Multi-berth lock knob dismounting and transferring system between passages

Abstract

The application discloses a multi-parking position lock knob dismounting and transferring system between channels, which comprises a plurality of AVG transfer trolleys and a plurality of lock knob transfer racks, each lock knob machine is provided with a hanging support, a lower area of the hanging support is used as a first exchange area for the AGV transfer trolley and the hanging support to exchange the lock knob transfer rack, and at least one second exchange area is used for a plurality of lock knob transfer racks suspended in a row and column form. The multi-parking position lock knob dismounting and transferring system between channels can meet the transfer of the lock knob between multiple channels and a central lock knob warehouse during the automatic dismounting of the multi-parking position lock knob, and improves the operation efficiency of the container lock knob dismounting channel.

Description

Technical Field

[0001] This invention relates to the field of port equipment, and more specifically to a multi-berth lock button disassembly and assembly inter-channel transfer system. Background Technology

[0002] During the automation / unmanned transformation and construction of container terminals, the issue of lock transfer in the automated disassembly and assembly process of container locks urgently requires a solution, and the solution needs to be adaptable to the following situations:

[0003] 1. Due to limitations in the lock button transfer scheme, multiple automatic lock button disassembly and assembly channels are required to accommodate lock button disassembly and assembly operations in multiple berths.

[0004] 2. Due to the tonnage of container ships and the need to coordinate with the tides when berthing, in the case of multiple berths, the quay cranes at the terminal will be concentrated in multiple automatic lock disassembly and assembly channels at a certain time (depending on the commuting efficiency of the channels). As a result, the container locks of a berth will be scattered in different lock disassembly and assembly channels.

[0005] In view of the above, in the operating environment of multi-berth automated lock button assembly and disassembly channels, the industry needs to solve the following conditions for lock button transfer: it should be able to transfer lock buttons between channels and between channels and lock button inventory centers. To meet the above transfer requirements, a transfer solution and related equipment are needed. Summary of the Invention

[0006] The purpose of this invention is to provide a multi-berth lock assembly / disassembly channel transfer system to solve the above-mentioned problems. This system can meet the needs of automated multi-berth lock assembly / disassembly, allowing for the transfer of locks between multiple channels and the central lock warehouse, thereby improving the operational efficiency of container lock assembly / disassembly channels.

[0007] The objective of this invention is achieved as follows:

[0008] This invention discloses a multi-berth lock button removal and installation channel transfer system, wherein each lock button removal and installation channel is equipped with at least four lock button machines for simultaneously removing and installing lock buttons from the four corner fittings of a container loaded on a truck. The system is characterized by comprising several AVG transfer vehicles and several lock button transfer racks, wherein:

[0009] Each AVG transport vehicle is equipped with several drive wheels at the bottom and a motor for driving the drive wheels, which is installed at the bottom of the AVG transport vehicle. The motor is powered by a power source built into the AVG transport vehicle body.

[0010] Several lock button transfer racks, each lock button transfer rack is a frame structure, and its interior has several layered placement positions for placing several lock button trays. The lock button transfer rack is suspended by a suspension head fixedly connected to the top.

[0011] Each button-locking machine is equipped with a corresponding suspension bracket. The area below the suspension bracket serves as the first exchange zone for exchanging button transfer frames between the AGV and the suspension bracket. The suspension bracket includes at least a mounting bracket with one end connected to the outside of the button-locking machine and a suspension mechanism located above the first exchange zone and connected to the mounting bracket; and

[0012] Each button removal and installation channel corresponds to at least one second exchange area, which can be used for several button transfer racks suspended in rows and columns.

[0013] In the aforementioned multi-berth lock button removal and installation transfer system, each lock button removal and installation channel includes six lock button machines evenly distributed on both sides of the channel, and a spare third exchange area with the same function as the second exchange area, which is located in the middle position of the three lock button machines on one side of the lock button removal and installation channel.

[0014] The aforementioned multi-berth lock button removal and installation inter-channel transfer system also includes a central lock warehouse, and at least one of the several VG transfer vehicles is used for lock button transfer racks between the second exchange area and the central lock warehouse.

[0015] In the aforementioned multi-berth lock button assembly and disassembly transfer system, the bottom of the lock button tray and the storage position of the lock button transfer rack are provided with a positioning structure that interlocks with each other.

[0016] The aforementioned multi-berth lock button disassembly and assembly inter-channel transfer system includes at least one steering wheel, several omnidirectional wheels, a lidar, a depth binocular vision mechanism, an I / O module, and a voice module. The steering wheel serves as the main drive wheel, the omnidirectional wheels as driven wheels, and the power supply is a lithium battery. The system utilizes lidar for mapping and path planning, a depth binocular vision mechanism for navigation assistance, a voice module for voice warnings and reminders, and an I / O module for communication transmission conversion.

[0017] The AVG transfer vehicle in the above-mentioned multi-berth lock button disassembly and assembly channel transfer system is equipped with a top cover. The top surface of the cover is provided with several pairs of limiting blocks for positioning several lock button transfer frames. The top cover is provided by at least two sets of lifting mechanisms set in the AVG transfer vehicle. Each set of lifting mechanisms includes at least one electric cylinder, pneumatic cylinder or hydraulic cylinder for lifting the top cover and at least two guide rods.

[0018] A buffer mechanism to prevent the lock button transfer frame from shaking during transport in an AVG transfer vehicle;

[0019] The AVG transfer vehicle uses a lifting mechanism to detach the lock button transfer frame from the suspension bracket and place the lock button transfer frame on it. The bottom of each lock button transfer frame is provided with a pair of positioning recesses that match a pair of positioning blocks on the top cover.

[0020] In the aforementioned multi-berth lock button disassembly and assembly inter-channel transfer system, the lock button transfer frame is held on the suspension mechanism by the top suspension head. The suspension mechanism has a notch structure, and the neck of the suspension head can be locked in the notch structure. The suspension head has a cone-shaped structure.

[0021] The aforementioned multi-berth lock button disassembly and assembly channel transfer system also includes at least one AGV charging pile located in the side area of ​​the lock button transfer vehicle's travel path and away from the lock button disassembly and assembly channel. The AGV charging pile includes at least a built-in step-down module, integrated circuit board, and power access line, a sheet metal panel as the outer shell, and a charging pile bracket connected to the outer shell. The sheet metal panel is provided with a charging interface.

[0022] The aforementioned multi-berth lock and button removal and installation inter-transfer system also includes:

[0023] Gates and signaling devices are installed at entrances and exits, including LED displays, traffic lights, and voice equipment;

[0024] A guide platform installed on the surface of the passageway to guide the movement of container trucks;

[0025] The isolation fence set up around the passage limits the movement range of the AGV transfer vehicle;

[0026] An electrical cabinet for supplying power to the transfer system; and

[0027] A network cabinet used for communication in the transfer system.

[0028] The above-described operation process of the multi-berth lock button disassembly and assembly channel transfer system involves the lock button machine sending information that the lock button trays in its internal storage area need to be exchanged. After receiving the information, each device in the channel is in position. The AGV transfer vehicle transports the lock button transfer frame from the second exchange area to the first exchange area of ​​the lock button machine that sent the information that needs to be exchanged, and suspends the lock button transfer frame on the suspension bracket. Then, the AGV transfer vehicle sends a signal to the lock button machine control system that the lock button transfer frame on the suspension bracket is in position. After receiving the signal, the lock button machine control system sends an instruction to the transfer mechanism inside the lock button machine. The transfer mechanism automatically exchanges the lock button trays inside the lock button machine with the lock button trays on the lock button transfer frame. After all the lock button trays on the lock button transfer frame have been exchanged, the lock button machine control system sends information to the lock button machine control system. After receiving the information, the lock button machine control system sends an instruction to the AGV transfer vehicle. The AGV transfer vehicle then transports the exchanged lock button transfer frame to the second exchange area.

[0029] The button-locking machine control system then performs the next round of operations until all the button trays inside the button-locking machine have been replaced.

[0030] During the above exchange process, if the lock disassembly and assembly operation needs to be prioritized, the lock button machine control system can interrupt the lock button tray exchange operation and handle the lock button machine lock disassembly and assembly operation.

[0031] The multi-berth lock assembly / disassembly channel transfer system of this invention can meet the needs of automated assembly / disassembly of locks at multiple berths, allowing for the transfer of locks between multiple channels and the central lock warehouse, thereby improving the operational efficiency of container lock assembly / disassembly channels. Attached Figure Description

[0032] Figure 1 A layout diagram of a lock button disassembly / assembly channel in the multi-berth lock button disassembly / assembly channel transfer system of the present invention;

[0033] Figure 2 A front view (excluding the truck) of a lock button assembly / disassembly channel in this invention;

[0034] Figure 3 This is a schematic diagram of the lock button transfer frame in this invention;

[0035] Figure 4 This is a schematic diagram of the AVG transport vehicle in this invention;

[0036] Figure 5 yes Figure 4 Sectional view along line AA;

[0037] Figure 6 This is a diagram showing the state of the AVG transfer vehicle fully loaded with the lock button transfer frame in this invention;

[0038] Figure 7 This is a schematic diagram of the suspension bracket in this invention;

[0039] Figure 8 This is a diagram showing the working state of the button locking mechanism in this invention;

[0040] Figure 9 This is a schematic diagram of the AGV charging pile in this invention (excluding the charging pile bracket). Detailed Implementation

[0041] The invention will now be further described with reference to the accompanying drawings.

[0042] Please see Figures 1 to 9 The figure shows the multi-berth lock button disassembly and assembly channel transfer system of the present invention. Each lock button disassembly and assembly channel is equipped with at least four lock button machines 100 for simultaneously disassembling and assembling the lock buttons at the four corner pieces of a container loaded on a truck. In this embodiment, the four lock button machines 100 at the lower left, lower right, upper left and upper right from the perspective of the truck's travel direction are respectively used as the first to fourth work stations.

[0043] The multi-berth lock button installation / removal inter-channel transfer system includes: several AVG transfer vehicles 1 and several lock button transfer racks 2, wherein:

[0044] Each AVG transport vehicle 1 includes a plurality of drive wheels 11 located at the bottom and a motor 12 for driving the plurality of drive wheels 11 and mounted at the bottom of the AVG transport vehicle 1. The motor 12 is powered by a power supply 13 located inside the AVG transport vehicle 1.

[0045] In this embodiment, the drive wheels 11 are divided into steering wheels 11a and omnidirectional wheels 11b. The steering wheel 11a is the main drive wheel driven by a motor, and the omnidirectional wheel 11b is the driven wheel. The drive wheels 11 are equipped with a damping spring mechanism.

[0046] In this embodiment, the AVG transfer vehicle 1 includes a rectangular frame 15 for mounting the outer shell 14, wherein the outer shell 14 is composed of multiple panels spliced ​​together and has a viewing window structure. A top cover 16 is provided on the top of the rectangular frame 15. The top of the top cover 16 is provided with several pairs of limiting blocks 17 for positioning and placing the lock button transfer frame 2. Each pair of limiting blocks 17 can limit the notches on both sides of the bottom of a lock button transfer frame 2. The relative inner sides of a pair of limiting blocks 17 are inclined structures. The lock button transfer frame 2 can be guided during the upward lifting process of the top cover 16. Two sets of lifting mechanisms 18 are symmetrically arranged inside the rectangular frame 15. Each set of lifting mechanisms 18 includes a lifting cylinder 18a and guide rods 18b arranged on both sides of the lifting cylinder 18a. The cylinder rod of the lifting cylinder 18a and the guide rods 18b are connected to the bottom of the top cover 16. Each lock button transfer frame 2 has a frame structure and several layered brackets 21 for placing lock button trays 3 inside. The contact edges of the brackets 21 and the bottom of the lock button trays 3 are provided with matching positioning structures 22. In this embodiment, the positioning structure 22 is a concave-convex structure. A suspension head 23 for suspending the lock button transfer frame 2 is fixedly connected to the top of the lock button transfer frame 2. In this embodiment, the suspension head 23 is a conical structure with an upwardly expanding neck. The bottom of the lock button transfer frame 2 is provided with a notch 24 that matches the limiting block 17 on the top of the AVG transfer vehicle 1.

[0047] Each button-locking machine 100 has a suspension bracket 4 mounted on its outer wall. The suspension bracket 4 is located away from the installation area of ​​the button-locking machine 100's button-locking and disassembling robotic arm 101. The area below the suspension bracket 4 is the first exchange area 5. The suspension bracket 4 includes a horizontally arranged mounting bracket 41 with one end connected to the outside of the button-locking machine 100 and a suspension mechanism 42 located above the first exchange area 5 and connected to the mounting bracket 41. In this embodiment, the button-locking transfer frame 2 is held on the suspension mechanism 42 by the top suspension head 23. The suspension mechanism 42 includes a notch structure 43, and the neck of the suspension head 23 can be locked in the notch structure 43.

[0048] At least one AGV charging pile 6 is located in the side area of ​​the AVG transport vehicle 1's travel path and away from the button removal and assembly channel. The AGV charging pile 6 includes at least a built-in step-down module, an integrated circuit board, and a power access line, a sheet metal panel as the outer shell, and a charging pile bracket connected to the outer shell. The sheet metal panel is provided with a charging interface. In this embodiment, the AGV charging pile 6 is located behind the button lock machine 100 at a workstation and away from the side of the truck's travel path.

[0049] Each button removal and assembly channel is provided with at least one second exchange area 7. In this embodiment, the second exchange area 7 is located in front of the left side of the three-station button machine 100, that is, in front of the side of the button removal and assembly channel. The second exchange area 7 can be used to store at least two rows of button transfer racks 2, and each row has N suspension mechanisms 42 for suspending N button transfer racks 2. In this embodiment, at least one of the several AVG transfer vehicles 1 is used to transport the button transfer racks 2 of the second exchange area 7 to a central lock warehouse.

[0050] In this embodiment, the AVG transport vehicle 1 is also equipped with a lidar 19, a depth binocular vision mechanism (not shown in the figure), an I / O module (not shown in the figure), and a voice module (not shown in the figure);

[0051] In this embodiment, the power supply 13 uses a lithium battery to power all the electrical equipment of the AVG transport vehicle 1. The power supply 13 is connected to a charging interface (not shown in the figure) on the AVG transport vehicle 1. In order to reduce the weight of the AVG transport vehicle 1, the charging step-down module and other electrical mechanisms are installed in the AGV charging pile 6. The AGV transport vehicle 1 uses LiDAR for mapping and path planning, depth binocular vision mechanism for navigation assistance, voice module for voice warning reminders, and I / O module for communication transmission conversion.

[0052] In this embodiment, a buffer mechanism is also included to prevent the button transfer frame 2 from shaking during the transfer process of the AVG transfer vehicle 1; the top cover 16 of the AVG transfer vehicle 1 uses a lifting mechanism 18 to detach the button transfer frame 2 from the suspension bracket 4 and place the button transfer frame 2 loaded on it in a designated area. Furthermore, the multi-berth button removal and installation channel transfer system may include six button machine 100 stations, with the left and right center buttons 100 being stations five and six respectively; additionally, a spare third exchange area 8 can be configured, located next to station five when the multi-berth button removal and installation channel transfer system of the present invention has six button machine 100 stations.

[0053] The working principle of this invention is as follows:

[0054] The button lock machine 100 sends a message indicating that the button lock trays 3 in its internal storage area need to be exchanged. Upon receiving the message, each device in the channel is in position. The AGV transfer vehicle 1 transports the button lock transfer frame 2 from the second exchange area 7 to the first exchange area 5 of the button lock machine 100 at each workstation, and suspends the button lock transfer frame 2 on the suspension bracket 4. Then, the AGV transfer vehicle 1 sends a signal to the button lock machine system ECS indicating that the suspension bracket 4 is in position. After receiving the signal, the button lock machine system ECS sends a command to the transfer mechanism inside the button lock machine 100. The transfer mechanism automatically exchanges the button lock trays inside the button lock machine 100 with the button lock trays 3 on the button lock transfer frame 2. After all the button lock trays 3 on the button lock transfer frame 2 have been exchanged, the system sends a message to the button lock machine system ECS. Upon receiving the message, the button lock machine system ECS sends a command to the AGV transfer vehicle 1, and the AGV transfer vehicle 1 transports the exchanged button lock transfer frame 2 to the second exchange area 7. The ECS (Elastic Compute Service) system then performs the next round of operations until all the lock trays 3 within the lock machine 100 have been replaced. During this exchange process, if there is a sudden emergency requiring lock disassembly or assembly, the system can interrupt the lock tray 3 exchange process to handle the lock disassembly or assembly operations of the lock machine 100.

[0055] The lock buttons 200 in the central lock vault are stored in different locations according to their model and category. The dock management system collects data information of the lock buttons 200 in the central lock vault and the second exchange area 7 (and the third exchange area 8 as a backup) in multiple lock button installation and removal channels in real time.

[0056] The dock management system receives real-time demand information from the second exchange area 7 within the lock button removal and installation channel. The control system of the lock button removal and installation channel sends the information of the second exchange area 7 within the channel to the dock management system. After receiving the lock removal / installation demand signal from the channel control system, the dock management system analyzes it and makes a judgment: ① Exchange between the lock button removal and installation channel and the lock button transfer rack 2 between channels; ② Exchange between the lock button removal and installation channel and the lock button transfer rack 2 in the central lock vault. After the dock control system sends transfer information to the channel control system that needs it, the AGV transfer vehicle 1 transfers the lock button transfer rack 2 in the second exchange area 7 between channels according to the specified planned path, realizing the transfer operation of the lock button transfer rack 2 between channels; ② Or following the right-turn principle, the AGV transfer vehicle 1 transfers the lock button transfer rack 2 in the channel to the central lock vault stacking area, realizing the exchange between empty lock button trays 3 and lock button trays 3 filled with lock buttons 200, realizing the lock button transfer between the "channel equipment" and the central lock vault stacking area.

[0057] The above embodiments are for illustrative purposes only and are not intended to limit the invention. Those skilled in the art can make various changes or modifications without departing from the spirit and scope of the invention. Therefore, all equivalent technical solutions should also fall within the scope of the invention and should be defined by the claims.

Claims

1. A multi-bay lock knob dismounting and transferring system between channels, each of said lock knob dismounting channels is provided with at least four lock knob machines for simultaneously dismounting the lock knobs at the four corner fittings of a container loaded on a truck, characterized in that, The transport system comprises several AGV transport vehicles and several lock button transport frames, wherein: Each AGV transport vehicle is provided at the bottom with several drive wheels and a motor for driving the several drive wheels and mounted at the bottom of the AGV transport vehicle, the motor is powered by a power supply built into the AGV transport vehicle body; Several lock button transport frames, each lock button transport frame is a frame structure, and the inside is provided with several layers of distribution for placing several lock button tray placing positions, the lock button transport frame is hung by a suspension head fixedly connected at the top; Each lock button machine is correspondingly provided with a suspension bracket, the lower area of the suspension bracket serves as a first exchange area for the suspension bracket and the AGV transport vehicle to exchange the lock button transport frame, the suspension bracket at least comprises a mounting bracket connected to the outside of the lock button machine and a suspension mechanism located above the first exchange area and connected to the mounting bracket; and A lock button disassembly channel is provided with at least a second exchange area, and the second exchange area can be used for several lock button transport frames suspended in a row and column form.

2. The multi-dock lock knob disassembly interpass transfer system of claim 1, wherein, Each of the lock button disassembly channels comprises six lock button machines evenly distributed on both sides of the channel, and a third exchange area with the same function as the second exchange area, which is adjacent to one of the three lock button machines in the middle position on one side of the lock button disassembly channel.

3. The multi-dock lock knob disassembly interpass transfer system of claim 1, wherein, Further comprising a central lock library, at least one of the several AGV transport vehicles is used for the transport of the lock button transport frame between the second exchange area and the central lock library.

4. The multi-dock lock knob disassembly interpass transfer system of claim 1, wherein, The bottom of the lock button tray is provided with a positioning structure that is buckled with the storage position of the lock button transport frame.

5. The multi-dock lock knob disassembly interpass transfer system of claim 1, wherein, The several drive wheels at least comprise a rudder wheel, several universal wheels, a laser radar, a depth binocular vision mechanism, an I / O module and a voice module, wherein the rudder wheel serves as the main drive wheel, the universal wheel serves as the driven wheel, the power supply adopts a lithium battery power supply; the laser radar is used for mapping and path planning, the depth binocular vision mechanism is used for auxiliary navigation, the voice module is used for voice warning and reminding, and the I / O module is used for communication transmission conversion.

6. The multi-dock lock knob disassembly interpass transfer system of claim 1, wherein, The top of the AGV transport vehicle is provided with a top cover, the top of the top cover is provided with several pairs of limiting blocks for positioning and placing the several lock button transport frames, the top cover is lifted by at least two groups of lifting mechanisms arranged in the AGV transport vehicle, each group of lifting mechanisms at least comprises an electric cylinder, a gas cylinder or an oil cylinder for lifting the top cover and at least two guide rods; and / or A buffer mechanism for preventing the lock button transport frame from shaking during transportation of the AGV transport vehicle; and / or The AGV transport vehicle lifts the lock button transport frame off the suspension bracket by the lifting mechanism and carries the lock button transport frame, the bottom of each lock button transport frame is provided with a pair of positioning notches matched with a pair of positioning blocks of the top cover.

7. The multi-dock lock knob disassembly interpass transfer system of claim 1, wherein, The lock button transport frame is clamped on the suspension mechanism by the suspension head at the top, the suspension mechanism is provided with a notch structure, the neck of the suspension head is clamped in the notch structure, and the suspension head is a conical structure.

8. The multi-dock lock knob disassembly interpass transfer system of claim 1, wherein, Further comprising at least one AGV charging pile arranged in a region beside the travel path of the AGV transfer vehicle and away from the lock knob dismounting passage, the AGV charging pile comprising at least a built-in voltage reduction module, an integrated circuit board and a power supply access circuit, a sheet metal panel as a shell and a charging pile support connected with the shell, and a charging interface provided on the sheet metal panel.

9. The multi-dock lock knob disassembly interpass transfer system of claim 1, wherein, The lock knob dismounting passage further comprises: gate rods and a signal device arranged at the entrance and exit, the signal device comprising an LED display screen, a traffic light and a voice device; a guide table arranged on the surface of the passage for guiding the travel of the truck; an isolation fence arranged on the periphery of the passage, which defines the movement range of the AGV transfer vehicle; an electrical cabinet for power supply of the transfer system; and a network cabinet for communication of the transfer system.

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