning and reduce the number of hoisting equipment. Auxiliary work time.
  • a loading and unloading device for a suspended container transportation system which specifically includes the following structure:
  • Track beam 2 the track beam 2 is provided with guide rails on both the horizontal and vertical surfaces; preferably, the guide rails are used for the lifting trolley 1 to slide, and the track beam 2 is also provided with a track inside for installing the transport vehicle 3 , the container is hoisted into the transport vehicle 3 by the lifting trolley 1, and the transport vehicle 3 fixes the container before transporting it;
  • At least two lifting trolleys 1 are slidably placed on the track beam 2; the lifting trolleys 1 are provided with a traveling mechanism that matches the guide rails; preferably, the number of the lifting trolleys 1 can be Multiple, set according to specific hoisting tasks; that is, the lifting trolley 1 is installed on the upper part of the track beam 2 through a straddle;
  • the transmission mechanism is placed on the lifting trolley 1 and is used for hoisting the container.
  • the track beam 2 is provided with running rails 4 on the horizontal surface, and the track beam 2 is provided with positioning rails 5 on the vertical surface; that is, the track beam 2 is provided with a positioning rail 5 on the upper end surface.
  • Running rail 4, positioning rail 5 is provided on the side of track beam 2;
  • the running mechanism includes: running wheels and positioning wheels 19; the running wheels are arranged below the lifting trolley 1 and cooperate with the running rails 4; the positioning wheels 19 are arranged on the internal side walls of the lifting trolley 1 and are connected with the positioning wheels 19.
  • the rails 5 cooperate to ensure that the lifting trolley 1 is accurately positioned on the track beam 2.
  • the running wheels include: a driving running wheel 17 and a driven running wheel 18.
  • the driving running wheel 17 drives the lifting trolley 1 to move through a driving device; the driven running wheel 18 passes through a bearing. Connect with lifting trolley 1.
  • the track beam 2 is provided with a stabilizing rail 6 on the vertical plane and below the positioning rail 5; that is, the track beam 2 There is also a stabilizing rail 6 on the side and below the positioning rail 5;
  • the traveling mechanism also includes: a stabilizing wheel 20.
  • the stabilizing wheel 20 is arranged on the internal side wall of the lifting trolley 1 and is located below the positioning wheel 19.
  • the stabilizing wheel 20 cooperates with the stabilizing rail 6; it controls the lifting from two heights at the same time:
  • the trolley 1 is fixed to ensure that the lifting trolley 1 is accurately positioned on the track beam 2.
  • positioning rails 5 and stabilizing rails 6 are provided on both sides of the track beam 2;
  • Two positioning wheels 19 and two stabilizing wheels 20 are provided on both side walls of the lifting trolley 1; it should be noted that two positioning wheels 19 are provided on both sides of the lifting trolley 1 to ensure that the lifting The position of the trolley 1 on the track beam 2 is constant, which reduces the positioning error between the lifting trolley 1 and the container; two stabilizing wheels 20 are provided on both sides of the interior of the lifting trolley 1 to ensure that the lifting trolley 1 is not overloaded or unbalanced in the container. When the loads are not loaded at the same time, the lifting trolley 1 will not swing, overturn, vibrate, etc.
  • the transmission mechanism includes: a drive motor 9, a drive gearbox 7, and a drum 10; the drum 10 is connected to a wire rope 11, and one end of the wire rope 11 is connected to a fixing frame 14 ;
  • the drive motor 9 is connected to the input end of the drive gearbox 7 through a coupling 8, and the output end of the drive gearbox 7 is connected to the drum 10 through a rotating shaft;
  • the torque output by the drive motor 9 is transmitted to the drum 10 after changing speed through the drive gearbox 7.
  • the rotation of the drum 10 causes the wire rope 11 to drive the fixed frame 14 to move up and down.
  • the transmission mechanism also includes: a telescopic device 12.
  • the telescopic device 12 is provided on the lifting trolley 1.
  • the lower end of the telescopic device 12 is connected to the fixed frame 14 for limiting the wire rope. 11 movement direction; preferably, the effective lifting height of the telescopic device 12 is ⁇ 4000mm.
  • transportation tools such as AGV trolleys, trucks, or railway flatbeds for transporting containers are parked longitudinally just below the track beam 2, and then lifted.
  • Trolley 1 hoists the container onto the transport vehicle 3, and transports it to the destination through the transport vehicle 3; after arriving at the destination, the lifting trolley 1 then lifts the container on the transport vehicle 3 to the AGV trolley, truck or railway parked directly below it Complete a complete container loading, unloading and transportation process on flatbed trucks and other transportation vehicles.
  • This embodiment also proposes a structure of the telescopic device 12 to ensure that the twist lock device 139 can function within a certain error range. Successfully positioned with container top corner pieces.
  • the loading and unloading device generally consists of three lifting trolleys 1.
  • Each lifting trolley 1 is equipped with a telescopic device 12.
  • Each telescopic device 12 is responsible for positioning the two corner pieces at one end of the container; the telescopic device 12 in the middle is hoisted at the same time.
  • Two containers need to be positioned with the four corner pieces in the middle of the two containers placed side by side; that is, any two lifting trolleys 1 working at the same time can hoist a 20ft or 40ft container;
  • Three lifting trolleys 1 can hoist two 20ft containers when working at the same time; that is, three lifting trolleys 1 are used to operate in combination, and the lifting trolleys 1 at both ends are respectively responsible for hoisting the two corner pieces near both ends of the container in the length direction; the middle lifting trolley 1 is in Used when lifting 20ft double containers, responsible for lifting the four corner pieces between the two containers.
  • the specific methods are shown in Figures 5 to 7.
  • the telescopic device 12 includes:
  • the left telescopic assembly and the right telescopic assembly are connected through the cross beam assembly 131 Connect to make the left telescopic component and the right telescopic component move synchronously and coordinately;
  • the ends of the left telescopic component and the right telescopic component are connected to the fixed frame 14.
  • the fixed frame 14 is equipped with a guide plate assembly 13, and a twist lock device 139 is provided in the guide plate assembly 13;
  • the guide plate assembly 13 and the cross beam assembly 131 can ensure the precise positioning of the twist lock device 139 and the top corner piece of the container.
  • both the left telescopic component and the right telescopic component are composed of at least three telescopic arms.
  • the left telescopic assembly and the right telescopic assembly are composed of one first-stage telescopic arm 135, one final-stage telescopic arm 137, and several intermediate-stage telescopic arms 136; it should be noted that , the intermediate telescopic arm 136 mainly extends the telescopic length. According to the requirements of lifting distance and positioning accuracy, an appropriate number of intermediate telescopic arms 136 can be arranged to meet the requirements of lifting height and positioning accuracy; preferably, as shown in Figure 8, left The side telescopic assembly and the right telescopic assembly are composed of one first-stage telescopic arm 135, one final-stage telescopic arm 137, and three intermediate-stage telescopic arms 136;
  • the first-level telescopic arm 135 of the left telescopic assembly and the right telescopic assembly are connected through a cross beam assembly 131;
  • the final telescopic arms 137 of the left telescopic assembly and the right telescopic assembly are both connected to the fixed frame 14 .
  • the first-level telescopic arm 135 is provided with a universal hinge assembly 132 for connecting to the frame of the lifting trolley 1, so that the left telescopic assembly and the right telescopic assembly can freely rotate around the hinge point.
  • the universal hinge assembly 132 adopts a ball hinge structure.
  • the beam assembly 131 includes:
  • the first cross beam 1311 and the second cross beam are respectively hinged with the primary telescopic arm 135 of the left telescopic assembly and the right telescopic assembly;
  • the first axis hinge 1313, the first beam 1311 and the second beam are hinged through the first axis hinge 1313;
  • the first axis hinge 1313 can not only connect the first beam 1311 and the second beam, but also ensure that the first beam 1311 and the second beam can rotate along the axis of the first axis hinge 1313; when the container on the transportation vehicle is connected to the track beam 2 If they are not placed in parallel, there will be a certain angle between the container and the track beam 2, so that the longitudinal distance between the top corner pieces on both sides of the container and the corresponding guide plate assembly 13 will be inconsistent, which will lead to abnormal positioning of the guide plate assembly 13 on both sides; if there is no third One-axis hinge 1313, when one of the corner pieces is positioned, the other corner piece cannot be positioned; as shown in Figure 11, position the lifting trolley 1 and guide plate assembly 13 according to the corner piece that is closest to the center of the container along the longitudinal position.
  • the telescopic arm drives the cross beam assembly 131 to move.
  • the cross beam assembly 131 drives the telescopic arm on the other side to move outward together.
  • the guide plate assembly 13 on the other side is in contact with the container corner piece. The distance increases and positioning fails; and the existence of the first axis hinge 1313 allows the telescopic arm on one side to move outward according to the guidance of the guide plate assembly 13, without driving the guide plate assembly 13 on the other side to move outward at the same time, ensuring that both sides The guide plate components 13 on both sides can be positioned with the corner pieces.
  • the upper end of the first-level telescopic arm 135 is provided with a shaft hinge seat
  • the first cross beam 1311 and the second cross beam are hingedly connected to the shaft hinge seat through the second shaft hinge 1312;
  • the second axis hinge 1312 can constrain the left telescopic component and the right telescopic component to move synchronously in the transverse direction.
  • the crossbeam assembly 131 drives the guide plate assembly 13 on the telescopic arm on the other side to move together, so that the two guide plate assemblies 13 simultaneously guide the twist lock device 139 to position the container top corner piece.
  • the guide plate assembly 13 includes:
  • the power system connection interface 1384 is used to output the power of the wire rope 11 to the guide plate assembly 13 through the power system connection interface 1384; it is applied to the container through the twist lock device 139 to control the lifting and lowering of the container; preferably, the power system
  • the connection interface 1384 is the connection interface of the wire rope system;
  • a twist lock device connection interface which is used to install the twist lock device 139;
  • Longitudinal guide plate 1381 which can adjust the longitudinal placement error of the container
  • the transverse guide plate 1382 can adjust the horizontal placement error of the container; preferably, a reinforcing rib 1383 is provided on the back of the transverse guide plate 1382.
  • the longitudinal guide plate 1381 is provided between the two twist lock devices 139 as an intermediate guide plate 1385.
  • the middle guide plate deflects to the right or left according to the position of the container, as shown in Figure 13; when lifting two containers, the middle guide plate is adjusted to a vertical state, as shown in Figure 14.
  • the telescopic arm sections of each section are basically the same in composition and only differ in size.
  • the telescopic arm can extend downwards under its own weight, and the telescopic arm can be extended downward by its own weight.
  • Wire rope drive or screw drive provides upward lifting power; specifically, the telescopic arms are equipped with:
  • Cable guide ring 1361 the cable guide ring 1361 is used to restrain the power and control cables of the spreader;
  • the reinforcement flange 1362 is provided at the lower end of each telescopic arm. On the premise of ensuring the movement direction of the telescopic arm, the strength of the opening at the lower part of the telescopic arm is strengthened. At the same time, it serves as the second barrier to prevent the next telescopic arm from falling off. structure;
  • the guide ring 1363 is set inside each telescopic arm section to limit the position of the next telescopic arm section while ensuring the movement direction of the telescopic arm. At the same time, it serves as the first anti-loosening structure for the next telescopic arm section. ;
  • Slide plate 1364 the slide plate 1364 is provided with the inner wall of each telescopic arm section to reduce the sliding resistance between the telescopic arms and adjust the straightness of the telescopic arms during processing;
  • Anti-separation flange 1365 is provided at the upper end of each telescopic arm section to prevent the telescopic arm from falling off from the previous telescopic arm section and to enhance the strength of the upper opening of the telescopic arm.
  • the telescopic device further includes:
  • the first push rod 133 and the second push rod 134 are arranged between the telescopic arm and the frame of the lifting trolley 1 (it should be noted that only one is shown in Figure 8
  • the second push rod 134 (the other second push rod 134 is not shown) can control the movement of the telescopic arm in the longitudinal and transverse directions to achieve active positioning of the telescopic arm; preferably, the first push rod 133 and the second push rod 134 can control the movement of the telescopic arm in the longitudinal and transverse directions.
  • the push rod 134 includes but is not limited to a hydraulic push rod or an electric push rod; that is, the first push rod 133 and the second push rod 134 can be used to control the telescopic arm to return to the initial state to avoid the influence of external factors on the positioning of the telescopic arm; active positioning is adopted
  • the telescopic device can improve the hoisting efficiency and correction error range, and under certain circumstances the longitudinal and transverse guide plates 1382 of the guide plate assembly 13 can be omitted; it should be noted that the first push rod 133 and the second push rod 134 can also be replaced with reducer
  • the shock absorber is used to absorb the longitudinal and lateral impacts of the telescopic arm.
  • the telescopic device becomes a self-positioning device and can also control the telescopic arm to return to the initial state to avoid the influence of external factors on the positioning of the telescopic arm.
  • the container When in use, the container reaches under the loading and unloading device through the transportation tool.
  • the loading and unloading system reads the position of the container and controls the transportation vehicle 3 and the lifting trolley 1 to adapt to the position of the container; the lifting trolley 1 controls the telescopic device 12 to descend through the transmission mechanism, and the telescopic device 12 relies on its own weight Descend close to the top corner piece of the container, and automatically adjust the positions of the guide plate assemblies 13 on both sides and the top corner piece of the container through telescopic arms, beams and other devices to ensure that the twist lock devices 139 on both sides can dock with the top corner piece of the container.
  • the lifting trolley 1 and the transport vehicle 3 first locate the container position, control the lifting trolley 1 and the transport vehicle 3 to move to the appropriate position, and the lifting trolley 1 controls the telescopic arm to descend. During the descending process, the telescopic arm is uninterrupted. The relative position of the twist lock device 139 and the top corner piece of the container is adjusted through the push rod on the telescopic arm to ensure that the telescopic arm can be positioned quickly and improve the lifting efficiency. After the twist lock device 139 locks the container, the push rod device is unloaded to ensure that the container is in a vertical state so that the container can be docked with the transport vehicle 3 .
  • a cable winding groove is provided in the middle of the drum 10, and steel wire winding grooves are provided on the drum 10 and on both sides of the cable winding groove.
  • the cable 15 of the twist lock device 139 is wound around On the cable winding groove, the steel wire rope 11 is wound on the steel wire winding groove; preferably, the direction of rotation of the steel wire rope 11 winding groove is opposite;
  • the telescopic device 12 is provided with a fixed buckle 16 for fixing the cable 15; it should be noted that the cable 15 is connected to the twist lock device 139 for signal transmission, controlling the movement of the twist lock device 139, and completing the twist lock. Connection of device 139 to container corner pieces.
  • twist lock device 139 a structure of the twist lock device 139 is also provided, please refer to Figure 4, the details are as follows:
  • the turn lock device 139 includes: a turn lock outer body 22, which is provided with a first position sensor 25; the top of the turn lock outer body 22 is connected to the fixed frame 14; preferably, the turn lock outer body 22 is provided with a first position sensor 25; The upper part of the turn lock outer body 22 can be connected to the fixed frame 14 through welding, riveting, etc.;
  • the inner body 24 of the turn lock is located in the outer body 22 of the turn lock and is limited in rotation; its purpose is to limit the floating parts of the turn lock device 139 when the turn lock pin 21 rotates. Avoid jamming of the twist lock device 139;
  • a turn lock piece which includes a drive rod and a turn lock pin 21, which is located at one end of the drive rod;
  • the twist lock pin 21 is located outside the twist lock outer body 22 and is used to cooperate with the container top corner piece to realize the connection between the twist lock device 139 and the container top corner piece; preferably, the structure of the turn lock pin 21 can be cut into a hemispherical shape.
  • the specific structure is not limited here, and the working principle is similar to a T-bolt; when the twist lock pin 21 is inserted into the top corner piece of the container, the twist lock pin 21 rotates, thereby locking the twist lock pin 21 with the top corner piece of the container. Connection; at this time, the hoisting of the container can be completed through the spreader;
  • a control system that controls the operation of the driving device based on the feedback from the first position sensor 25;
  • the control system When it is detected that the turn lock device 139 is in contact with the top corner piece of the container, feedback is sent to the control system, and the control system issues a control command to the motor to drive the drive rod to rotate, so that the turn lock pin 21 is locked and connected with the top corner piece of the container; preferably, the turn lock device 139 is in contact with the top corner piece of the container. After the lock pin 21 is rotated 90°, it can be locked and connected with the container top corner piece;
  • the outer body 22 of the twist lock is provided with a through hole for installing the case holder 23, and the case holder 23 can move up and down in the through hole;
  • the first position sensor 25 is used to detect the displacement of the box holder 23; after the twist lock device 139 contacts the top corner piece of the container, the box holder 23 moves upward, and the first position sensor 25 detects the box holder 23. 23, and feeds it back to the control system; that is, when in use, when the twist lock pin 21 enters the top corner piece of the container, the container holder 23 will gradually move upward, and is detected by the first position sensor 25
  • the displacement of the box 23 is detected and fed back to the control system.
  • the control system sends a control signal to cause the driving device to operate, thereby driving the rotation lock pin 21 to rotate. .
  • a thrust bearing 31, a limit sleeve 30, a rolling bearing 29 and a twist lock nut 28 are provided between the driving rod and the inner wall of the twist lock inner body 24; the driving rod is provided with a The external thread of the twist lock nut 28 is matched; preferably, the rolling bearing 29 adopts a deep groove ball bearing; the thrust bearing 31 can bear a large axial load and meet the container lifting load requirements; the deep groove ball bearing can reduce the The rotation resistance of the turn lock pin 21 reduces the output force of the driving device of the turn lock pin 21 .
  • twist lock pin 21 when the spreader lifts the container, the tensile force endured by the twist lock pin 21 is sequentially transmitted to the driving rod, the twist lock nut 28, the rolling bearing 29, the limit sleeve 30, the thrust bearing 31, the twist lock inner body 24, and the twist lock outer body 22 , and finally transferred to the fixing frame 14 by the twist lock outer body 22 .
  • the inner body 24 of the twist lock is also provided with a second position sensor 26 for detecting the rotation amount of the drive rod and feeding it back to the controller; the controller detects the rotation amount of the drive rod according to the first position sensor. 25 and the second position sensor 26 feedback the position information to intelligently control the operation of the driving device.
  • the transport vehicle mainly consists of a traveling system 32, a chassis assembly 33, a boom assembly 34, a rotation lock mechanism 35, and a control system 36 , can be used for the transshipment of four types of containers: "1A”, “1AA”, “1C” and "1CC” defined in GB/T 1413-2008.
  • Each transport vehicle is equipped with two sets of traveling systems 32, which are mainly composed of a frame 43, a suspension damping system, a traction motor 39, a gear transmission 46, a wheel set 42, etc.
  • the primary suspension damping system 41 is a high circular spring located between the frame 43 and the gearbox 46 .
  • the secondary suspension damping system 44 is a rubber pile located at the connection between the bolster and the chassis assembly 33 .
  • the traction motor 39 is rigidly suspended on the frame 43 and is connected to the gearbox 46 through the universal shaft 40.
  • the gearbox 46 is connected to the wheel pair 42.
  • the chassis assembly 33 is suspended below the two sets of traveling systems 32 through the secondary suspension damping system 44 of the traveling system 32, and is connected to the corbels of the traveling system 32 through the drawbar 45 to realize longitudinal force transmission.
  • Each container transport vehicle is provided with two sets of boom assemblies 34, which are mainly welded by two crank arms 54 and a bottom beam 55.
  • the arm 54 is designed to be a rotatable structure, and is connected to the chassis assembly 33 using a pin 37 connection structure.
  • An electric push rod (second driving device 38) and a limiter 53 are provided below the pin 37, and can rotate to a certain angle as needed. Open and close to both sides.
  • the rotary lock mechanism 35 is installed on the bottom beam 55 of the boom assembly 34.
  • the rotary lock assembly 48 exposes the upper plane of the bottom beam 55.
  • the electric push rod (first driving device 49) and the linkage mechanism 47 integrally control the rotary lock assembly.
  • the rotation of the accessory 48 is installed below the bottom beam 55.
  • six twist lock assemblies 48 are provided on each bottom beam 55, and each turn lock assembly 48 is provided with a vertical floating spring 50, which can ensure that the four twist lock assemblies 48 at the bottom of each container specification are installed. The corner pieces can be locked by the twist lock assembly 48.
  • the cover plate 51 of the rotating twist lock mechanism 35 is connected to the bottom beam 55 by welding or bolting to ensure that the required twist lock assembly 48 can be fully embedded inside the bottom corner piece of the container and rotated 90 degrees for locking.
  • the twist lock assembly 48 The other end is connected to the linkage mechanism 47, and the slightly lower end position of the twist lock assembly 48 is tightly connected to the return pressure beam 52.
  • the return pressure beam 52 is passed through the springs 50 at the four corners and the rotation lock mechanism 35.
  • the cover plate 51 is connected.
  • the main equipment of the control system 36 is installed above the chassis assembly 33. Under normal circumstances, it accepts the driving signal of the automatic driving system to control driving; if the ground automatic driving system fails or in some loading and unloading areas, rescue areas and other areas that require a small range of trains, it can pass
  • the 4G remote control system equipped with the vehicle or the vehicle can be controlled manually.
  • the vehicle is equipped with a load sensor, which feeds back the weight signal to the traction and braking system before each start.
  • the vehicle microcomputer calculates and controls the vehicle traction and braking force output based on the vehicle weight information and the acceleration and deceleration given in advance, which can effectively solve the problem.
  • the adhesion of empty and heavy freight vehicles varies widely and slipping is prone to occur.
  • the main transmission system of the vehicle is direct-alternating transmission, and the power supply voltage is ⁇ DC1500V. Power is supplied by the contact rail, and the vehicle-mounted current receiving device is installed on the running system 32.
  • the performance of the vehicle traction motor 39 can meet the requirements for long-term operation at a peak power twice the rated power in the traction acceleration and braking deceleration sections, and the braking output characteristics and traction output characteristics of the traction motor 39 can be completely consistent through the control system 36 , realizing the zero-speed locking function. Therefore, the common braking of the vehicle is completely implemented by electric braking, and the braking energy can be fed back to the power grid or on-board energy storage device within the full speed range.
  • Emergency braking is implemented by a three-stage electromagnetic brake integrated at the tail of the traction motor 39.
  • the electromagnetic brake is a power-off braking type. When the vehicle suddenly loses power and the electric brake fails, the electromagnetic friction brake is automatically applied, and in an emergency It can still output three-speed braking force according to different weight information to avoid damage to the equipment on the vehicle from sliding and excessive impact.
  • the boom assembly Before packing, the boom assembly opens to both sides, and after the container rises from the bottom of the transport vehicle 3 to the bottom of the chassis assembly, the control system 36 closes the arm 54 to the working position. After the container drops to the bottom beam 55, the control system 36 The system 36 rotates and locks the four twist lock assemblies 48 of the rotation lock mechanism 35 from the bottom corners of the container. The excess twist lock assemblies 48 are compressed into the bottom beam 55 by the container, and the control system 36 receives the rotation. After the lock is rotated in place, the transport vehicle can start running according to the ground signal. During the transport process, the bottom corner parts of the container bear the main load. When the transport vehicle reaches the container unloading position and stops, the control system 36 rotates and unlocks the twist lock assembly 48 of the rotation lock mechanism 35. After the container leaves the bottom beam 55, the spring 50 drives the twist lock assembly 48 to reset, and the boom assembly moves to both sides. The sides are opened to ensure that the container can completely leave the space where the transport vehicle 3 is located.
  • This transport vehicle can be used in the following scenarios:
  • Container transport vehicles can serve as an important component of suspended monorail transport systems.
  • the traveling system 32 is located inside the track beam, and is powered and returned by the third rail arranged in the track beam.
  • Each rack is equipped with three current receiving devices, one positive, one negative and one return.
  • a set of container transport vehicle body structure (including chassis assembly 33, boom assembly 34, rotation lock mechanism 35) and control system 36 are suspended under the traveling system 32 arranged with two fully moving axes.
  • the main transmission system is Direct-AC transmission, asynchronous motor, axis control.
  • the bottom corner parts of the container are locked on the transport vehicle by rotating the twist lock mechanism 35.
  • the transport vehicle bottom frame assembly 33 is provided with an elastic guide mechanism and a limiting mechanism.
  • the transport vehicle is designed in a platform manner to meet the needs of 20ft, 40ft and 45ft containers. transportation.
  • the rotary twist lock mechanism 35 uses a linkage mechanism 47 to integrally control the synchronous rotation of the twist lock assembly 48 .
  • This transport vehicle is suitable for container transshipment or transportation of various transportation distances and types: the container has corner pieces on both sides, which can be used for locking and transportation. However, if the above corner pieces are used for locking and transportation, it is not suitable for long-term transportation. Long distance and high-speed operation, the transport vehicle adopts bottom corner piece locking transportation to solve such technical problems. After adopting the platform design, one vehicle can be compatible with 20ft, 40ft and 45ft container locking and transportation at the same time.
  • the track beam is composed of a column 57, a beam bridge 58, and an elastic support 59.
  • the column 57 and the beam bridge 58 are connected through the elastic support 59.
  • Steel rails and their fasteners 60 are arranged on the lower two sides of the interior of the beam bridge 58 , contact rails 56 of the power supply system are arranged on the upper side of the interior, and a lifting equipment running track 61 is arranged on the top of the beam bridge 58 in the lifting area.

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  • Engineering & Computer Science (AREA)
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  • Automation & Control Theory (AREA)
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Abstract

一种悬挂式集装箱运输系统装卸装置，涉及悬挂式单轨交通领域，具体包括：轨道梁（2）、至少两个起吊小车（1）、传动机构；轨道梁（2）上在水平面和竖直面均设置有导轨；起吊小车（1）可滑动地置于轨道梁（2）上；起吊小车（1）上设有与导轨相配合的走行机构；传动机构置于起吊小车（1）上，用于吊设集装箱；该系统独立于运输车辆，单独安装在装卸区域；采用了无导向轮的双卷筒结构、伸缩式悬臂结构、新的稳定技术、自适应转锁装置和多功能卷筒等新技术；简化运输车辆结构，降低了车辆自身质量，减少了吊装设备数量；提高了吊装设备的利用率；降低了集装箱定位难度，减少了辅助作业时间。

Description

一种悬挂式集装箱运输系统装卸装置 技术领域
本发明涉及悬挂式单轨交通领域，具体涉及一种悬挂式集装箱运输系统装卸装置，用于悬挂式集装箱运输系统，安装在集装箱码头、堆场、转运站等场所，主要作用是实现AGV运输车辆、集装箱卡车、铁路车辆等运输工具与悬挂式集装箱运输系统之间的集装箱装卸作业。
背景技术
本节中的陈述仅提供与本公开相关的背景信息，并且可能不构成现有技术。
集装箱装卸作业主要有顶吊、侧举、顶升三种吊装作业方式；码头、堆场、转运站等吞吐量大的场所逐渐采用顶吊作业方式替换了包括侧举和顶升在内的其它的吊装方式，成为目前流行的吊装方式；集装箱吊具一般采用整体结构，主要包含钢结构、转锁机构、导向机构和钢丝绳滑轮组；4个转锁机构固定安装在吊具四角，负责与集装箱对接；4个导向机构安装在转锁机构上方，协助吊具与集装箱定位对接，简易的导向机构有的也安装在钢结构侧面；钢丝绳滑轮组负责与起重机连接；通过控制起重机小车及升降机构，可实现吊具上升、下降和前后移动。
受现有集装箱整体吊具结构限制，悬挂式集装箱运输系统如果采用现有顶吊方式，需将集装箱整体吊具集成在集装箱运输车辆上；每辆运输车辆均需配置一套吊具和起重机构，导致集装箱运输车辆既需要主体构架，又需要吊具结构；既需要安装车辆运行机构，又需要安装吊具起重机构。这样集运输车辆和起重机为一体的设备导致运输车辆结构复杂、质量大、成本高，运输经济性差。
发明内容
本发明的目的在于：针对目前悬挂式集装箱运输系统中，既需要安装车辆运行机构，又需要安装吊具起重机构；其集运输车辆和起重机为一体的设备导致运输车辆结构复杂、质量大、成本高，运输经济性差的问题，提供了一种悬挂式集装箱运输系统装卸装置，解决了上述问题。
本发明的技术方案如下：
一种悬挂式集装箱运输系统装卸装置，包括：
轨道梁，所述轨道梁上在水平面和竖直面均设置有导轨；
至少两个起吊小车，所述起吊小车可滑动地置于轨道梁上；所述起吊小车上设有与导轨相配合的走行机构；
传动机构，所述传动机构置于起吊小车上，用于吊设集装箱。
进一步地，所述轨道梁上在水平面上设有走行轨，所述轨道梁上在竖直面设有定位轨；
所述走行机构包括：走行轮和定位轮；所述走行轮设置在起吊小车下方，且与走行轨相配合；所述定位轮设置在起吊小车内部侧壁上，且与定位轨相配合。
进一步地，所述走行轮包括：主动走行轮和从动走行轮，所述主动走行轮通过驱动装置驱动起吊小车运动；所述从动走行轮通过轴承与起吊小车连接。
进一步地，所述轨道梁上在竖直面上，且位于定位轨下方还设有稳定轨；
所述走行机构还包括：稳定轮，所述稳定轮设置在起吊小车内部侧壁上，且位于定位轮下方，稳定轮与稳定轨配合。
进一步地，所述传动机构包括：驱动电机、驱动变速箱、卷筒；所述卷筒上连接有钢丝绳，所述钢丝绳的一端连接有固定架；
所述驱动电机输出的扭力通过驱动变速箱变速后传递至卷筒，卷筒旋转使钢丝绳带动固定架上下移动。
进一步地，所述传动机构，还包括：
伸缩装置，所述伸缩装置，包括：左侧伸缩组件和右侧伸缩组件，所述左侧伸缩组件和右侧伸缩组件通过横梁组件连接，使左侧伸缩组件和右侧伸缩组件同步协调运动；
所述左侧伸缩组件和右侧伸缩组件的末端均与固定架连接，所述固定架上安装有导板组件，所述导板组件内设置有转锁装置；
通过所述导板组件和横梁组件可保证转锁装置与集装箱顶角件的精准定位。
进一步地，所述左侧伸缩组件和右侧伸缩组件均由一节一级伸缩臂、一节末级伸缩臂和若干中间级伸缩臂组成；
所述左侧伸缩组件和右侧伸缩组件的一级伸缩臂通过横梁组件连接；
所述左侧伸缩组件和右侧伸缩组件的末级伸缩臂均与固定架连接。
进一步地，所述一级伸缩臂上设有用于与起吊小车车架连接的万向铰接组件，使左侧伸缩组件和右侧伸缩组件可绕铰接点自由旋转。
进一步地，所述横梁组件，包括：
第一横梁和第二横梁，所述第一横梁和第二横梁分别与左侧伸缩组件和右侧伸缩组件的一级伸缩臂铰接；
第一轴铰链，所述第一横梁和第二横梁通过第一轴铰链进行铰接；
所述第一轴铰链既可连接第一横梁和第二横梁，又保证第一横梁和第二横梁可以沿第一轴铰链轴线可以转动；当集装箱与轨道梁不是平行摆放，导致集装箱与轨道梁存在一定的角度，集装箱两侧顶角件与对应的导板组件的纵向距离不一致；而第一轴铰链的存在可使一侧的伸缩组件根据导板组件的引导向外运动，而不带动另一侧的导板组件同时向外运动，保证两侧的导板组件均能与顶角件定位。
进一步地，所述一级伸缩臂上端设置有轴铰链座；
所述第一横梁和第二横梁通过第二轴铰链与轴铰链座铰接；
所述第二轴铰链可约束左侧伸缩组件和右侧伸缩组件沿横向同步运动，当一侧的伸缩组件上的导板组件与集装箱顶角件接触，开始导向，纠正位置偏差时，可通过横梁组件带动另一侧伸缩组件上的导板组件一起运动，让两个导板组件同时引导转锁装置与集装箱顶角件定位。
进一步地，所述导板组件，包括：
动力系统连接接口，通过所述动力系统连接接口将钢丝绳的动力输出到导板组件上；
转锁装置连接接口，所述转锁装置连接接口用于安装转锁装置；
纵向导板，所述纵向导板可调整集装箱在纵向的放置误差；
横向导板，所述横向导板可调整集装箱在横向的放置误差。
进一步地，所述导板组件设有两个转锁装置连接接口，共安装有两个转锁装置；
所述纵向导板设置在两个转锁装置之间。
进一步地，所述伸缩装置，还包括：
第一推杆和第二推杆，所述第一推杆和第二推杆设置在伸缩组件与起吊小车车架之间，可控制伸缩组件沿纵向和横向方向运动，实现伸缩组件的主动定位。
进一步地，还包括：运输车辆，所述运输车辆，包括走行系统、底架装配件、吊臂装配件、转动旋锁机构，底架装配件连接于走行系统下方；
吊臂装配件包括至少两个拐臂、连接于拐臂下方的底梁，拐臂与底架装配件铰链式连接；
转动旋锁机构包括连杆机构、转锁装配件、第一驱动装置、盖板、回位压梁，连杆机构与第一驱动装置连接，第一驱动装置能通过推动或缩回带动连杆机构控制转锁装配件旋转，转锁装配件底部和回位压梁连接，回位压梁与盖板浮动连接，盖板与底梁连接，转锁装配件顶部高于底梁上表面。
进一步地，转动旋锁机构还包括弹簧，每个转锁装配件均连接有回位压梁，回位压梁通过弹簧与盖板浮动连接。
进一步地，还包括销轴，拐臂通过销轴与底架装配件连接；
所述销轴下方设置有第二驱动装置；
所述销轴下方设置有限位装置。
进一步地，所述走行系统包括牵引电机、万向轴、轮对、构架、枕梁、齿轮变速箱，牵引电机与构架连接，牵引电机通过万向轴与齿轮变速箱连接，齿轮变速箱与轮对连接，枕梁与构架、底架装配件分别连接。
进一步地，走行系统还包括设于构架与齿轮变速箱之间的一系悬挂减振系统和设于枕梁与底架装配件连接处的二系悬挂减振系统和牵引杆。
进一步地，所述轨道梁，包括立柱、梁桥、弹性支承，立柱与梁桥通过弹性支承连接；
梁桥为空心筒状结构，梁桥内部空腔下侧设有钢轨及其扣件，梁桥内部空腔上侧设有接触轨。
与现有的技术相比本发明的有益效果是：
1、一种悬挂式集装箱运输系统装卸装置，包括：轨道梁，所述轨道梁上在水平面和竖直面均设置有导轨；至少一个起吊小车，所述起吊小车可滑动地置于轨道梁上；所述起吊小车上设有与导轨相配合的走行机构；传动机构，所述传动机构置于起吊小车上，用于吊设集装箱；该装置独立于运输车辆，单独安装在装卸区域；采用了无导向轮的双卷筒结构、伸缩式悬臂结构、新的稳定技术、自适应转锁装置和多功能卷筒等新技术；简化运输车辆结构，降低了车辆自身质量，减少了吊装设备数量；提高了吊装设备的利用率；降低了集装箱定位难度，减少了辅助作业时间。
2、一种悬挂式集装箱运输系统装卸装置，还提出了一种伸缩装置，可通过横梁组件实现左右侧伸缩装置的联动，自动纠正吊具与集装箱顶角件位置误差，保证吊具转锁装置能与顶角件自动定位。
3、一种悬挂式集装箱运输系统装卸装置，还提出了一种运输车辆，适用于多种运输距离、多种型号的集装箱转运或运输；且运输车辆可通过转动旋锁机构连接集装箱的底角件，使运输过程中集装箱底角件承受主要荷载，安全可靠；同时，运输车辆采用传统的钢轮钢轨结构黏着驱动车辆运行，技术成熟可靠、维护成本低，接触轨供电，绿色环保。
附图说明
图1为一种悬挂式集装箱运输系统装卸装置的结构示意图；
图2为一种悬挂式集装箱运输系统装卸装置中起吊小车的结构示意图；
图3为一种悬挂式集装箱运输系统装卸装置中起吊小车另一视角下的结构示意图；
图4为一种悬挂式集装箱运输系统装卸装置中转锁装置的结构示意图；
图5为起吊小车吊设20ft的集装箱的吊设示意图；
图6为起吊小车吊设40ft的集装箱的吊设示意图；
图7为起吊小车吊设两个20ft的集装箱的吊设示意图；
图8为伸缩装置的结构示意图；
图9为伸缩装置使用示意图；
图10为横梁组件的结构示意图；
图11为集装箱与轨道梁不是平行摆放时的示意图；
图12为导板组件的结构示意图；
图13为当导板组件是用于与两个集装箱中间的2个顶角件定位时的结构示意图；
图14为导板组件与两个集装箱中间的2个顶角件定位后的结构示意图；
图15为伸缩臂的结构示意图；
图16为运输车辆组成结构示意图；
图17为走行系统的结构示意图；
图18为底架装配件与吊臂装配件的结构示意图；
图19为运输车辆与集装箱装配关系示意图；
图20为吊臂装配件的连接示意图；
图21为转动旋锁机构的结构示意图；
图22为图21的剖视图；
图23为轨道梁(正线)的结构示意图；
图24为轨道梁(装卸区域)的结构示意图。
附图标记：1-起吊小车，2-轨道梁，3-运输车辆，4-走行轨，5-定位轨，6-稳定轨，7-驱动变速箱，8-联轴器，9-驱动电机，10-卷筒，11-钢丝绳，12-伸缩装置，13-导板组件，14-固定架，15-电缆，16-固定卡扣，17-主动走行轮，18-从动走行轮，19-定位轮，20-稳定轮，21-转锁销，22-转锁外体，23-着箱器，24-转锁内体，25-第一位置传感器，26-第二位置传感器，27-减速电机，28-转锁螺母，29-滚动轴承，30-限位套，31-推力轴承，131-横梁组件，132-万向铰接组件，133-第一推杆，134-第二推杆，135-一级伸缩臂，136-中间级伸缩臂，137-末级伸缩臂，139-转锁装置，1311-第一横梁，1312-第二轴铰链，1313-第一轴铰链，1381-纵向导板，1382-横向导板，1383-加强筋，1384-动力系统连接接口，1385-中间导板，1361-线缆导环，1362-加强法兰，1363-导向环，1364-滑板，1365-防脱法兰，32-走行系统，33-底架装配件，34-吊臂装配件，35-转动旋锁机构，36-控制系统，37-销轴，38-第二驱动装置，39-牵引电机，40-万向轴，41-一系悬挂减振系统，42-轮对，43-构架，44-二系悬挂减振系统，45-牵引杆，46-齿轮变速箱，47-连杆机构，48-转锁装配件，49-第一驱动装置，50-弹簧，51-盖板，52-回位压梁，53-限位装置，54-拐臂，55-底梁，56-接触轨，57-立柱，58-梁桥，59-弹性支承，60-钢轨及其扣件，61-运行轨道。
具体实施方式
需要说明的是，术语“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。
下面结合实施例对本发明的特征和性能作进一步的详细描述。
实施例一
受现有集装箱整体吊具结构限制，悬挂式集装箱运输系统如果采用现有顶吊方式，需将集装箱整体吊具集成在集装箱运输车辆上；每辆运输车辆均需配置一套吊具和起重机构，导致集装箱运输车辆既需要主体构架，又需要吊具结构；既需要安装车辆运行机构，又需要安装吊具起重机构。这样集运输车辆和起重机为一体的设备导致运输车辆结构复杂、质量大、成本高，运输经济性差。
本实施例针对于上述问题，提出了一种悬挂式集装箱运输系统装卸装置，该装置独立于运输车辆，单独安装在装卸区域；采用了无导向轮的双卷筒结构、伸缩式悬臂结构、新的稳定技术、自适应转锁装置和多功能卷筒等新技术；简化运输车辆结构，降低了车辆自身质量，减少了吊装设备数量；提高了吊装设备的利用率；降低了集装箱定位难度，减少了辅助作业时间。
请参阅图1，一种悬挂式集装箱运输系统装卸装置，具体包括如下结构：
轨道梁2，所述轨道梁2上在水平面和竖直面均设置有导轨；优选地，所述导轨供起吊小车1滑行，所述轨道梁2内部同样设置有轨道，用于安装运输车辆3，通过起吊小车1将集装箱吊设至运输车辆3内，由运输车辆3对集装箱进行固定后运输；
至少两个起吊小车1，所述起吊小车1可滑动地置于轨道梁2上；所述起吊小车1上设有与导轨相配合的走行机构；优选地，所述起吊小车1的数量可以为多个，根据具体的吊装任务进行设定；即所述起吊小车1通过跨座方式安装在轨道梁2上部；
传动机构，所述传动机构置于起吊小车1上，用于吊设集装箱。
在本实施例中，具体的，所述轨道梁2上在水平面上设有走行轨4，所述轨道梁2上在竖直面设有定位轨5；即在轨道梁2的上端面设有走行轨4，轨道梁2的侧面设有定位轨5；
所述走行机构包括：走行轮和定位轮19；所述走行轮设置在起吊小车1下方，且与走行轨4相配合；所述定位轮19设置在起吊小车1内部侧壁上，且与定位轨5相配合；保证起吊小车1在轨道梁2上准确定位。
在本实施例中，具体的，所述走行轮包括：主动走行轮17和从动走行轮18，所述主动走行轮17通过驱动装置驱动起吊小车1运动；所述从动走行轮18通过轴承与起吊小车1连接。
在本实施例中，具体的，进一步保证起吊小车1的运动稳定性，所述轨道梁2上在竖直面上，且位于定位轨5下方还设有稳定轨6；即所述轨道梁2的侧面且位于定位轨5下方还设有稳定轨6；
所述走行机构还包括：稳定轮20，所述稳定轮20设置在起吊小车1内部侧壁上，且位于定位轮19下方，稳定轮20与稳定轨6配合；从上下两个高度同时对起吊小车1进行固定，保证起吊小车1在轨道梁2上准确定位。
在本实施例中，具体的，所述轨道梁2的两侧均设置有定位轨5和稳定轨6；
所述起吊小车1内部两侧壁上均设有两个定位轮19和两个稳定轮20；需要说明的是，在起吊小车1内部两侧壁上设置两个定位轮19，是为了保证起吊小车1在轨道梁2上的位置是恒定的，减少起吊小车1与集装箱的定位误差；在起吊小车1内部两侧壁上设置两个稳定轮20，是为了保证起吊小车1在集装箱偏载或载荷不是同时加载时，起吊小车1不发生摇摆、倾覆、振动等现象。
在本实施例中，具体的，所述传动机构包括：驱动电机9、驱动变速箱7、卷筒10；所述卷筒10上连接有钢丝绳11，所述钢丝绳11的一端连接有固定架14；优选地，所述驱动电机9通过联轴器8与驱动变速箱7的输入端连接，所述驱动变速箱7的输出端通过转轴与卷筒10连接；
所述驱动电机9输出的扭力通过驱动变速箱7变速后传递至卷筒10，卷筒10旋转使钢丝绳11带动固定架14上下移动。
在本实施例中，具体的，所述传动机构，还包括：伸缩装置12，所述伸缩装置12设置在起吊小车1上，所述伸缩装置12的下端与固定架14连接，用于限定钢丝绳11的运动方向；优选地，所述伸缩装置12有效提升高度≥4000mm。
而因为装卸装置布置在集装箱码头、堆场、铁路货场的装卸区域，如图9所示，运输集装箱的AGV小车、卡车或铁路平板车等运输工具沿轨道梁2纵向停放在其正下方后，起吊小车1将集装箱吊装至运输车辆3上，通过运输车辆3运送至目的地；到目的地后，起吊小车1再将运输车辆3上的集装箱吊装至停放在其正下方的AGV小车、卡车或铁路平板车等运输工具上，完成一次完整的集装箱装卸和运输过程。
由于运输工具停放位置存在随机性，与吊具的相对位置存在线性位置误差和角度位置误差，本实施例还提出了一种伸缩装置12结构，保证在一定的误差范围内使转锁装置139能与集装箱顶角件成功定位。
装卸装置一般由3台起吊小车1组成，每台起吊小车1上安装一套伸缩装置12，每套伸缩装置12负责与集装箱一端的两个顶角件定位；靠中间的伸缩装置12在同时吊装2个集装箱时需要与并列放置的两个集装箱中间的4个顶角件定位；即任两台起吊小车1同时工作可吊装1个20ft或40ft的集装箱；
三台起吊小车1同时工作可吊装2个20ft的集装箱；即采用三台起吊小车1组合运行，两端的起吊小车1分别负责吊装集装箱靠近长度方向两端的两个顶角件；中间起吊小车1在20ft双箱吊装时使用，负责吊装两个集装箱中间的4个顶角件。具体方式如图5～图7所示。
在本实施例中，具体的，所述伸缩装置12，包括：
左侧伸缩组件和右侧伸缩组件，所述左侧伸缩组件和右侧伸缩组件通过横梁组件131连 接，使左侧伸缩组件和右侧伸缩组件同步协调运动；
所述左侧伸缩组件和右侧伸缩组件的末端均与固定架14连接，所述固定架14上安装有导板组件13，所述导板组件13内设置有转锁装置139；
通过所述导板组件13和横梁组件131可保证转锁装置139与集装箱顶角件的精准定位。
在本实施例中，具体的，所述左侧伸缩组件和右侧伸缩组件均由至少三节伸缩臂组成。
在本实施例中，具体的，所述左侧伸缩组件和右侧伸缩组件均由一节一级伸缩臂135、一节末级伸缩臂137和若干中间级伸缩臂136组成；需要说明的是，中间级伸缩臂136主要延长伸缩长度，根据提升距离要求和定位精度要求，可布置合适数量的中间级伸缩臂136，满足提升高度和定位精度的要求；优选地，如图8所示，左侧伸缩组件和右侧伸缩组件均由一节一级伸缩臂135、一节末级伸缩臂137和三节中间级伸缩臂136组成；
所述左侧伸缩组件和右侧伸缩组件的一级伸缩臂135通过横梁组件131连接；
所述左侧伸缩组件和右侧伸缩组件的末级伸缩臂137均与固定架14连接。
在本实施例中，具体的，所述一级伸缩臂135上设有用于与起吊小车1车架连接的万向铰接组件132，使左侧伸缩组件和右侧伸缩组件可绕铰接点自由旋转；优选地，所述万向铰接组件132采用球铰接结构。
在本实施例中，具体的，如图10所示，所述横梁组件131，包括：
第一横梁1311和第二横梁，所述第一横梁1311和第二横梁分别与左侧伸缩组件和右侧伸缩组件的一级伸缩臂135铰接；
第一轴铰链1313，所述第一横梁1311和第二横梁通过第一轴铰链1313进行铰接；
所述第一轴铰链1313既可连接第一横梁1311和第二横梁，又保证第一横梁1311和第二横梁可以沿第一轴铰链1313轴线可以转动；当运输工具上的集装箱与轨道梁2不是平行摆放，导致集装箱与轨道梁2存在一定的角度，使集装箱两侧顶角件与对应的导板组件13的纵向距离不一致，将导致两侧的导板组件13的定位出现异常；如果没有第一轴铰链1313，按其中一个顶角件位置定位时将导致另一个顶角件无法定位；如图11所示，按沿纵向位置靠集装箱中心近的顶角件定位起吊小车1，导板组件13与远离中心的顶角件接触时将推动伸缩臂向外运动，伸缩臂带动横梁组件131运动，横梁组件131带动另一侧伸缩臂一起向外运动，另一侧导板组件13与集装箱顶角件的距离加大，定位失败；而第一轴铰链1313的存在可使一侧的伸缩臂根据导板组件13的引导向外运动，而不带动另一侧的导板组件13同时向外运动，保证两侧的导板组件13均能与顶角件定位。
在本实施例中，具体的，所述一级伸缩臂135上端设置有轴铰链座；
所述第一横梁1311和第二横梁通过第二轴铰链1312与轴铰链座铰接；
所述第二轴铰链1312可约束左侧伸缩组件和右侧伸缩组件沿横向同步运动，当一侧的伸缩臂上的导板组件13与集装箱顶角件接触，开始导向，纠正位置偏差时，可通过横梁组件131带动另一侧伸缩臂上的导板组件13一起运动，让两个导板组件13同时引导转锁装置139与集装箱顶角件定位。
在本实施例中，具体的，如图12所示，所述导板组件13，包括：
动力系统连接接口1384，通过所述动力系统连接接口1384将钢丝绳11的动力输出到导板组件13上；通过转锁装置139施加在集装箱上，控制集装箱的提升和下降；优选地，所述动力系统连接接口1384为钢丝绳系统连接接口；
转锁装置连接接口，所述转锁装置连接接口用于安装转锁装置139；
纵向导板1381，所述纵向导板1381可调整集装箱在纵向的放置误差；
横向导板1382，所述横向导板1382可调整集装箱在横向的放置误差；优选地，在所述横向导板1382背面设置有加强筋1383。
在本实施例中，具体的，如图13所示，当所述导板组件13用于与两个集装箱中间的2个顶角件定位时，所述导板组件13设有两个转锁装置连接接口，共安装有两个转锁装置139；
所述纵向导板1381设置在两个转锁装置139之间，作为中间导板1385，当起吊一个集 装箱时，中间导向板根据集装箱位置，向右或向左偏转，如图13所示；当起吊两个集装箱时，中间导向板调节至竖直状态，如图14所示。
在本实施例中，具体的，如图15所示，需要说明的是，各节伸缩臂构成基本一致，仅在尺寸上有所差异，伸缩臂可靠自重向下伸长，靠起吊小车1的钢丝绳驱动或螺杆驱动提供向上提升的动力；具体的，所述伸缩臂上均设置有：
线缆导环1361，所述线缆导环1361用于约束吊具的动力、控制电缆；
加强法兰1362，所述加强法兰1362设置在各节伸缩臂下端，在保证伸缩臂运动方向的前提下，加强伸缩臂下部孔口强度，同时作为下一节伸缩臂的第二道防脱结构；
导向环1363，所述导向环1363设置各节伸缩臂内，在保证伸缩臂运动方向的前提下，对下一节伸缩臂进行限位，同时作为下一节伸缩臂的第一道防脱结构；
滑板1364，所述滑板1364设置各节伸缩臂内壁，用于减少伸缩臂之间的滑动阻力，并可在加工时调整伸缩臂的直线度；
防脱法兰1365，所述防脱法兰1365设置在各节伸缩臂上端，用于防止伸缩臂从上一节伸缩臂中脱落，并加强伸缩臂上部孔口强度。
在本实施例中，具体的，所述伸缩装置，还包括：
第一推杆133和第二推杆134，所述第一推杆133和第二推杆134设置在伸缩臂与起吊小车1车架之间(需要说明的是，图8中仅显示了一个第二推杆134，另一第二推杆134并未示出)，可控制伸缩臂沿纵向和横向方向运动，实现伸缩臂的主动定位；优选地，所述第一推杆133和第二推杆134包括但不限于液压推杆或电动推杆；即可通过第一推杆133和第二推杆134控制伸缩臂回到初始状态，避免外界因素对伸缩臂定位影响；采用主动定位的伸缩装置可提高吊装效率和纠偏误差范围，并在一定情况下可以省略导板组件13的纵向和横向导板1382；需要说明的是，还可以将第一推杆133和第二推杆134替换为减震器，用于吸收伸缩臂受到的纵向和横向冲击，伸缩装置变为自定位装置，并同样可以控制伸缩臂回到初始状态，避免外界因素对伸缩臂定位影响。
使用时，集装箱通过运输工具到达装卸装置下方，装卸系统读取集装箱位置，并控制运输车辆3和起吊小车1适应集装箱位置；起吊小车1通过传动机构控制伸缩装置12下降，伸缩装置12靠自身重量下降至接近集装箱顶角件，通过伸缩臂、横梁等装置，自动调整两侧的导板组件13与集装箱顶角件的位置，保证两侧的转锁装置139能与集装箱顶角件对接。
当采用主动定位伸缩装置时，起吊小车1和运输车辆3先定位集装箱位置，控制起吊小车1、运输车辆3运行至合适的位置，起吊小车1控制伸缩臂下降，下降过程中，伸缩臂不间断的通过伸缩臂上的推杆调整转锁装置139与集装箱顶角件的相对位置，保证伸缩臂能快速定位，提高吊装效率。转锁装置139锁定集装箱后，推杆装置卸载，保证集装箱呈垂直状态，以便集装箱与运输车辆3对接。
在本实施例中，具体的，所述卷筒10中部设有电缆缠绕槽，卷筒10上且位于电缆缠绕槽两侧均设有钢丝缠绕槽，所述转锁装置139的电缆15缠绕在电缆缠绕槽上，所述钢丝绳11缠绕在钢丝缠绕槽上；优选地，所述钢丝绳11缠绕槽旋向相反；
所述伸缩装置12上设有用于固定电缆15的固定卡扣16；需要说明的是，所述电缆15与转锁装置139连接，用于实现信号传输，控制转锁装置139运动，完成转锁装置139与集装箱顶角件的连接。
在本实施例中，具体的，还给出了一种转锁装置139的结构，请参阅图4，具体如下：
所述转锁装置139，包括：转锁外体22，所述转锁外体22上设有第一位置传感器25；所述转锁外体22的上方与固定架14连接；优选地，所述转锁外体22上方可通过焊接、铆接等方式与固定架14连接；
转锁内体24，所述转锁内体24位于转锁外体22内，且转动受限；其目的是为了当转锁销21转动时可对转锁装置139的浮动部件进行限位，避免转锁装置139出现卡滞显现；
转锁件，所述转锁件包括驱动杆和转锁销21，所述转锁销21位于驱动杆的一端；所述 转锁销21位于转锁外体22外部，用于与集装箱顶角件配合，实现转锁装置139与集装箱顶角件连接；优选地，所述转锁销21结构可以为一个半球形切掉两侧，其具体结构这里不做限定，工作原理类似于T型螺栓；当转锁销21插入集装箱顶角件内后，转锁销21旋转，从而使转锁销21与集装箱顶角件锁定连接；此时通过吊具，即可完成集装箱的吊设；
电机，所述电机控制驱动杆旋转；
控制系统，所述控制系统根据第一位置传感器25的反馈，控制驱动装置运转；
当检测到转锁装置139与集装箱顶角件接触后，反馈至控制系统，控制系统发出控制指令电机驱动驱动杆旋转，使转锁销21与集装箱顶角件锁定连接；优选地，所述转锁销21旋转90°后即可与集装箱顶角件锁定连接；
在本实施例中，具体的，还包括着箱器23；所述转锁外体22内设有用于安装着箱器23的通孔，所述着箱器23在通孔内可上下移动；所述第一位置传感器25用于检测着箱器23的位移量；转锁装置139与集装箱顶角件接触后，所述着箱器23向上移动，所述第一位置传感器25检测着箱器23的位移量，并反馈至控制系统；即在使用时，当转锁销21在进入集装箱顶角件内的过程中，所述着箱器23会逐渐向上移动，并由第一位置传感器25检测着箱器23的位移量，反馈至控制系统，当位移量达到预设值后，即转锁销21到达配合位置后，控制系统发出控制信号使驱动装置运行，从而驱动转锁销21旋转。
在本实施例中，具体的，所述驱动杆与转锁内体24内壁之间还设有推力轴承31、限位套30、滚动轴承29和转锁螺母28；所述驱动杆上设有与转锁螺母28配合的外螺纹；优选地，所述滚动轴承29采用深沟球轴承；所述推力轴承31可承受较大轴向载荷，满足集装箱起吊载荷要求；所述深沟球轴承可减小转锁销21旋转阻力，降低转锁销21的驱动装置输出力。
且当吊具吊起集装箱后，转锁销21承受的拉力依次传递给驱动杆、转锁螺母28、滚动轴承29、限位套30、推力轴承31、转锁内体24、转锁外体22，最终由转锁外体22传递至固定架14。
在本实施例中，具体的，所述转锁内体24上还设有第二位置传感器26，用于检测驱动杆的旋转量，并反馈至控制器；所述控制器根据第一位置传感器25和第二位置传感器26反馈的位置信息，智能控制驱动装置运行。
在本实施例中，具体的，请参阅图16-图22，所述运输车辆，主要由走行系统32、底架装配件33、吊臂装配件34、转动旋锁机构35、控制系统36组成，可用于GB/T 1413-2008定义的“1A”、“1AA”、“1C”、“1CC”4种型号集装箱的转运。
每辆运输车辆设置2套走行系统32，主要由构架43、悬挂减振系统、牵引电机39、齿轮变速箱46、轮对42等组成。一系悬挂减振系统41为高圆簧，位于构架43与齿轮变速箱46之间。二系悬挂减振系统44为橡胶堆，位于枕梁与底架装配件33的连接处。牵引电机39钢性吊挂于构架43之上，通过万向轴40与齿轮变速箱46连接，齿轮变速箱46与轮对42连接。
底架装配件33通过走行系统32的二系悬挂减振系统44悬吊于两套走行系统32下方，通过牵引杆45与走行系统32的枕梁连接实现纵向力的传递。侧面设有8套导向装置，采用弹性缓冲结构，保证集装箱顺利吊装到位，避免吊装时集装箱与运输车辆产生钢性撞击。
每辆集装箱运输车辆设置2套吊臂装配件34，主要由2根拐臂54和1根底梁55焊接而成。拐臂54设计为可回转结构，采用销轴37连接结构与底架装配件33连接，销轴37下方设置电动推杆(第二驱动装置38)和限位装置53，可根据需要旋转一定角度向两侧开合。
转动旋锁机构35安装在吊臂装配件34的底梁55上，转锁装配件48露出底梁55上平面，电动推杆(第一驱动装置49)和连杆机构47整体控制转锁装配件48的回转，安装在底梁55下方。为了适应多种规格集装箱的安装运输，每个底梁55上设置6个转锁装配件48，每个转锁装配件48均设置垂向浮动弹簧50，可确保每种规格集装箱底部的4个角件均可被转锁装配件48锁固。
转动旋锁机构35的盖板51采用焊接或螺栓连接的方式连接到底梁55上，确保需要的转锁装配件48能够完全嵌入集装箱底角件内部并旋转90度锁固，转锁装配件48的另外一端连接连杆机构47，转锁装配件48的稍下方位置的端头位置和回位压梁52紧固连接，回位压梁52再通过四角的弹簧50和转动旋锁机构35的盖板51连接。
控制系统36的主要设备安装于底架装配件33上方，正常情况下接受自动驾驶系统的行车信号控制行车；地面自动驾驶系统故障或在部分装卸区、救援区等需要小范围动车的区域可通过随车配置的4G遥控系统或手动操控车辆。车辆装有载荷传感器，在每次启动之前反馈重量信号给牵引和制动系统，由车辆微机根据车辆重量信息和提前给定的加、减速度计算并控制车辆牵引力和制动力输出，可有效解决货运车辆空重车黏着力变化范围大，容易出现打滑的情况。
车辆主传动系统为直-交传动，供电电压±DC1500V。由接触轨供电，车载受流装置安装于走行系统32之上。
车辆牵引电机39性能可满足在牵引加速、制动减速区段长期以两倍于额定功率的峰值功率运用的要求，且可通过控制系统36实现牵引电机39制动输出特性和牵引输出特性完全一致，实现零速锁定功能。因此，车辆常用制动完全由电制动实施，且可全速范围内将制动能量回馈电网或车载储能装置。
紧急制动由集成于牵引电机39尾部的三级电磁制动器实施，电磁制动器为失电制动型，既当车辆突然断电，电制动失效时，电磁摩擦制动自动施加，且在紧急情况下，依然可以根据不同的重量信息输出三档制动力，避免滑行和过大冲击对车上设备的损坏。
在装箱前，吊臂装配向两侧张开，集装箱从运输车辆3底部升至底架装配下方后，控制系统36使拐臂54闭合到工作位，待集装箱落下至底梁55上，控制系统36使转动旋锁机构35的4个转锁装配件48从集装箱的底角件处旋转锁固，多余的转锁装配件48均被集装箱压缩至底梁55内部，控制系统36收到转锁旋转到位的信号后运输车辆可根据地面信号发车运行，运输过程中集装箱的底角件承受主要荷载。运输车辆到达集装箱卸载位置停稳，控制系统36使转动旋锁机构35的转锁装配件48旋转解锁，集装箱离开底梁55后，由弹簧50驱动转锁装配件48复位，吊臂装配向两侧张开，确保集装箱可完全离开运输车辆3所在空间。
集装箱角件上方对应的底架装配件33和吊臂装配件34处预留有足够空间，从结构上保证了集装箱在吊装时即可从底部升举，也可从顶部起吊。同时，底架装配件33两端设有防撞缓冲装置，用于意外撞车情况下对车上其它设备的保护。
该运输车辆可作为如下情景使用：
集装箱运输车辆可以作为悬挂式单轨运输系统的重要组成部分。走行系统32位于轨道梁内部，由布置在轨道梁内的第三轨供电及回流，每架装一正一负一回流三个受流装置。两个全动轴布置的走行系统32下悬挂一套集装箱运输车辆的车体结构(包含底架装配件33、吊臂装配件34、转动旋锁机构35)和控制系统36，主传动系统为直-交传动，异步电机，轴控。集装箱的底角件通过转动旋锁机构35锁固在运输车辆上，运输车辆底架装配件33上设有弹性导向机构和限位机构，运输车辆平台化设计，满足20ft、40ft、45ft的集装箱运输。转动旋锁机构35采用连杆机构47整体控制转锁装配件48的同步回转。
该运输车辆适用于多种运输距离、多种型号的集装箱转运或运输：集装箱有上下两面都有角件，都可以用来锁固和运输，但是若采用上面的角件锁固运输不适合长距离和高速运行，该运输车辆采用底角件锁固运输已解决这样的技术问题。采用平台化设计后，一个车辆可以同时兼容20ft、40ft、45ft集装箱锁固运输。
在本实施例中，具体的，请参阅图23和图24，所述轨道梁由立柱57、梁桥58、弹性支承59组成，立柱57与梁桥58通过弹性支承59连接。
梁桥58内部靠下两侧布置钢轨及其扣件60，内部上侧布置供电系统的接触轨56，起吊区域的梁桥58顶部布置起吊设备运行轨道61。
以上所述实施例仅表达了本申请的具体实施方式，其描述较为具体和详细，但并不能因 此而理解为对本申请保护范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请技术方案构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。
提供本背景技术部分是为了大体上呈现本发明的上下文，当前所署名的发明人的工作、在本背景技术部分中所描述的程度上的工作以及本部分描述在申请时尚不构成现有技术的方面，既非明示地也非暗示地被承认是本发明的现有技术。

Claims (19)

  1. 一种悬挂式集装箱运输系统装卸装置，其特征在于，包括：
    轨道梁(2)，所述轨道梁(2)上在水平面和竖直面均设置有导轨；
    至少两个起吊小车(1)，所述起吊小车(1)可滑动地置于轨道梁(2)上；所述起吊小车(1)上设有与导轨相配合的走行机构；
    传动机构，所述传动机构置于起吊小车(1)上，用于吊设集装箱。
  2. 根据权利要求1所述的一种悬挂式集装箱运输系统装卸装置，其特征在于，所述轨道梁(2)上在水平面上设有走行轨(4)，所述轨道梁(2)上在竖直面设有定位轨(5)；
    所述走行机构包括：走行轮和定位轮(19)；所述走行轮设置在起吊小车(1)下方，且与走行轨(4)相配合；所述定位轮(19)设置在起吊小车(1)内部侧壁上，且与定位轨(5)相配合。
  3. 根据权利要求2所述的一种悬挂式集装箱运输系统装卸装置，其特征在于，所述走行轮包括：主动走行轮(17)和从动走行轮(18)，所述主动走行轮(17)通过驱动装置驱动起吊小车运动；所述从动走行轮(18)通过轴承与起吊小车(1)连接。
  4. 根据权利要求3所述的一种悬挂式集装箱运输系统装卸装置，其特征在于，所述轨道梁(2)上在竖直面上，且位于定位轨(5)下方还设有稳定轨(6)；
    所述走行机构还包括：稳定轮(20)，所述稳定轮(20)设置在起吊小车(1)内部侧壁上，且位于定位轮(19)下方，稳定轮(20)与稳定轨(6)配合。
  5. 根据权利要求1所述的一种悬挂式集装箱运输系统装卸装置，其特征在于，所述传动机构包括：驱动电机(9)、驱动变速箱(7)、卷筒(10)；所述卷筒(10)上连接有钢丝绳(11)，所述钢丝绳(11)的一端连接有固定架(14)；
    所述驱动电机(9)输出的扭力通过驱动变速箱(7)变速后传递至卷筒(10)，卷筒(10)旋转使钢丝绳(11)带动固定架(14)上下移动。
  6. 根据权利要求5所述的一种悬挂式集装箱运输系统装卸装置，其特征在于，所述传动机构，还包括：
    伸缩装置(12)，所述伸缩装置(12)，包括：左侧伸缩组件和右侧伸缩组件，所述左侧伸缩组件和右侧伸缩组件通过横梁组件(131)连接，使左侧伸缩组件和右侧伸缩组件同步协调运动；
    所述左侧伸缩组件和右侧伸缩组件的末端均与固定架(14)连接，所述固定架(14)上安装有导板组件(13)，所述导板组件(13)内设置有转锁装置(139)；
    通过所述导板组件(13)和横梁组件(131)可保证转锁装置(139)与集装箱(4)顶角件的精准定位。
  7. 根据权利要求6所述的一种悬挂式集装箱运输系统装卸装置，其特征在于，所述左侧伸缩组件和右侧伸缩组件均由一节一级伸缩臂(135)、一节末级伸缩臂(137)和若干中间级伸缩臂(136)组成；
    所述左侧伸缩组件和右侧伸缩组件的一级伸缩臂(135)通过横梁组件(131)连接；
    所述左侧伸缩组件和右侧伸缩组件的末级伸缩臂(137)均与固定架(14)连接。
  8. 根据权利要求7所述的一种悬挂式集装箱运输系统装卸装置，其特征在于，所述一级伸缩臂(135)上设有用于与起吊小车(1)车架连接的万向铰接组件(132)，使左侧伸缩组件和右侧伸缩组件可绕铰接点自由旋转。
  9. 根据权利要求8所述的一种悬挂式集装箱运输系统装卸装置，其特征在于，所述横梁组件(131)，包括：
    第一横梁(1311)和第二横梁，所述第一横梁(1311)和第二横梁分别与左侧伸缩组件和右侧伸缩组件的一级伸缩臂(135)铰接；
    第一轴铰链(1313)，所述第一横梁(1311)和第二横梁通过第一轴铰链(1313)进行铰接；
    所述第一轴铰链(1313)既可连接第一横梁(1311)和第二横梁，又保证第一横梁(1311)和第 二横梁可以沿第一轴铰链(1313)轴线可以转动；当集装箱与轨道梁(2)不是平行摆放，导致集装箱与轨道梁(2)存在一定的角度，集装箱两侧顶角件与对应的导板组件(13)的纵向距离不一致；而第一轴铰链(1313)的存在可使一侧的伸缩组件根据导板组件(13)的引导向外运动，而不带动另一侧的导板组件(13)同时向外运动，保证两侧的导板组件(13)均能与顶角件定位。
  10. 根据权利要求9所述的一种悬挂式集装箱运输系统装卸装置，其特征在于，所述一级伸缩臂(135)上端设置有轴铰链座；
    所述第一横梁(1311)和第二横梁通过第二轴铰链(1312)与轴铰链座铰接；
    所述第二轴铰链(1312)可约束左侧伸缩组件和右侧伸缩组件沿横向同步运动，当一侧的伸缩组件上的导板组件(13)与集装箱(4)顶角件接触，开始导向，纠正位置偏差时，可通过横梁组件(131)带动另一侧伸缩组件上的导板组件(13)一起运动，让两个导板组件(13)同时引导转锁装置(139)与集装箱顶角件定位。
  11. 根据权利要求10所述的一种悬挂式集装箱运输系统装卸装置，其特征在于，所述导板组件(13)，包括：
    动力系统连接接口(1384)，通过所述动力系统连接接口(1384)将钢丝绳(11)的动力输出到导板组件(13)上；
    转锁装置连接接口，所述转锁装置连接接口用于安装转锁装置(139)；
    纵向导板(1381)，所述纵向导板(1381)可调整集装箱(4)在纵向的放置误差；
    横向导板(1382)，所述横向导板(1382)可调整集装箱(4)在横向的放置误差。
  12. 根据权利要求11所述的一种悬挂式集装箱运输系统装卸装置，其特征在于，所述导板组件(13)设有两个转锁装置连接接口，共安装有两个转锁装置(139)；
    所述纵向导板(1381)设置在两个转锁装置(139)之间。
  13. 根据权利要求12所述的一种悬挂式集装箱运输系统装卸装置，其特征在于，所述伸缩装置，还包括：
    第一推杆(133)和第二推杆(134)，所述第一推杆(133)和第二推杆(134)设置在伸缩组件与起吊小车(1)车架之间，可控制伸缩组件沿纵向和横向方向运动，实现伸缩组件的主动定位。
  14. 根据权利要求1所述的一种悬挂式集装箱运输系统装卸装置，其特征在于，还包括：运输车辆(3)，所述运输车辆(3)，包括走行系统(32)、底架装配件(33)、吊臂装配件(34)、转动旋锁机构(35)，底架装配件(33)连接于走行系统(32)下方；
    吊臂装配件(34)包括至少两个拐臂(54)、连接于拐臂(54)下方的底梁(55)，拐臂(54)与底架装配件(33)铰链式连接；
    转动旋锁机构(35)包括连杆机构(47)、转锁装配件(48)、第一驱动装置(49)、盖板(51)、回位压梁(52)，连杆机构(47)与第一驱动装置(49)连接，第一驱动装置(49)能通过推动或缩回带动连杆机构(47)控制转锁装配件(48)旋转，转锁装配件(48)底部和回位压梁(52)连接，回位压梁(52)与盖板(51)浮动连接，盖板(51)与底梁(55)连接，转锁装配件(48)顶部高于底梁(55)上表面。
  15. 根据权利要求14所述的一种悬挂式集装箱运输系统装卸装置，其特征在于，转动旋锁机构(35)还包括弹簧(50)，每个转锁装配件(48)均连接有回位压梁(52)，回位压梁(52)通过弹簧(50)与盖板(51)浮动连接。
  16. 根据权利要求15所述的一种悬挂式集装箱运输系统装卸装置，其特征在于，还包括销轴(37)，拐臂(54)通过销轴(37)与底架装配件(33)连接；
    所述销轴(37)下方设置有第二驱动装置(38)；
    所述销轴(37)下方设置有限位装置(53)。
  17. 根据权利要求16所述的一种悬挂式集装箱运输系统装卸装置，其特征在于，所述走行系统(32)包括牵引电机(39)、万向轴(40)、轮对(42)、构架(43)、枕梁、齿轮变速箱(46)，牵引电机(39)与构架(43)连接，牵引电机(39)通过万向轴(40)与齿轮变速箱(46)连接，齿轮变速箱(46)与轮对(42)连接，枕梁与构架(43)、底架装配件(33)分别连接。
  18. 根据权利要求17所述的一种悬挂式集装箱运输系统装卸装置，其特征在于，走行系统(32)还包括设于构架(43)与齿轮变速箱(46)之间的一系悬挂减振系统(41)和设于枕梁与底架装配件(33)连接处的二系悬挂减振系统(44)和牵引杆(45)。
  19. 根据权利要求1所述的一种悬挂式集装箱运输系统装卸装置，其特征在于，所述轨道梁(2)，包括立柱(57)、梁桥(58)、弹性支承(59)，立柱(57)与梁桥(58)通过弹性支承(59)连接；
    梁桥(58)为空心筒状结构，梁桥(58)内部空腔下侧设有钢轨及其扣件(60)，梁桥(58)内部空腔上侧设有接触轨(56)。
PCT/CN2023/106300 2022-08-18 2023-07-07 一种悬挂式集装箱运输系统装卸装置 WO2024037246A1 (zh)

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