Container lockpin dismounting and mounting system and operation method thereof

Abstract

The invention discloses a container lock pin dismounting and mounting system, which comprises a dismounting and mounting device, which navigates and walks on a wharf surface and automatically arrives at a target position to complete the dismounting and mounting operation of a lock pin; and the sorting device is arranged on a wharf surface on one side of the quay crane and is connected with a maintenance power supply of the quay crane. The invention further discloses an operation method of the container lock pin dismounting and mounting system. Automation can be achieved, and the method can be generally suitable for the current wharf operation mode.

Description

Technical Field

[0001] The invention relates to an automatic lashing technology in a container transportation process, and more specifically to a container lock pin disassembly and assembly system and an operation method thereof. Background Art

[0002] Container transportation is currently a widely used mode of transportation because of its safety, reliability and low cost. In order to prevent the container from slipping and overturning during transportation, the containers are currently tied and fixed with twistlocks. However, the existence of twistlocks brings considerable difficulties to the loading and unloading of containers: each time the container is unloaded, the twistlock must be unlocked first, and the container is lifted to the ground or an appropriate position and then the twistlock is removed manually (the twistlock is pressed between the two containers, and the unlocking link is only to release the connection between the upper and lower containers so that they can be separated, but the twistlock cannot be removed); when loading, the twistlock is manually installed on the container, and when the container is placed on the ship, the upper and lower containers are connected as one.

[0003] At present, the three steps of unlocking, removing the lock, and installing the lock are completely completed manually, which not only consumes a lot of manpower costs, but also puts the health and life of workers at risk, and hinders the development of automation. With the development of automation, various automated lock removal systems have emerged. This system mainly relies on industrial robots, fixtures, and vision to complete the disassembly, and relies on the conveying system to process the lock pin. The entire system is arranged in a space similar to that of a 45-foot container. This automated lock removal system is too large and needs to occupy several lanes of the terminal. It is not compatible with the current terminal's operating process, and it takes a long time to locate and debug each time it is transferred before it can resume normal operation. Summary of the invention

[0004] In view of the defects existing in the prior art, the purpose of the present invention is to provide a container lock pin disassembly and assembly system and an operation method thereof, which can be automated and generally adapted to the current terminal operation mode.

[0005] To achieve the above object, the present invention adopts the following technical solution:

[0006] A first aspect of the present invention provides a container lock pin disassembly and assembly system, comprising:

[0007] The disassembly and assembly device navigates on the dock surface and automatically reaches the target position to complete the disassembly and assembly of the lock pin;

[0008] The sorting device is arranged on the dock surface at one side of the quay crane and is connected to the maintenance power supply of the quay crane.

[0009] Preferably, the disassembly and assembly device comprises a guide trolley and a robot, a robot control cabinet, a fixture frame and a locking pin plate arranged on the guide trolley;

[0010] The guide vehicle is equipped with a navigation system and a visual system;

[0011] A clamp is provided on the front end of the robot;

[0012] An energy pack and an energy management system are provided below the locking pin disk.

[0013] Preferably, the sorting device comprises a mounting base and a sorting robot, a robot control cabinet, an identification system, a locking pin disk and a charging device arranged on the mounting base;

[0014] A sorting fixture is provided on the front end of the sorting robot;

[0015] The identification system is mounted above the sorting robot;

[0016] The charging device is arranged below the locking pin disk.

[0017] Preferably, a locking pin frame is also placed on the mounting base.

[0018] The second aspect of the present invention provides an operation method of the container lock pin disassembly and assembly system provided by the first aspect of the present invention, including unloading operations and loading operations.

[0019] Preferably, the ship unloading operation specifically includes the following steps:

[0020] S1, according to the operation arrangement of the terminal, the sorting device is placed next to the large vehicle on the quay crane, and the disassembly and assembly device is placed near the sorting device;

[0021] S2: According to the operation instruction, the container truck drives into the corresponding lane and stops at the corresponding parking position to wait for the container;

[0022] S3, the disassembly and assembly device drives to the target position according to the guidance of the navigation system and waits for orders;

[0023] S4, the quay crane unloads the container from the container ship to the container truck;

[0024] S5, the visual system verifies whether there is a lock pin on the container that needs to be removed, if yes, execute step S6; if no, execute step S7;

[0025] S6, the disassembly device disassembles the lock pin;

[0026] S7, the container truck carries the container to the destination and repeats the next cycle.

[0027] Preferably, when verifying whether there is a lock pin on the container, the visual system also confirms the type of the lock pin, detects the exact position and posture of the lock pin, and provides corresponding position and posture signals to the robot;

[0028] After the robot has completed disassembly, the visual system needs to verify again whether there is a lock pin on the container.

[0029] Preferably, the robot places the disassembled locking pin on the locking pin disk, and when the operation is idle, moves the locking pin in the locking pin disk to the locking pin frame on the sorting device.

[0030] Preferably, the loading operation specifically includes the following steps:

[0031] 1) According to the operation arrangement of the terminal, the sorting device is placed next to the large vehicle on the quay crane, and the disassembly and assembly device is placed near the sorting device;

[0032] 2) placing the lock pin frame on the sorting device, and according to the operation instruction, the sorting robot grabs the required lock pins from the lock pin frame and places them on the lock pin disk;

[0033] 3) the disassembling and assembling device grabs the lock pin from the lock pin disk of the sorting device and places it in the lock pin disk of the disassembling and assembling device;

[0034] 4) According to the operation instructions, the truck carries the container into the corresponding lane;

[0035] 5) The disassembly and assembly device moves to the target position according to the guidance of the navigation system, the visual system detects the target installation position on the container and provides a corresponding signal to the robot, the robot completes the installation of the lock pin according to the corresponding signal, and after the installation is completed, the visual system performs a second confirmation;

[0036] 6) The container is lifted onto the container ship by the quay crane, and the container truck departs, repeating the next cycle.

[0037] The container lock pin disassembly and assembly system and operation method provided by the present invention can realize automation and be generally adapted to the current terminal operation mode. It can also realize automatic lashing during the transportation of containers to ensure transportation safety, and automatic untying during hoisting, which is convenient for loading and unloading, saves labor, and greatly improves efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the layout of the container lock pin disassembly and assembly system of the present invention;

[0039] Figure 21 is a schematic diagram of the structure of the disassembly and assembly device in the container lock pin disassembly and assembly system of the present invention, (a) is a front view, (b) is a side view, (c) is a top view, and (d) is an axial view;

[0040] Figure 3 Schematic diagram of the structure of the sorting device in the container lock pin disassembly and assembly system of the present invention, (a) is a front view, (b) is a side view, (c) is a top view, and (d) is an axial view;

[0041] Figure 4 It is a schematic diagram of the process of unloading ship operation in the operation method of the present invention;

[0042] Figure 5 It is a schematic diagram of the process of the ship loading operation in the operation method of the present invention. DETAILED DESCRIPTION

[0043] In order to better understand the above technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0044] Combination Figure 1 As shown, the present invention provides a container lock pin disassembly and assembly system, comprising:

[0045] The disassembly and assembly device 1 navigates on the dock surface and automatically reaches the target position to complete the disassembly and assembly of the lock pin;

[0046] The sorting device 2 is arranged on the dock surface on one side of the trolley of the quay crane 3, or is fixed on the quay crane 3 through a fixed shelf, becoming a part of the quay crane 3 and can move with the quay crane 3. The sorting device 2 is connected to the maintenance power supply of the quay crane 3, and at the same time replenishes materials for the disassembly and assembly device 1 and provides energy supply for the disassembly and assembly device 1.

[0047] Combination Figure 2 As shown, the disassembly and assembly device 1 includes a guide trolley 101 and a robot 102 installed on the guide trolley 101 , a robot control cabinet 103 , a fixture frame 104 and a locking pin disk 105 .

[0048] The guide vehicle 101 is used as the "foot" of the disassembling and assembling device 1 and can move freely on the dock surface and move to the vicinity of the target object according to the navigation signal. The guide vehicle 1 is equipped with a navigation system 106 and a visual system 107 .

[0049] The navigation system 106 serves as the "first eyes" of the disassembly and assembly device 1, providing walking instructions for the guide vehicle 101 and guiding the guide vehicle 101 to the vicinity of the target area.

[0050] The visual system 107 serves as the "second eye" of the disassembly and assembly device 1 to achieve accurate positioning and type recognition of the target object.

[0051] Precise positioning is to guide the robot 102 to adjust its posture and capture the target object (locking pin).

[0052] Type identification is to guide the robot 102 to switch the corresponding fixture 108 according to the type of the locking pin, or to select an action combination of the fixture 108 without switching the fixture 108 .

[0053] The robot 102 serves as the "arm" of the disassembly and assembly device 1. During the operation, the robot 102 adjusts the posture of the clamp 108 according to the position of the target object to achieve position matching between the clamp 108 and the target object, and finally completes the automatic disassembly and installation of the lock pin.

[0054] The clamp 108 is arranged on the front end of the robot 102. The clamp 108 serves as the "fingers" of the disassembly and assembly device 1 and is an execution device for the disassembly and assembly device 1 to disassemble and install the lock pin.

[0055] The fixture rack 104 is responsible for storing the currently idle fixtures 108. When the visual system 107 detects that the type of the locking pin does not match the current fixture 108, the robot 102 places the current fixture 108 on the fixture rack 104 and removes the required fixture 108 from the fixture rack 104 to realize automatic switching of the fixture 108.

[0056] During the disassembly process, the lock pin tray 105 is responsible for storing the lock pins removed by the robot 102; during the installation process, the sorting device 2 places the sorted lock pins neatly and orderly on the lock pin tray 105 so that the robot 102 can grab them.

[0057] An energy pack and energy management system 109 are arranged below the locking pin disk 105. The energy pack and energy management system 109 are responsible for providing a power source to the entire disassembly and assembly device 1, which is usually a battery (a small diesel generator set can also be selected). A charging socket is arranged on the sorting device 2, which can automatically charge when the power is insufficient or between work breaks.

[0058] Combination Figure 3 As shown, the sorting device 2 includes a mounting base 201 and a sorting robot 202 mounted on the mounting base 201 , a robot control cabinet 203 , an identification system 204 , a locking disk 205 and a charging device 206 .

[0059] The mounting base 201 serves as a mounting platform for the sorting device 2, so that the sorting device 2 becomes an integral unit, which is convenient for transportation and transfer. The sorting device 2 can be transferred along with the quay crane 3 or transferred independently (to cooperate with another quay crane for operation).

[0060] The sorting robot 202 serves as the "arm" of the sorting device 2. According to the position of the target object fed back by the recognition system 204, it adjusts and guides the sorting fixture 207 to complete the grabbing of the locking pin.

[0061] The sorting fixture 207 is arranged on the front end of the sorting robot 202, serving as the "fingers" of the sorting device 2 and the execution device of the sorting device 2, and is responsible for grasping the locking pin.

[0062] The identification system 204 is mounted above the sorting robot 202 and is responsible for identifying the lock pins of the lock pin frame 208 and providing position signals to the sorting fixture 207 for grasping.

[0063] The lock pin tray 205 is responsible for placing the lock pins taken out by the sorting device 2 so that the robot 102 of the disassembling device 1 can take them out during the locking process.

[0064] The charging device 206 is disposed below the locking plate 205 to charge the disassembly and assembly device 1 .

[0065] A locking pin frame 208 is also placed on the mounting base 201 .

[0066] The present invention also provides an operation method based on the container lock pin disassembly and assembly system of the present invention, including ship unloading operation and ship loading operation.

[0067] Combination Figure 4 As shown in the figure, the unloading operation specifically includes the following steps:

[0068] S1, according to the operation arrangement of the terminal, place the sorting device 2 next to the large vehicle on the quay crane 3, and plug in the shore power (the large vehicle position of the quay crane 3 is usually equipped with a maintenance power socket). Place the disassembly device 1 near the sorting device 2, and switch the corresponding clamp 108;

[0069] S2, according to the operation instruction, the empty container truck 4 drives into the corresponding lane and stops at the corresponding parking position, waiting for the container 5;

[0070] S3, the disassembly and assembly device 1 drives to the target position and waits according to the guidance of the navigation system 106;

[0071] S4, the quay crane 3 unloads the container 5 from the container ship to the empty container truck 4 (and continues to return to the ship to lift the next container);

[0072] S5, the visual system 107 verifies whether there are any lock pins on the container on the container truck 4 that need to be removed, if yes, execute step S6; if no, execute step S7;

[0073] S6, the disassembly device 1 disassembles the lock pin;

[0074] S7, the container truck 4 carries the container 5 and leaves to the destination, and the next cycle is repeated.

[0075] When verifying whether there is a lock pin on the container, the visual system 107 also confirms the type of the lock pin, detects the exact position and posture of the lock pin, and provides corresponding position and posture signals to the robot 102. The robot 102 completes the removal of the lock pin according to the corresponding signals.

[0076] After the robot 102 completes the disassembly, the visual system 107 needs to verify whether there is a lock pin on the container to ensure that the lock pin is successfully removed.

[0077] The robot 102 places the disassembled lock pin on the lock pin tray 105, and when the operation is idle, the robot 102 moves the lock pin in the lock pin tray 105 to the lock pin frame 208 on the sorting device 2. (Depending on the number of disassembly and assembly devices 1 configured: if a disassembly and assembly device 1 only needs to disassemble one lock pin in one operation round, there is no need to temporarily store the lock pin in the lock pin tray 105, and the lock pin can be directly carried to the vicinity of the lock pin frame 208. If a disassembly and assembly device 1 needs to disassemble multiple lock pins in one operation round, the lock pin needs to be temporarily stored in the lock pin tray 105 so that the clamp 108 can perform the second operation and repeat steps S3 and S5).

[0078] Combination Figure 5 As shown in the figure, the loading operation specifically includes the following steps:

[0079] 1) According to the operation arrangement of the terminal, place the sorting device 2 next to the large vehicle on the quay crane 3 and plug in the shore power (the large vehicle position of the quay crane 3 is usually equipped with a maintenance power socket). Place the disassembly and assembly device 1 near the sorting device 2 and switch the corresponding clamp 108;

[0080] 2) The lock pin frame 208 required for the loading operation is placed on the sorting device 2 (usually by a forklift). According to the operation instruction, the sorting robot 202 performs the sorting operation, grabs the required lock pins from the lock pin frame 208, and places them on the lock pin tray 205;

[0081] 3) The disassembling device 1 grabs the lock pins from the lock pin disk 205 of the sorting device 2 and places them in the lock pin disk 105 of the disassembling device 1 (the number of lock pins taken out must at least meet the operation requirements of one round);

[0082] 4) According to the operation instruction, the container truck 4 carries the container into the corresponding lane and waits for the installation of the lock pin;

[0083] 5) The disassembly and assembly device 1 drives to the target position according to the guidance of the navigation system 106, and the visual system 107 detects the target installation position on the container and provides a corresponding signal to the robot 102. The robot 102 completes the installation of the lock pin according to the corresponding signal. After the installation is completed, the visual system 107 performs a second confirmation to ensure that the lock pin is successfully installed (the disassembly and assembly device 1 will automatically return to the sorting device 2 for refilling as needed);

[0084] 6) The container is lifted onto the container ship by the quay crane 3, and the container truck 4 leaves, and the next cycle is repeated.

[0085] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. A container lock pin disassembly and assembly system, It is characterized in that include: The disassembly and assembly device navigates on the dock surface and automatically reaches the target position to complete the disassembly and assembly of the lock pin; The sorting device is arranged on the dock surface at one side of the quay crane and is connected to the maintenance power supply of the quay crane.

2. The container lock pin disassembly and assembly system according to claim 1, Features: The disassembly and assembly device comprises a guide trolley, a robot, a robot control cabinet, a fixture frame and a locking pin plate arranged on the guide trolley; The guide vehicle is equipped with a navigation system and a visual system; A clamp is provided on the front end of the robot; An energy pack and an energy management system are provided below the locking pin disk.

3. The container lock pin disassembly and assembly system according to claim 1, Features: The sorting device comprises a mounting base and a sorting robot, a robot control cabinet, an identification system, a locking pin disk and a charging device arranged on the mounting base; A sorting fixture is provided on the front end of the sorting robot; The identification system is mounted above the sorting robot; The charging device is arranged below the locking pin disk.

4. The container lock pin disassembly and assembly system according to claim 3, Features: A locking pin frame is also placed on the mounting base.

5. An operating method based on the container lock pin disassembly and assembly system according to any one of claims 1 to 4, Features: Including unloading and loading operations.

6. The operation method according to claim 5, It is characterized in that The unloading operation is specifically The following steps are involved: S1, according to the operation arrangement of the terminal, the sorting device is placed next to the large vehicle on the quay crane, and the disassembly and assembly device is placed near the sorting device; S2: According to the operation instruction, the container truck drives into the corresponding lane and stops at the corresponding parking position to wait for the container; S3, the disassembly and assembly device drives to the target position according to the guidance of the navigation system and waits for orders; S4, the quay crane unloads the container from the container ship to the container truck; S5, the visual system verifies whether there is a lock pin on the container that needs to be removed, and if so, executes step S6; If not, execute step S7; S6, the disassembly device disassembles the lock pin; S7, the container truck carries the container to the destination and repeats the next cycle.

7. The operation method according to claim 6, Features: When verifying whether there is a lock pin on the container, the visual system also confirms the type of the lock pin, detects the accurate position and posture of the lock pin, and provides corresponding position and posture signals to the robot; After the robot has completed disassembly, the visual system needs to verify again whether there is a lock pin on the container.

8. The operation method according to claim 6, Features: The robot places the disassembled lock pin on the lock pin disk, and when the operation is idle, moves the lock pin in the lock pin disk to the lock pin frame on the sorting device.

9. The operation method according to claim 5, It is characterized in that The loading operation specifically includes the following steps: 1) According to the operation arrangement of the terminal, the sorting device is placed next to the large vehicle on the quay crane, and the disassembly and assembly device is placed near the sorting device; 2) placing the lock pin frame on the sorting device, and according to the operation instruction, the sorting robot grabs the required lock pins from the lock pin frame and places them on the lock pin disk; 3) the disassembling and assembling device grabs the lock pin from the lock pin disk of the sorting device and places it in the lock pin disk of the disassembling and assembling device; 4) According to the operation instructions, the truck carries the container into the corresponding lane; 5) The disassembly and assembly device moves to the target position according to the guidance of the navigation system, the visual system detects the target installation position on the container and provides a corresponding signal to the robot, the robot completes the installation of the lock pin according to the corresponding signal, and after the installation is completed, the visual system performs a second confirmation; 6) The container is lifted onto the container ship by the quay crane, and the container truck departs, repeating the next cycle.

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