A novel intelligent inspection and sorting system for ship lashing twist locks

Abstract

This invention belongs to the technical field of marine lashing components and discloses a novel intelligent inspection and sorting system for marine lashing component twistlocks, comprising: a support frame, a first sorting mechanism, and a second sorting mechanism; wherein, both the first and second sorting mechanisms are located above the support frame and are connected by a transfer system; the first sorting mechanism includes a first sorting device, a controller, and a flaw detection device, and a defective trolley is provided on one side of the support frame below the first sorting mechanism; the second sorting mechanism includes a force measuring system, a second sorting device, and a detection system, with the force measuring system located inside the detection system, the second sorting device located on one side of the detection system, and a qualified trolley provided on one side of the support frame below the second sorting mechanism. This invention can accurately detect and judge the presence, size, and location of overall defects in container double-pull semi-automatic twistlocks and can complete automatic palletizing.

Description

Technical Field

[0001] This invention belongs to the field of marine lashing components technology, and in particular relates to a novel intelligent inspection and sorting system for marine lashing component twistlocks. Background Technology

[0002] Container shipping is a relatively safe medium for modern freight transport. Its high efficiency, high quality, and significant economic benefits have made it a major mode of international trade worldwide, and shipping, as a primary carrier of containers, has also developed rapidly. With the continuous increase in container loading rates, the automation and speed of container handling technology are also gradually increasing. Containers are secured to the carrier using specialized locks. When containers are stacked, the connection between upper and lower layers is mainly achieved through container torsion locks, which prevent containers from tipping over or sliding, thus avoiding loss of personnel and goods. Currently, the most commonly used type of container torsion lock is the semi-automatic torsion lock. Unlike the repetitive operations of fixed processes in most factory assembly lines, the working environment at the port is complex and variable, requiring highly flexible and adaptable automated equipment. Due to the harsh working environment, semi-automatic container torsion locks play a crucial role in the safety of container cargo transportation; therefore, higher requirements are placed on the performance of semi-automatic container torsion locks. Summary of the Invention

[0003] The purpose of this invention is to provide a novel intelligent inspection and sorting system for ship lashing twistlocks, in order to solve the problems existing in the prior art.

[0004] To achieve the above objectives, the present invention provides a novel intelligent inspection and sorting system for ship lashing twistlocks, comprising:

[0005] Support frame, first sorting mechanism and second sorting mechanism;

[0006] The first sorting mechanism and the second sorting mechanism are both located above the support frame, and the first sorting mechanism and the second sorting mechanism are connected by a transfer system.

[0007] The first sorting mechanism includes a first sorting device, a controller, and a flaw detection device. The flaw detection device and the controller are both located below the first sorting device. A defective trolley is provided on one side of the support frame below the first sorting mechanism.

[0008] The second sorting mechanism includes a force measuring system, a second sorting device, and a detection system. The force measuring system is located inside the detection system, the second sorting device is located on one side of the detection system, and a qualified trolley is located on one side of the support frame below the second sorting mechanism.

[0009] Optionally, both the first sorting device and the second sorting mechanism adopt a bionic robotic arm sorting device, including: a bionic robotic arm body, a controller, a vision sensor, a gripping module, and a base;

[0010] The base is fixedly mounted above the support frame, a controller is located below the base, the main body of the bionic robotic hand is mounted above the base, the controller is located on one side of the bottom of the main body of the bionic robotic hand, the gripping module is located on one side of the top of the main body of the bionic robotic hand, and the vision sensor is located inside the gripping module.

[0011] Optionally, the flaw detection device includes: a semi-automatic pulse-echo ultrasonic flaw detection device, a retractable flexible suction cup, an electric telescopic rod, and a pulse-echo ultrasonic flaw detection probe;

[0012] The semi-automatic pulse reflection ultrasonic flaw detector is located on one side of the base and connected to the controller. A front-end visual feedback sensor is located at the bottom of the semi-automatic pulse reflection ultrasonic flaw detector. The pulse reflection ultrasonic flaw detector contact is located on the side of the semi-automatic pulse reflection ultrasonic flaw detector. The electric telescopic rod is located on one side of the pulse reflection ultrasonic flaw detector contact and is used to drive the pulse reflection ultrasonic flaw detector contact.

[0013] Optionally, the conveying system shown includes: a flat belt conveyor, a trough belt conveyor, a hydraulic cylinder conveying mechanism, a drive roller motor, a reducer, a segmented groove, a stepper motor, and an end effector mechanical gripper;

[0014] The flat belt conveyor consists of several drive rollers and belts connected to the drive rollers. The motor and the reducer are arranged adjacent to each other and are both located on one side of the flat belt conveyor. A trough belt conveyor is arranged on the other side of the flat belt conveyor. A hydraulic cylinder transfer mechanism is arranged above the trough belt conveyor. The drive mechanism of the hydraulic cylinder transfer mechanism is a stepper motor, and an end mechanical claw is provided at the end. The belt of the trough belt conveyor is provided with segmented grooves, and a container double-pull semi-automatic twist lock limit seat is installed in each groove.

[0015] Optionally, the force measuring system adopts a dual-pulling gripper cooperative force measuring system, including: a lower base plate, a fixed plate, a middle partition plate, a force measuring gripper mechanism, and a rotatable dual-cylinder variable amplitude fixing mechanism;

[0016] The fixing plate is disposed above the lower base plate, and the fixing plate includes a left fixing plate, a middle fixing plate and a right fixing plate arranged in sequence, with a middle partition plate disposed between the left fixing plate and the middle fixing plate;

[0017] The force-measuring gripper mechanism and the rotatable double-cylinder luffing fixing mechanism are arranged between the left and right fixed plates. The force-measuring gripper mechanism and the rotatable double-cylinder luffing fixing mechanism are connected by a front-end visual feedback sensor. A container semi-automatic double-pull torsion lock limiter is fixed on the lower base plate. The container semi-automatic double-pull torsion lock limiter is provided with a transition guide surface for stably fixing the semi-automatic double-pull torsion lock housing support.

[0018] The middle fixed plate has a slot to provide a vertical sliding track for the force measuring gripper mechanism. The upper and lower sides of the middle partition plate are equipped with main servo motors, and the left fixed plate has a rack and pinion slide rail that cooperates with the end rack of the main servo motor.

[0019] Optionally, the force-measuring gripper mechanism includes an active force-measuring gripper mechanism and a passive force-measuring gripper mechanism. Both the active and passive force-measuring gripper mechanisms include a control center, gripper head, transmission rod, fixed rod, double-ear cantilever rod, combined limit block, symmetrical valve cylinder, electric drive telescopic rod, connecting block, lifting stepper motor, and lifting electric telescopic rod.

[0020] The control center is located behind the main servo motor. One end of the combined limit block is connected to the main servo motor through the electric drive telescopic rod, and the other end is provided with one end of the double-ear cantilever rod. The symmetrical valve cylinder is provided below the combined limit block. The other end of the double-ear cantilever rod is provided with the gripper head. The gripper head is provided with a transmission rod and a fixing rod. The lifting stepper motor is connected to the output end connection block through the lifting electric telescopic rod.

[0021] The distance that the control center controls the passive force-measuring gripper mechanism to move is opposite in direction to the horizontal movement distance of the active gripper force-measuring mechanism, but equal in distance.

[0022] Optionally, the rotatable double-cylinder luffing fixing mechanism is located on one side of the right-side fixing plate and includes: a lower controller, a rotatable double-arm claw, a synchronous luffing hydraulic cylinder, a rubber claw disc, a circular groove box, a rotatable motor, and a vision sensor;

[0023] The lower controller is located at the bottom of one side of the right fixed plate. The synchronous luffing hydraulic cylinder is located above the lower controller and connected to one side of the right fixed plate. The synchronous luffing hydraulic cylinder is connected to the circular groove box through a connecting rod. A rotary motor and the vision sensor are provided on the outside of the circular groove box. The rotary double-arm claw is located below the circular groove box and has a rubber claw disc at its end.

[0024] Optionally, the force measuring system is equipped with a detection system, which is a paint film visual inspection system, including several visual feedback cameras. The several visual feedback cameras inspect the paint film on the surface of the container double-pull semi-automatic twist lock from four directions.

[0025] The visual feedback cameras include: a first lower left visual feedback camera, a second left rear visual feedback camera, a first lower right visual feedback camera, and a second right rear visual feedback camera.

[0026] The first lower left visual feedback camera is located at the junction of the middle fixed plate and the lower base plate on one side. The second left rear visual feedback camera is located in the middle of one side of the middle fixed plate. The first lower right visual feedback camera is located at the junction of one side of the right fixed plate and the lower base plate on one side. The second right rear visual feedback camera is located in the middle of one side of the right fixed plate.

[0027] The technical effects of this invention are as follows:

[0028] This invention provides a novel intelligent inspection and sorting system for ship lashing twistlocks, comprising: a support frame, a first sorting mechanism, and a second sorting mechanism; wherein, both the first and second sorting mechanisms are disposed above the support frame and are connected by a transfer system; the first sorting mechanism includes a first sorting device, a controller, and a flaw detection device, the flaw detection device and the controller being disposed below the first sorting device, and a non-conforming trolley is disposed on one side of the support frame below the first sorting mechanism; the second sorting mechanism includes a force measuring system, a second sorting device, and a detection system, the force measuring system being disposed inside the detection system, the second sorting device being disposed on one side of the detection system, and a conforming trolley being disposed on one side of the support frame below the second sorting mechanism.

[0029] This invention uses a semi-automatic pulse reflection ultrasonic flaw detection device combined with a visual feedback sensor to perform ultrasonic flaw detection. It can accurately detect and judge the presence, size, and location of defects in the overall double-pull semi-automatic twist lock of a container and can complete automatic stacking.

[0030] This invention uses a force-measuring gripper mechanism and a rotatable double-cylinder variable amplitude fixing mechanism to conduct tensile tests on container double-pull semi-automatic twist locks. During the test, the change in the rotation angle of the lock head under the rated tensile force value can be used to judge the working performance of the container double-pull semi-automatic twist lock.

[0031] The invention comprises a first sorting mechanism for flaw detection and a second sorting mechanism for tensile testing and paint film testing. The first and second sorting mechanisms, connected by a transfer system, form a novel intelligent inspection and sorting system for ship lashing locks. This system can achieve fully automated flaw detection, tensile testing, and paint film testing, and complete sorting based on the test results.

[0032] This invention significantly reduces labor costs and improves production efficiency by automating the detection process of the container double-pull semi-automatic twist lock, ensuring good performance of the container double-pull semi-automatic twist lock in complex working environments, and providing a guarantee for the safety of container transportation. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0035] Figure 1 This is a schematic diagram of a novel intelligent inspection and sorting system for ship lashing twistlocks in an embodiment of the present invention;

[0036] Figure 2 This is an overall view of the novel ship lashing twistlock intelligent inspection and sorting system in this embodiment of the invention;

[0037] Figure 3 This is a view of the semi-automatic pulse-echo ultrasonic flaw detector in an embodiment of the present invention.

[0038] Figure 4 This is a view of the bionic robotic arm sorting device in an embodiment of the present invention;

[0039] Figure 5 This is a view of the transfer system in an embodiment of the present invention;

[0040] Figure 6 This is a schematic diagram of the dual-pulling gripper cooperative force measuring system in an embodiment of the present invention;

[0041] Figure 7 This is a left-axis view of the double-pulling gripper cooperative force measuring system in this embodiment of the invention;

[0042] Figure 8This is a front view of the double-pulling gripper cooperative force measuring system in an embodiment of the present invention;

[0043] Figure 9 This is an isometric drawing of the double-pulling gripper cooperative force measuring system in this embodiment of the invention;

[0044] Labeling Explanation: 1-Semi-automatic pulse-echo ultrasonic flaw detector; 101-Controller; 102-Retractable flexible suction cup; 103-Electric telescopic rod; 104-Pulse-echo ultrasonic flaw detector contact; 2-Bionic robotic arm sorting device; 201-Base; 202-Gripping module; 203-Vision sensor; 204-Controller; 205-Bionic robotic arm body; 3-Transfer system; 301-Flat belt conveyor; 302-Trough belt conveyor; 303-Hydraulic cylinder transfer mechanism; 304- Drive roller, 305-Motor, 306-Reducer, 308-Segmented groove, 309-Stepper motor, 310-End-effector, 4-Double-pulling gripper collaborative force measurement system, 401-Lower base plate, 402-Left side fixing plate, 403-Middle fixing plate, 404-Right side fixing plate, 405-Middle partition plate, 406-Main servo motor, 407-Rack and pinion slide rail, 408-Gutter, 409-Control center, 5-Paint film vision inspection system, 501-First lower left visual feedback camera, 5 03-Second left rear visual feedback camera, 502-First right lower visual feedback camera, 504-Second right rear visual feedback camera, 6-Front-end visual feedback sensor, 7-Container double-pull semi-automatic twist lock, 8-Container double-pull semi-automatic twist lock limit seat, 9-Unqualified trolley, 10-Rotary double-cylinder luffing fixing mechanism, 1001-Lower controller, 1002-Rotary double-arm claw, 1003-Synchronous luffing hydraulic cylinder, 1004-Rubber claw disc, 1005-Circular groove box body. 1006-Rotary motor, 1007-Vision sensor, 11-Active force-measuring gripper mechanism, 1101-Gripper head, 1102-Transmission rod, 1103-Fixed rod, 1104-Double-ear cantilever rod, 1105-Combined limit block, 1106-Symmetrical cylinder with valve, 1107-Electrically driven telescopic rod, 1108-Connecting block, 1109-Lifting stepper motor, 1110-Lifting electric telescopic rod, 12-Passive force-measuring gripper mechanism, 13-Qualified trolley, 14-Gripper force-measuring mechanism. Detailed Implementation

[0045] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0046] To facilitate understanding of the present invention, a more comprehensive description of the invention will be given below with reference to the accompanying drawings, and several embodiments of the invention will be provided. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the present invention will be more thorough and complete.

[0047] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0048] The terms “include,” “including,” “have,” “contain,” etc., used in this article are all open-ended terms, meaning that they include but are not limited to.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0050] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0051] Example 1

[0052] like Figures 1-9 As shown, this embodiment provides a novel intelligent inspection and sorting system for ship lashing twistlocks, including:

[0053] The system comprises a support frame, a first sorting mechanism, and a second sorting mechanism. Both the first and second sorting mechanisms are positioned above the support frame and connected via a transfer system 3. The first sorting mechanism includes a first sorting device, a controller 101, and a flaw detection device. The flaw detection device and the controller 101 are positioned below the first sorting device. A defective trolley 9 is positioned on one side of the support frame below the first sorting mechanism. The second sorting mechanism includes a force measuring system, a second sorting device, and a detection system. The force measuring system is located inside the detection system. The second sorting device is positioned on one side of the detection system. A qualified trolley 13 is positioned on one side of the support frame below the second sorting mechanism.

[0054] like Figure 1 The novel intelligent inspection and sorting system for ship lashing twist locks shown includes a semi-automatic pulse reflection ultrasonic flaw detector 1, a bionic robotic arm sorting device 2, a transfer system 3, a double-pulse gripper collaborative force measurement system 4, and a paint film visual inspection system 5.

[0055] The sorting process of the novel ship lashing twist lock intelligent inspection and sorting system is completed in two steps. The first step involves initial sorting by the bionic robotic arm sorting device 2 combined with the semi-automatic pulse-echo ultrasonic flaw detector 1. The second step involves transferring the components via the transfer system 3 to the dual-gripper collaborative force measurement system 4 for dual-gripper force feedback testing and paint film visual inspection system 5, after which the bionic robotic arm sorting device completes the second step of sorting.

[0056] like Figure 3 The semi-automatic pulse-echo ultrasonic flaw detection device 1 shown includes a controller 101 and a retractable flexible suction cup 102. The retractable flexible suction cup 102 is driven by an electric telescopic rod 103. The pulse-echo ultrasonic flaw detection probe 104 is located inside the retractable flexible suction cup 102. The semi-automatic pulse-echo ultrasonic flaw detection device 1 is connected to the base 201 of the bionic robotic arm sorting device 2. The semi-automatic pulse-echo ultrasonic flaw detection device 1, in conjunction with the front-end visual feedback sensor 6 of the bionic robotic arm sorting device 2, performs ultrasonic flaw detection to detect and judge the presence, size, and location of overall defects in the container double-pull semi-automatic twist lock 7.

[0057] The bionic robotic arm sorting device 2 has a gripping module 202 at its end. The gripping module 202 is equipped with a vision sensor 203 to accurately position and grip the container's double-pull semi-automatic twist lock support 702. The bionic robotic arm sorting device controller 204 processes the signal from the vision sensor 203 to control the gripping module 202 to grip the upper and lower supports 702 of the container's double-pull semi-automatic twist lock.

[0058] The semi-automatic pulse-echo ultrasonic flaw detector 1 transmits the detection signal to the bionic robotic arm sorting device controller 204. When the output signal indicates a defect in the container double-pull semi-automatic twist lock 7, the bionic robotic arm sorting device 2 transfers the container double-pull semi-automatic twist lock 7 to the defective trolley 9. When the output signal indicates that the container double-pull semi-automatic twist lock 7 is defect-free, the bionic robotic arm sorting device 2 transfers it to the container double-pull semi-automatic twist lock limit holder 8 of the trough belt conveyor 302. The first step of the intelligent sorting process for the container double-pull semi-automatic twist lock is then completed.

[0059] like Figure 5The transfer system 3 shown includes a flat belt conveyor 301, a trough belt conveyor 302, and a hydraulic cylinder transfer mechanism 303. The flat belt conveyor 301 is powered by an electric motor 305, which transmits power to a drive roller 304 via a reducer 306. The drive roller drives the belt 307 to rotate, thereby realizing the transfer of the container double-pull semi-automatic twist lock 7. The trough belt conveyor 302 has segmented grooves 308 on its belt, and each groove is equipped with a container double-pull semi-automatic twist lock limit seat 8. The hydraulic cylinder transfer mechanism 303 uses a stepper motor 309 to drive a dual-cylinder synchronous amplitude change, and its end-effector mechanical claw 310 grips the container double-pull semi-automatic twist lock 7 on the trough belt conveyor 302 and transfers it to the limit seat 8 of the double-pull gripper collaborative force measuring system.

[0060] like Figure 6 The dual-pulling gripper collaborative force measuring system 4 shown consists of a lower base plate 401, a left side fixing plate 402, a middle fixing plate 403, a right side fixing plate 404, and a middle partition plate 405. The dual-pulling gripper collaborative force measuring system 4 includes an active force measuring gripper mechanism 11 and a passive force measuring gripper mechanism 12. A container semi-automatic dual-pulling torsion lock limiting seat 8 is fixed on the lower base plate 401 of the dual-pulling gripper collaborative force measuring system 4. The container semi-automatic dual-pulling torsion lock limiting seat 8 has a transition guide surface for stable fixation of the semi-automatic dual-pulling torsion lock housing support body 702. The left side fixing plate 402 of the dual-pulling gripper collaborative force measuring system 4 has a rack and pinion rail 407 that engages with the end rack of the servo motor 406 of the active force measuring gripper mechanism 11. Furthermore, the middle fixing plate 403 of the double-pulling gripper collaborative force measuring system 4 has a slot 408 to provide an up-and-down translation slide for the active force measuring gripper mechanism 11.

[0061] The right fixing plate 404 of the double-pulling gripper collaborative force measuring system 4 is connected to the end fixing plate of the rotatable double-cylinder luffing fixing mechanism 10. The rotatable double-cylinder luffing fixing mechanism 10 is used to fix the upper end of the container double-pulling semi-automatic twist lock support 702 when the container double-pulling semi-automatic twist lock 7 is measuring force. When the double-pulling gripper collaborative force measuring system 4 is not working or has finished working, the lower controller 1001 of the rotatable double-cylinder luffing fixing mechanism receives a signal, and the rotatable double-cylinder luffing fixing mechanism can automatically lift and retract the rotating double-arm gripper 1002.

[0062] The rotary double-cylinder luffing fixing mechanism 10 achieves luffing motion through two synchronous luffing hydraulic cylinders 1003. Further, the rotary double-cylinder luffing fixing mechanism 10 is driven by a servo motor to move the hydraulic cylinders 1003. A rotary double-arm claw 1002 is installed at the front end of the rotary double-arm claw 1002. Two rubber claw discs 1004 are installed at the front end of the rotary double-arm claw 1002 to prevent damage to the surface of the container's double-pull semi-automatic twist lock during operation. A rotary motor 1006 is installed on the outer side of the circular groove box 1005 at the rear end of the rotary double-arm claw, driving the rotary double-arm claw 1002 to rotate. A vision sensor 1007 is installed in the circular groove box 1005. Based on the different dimensions of the container's double-pull semi-automatic twist lock support 702, the sensor drives the rotary double-arm claw 1002 to rotate to a suitable angle to fix the container's double-pull semi-automatic twist lock support 702.

[0063] The paint film visual inspection system 5 consists of four visual feedback cameras. A lower left visual feedback camera 501 and a lower right visual feedback camera 502 are respectively located at the intersection of the lower cover of the container body with the middle and right fixed plates of the container body. A left rear visual feedback camera 503 and a right rear visual feedback camera 504 are respectively located in the middle of the middle and right fixed plates of the container body. These four visual feedback cameras inspect the paint film on the surface of the container's double-pull semi-automatic twist lock 7 from four directions.

[0064] The dual-pulling gripper collaborative force measuring system 4 includes an active force measuring gripper mechanism 11 and a passive force measuring gripper mechanism 12. Both the active and passive force measuring gripper mechanisms 11 and 12 include a gripper head 1101, a transmission rod 1102, a fixing rod 1103, a double-ear cantilever rod 1104, a combined limiting block 1105, a symmetrical valve-equipped cylinder 1106, and an electrically driven telescopic rod 1107. The active force measuring gripper mechanism 11 also includes a lifting stepper motor 1109 and a lifting electric telescopic rod 1110.

[0065] In the active force-measuring gripper mechanism 11, the double-eared cantilever rod 1104 can move up and down within the intermediate fixed partition limiting groove 408. The lifting stepper motor 1109 drives the lifting electric telescopic rod 1110 as the lifting mechanism of the active force-measuring mechanism 11. The distance between the rod and the passive gripper force-measuring mechanism 12 is adjusted according to the different distances of the double-pull semi-automatic twist lock 7 for different container models. Furthermore, the lifting mechanism ensures precise alignment between the gripper model hole and the double-pull rod head of the container double-pull semi-automatic twist lock by controlling the vertical distance between the two grippers.

[0066] The control center 409 of the dual-pulling gripper collaborative force measurement system receives feedback on the horizontal movement distance of the active force-measuring gripper mechanism 11 and controls the passive force-measuring gripper mechanism 12 to move. The distance that the control center 409 controls the passive force-measuring gripper mechanism 12 to move is opposite in direction to the horizontal movement distance of the active gripper force-measuring mechanism 12, but equal in distance. The active gripper force-measuring mechanism 11 and the passive gripper force-measuring mechanism 12 work together to complete the force measurement work of the container dual-pulling semi-automatic twist lock 7 with double pull rods.

[0067] After the dual-grip collaborative force measurement system 4 completes its inspection, the bionic robotic arm sorting device 2 sorts the container dual-grip semi-automatic twist locks 7 according to the instructions from the control center 409 of the dual-grip collaborative force measurement system. The bionic robotic arm sorting device 2 sorts the container dual-grip semi-automatic twist locks 7 that simultaneously pass the semi-automatic pulse-reflection ultrasonic flaw detector 1, the dual-grip collaborative force measurement system 4, and the paint film visual inspection system 5 into the qualified trolley 13. Further, the container semi-automatic twist locks 7 that fail to pass the dual-grip collaborative force measurement system 4 and the paint film visual inspection system 5 are sorted into the unsuitable trolley 13. The novel ship lashing component twist lock intelligent inspection-sorting system completes the final second step of the sorting process.

[0068] The detection system operates as follows: When the container's double-pull semi-automatic twist lock enters the flat belt conveyor, the pulse-reflection ultrasonic flaw detector probe, driven by an electric telescopic rod within a retractable flexible suction cup sleeve, performs ultrasonic flaw detection using a visual feedback sensor. This detects and judges the presence, size, and location of defects in the container's double-pull semi-automatic twist lock. The bionic robotic arm sorting device controller processes the visual sensor signals and controls the gripping module to grasp the upper and lower locking heads of the container's double-pull semi-automatic twist lock.

[0069] The semi-automatic pulse-echo ultrasonic flaw detector transmits its detection signal to the controller of the bionic robotic arm. When the output signal indicates a defect in the container double-pull semi-automatic twist lock, the bionic robotic arm sorting device transfers the container double-pull semi-automatic twist lock to the defective trolley. When the output signal indicates no defect in the container double-pull semi-automatic twist lock, the bionic robotic arm transfer device transfers the container double-pull semi-automatic twist lock to the container double-pull semi-automatic twist lock limit holder of the trough belt conveyor. The first step of the intelligent sorting process for the container double-pull semi-automatic twist lock is then completed.

[0070] As the trough belt is transferred, the hydraulic cylinder transfer mechanism uses a stepper motor to drive the hydraulic cylinder to synchronously change amplitude. The end mechanical gripper grabs the container on the trough belt with a double-pull semi-automatic torsion lock and transfers it to the limit seat of the double-pull gripper collaborative force measurement system.

[0071] The second step of the intelligent sorting process for container double-pull semi-automatic twist locks begins. The double-pull gripper collaborative force measurement system operates in two stages. Initially, the active force-measuring gripper mechanism has its grippers open. When the upper pull rod of the container double-pull semi-automatic twist lock is pulled, the first stage involves the servo motor driving the electric telescopic rod to retract, and the double-ear cantilever rod to the left. Further, the transmission rod drives the grippers to close, at which point the combined limit block contacts the middle partition. At this point, the force pulling the grippers to close does not reach the rated pressure of the symmetrical valved cylinder, so the symmetrical valved cylinder remains stationary, and the first stage of the movement ends.

[0072] In the second stage of the dual-pulling gripper collaborative force measurement system, the servo motor continues to drive the telescopic rod. At this point, the pressure reaches the rated pressure of the symmetrical valved cylinder, which begins to retract. The double-eared cantilever continues to move to the left, driving the gripper mechanism to move to the left. The active force-measuring gripper mechanism pulls the upper lever of the container's semi-automatic double-pulling torsion lock. When the active force-measuring gripper mechanism controller reaches the rated torque, the servo motor stops working, and the second stage of movement ends. Throughout this process, the passive force-measuring gripper mechanism remains stationary. The second process involves testing the lower lever of the container's semi-automatic double-pulling torsion lock. During this second test, the movements of the active and passive force-measuring gripper mechanisms are reversed compared to the first test. Furthermore, during the force measurement process of the container's semi-automatic double-pulling torsion lock, a four-eye vision camera detects the rotation angles of the front and rear lock heads. The active force-measuring gripper mechanism controller transmits the torque magnitude to the control center, and the four-eye vision camera feeds back the lock head rotation angle information to the control center. The control center compares the torque with the corresponding rotation angle signal and outputs whether it is qualified.

[0073] The bionic robotic arm sorting device sorts containers that simultaneously pass through a semi-automatic pulse-echo ultrasonic flaw detector, a paint film visual inspection system, and a dual-pull gripper collaborative force measurement system into qualified trolleys using a double-pull semi-automatic torsion lock. Containers that pass through the semi-automatic pulse-echo ultrasonic flaw detector but fail to pass through the paint film visual inspection system and the dual-pull gripper collaborative force measurement system are sorted into unsuitable trolleys using a semi-automatic torsion lock. The intelligent inspection and sorting process using the double-pull semi-automatic torsion lock for containers is then complete.

[0074] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A novel intelligent inspection and sorting system for ship lashing twistlocks, characterized in that, include: Support frame, first sorting mechanism and second sorting mechanism; The first sorting mechanism and the second sorting mechanism are both located above the support frame, and the first sorting mechanism and the second sorting mechanism are connected by a transfer system (3). The first sorting mechanism includes a first sorting device, a controller (101) and a flaw detection device. The flaw detection device and the controller (101) are both located below the first sorting device. A defective cart (9) is provided on one side of the support frame below the first sorting mechanism. The second sorting mechanism includes a force measuring system, a second sorting device and a detection system. The force measuring system contains the detection system. The second sorting device is located on one side of the detection system. A qualified trolley (13) is located on one side of the support frame below the second sorting mechanism. The force measuring system adopts a double-pulling gripper cooperative force measuring system (4), including: a lower base plate (401), a fixed plate, a middle partition plate (405), a force measuring gripper mechanism (14), and a rotatable double-cylinder variable amplitude fixing mechanism (10); The fixing plate is disposed above the lower base plate (401), and the fixing plate includes a left fixing plate (402), a middle fixing plate (403) and a right fixing plate (404) arranged in sequence, and a middle partition plate (405) is disposed between the left fixing plate (402) and the middle fixing plate (403). The force-measuring gripper mechanism (14) and the rotatable double-cylinder variable amplitude fixing mechanism (10) are provided between the left fixed plate (402) and the right fixed plate (404). The force-measuring gripper mechanism (14) and the rotatable double-cylinder variable amplitude fixing mechanism (10) are connected by a front-end visual feedback sensor (6). A container semi-automatic double-pull twist lock limiter seat (8) is fixed on the lower base plate (401). The container semi-automatic double-pull twist lock limiter seat (8) is provided with a transition guide surface for stably fixing the semi-automatic double-pull twist lock lock shell support body (702). The middle fixing plate (403) has a slot (408) to provide a vertical sliding track for the force measuring gripper mechanism. The middle partition plate (405) is provided with a main servo motor (406) on both the upper and lower sides. The left fixing plate (402) is provided with a rack slide rail (407) that cooperates with the end rack of the main servo motor (406). The force-measuring gripper mechanism includes an active force-measuring gripper mechanism (11) and a passive force-measuring gripper mechanism (12). Both the active force-measuring gripper mechanism (11) and the passive force-measuring gripper mechanism (12) include a control center (409), a gripper head (1101), a transmission rod (1102), a fixed rod (1103), a double-ear cantilever rod (1104), a combined limit block (1105), a symmetrical valve cylinder (1106), an electric drive telescopic rod (1107), a connecting block (1108), a lifting stepper motor (1109), and a lifting electric telescopic rod (1110). The control center (409) is located behind the main servo motor (406). One end of the combined limiting block (1105) is connected to the main servo motor (406) through the electric drive telescopic rod (1107), and the other end is provided with one end of the double-ear cantilever rod (1104). The symmetrical valve cylinder (1106) is provided below the combined limiting block (1105). The other end of the double-ear cantilever rod (1104) is provided with the gripper head (1101). The gripper head (1101) is provided with a transmission rod (1102) and a fixing rod (1103). The lifting stepper motor (1109) is connected to the output end connecting block (1108) through the lifting electric telescopic rod (1110). The control center (409) controls the passive force-measuring gripper mechanism (12) to move a distance that is opposite in direction to the horizontal movement distance of the active force-measuring gripper mechanism (11) and equal in distance.

2. The novel intelligent inspection and sorting system for ship lashing twistlocks according to claim 1, characterized in that, Both the first sorting device and the second sorting mechanism adopt a bionic robotic arm sorting device (2), including: a bionic robotic arm body (205), a controller (204), a vision sensor (203), a gripping module (202), and a base (201); The base (201) is fixedly mounted above the support frame. A controller (101) is located below the base (201). The bionic robotic arm body (205) is mounted above the base (201). The controller (204) is located on one side of the bottom of the bionic robotic arm body (205). The gripping module (202) is located on one side of the top of the bionic robotic arm body (205). The visual sensor (203) is located inside the gripping module (202).

3. The novel intelligent inspection and sorting system for ship lashing twistlocks according to claim 1, characterized in that, The flaw detection device includes: a semi-automatic pulse reflection ultrasonic flaw detection device (1), a retractable flexible suction cup (102), an electric telescopic rod (103), and a pulse reflection ultrasonic flaw detection probe (104); The semi-automatic pulse reflection ultrasonic flaw detector (1) is located on one side of the base (201) and connected to the controller (101). A front-end visual feedback sensor (6) is provided at the bottom of the semi-automatic pulse reflection ultrasonic flaw detector (1). The pulse reflection ultrasonic flaw detector contact (104) is located on the side of the semi-automatic pulse reflection ultrasonic flaw detector (1). The electric telescopic rod (103) is located on one side of the pulse reflection ultrasonic flaw detector contact (104) and is used to drive the pulse reflection ultrasonic flaw detector contact (104).

4. The novel intelligent inspection and sorting system for ship lashing twistlocks according to claim 1, characterized in that, The transfer system (3) shown includes: a flat belt conveyor (301), a trough belt conveyor (302), a hydraulic cylinder transfer mechanism (303), a drive roller (304), a motor (305), a reducer (306), a segmented groove (308), a stepper motor (309), and an end-effector (310); The flat belt conveyor (301) consists of several drive rollers (304) and belts (307) that are connected to the drive rollers (304). The motor (305) and the reducer (306) are arranged adjacent to each other and are both located on one side of the flat belt conveyor (301). A trough belt conveyor (302) is arranged on the other side of the flat belt conveyor (301). A hydraulic cylinder transfer mechanism (303) is arranged above the trough belt conveyor (302). The hydraulic cylinder transfer mechanism (303) is driven by a stepper motor (309) to drive a double cylinder synchronous amplitude change and is equipped with an end mechanical claw (310) at the end. The belt of the trough belt conveyor (302) is provided with segmented grooves (308). Each groove (308) is equipped with a container double-pull semi-automatic twist lock limit seat (8).

5. A novel intelligent inspection and sorting system for ship lashing twistlocks according to claim 1, characterized in that, The rotary double-cylinder luffing fixing mechanism (10) is located on one side of the right fixing plate (404) and includes: a lower controller (1001), a rotary double-arm claw (1002), a synchronous luffing hydraulic cylinder (1003), a rubber claw disc (1004), a circular groove box (1005), a rotary motor (1006), and a vision sensor (1007); The lower controller (1001) is located at the bottom of one side of the right fixed plate (404). The synchronous luffing hydraulic cylinder (1003) is located above the lower controller (1001) and connected to one side of the right fixed plate (404). The synchronous luffing hydraulic cylinder (1003) is connected to the circular groove box (1005) through a connecting rod. A rotary motor (1006) and a vision sensor (1007) are provided on the outside of the circular groove box (1005). The rotary double-arm claw (1002) is located below the circular groove box (1005) and has two rubber claw discs (1004) at its end.

6. A novel intelligent inspection and sorting system for ship lashing twistlocks according to claim 1, characterized in that, The force measurement system is equipped with a detection system, which adopts a paint film visual inspection system (5), including several visual feedback cameras. The several visual feedback cameras inspect the paint film on the surface of the container double-pull semi-automatic twist lock (7) from four directions. The visual feedback cameras include: a first lower left visual feedback camera (501), a second left rear visual feedback camera (503), a first lower right visual feedback camera (502), and a second right rear visual feedback camera (504). The first lower left visual feedback camera (501) is located at the junction of the middle fixed plate (403) and the lower base plate (401) on one side. The second left rear visual feedback camera (503) is located in the middle of one side of the middle fixed plate (403). The first lower right visual feedback camera (502) is located at the junction of the right fixed plate (404) and the lower base plate (401) on one side. The second right rear visual feedback camera (504) is located in the middle of one side of the right fixed plate (404).

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