Automatic limiting device and limiting method for core shuttle vehicle

Abstract

The present invention provides an automatic limit device for a core shuttle and a limit method thereof, wherein the automatic limit device comprises a positioning mechanism horizontally arranged on the shuttle; the positioning mechanism comprises a driving motor horizontally installed in the shuttle, a rotating disk vertically connected to the output shaft of the driving motor, a connecting rod and a latch shaft and a guide fixing plate symmetrically arranged along the output shaft of the driving motor, and the guide fixing plate is vertically symmetrically installed on the end face of the driving motor; one end of the connecting rod is hinged on the rotating disk, and the other end is hinged on the latch shaft, and the latch shaft is suitable for being sleeved with a self-lubricating copper sleeve, and the outer end of the guide fixing plate is suitable for being supported and connected to the self-lubricating copper sleeve; when the driving motor is working, the rotating disk rotates with a certain amplitude, driving the connecting rod to move, thereby driving the latch shaft to telescope horizontally along the self-lubricating copper sleeve. The present invention enables the shuttle to be firmly fixed at the current position, thereby realizing automatic positioning.

Description

Technical Field

[0001] The present invention relates to the technical field of core shuttle vehicles, and in particular to an automatic limiting device and a limiting method of a core shuttle vehicle. Background Art

[0002] In the storage system on the offshore drilling vessel, the shuttle vehicle is a commonly used tool for transporting goods. It can carry cores in and out of the warehouse, and can also sort and organize the cores.

[0003] The existing shuttle vehicles currently lack an automatic positioning device to fix the shuttle vehicle body after transporting the cores to the shelf. Therefore, during the process of placing or transferring the cores, the shuttle vehicle is prone to shifting, which can cause unstable placement of the cores and lead to safety accidents.

[0004] Secondly, the existing method of adding a shuttle to the shelf is manual operation or with the help of a forklift. Since the shuttle is heavy and when loading plugs into the shuttle, the wheels on both sides need to correspond to the parallel plug loading tracks at the same time, manual operation often requires the cooperation of multiple people, which is time-consuming and labor-intensive. It is difficult to control the alignment of the plug loading tracks with the help of a forklift. These operating methods reduce work efficiency, cannot guarantee operating accuracy, and may cause damage to the shelf or the shuttle if operated improperly.

[0005] Finally, some existing shuttle wheels are gear structures, and the gears and racks on the tracks need to correspond. Therefore, when the plugs are installed into the shuttle, the number of teeth on the parallel sides of the shuttle need to correspond, otherwise the shuttle wheels and the racks on the tracks will be stuck to each other. Summary of the invention

[0006] The purpose of the present invention is to overcome the technical problems in the background technology such as the displacement of the shuttle on the existing offshore drilling and production ship causing unstable core placement and causing safety problems, low operating accuracy and easy structural jamming, so as to provide an automatic limiting device for the core shuttle and a limiting method thereof.

[0007] To solve the above problems, the first object of the present invention is to provide an automatic limiting device for a core shuttle, which is used on a shelf on an offshore drilling vessel, and includes a positioning mechanism horizontally arranged on the shuttle;

[0008] The positioning mechanism includes a driving motor horizontally mounted in the shuttle, a rotating disk vertically connected to the output shaft of the driving motor, a connecting rod and a latch shaft and a guide fixing plate symmetrically arranged along the output shaft of the driving motor, and the guide fixing plate is vertically symmetrically mounted on the end surface of the driving motor;

[0009] One end of the connecting rod is hinged on the rotating disk, and the other end is hinged on the latch shaft, and the latch shaft is suitable for being sleeved with a self-lubricating copper sleeve, and the outer end of the guide fixing plate is suitable for being supported and connected to the self-lubricating copper sleeve;

[0010] When the driving motor is working, the rotating disk rotates with a certain amplitude, driving the connecting rod to move, thereby driving the latch shaft to move horizontally along the self-lubricating copper sleeve.

[0011] Optionally, the shelf includes a plurality of columns for forming a square frame and a plurality of beams evenly spaced vertically and horizontally connected to the columns, a stock storage location is formed between every two beams, and the beams are connected to the columns by bolts.

[0012] Optionally, it further includes a limiting track provided on the shelf, and the limiting track includes:

[0013] A track bottom plate, horizontally and symmetrically connected to the crossbeam;

[0014] A track side plate, vertically connected to the track bottom plate;

[0015] A track beam, adapted to be connected to the track bottom plate and the track side plate;

[0016] The width of the shuttle is equal to the distance between the two track side plates.

[0017] Optionally, a latch hole and a limit groove are provided on the track side plate, the latch hole is suitable for passing the latch shaft of the positioning mechanism when the shuttle is in a locked state, and the limit groove is provided on the upper surface of the track side plate to be suitable for placing the core support plate.

[0018] Optionally, the shuttle vehicle comprises:

[0019] a vehicle body frame having a first side and a second side disposed adjacently;

[0020] A longitudinal driving wheel set, the longitudinal driving wheel set is arranged on the first side of the vehicle body frame to drive the vehicle body frame to move longitudinally;

[0021] a transverse guide wheel set, the transverse guide wheel set being movably disposed on the second side of the vehicle frame to drive the vehicle frame to move transversely; and

[0022] A walking mechanism, arranged at one side of the vehicle body frame, suitable for driving the longitudinal driving wheel set to move;

[0023] The lifting mechanism is arranged at the other side of the vehicle body frame to drive the lateral guide wheel group to move.

[0024] Optionally, the lifting mechanism comprises:

[0025] A lifting actuator is connected to the lateral guide wheel assembly to drive the lateral guide wheel assembly to rise or fall;

[0026] A driving device, the driving device being arranged on the vehicle body frame;

[0027] A screw-nut assembly, the screw-nut assembly being drivingly connected to the driving device; and

[0028] The connecting rod assembly, the screw nut assembly is hinged to one end of the connecting rod assembly and drives one end of the connecting rod assembly to move horizontally; the jacking actuator assembly is hinged to the other end of the connecting rod assembly to drive the jacking actuator assembly to rise or fall.

[0029] Optionally, the shuttle vehicle further includes a battery, a charging port and a controller, the battery is arranged in the vehicle body frame, the charging port is arranged on one side of the vehicle body frame, and the controller is suitable for being electrically connected to the battery, the charging port, the walking mechanism, the lifting mechanism, the driving motor and the sensor respectively.

[0030] Optionally, it also includes a code scanning device arranged on the side of the shuttle vehicle and a QR code label arranged on the track side plate, the code scanning device is located on the side close to the track side plate, and the QR code label is located on the side close to the shuttle vehicle. When the shuttle vehicle approaches the inventory location of the shelf, the code scanning device is suitable for scanning and reading the QR code label information to control the movement of the shuttle vehicle.

[0031] Optionally, the latch shaft and the side of the connecting rod that are close to each other are hinged via a connecting pin.

[0032] The second object of the present invention is to provide an automatic limiting method for a core shuttle vehicle. Based on the automatic limiting device for the core shuttle vehicle described above, the automatic limiting method comprises the following steps:

[0033] Step S 100 :When the offshore drilling ship warns of large-angle roll or pitch, the shuttle vehicle receives the warning signal and enters the locked state in advance.

[0034] Step S 200 : Control the shuttle vehicle carrying the core tray to travel to the storage location at a first speed;

[0035] Step S 300 : The shuttle automatically reaches the nearest storage location. When the shuttle approaches the storage location, the code scanning device on the shuttle scans the QR code label to slow down. When arriving at the storage location, the code scanning device on the shuttle scans the QR code label;

[0036] Step S 400 : The shuttle vehicle automatically reaches the nearest storage location. When the shuttle vehicle approaches the storage location, the scanning device on the shuttle vehicle scans the QR code label and runs at a second speed at a reduced speed;

[0037] Step S 500 : When arriving at the storage location, the shuttle vehicle stops after scanning the QR code label through the code scanning device on the shuttle vehicle;

[0038] Step S 600 :The positioning mechanism on the shuttle works, and the latch shaft automatically extends out and inserts into the latch hole for limiting.

[0039] Optionally, the second speed is less than the first speed.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] 1. The automatic limit device of the core shuttle in the present invention is used on an offshore drilling vessel. The automatic limit device includes a positioning mechanism, which is horizontally arranged on the shuttle and can position the shuttle according to actual needs. The positioning mechanism includes a driving motor, a rotating disk, a connecting rod, a latch shaft and a guide fixing plate, wherein the guide fixing plate is vertically and symmetrically installed on the end surface of the driving motor to provide installation support for other components. One end of the connecting rod is hinged on the rotating disk, and the other end is hinged on the latch shaft, and a self-lubricating copper sleeve is sleeved on the latch shaft, and the outer end support of the guide fixing plate is connected to the self-lubricating copper sleeve, so that when the driving motor is working, the rotating disk rotates with a certain amplitude, which will drive the connecting rod to move, thereby driving the latch shaft to move horizontally along the self-lubricating copper sleeve, and when the latch shaft extends to both sides of the core shuttle and is inserted into the latch hole of the limiting track, the shuttle is positioned.

[0042] 2. The automatic limit operation method greatly improves the work efficiency, ensures the operation accuracy, and will not cause damage to the shelf or shuttle. Through the setting of the limit track, the shuttle wheel and the rack on the track will not be stuck to each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a structural schematic diagram of the positioning mechanism in the automatic limiting device of the core shuttle vehicle in the embodiment of the present invention;

[0044] Figure 2 It is a structural schematic diagram of a positioning mechanism in an automatic limiting device of a core shuttle in an embodiment of the present invention, which is assembled inside the core shuttle and is in a locked state;

[0045] Figure 3It is a schematic diagram of the main structure of the positioning mechanism in the automatic limiting device of the core shuttle in the embodiment of the present invention, which is assembled inside the core shuttle and is in a locked state;

[0046] Figure 4 It is a side view structural schematic diagram of a positioning mechanism in an automatic limit device of a core shuttle in an embodiment of the present invention, which is assembled inside the core shuttle and is in a locked state;

[0047] Figure 5 It is a schematic diagram of the main structure of the core shuttle vehicle limited in the automatic limiting device in an embodiment of the present invention;

[0048] Figure 6 It is a side view structural schematic diagram of the core shuttle vehicle limited in the automatic limiting device in an embodiment of the present invention;

[0049] Figure 7 It is a structural schematic diagram of a positioning mechanism in an automatic limit device of a core shuttle in an embodiment of the present invention, which is assembled inside the core shuttle and is in a running state;

[0050] Figure 8 It is a schematic diagram of the main structure of the positioning mechanism in the automatic limit device of the core shuttle in the embodiment of the present invention, which is assembled inside the core shuttle and is in a running state;

[0051] Fig. 9 It is a side view structural schematic diagram of a positioning mechanism in an automatic limit device of a core shuttle vehicle in an embodiment of the present invention, which is assembled inside the core shuttle vehicle and is in a running state;

[0052] Fig.10 Schematic diagram of the internal structure of the core shuttle in the embodiment of the present invention;

[0053] Fig.11 It is a schematic flow chart of the automatic limiting method of the core shuttle in the embodiment of the present invention.

[0054] Description of reference numerals:

[0055] 1- Positioning mechanism;

[0056] 11-driving motor; 12-rotating disk; 13-connecting rod; 14-guide fixing plate; 15-self-lubricating copper sleeve; 16-latch shaft; 17-sensor; 18-connecting pin;

[0057] 2-limiting track;

[0058] 21-track bottom plate; 22-track side plate; 221-pin hole; 222-limiting groove; 23-track beam;

[0059] 3- Shuttle;

[0060] 31-body frame; 32-travel mechanism; 33-lifting mechanism; 34-battery; 35-charging port; 36-controller; 37-lateral guide wheel set; 38-longitudinal drive wheel set;

[0061] 4- Shelves;

[0062] 41- beam; 42- column;

[0063] 5-code scanning device; 6-QR code label; 7-core support plate. DETAILED DESCRIPTION

[0064] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0065] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components, it can be a wireless connection, or it can be a wired connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In a fuel cell, hydrogen, air and liquid are three media that are transported independently of each other, which is known to ordinary technicians in this field.

[0066] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0067] In the storage system of offshore drilling vessels, shuttles are a common tool for transporting cores, which can carry cores in and out of the warehouse, and can also sort and organize goods. The existing core shuttles lack automatic positioning devices to fix the shuttles after transporting the goods to the storage location of the shelf. Therefore, during the placement or transfer of cores, the shuttles are prone to displacement, which can cause unstable placement of cores and safety accidents.

[0068] To solve the above technical problems, please refer to Figure 1-10As shown, an embodiment of the present invention provides an automatic limiting device for a core shuttle, which is particularly suitable for use on a shelf 4 of an offshore drilling vessel. The automatic limiting device includes a positioning mechanism 1, and the positioning mechanism 1 can be horizontally and laterally arranged on the shuttle 3. When the shuttle 3 needs to be limited and fixed, the positioning mechanism 1 is telescopically moved to realize the positioning of the shuttle 3 on the shelf 4.

[0069] See also Figure 1 As shown, specifically in this embodiment, the positioning mechanism 1 includes a driving motor 11, a rotating disk 12, a connecting rod 13, a guide fixing plate 14 and a latch shaft 16, wherein:

[0070] The drive motor 11 is horizontally installed in the shuttle 3 to provide driving power to the positioning mechanism 1. The rotating disk 12 is vertically connected to the output shaft of the drive motor 11. When the output shaft of the drive motor 11 rotates at a certain amplitude, the rotating disk 12 is driven to swing within a certain amplitude. Preferably, the rotating disk 12 in this embodiment is set as a disc structure to facilitate manufacturing and installation. In some other embodiments, the rotating disk 12 can also be set as an elliptical cam structure, etc. This embodiment does not impose any restrictions on the shape of the rotating disk 12.

[0071] The guide fixing plate 14 is a U-shaped frame structure, which is vertically and symmetrically installed on the end surface of the driving motor 11 and provides installation support for other components of the positioning mechanism 1.

[0072] The connecting rod 13 and the latch shaft 16 are symmetrically arranged on both sides of the output shaft of the driving motor 11, wherein one end of the connecting rod 13 is hinged on the rotating disk 12, and the other end is hinged on the latch shaft 16, and the latch shaft 16 is also suitable for being sleeved with a self-lubricating copper sleeve 15, through the self-lubricating copper sleeve 15, the connecting rod 13 and the latch shaft 16 are suitable for being supported and connected to the outer end of the guide fixing plate 14.

[0073] When the driving motor 11 is working, it will drive the rotating disk 12 to rotate with a certain amplitude, thereby driving the connecting rod 13 to move, and the connecting rod 13 will pull the latch shaft 16 to slide in the self-lubricating copper sleeve 15, thereby driving the latch shaft 16 to move horizontally along the self-lubricating copper sleeve 15.

[0074] Therefore, a flexible, maneuverable, safe and efficient shuttle vehicle 3 is introduced into the ocean drilling ship for logistics operations. Combined with complex sea conditions that may cause the ocean drilling ship to experience large-angle roll and pitch, the stability, balance and control accuracy of the ship-borne automated shuttle vehicle are optimized, and a positioning mechanism 1 is added to ensure that the equipment meets the safety requirements under use.

[0075] Specifically, see Figure 5 , 6As shown, in the embodiment of the present invention, the shelf 4 includes columns 42 and beams 41, and multiple columns 42 form a directional frame structure. Multiple beams 41 are provided, and are evenly spaced up and down and horizontally connected to the columns 42. A stock storage location is formed between every two beams 41, and both ends of the beam 41 are connected to the columns 42 by bolts.

[0076] It should be specially explained here that the shelf 4 is used on an offshore drilling vessel. To ensure stable installation of the shelf 4 , the bottom of the shelf 4 is fixed to the bottom plate of the hull by connecting fixings.

[0077] In addition, the shelf 4 is also used to store items such as cores, and can be provided with a plurality of storage locations, which is convenient and practical.

[0078] Specifically, see Figure 5 As shown, in the embodiment of the present invention, the automatic limit device further includes a limit track 2, the limit track 2 is arranged on the shelf 4, and the limit track 2 also includes a track bottom plate 21, a track side plate 22 and a track beam 23, wherein:

[0079] The track bottom plate 21 is horizontally connected to the cross beam 41 , the track side plate 22 is vertically connected to the track bottom plate 21 , and the track beam 23 is suitable for connecting to the track bottom plate 21 and the track side plate 22 .

[0080] Therefore, the top of the shelf 4 is provided with fixed holes to cooperate with the positioning mechanism 1 of the shuttle vehicle 3 , and by providing a limiting track 2 on the shelf 4 , the shuttle vehicle 3 can slide on the limiting track 2 .

[0081] The shuttle vehicle 3 has a uniquely designed positioning mechanism 1, which satisfies the need for timely fixation of the ocean drilling vessel in the event of large-angle roll or pitch in complex sea conditions, thereby ensuring the safety of the equipment.

[0082] Specifically, see Figure 6 As shown, in the embodiment of the present invention, a latch hole 221 and a limit groove 222 are provided on the rail side plate 22, and the latch hole 221 is suitable for passing the latch shaft 16 of the positioning mechanism 1 when the shuttle vehicle 3 is in a locked state, that is, the latch hole 221 is horizontally provided in the middle position of the rail side plate 22, and when the shuttle vehicle 3 moves into place at the storage position of the shelf 4, the latch shaft 16 is suitable for being inserted into the latch hole 221, thereby realizing the fixed positioning of the shuttle vehicle 3.

[0083] The limiting groove 222 is provided on the upper surface of the track side plate 22 to be suitable for placing the core supporting plate 7 , so that the core supporting plate 7 is clamped on the track side plate 22 .

[0084] Specifically, see Figure 2 , 3As shown in FIG. 4 , in the embodiment of the present invention, the shuttle vehicle 3 includes a vehicle frame 31, a longitudinal driving wheel set 38, a transverse guide wheel set 37, a walking mechanism 32 and a lifting mechanism 33, wherein:

[0085] The vehicle body frame 31 has a first side and a second side which are adjacently arranged; the longitudinal driving wheel group 38 is arranged on the first side of the vehicle body frame 31 to drive the vehicle body frame 31 to move longitudinally; the transverse guide wheel group 37 is movably arranged on the second side of the vehicle body frame 31 to drive the vehicle body frame 31 to move transversely; the walking mechanism 32 is arranged on one side of the vehicle body frame 31 to drive the longitudinal driving wheel group 38 to move; the lifting mechanism 33 is arranged on the other side of the vehicle body frame 31 to drive the transverse guide wheel group 37 to move.

[0086] Specifically, see Fig.10 As shown, in the embodiment of the present invention, the lifting mechanism 33 includes a lifting actuator assembly, a driving device, a screw nut assembly and a connecting rod assembly, wherein:

[0087] The lifting actuator is connected to the lateral guide wheel set 37 to drive the lateral guide wheel set 37 to rise or fall; the driving device is arranged on the vehicle body frame 31;

[0088] A screw-nut assembly, the screw-nut assembly being drivingly connected to the driving device; and

[0089] The connecting rod assembly, the screw nut assembly is hinged to one end of the connecting rod assembly and drives one end of the connecting rod assembly to move horizontally; the jacking actuator assembly is hinged to the other end of the connecting rod assembly to drive the jacking actuator assembly to rise or fall.

[0090] Specifically, see Fig.10 As shown, in an embodiment of the present invention, the shuttle vehicle 3 also includes a battery 34, a charging port 35 and a controller 36. The battery 34 is arranged in the vehicle body frame 31, the charging port 35 is arranged on one side of the vehicle body frame 31, and the controller 36 is suitable for being electrically connected to the battery 34, the charging port 35, the walking mechanism 32, the lifting mechanism 33, the driving motor 11 and the sensor 17 respectively.

[0091] Specifically, see Figure 6 As shown, in an embodiment of the present invention, the automatic limit device also includes a code scanning device 5 arranged on the side of the shuttle vehicle 3 and a QR code label 6 arranged on the track side plate 22. The code scanning device 5 is located on the side close to the track side plate 22, and the QR code label 6 is located on the side close to the shuttle vehicle 3. When the shuttle vehicle 3 is close to the inventory location of the shelf 4, the code scanning device 5 is suitable for scanning and reading the information of the QR code label 6 to control the movement of the shuttle vehicle 3.

[0092] Therefore, when the offshore drilling ship is warned of large-angle roll or pitch, the shuttle vehicle needs to enter the fixed state in advance. At this time, the locked state of the shuttle vehicle 3 is as follows: Figure 2 , 3 As shown in , 4, in this process, after the shuttle 3 receives the warning signal, the shuttle 3 will automatically reach the nearest storage location. When the shuttle 3 approaches the storage location, the code scanning device 5 on the shuttle 3 scans (decelerates) the two-dimensional code label 6 to decelerate, and when it reaches the storage location, the code scanning device 5 on the shuttle 3 scans (stops) the two-dimensional code label 6 to stop. After stopping, the positioning mechanism 1 on the shuttle 3 works, and the latch shaft 16 automatically extends and is inserted into the latch hole 221 for limiting.

[0093] Specifically, see Figure 1 As shown, in the embodiment of the present invention, the latch shaft 16 and the side of the connecting rod 13 that are close to each other are hinged by a connecting pin 18.

[0094] See also Fig.11 As shown, an embodiment of the present invention further provides an automatic position limiting method for a core shuttle vehicle. Based on the automatic position limiting device for the core shuttle vehicle described above, the automatic position limiting method comprises the following steps:

[0095] Step S 100 : When the offshore drilling ship warns of large-angle roll or pitch, the shuttle vehicle 3 receives the warning signal and enters the locking state in advance;

[0096] Step S 200 : Control the shuttle vehicle 3 carrying the core tray to travel to the storage location at a first speed;

[0097] Step S 300 : The shuttle vehicle 3 automatically reaches the nearest storage location. When the shuttle vehicle 3 approaches the storage location, the code scanning device 5 on the shuttle vehicle 3 scans the QR code label 6 to slow down. When the shuttle vehicle 3 reaches the storage location, the code scanning device 5 on the shuttle vehicle 3 scans the QR code label;

[0098] Step S 400 : The shuttle vehicle 3 automatically reaches the nearest storage location. When the shuttle vehicle 3 approaches the storage location, the code scanning device 5 on the shuttle vehicle 3 scans the QR code label 6 and runs at a second speed at a reduced speed;

[0099] Step S 500 : When arriving at the storage location, the shuttle vehicle 3 stops after scanning the QR code label 6 through the code scanning device 5;

[0100] Step S 600 : The positioning mechanism 1 on the shuttle 3 works, and the latch shaft 16 automatically extends out and is inserted into the latch hole 221 for limiting.

[0101] Furthermore, the second speed is lower than the first speed.

[0102] Working process: Using the automatic limit device of the core shuttle vehicle, the entire equipment operation process includes the following steps:

[0103] 1. Fixed process:

[0104] See also Figure 2 , 3 As shown in 4, when the hull warns of large-angle roll or pitch, the shuttle 3 receives a fixed signal requiring automatic positioning; the shuttle 3 automatically reaches the nearest storage location; the latch shaft 16 of the positioning mechanism 1 extends, and the latch shaft 16 is inserted into the fixed hole of the shelf 4, thereby completing the fastening.

[0105] 2. Unfastening process:

[0106] See also Figure 7 , 8 As shown in FIG. 9 , when the offshore drilling vessel is stable, the shuttle vehicle 3 receives a signal to release the automatic fastening, the positioning mechanism 1 of the shuttle vehicle 3 is actuated, the latch shaft 16 is retracted from the fixed hole position of the shelf 4, and the task is continued according to the automatic storage management.

[0107] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. An automatic limiting method for a core shuttle vehicle, based on an automatic limiting device on a shelf (4) used for an offshore drilling vessel, characterized in that: The automatic limit device comprises a positioning mechanism (1) horizontally arranged on the shuttle vehicle (3) and a limit track (2) arranged on the shelf (4); The positioning mechanism (1) comprises a driving motor (11) horizontally mounted in the shuttle vehicle (3), a rotating disk (12) vertically connected to the output shaft of the driving motor (11), a connecting rod (13) and a latch shaft (16) and a guide fixing plate (14) symmetrically arranged along the output shaft of the driving motor (11), and the guide fixing plate (14) is vertically symmetrically mounted on the upper end surface of the driving motor (11); One end of the connecting rod (13) is hinged on the rotating disk (12), and the other end is hinged on the latch shaft (16), and the latch shaft (16) is suitable for being sleeved with a self-lubricating copper sleeve (15), and the outer end of the guide fixing plate (14) is suitable for being supported and connected to the self-lubricating copper sleeve (15); When the driving motor (11) is working, the rotating disk (12) rotates with a certain amplitude, driving the connecting rod (13) to move, thereby driving the latch shaft (16) to move horizontally along the self-lubricating copper sleeve (15); The shelf (4) comprises a plurality of upright posts (42) for forming a square frame and a plurality of crossbeams (41) evenly spaced vertically and horizontally connected to the upright posts (42), wherein a stock storage location is formed between every two crossbeams (41), and the crossbeams (41) are connected to the upright posts (42) by bolts; The limiting track (2) comprises a track bottom plate (21), a track side plate (22) and a track beam (23); the track bottom plate (21) is horizontally symmetrically connected to the cross beam (41); the track side plate (22) is vertically connected to the track bottom plate (21); the track beam (23) is suitable for connecting to the track bottom plate (21) and the track side plate (22); the width of the shuttle vehicle (3) is equal to the distance between the two track side plates (22); The track side plate (22) is provided with a latch hole (221) and a limit groove (222), wherein the latch hole (221) is suitable for passing a latch shaft (16) of the positioning mechanism (1) when the shuttle vehicle (3) is in a locked state, and the limit groove (222) is provided on the upper surface of the track side plate (22) to be suitable for placing a core support plate (7); It also includes a code scanning device (5) arranged on the side of the shuttle vehicle (3) and a two-dimensional code label (6) arranged on the track side plate (22), wherein the code scanning device (5) is located on a side close to the track side plate (22), and the two-dimensional code label (6) is located on a side close to the shuttle vehicle (3). When the shuttle vehicle (3) approaches the inventory location of the shelf (4), the code scanning device (5) is suitable for scanning and reading the information on the two-dimensional code label (6) to control the movement of the shuttle vehicle (3); The limiting method of the automatic limiting device comprises the steps of: Step S 100 : When the offshore drilling ship warns of large-angle roll or pitch, the shuttle vehicle (3) receives the warning signal and enters the locked state in advance. Step S 200 : Controlling the shuttle vehicle (3) carrying the core tray to move toward the storage location at a first speed; Step S 300 : The shuttle vehicle (3) automatically reaches the nearest storage location. When the shuttle vehicle (3) approaches the storage location, the code scanning device (5) on the shuttle vehicle (3) scans the two-dimensional code label (6) to slow down. When the shuttle vehicle (3) reaches the storage location, the code scanning device (5) on the shuttle vehicle (3) scans the two-dimensional code label; Step S 400 : The shuttle vehicle (3) automatically reaches the nearest storage location. When the shuttle vehicle (3) approaches the storage location, the code scanning device (5) on the shuttle vehicle (3) scans the QR code label (6) and decelerates to run at a second speed, wherein the second speed is less than the first speed; Step S 500 : When arriving at the storage location, the shuttle vehicle (3) stops after scanning the QR code label (6) through the code scanning device (5) on the shuttle vehicle (3); Step S 600 : The positioning mechanism (1) on the shuttle vehicle (3) works, and the latch shaft (16) automatically extends out and inserts into the latch hole (221) for limiting.

2. The automatic limiting method of the core shuttle vehicle according to claim 1 is characterized in that: The shuttle vehicle (3) comprises: A vehicle body frame (31), the vehicle body frame (31) having a first side and a second side arranged adjacent to each other; A longitudinal driving wheel set (38), the longitudinal driving wheel set (38) being arranged on a first side of the vehicle body frame (31) to drive the vehicle body frame (31) to move longitudinally; A transverse guide wheel set (37), the transverse guide wheel set (37) being movably disposed on the second side of the vehicle body frame (31) to drive the vehicle body frame (31) to move transversely; and A walking mechanism (32) is arranged on one side of the vehicle body frame (31) and is suitable for driving the longitudinal driving wheel set (38) to move; The lifting mechanism (33) is arranged on the other side of the vehicle body frame (31) and is suitable for driving the lateral guide wheel group (37) to move.

3. The automatic limiting method of the core shuttle vehicle according to claim 2 is characterized in that: The lifting mechanism (33) comprises: A lifting actuator component connected to the lateral guide wheel assembly (37) to drive the lateral guide wheel assembly (37) to rise or fall; A driving device, the driving device being arranged on the vehicle body frame (31); A screw-nut assembly, the screw-nut assembly being drivingly connected to the driving device; and The connecting rod assembly, the screw nut assembly is hinged to one end of the connecting rod assembly and drives one end of the connecting rod assembly to move horizontally; the jacking actuator assembly is hinged to the other end of the connecting rod assembly to drive the jacking actuator assembly to rise or fall.

4. The automatic limiting method of the core shuttle vehicle according to claim 3 is characterized in that: The shuttle vehicle (3) further comprises a battery (34), a charging port (35) and a controller (36); the battery (34) is arranged in the vehicle frame (31); the charging port (35) is arranged on one side of the vehicle frame (31); and the controller (36) is respectively adapted to be electrically connected to the battery (34), the charging port (35), the walking mechanism (32), the lifting mechanism (33), the driving motor (11) and the sensor (17).

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