AGV (Automatic Guided Vehicle) with automatic lock dismounting and mounting function and operation system thereof

Abstract

The invention discloses an AGV with a lock dismounting and mounting function and an operation system thereof, a plurality of lock dismounting and mounting systems are arranged on an AGV main body, one lock dismounting and mounting system corresponds to one container lock, and each lock dismounting and mounting system is composed of a tray, a bracket, a bracket supporting platform, a belt conveying system, a twist lock system, a second clamping jaw, a tray frame and a lock frame; in the process that the AGV transports the containers from the storage yard to the quay crane, the lock dismounting and mounting system locks the containers, and in the process that the AGV transports the containers from the quay crane to the storage yard, the lock dismounting and mounting system dismount the locks of the containers, so that the AGV can directly run to the quay crane or the storage yard to implement container interaction operation; a special lock station does not need to be arranged between the storage yard and the quay crane to disassemble and assemble the lock, queuing in the lock station to wait for disassembling and assembling the lock is not needed, and the technical effects that compared with double-trolley quay crane operation, cost and maintenance investment are reduced, and compared with single-trolley quay crane operation, wharf operation efficiency is improved are achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automated container terminals, and in particular, relates to an AGV with automatic locking and unlocking functions and an operating system thereof. Background Art

[0002] In order to prevent containers from falling due to the shaking of the ship during navigation, the containers need to be fixed on the deck of the container ship by means of locks. When the container ship berths at the dock, before the bridge crane loads the ship, the locks need to be fixed in the lock holes of the container in advance, and then the bridge crane will carry out the loading operation; when the bridge crane unloads the ship, the locks need to be removed after the bridge crane unloads the container, so that the container can be placed in the yard by the AGV (Automated Guided Vehicle).

[0003] In traditional manual container terminals, manual lock areas are usually set up in fixed areas. When loading, the container is placed on the container truck by the yard equipment. The container truck arrives at the lock area and is manually locked. After the lock is completed, it goes to the bridge crane interaction area for loading. When unloading, the container is placed on the container truck by the bridge crane. The container truck goes to the lock area and is manually unlocked. After the lock is unlocked, it goes to the area that interacts with the yard equipment, and the yard equipment puts the container on the yard. This manual operation method has high labor costs, low efficiency, and it is easy for personnel to have safety accidents with the container truck. SUMMARY OF THE INVENTION Technical issues

[0004] Automated terminals have become a general development trend due to their significant advantages such as high safety and reliability, high operating efficiency, high site utilization, environmental friendliness, and low labor costs. There are two types of shore loading and unloading equipment used in automated terminals: single-trolley quay cranes and double-trolley quay cranes. The double-trolley quay crane is equipped with a transfer platform and a 6-axis industrial robot for unlocking or locking. However, the overall cost of the double-trolley quay crane is about 1.5 times higher than that of the single-trolley quay crane. Due to the weight difference between the double-trolley quay crane and the single-trolley quay crane, the wheel pressure is greater, and the requirements for the treatment of the hydraulic structure on the shore of the terminal will also be higher. The initial investment cost is huge, and in the later use, due to the complex structure of the double-trolley quay crane, the maintenance cost will also be extremely high; the automated single-trolley quay crane has a lower cost, but by setting an automated lock station at a fixed position for unlocking or locking (equipped with a 6-axis industrial robot), this fixed lock station mode causes great trouble for the scheduling of AGVs. The main reason is that when the front AGV unlocks or unlocks the lock station, the AGV behind needs to wait in line, which may cause a series of AGVs to wait, and each AGV needs to go to a fixed position to disassemble and install the lock, which is not conducive to the flexible scheduling of AGVs, resulting in low efficiency of AGVs as a whole. In an automated terminal, AGV is the most critical link between the bridge crane and the yard. No matter how efficient the bridge crane or yard equipment is, if there is a problem with the AGV efficiency, it will have a great impact on the efficiency of the entire terminal. Technical Solutions

[0005] The purpose of the present invention is to provide an AGV with automatic disassembly and assembly locking function and its operating system. In the single-trolley quay crane operation environment, there is no need to configure a locking station at a fixed position. The container can be disassembled and assembled during the operation of the AGV. After reaching the target position, the AGV can directly interact with the yard equipment or shore equipment to exchange containers. Compared with the double-trolley quay crane operation, the cost and maintenance investment can be reduced. Compared with the single-trolley quay crane operation, the problem of low operating efficiency caused by the AGV queuing for disassembly and assembly of locks at a fixed lock station can be avoided.

[0006] The present invention is implemented by the following technical solutions:

[0007] An AGV with an automatic disassembly and assembly lock function is provided, comprising an AGV body (10), wherein a space for arranging a disassembly and assembly lock system is provided below the AGV body (10) corresponding to the container lock installation position; the disassembly and assembly lock system comprises:

[0008] The tray (1) is designed as a split structure, and the split structure is used to clamp the container lock after being assembled;

[0009] The bracket (40) is a multi-layer frame structure, used for supporting the pallet (1) clamping the container lock, and is provided with a pallet moving structure, and the pallet (1) can move in the lateral direction along the pallet moving structure;

[0010] A bracket support platform (60) is used to support the bracket (40) and drive the bracket (40) to move vertically and longitudinally based on the driving structure;

[0011] The belt transmission system (7) is composed of a driving motor (71), a belt (74), a support frame (75), a support plate (76) and a tray limiting slide (77); the driving motor (71) and the belt (74) are fixed on the support plate (76), and the tray limiting slide (77) is fixed on the top of the support plate (76);

[0012] The twist lock system (8) is assembled inside the belt transmission system (7), and is composed of a twist lock lifting cylinder (81), a twist lock block (82), a first clamping cylinder (83), a tray pushing cylinder (84), a rotating motor (85), a bracket (86) and a work plate (87); the twist lock lifting cylinder (81) is installed on the top of the bracket (86), and its output end is fixed to the work plate (87); the twist lock block (82), the first clamping cylinder (83) and the tray pushing cylinder (84) are all fixed to the upper end of the work plate (87); the rotating motor (85) is arranged below the work plate (87), and its output end passes through the work plate (87) to connect to the twist block (82);

[0013] The second clamping claw (9) is fixed below the AGV body (10), and comprises a second pushing cylinder (91) and a second clamping cylinder (92) connected to the output end of the second pushing cylinder (91);

[0014] A tray frame (101) for containing the disassembled tray (1);

[0015] The lock frame (102) is used to hold the removed container lock.

[0016] In some embodiments of the present invention, the tray (1) is composed of a first tray (11), a second tray (12), a locking pin (13), a keyhole (14), a first slider (15) and a second slider (16); the first tray (11) and the second tray (12) are of the same and symmetrical structure, and are composed of an upper tray, a lower support arm and a support plate connected therebetween, and the lower support arm is a left and right arm embracing structure; the first slider (15) is installed at the end of the lower support arm of the first tray (11), and the second slider (16) is installed at the end of the lower support arm of the second tray (12); the locking pin (13) is fixed at the end of the first slider (15), and the keyhole (14) is opened on the second slider (16) and is opposite to the locking pin (13).

[0017] In some embodiments of the present invention, each layer of the frame structure of the bracket (40) is composed of a plurality of groups of tray fixing structures arranged side by side, each tray fixing structure is composed of two opposite tray sliding grooves (41), and a ball screw motor (43) is installed at one end of each group of tray fixing structures; a rack (42) is installed on the outer side of the bottom layer of the bracket (40); and a bracket bottom positioning hole (44) is opened at the bottom of the bracket (40).

[0018] In some embodiments of the present invention, the bracket support platform (60) is a gate-shaped frame structure for supporting the bracket (40), and is equipped with a bracket lifting cylinder (61), a gear (62) and a gear drive motor (63); the gear (62) is meshed with the rack (42) of the bracket (40).

[0019] In some embodiments of the present invention, the belt transmission system (7) further comprises a first stop (72) and a second stop (73), both of which are mounted on the tray limiting slide (77).

[0020] In some embodiments of the present invention, the torsion block (82) is adapted in shape to the torsion portion (04) of the container lock.

[0021] In some embodiments of the present invention, there are at least two tray pushing cylinders (84), one for pushing the first tray (11) from the inside of the first tray (11), and the other for pushing the second tray (12) from the inside of the second tray (12) in the opposite direction, thereby separating the first tray (11) and the second tray (12).

[0022] An AGV operation system with a disassembly and assembly lock function is proposed, comprising a quay crane, a storage yard and the AGV with a disassembly and assembly lock function as described above;

[0023] Under the locking condition, when the AGV is transporting the container from the yard to the quay crane, the container lock is installed on the container through its disassembly and installation lock system. When the AGV drives under the quay crane, the container lock has been installed during the AGV's driving;

[0024] In the lock removal condition, the quay crane directly places the container with the container lock on the AGV. While the AGV is carrying the container to the yard, the container lock on the container is removed through its lock removal system. When the AGV drives to the yard interaction area, the container lock has been removed during the driving of the AGV.

[0025] In some embodiments of the present invention, the locking conditions include:

[0026] 1. The bracket (40) drives a pallet (1) clamped with a container lock to move onto the belt transmission system (7);

[0027] 2. The belt transmission system (7) starts, driving the tray (1) to the top of the torsion system (8);

[0028] 3. The twisting system (8) is started, the twist lock lifting cylinder (81) lifts the tray (1) to a designated position, and the first clamping cylinder (82) clamps the container lock;

[0029] 4. The tray push cylinder (84) is activated to separate the split structure of the tray (1);

[0030] 5. The driving motor (71) pushes half of the tray to fall into the tray frame (101);

[0031] 6. The driving motor (71) is reversed so that the container lock is located above the torsion system (8);

[0032] 7. The twist lock lifting cylinder (81) continues to lift, so that the twisting portion (04) of the container lock falls into the twist lock block (82);

[0033] 8. The rotating motor (85) drives the torsion block (82) to install the container lock on the container;

[0034] 9. The twist-lock lifting cylinder (81) is lowered to the lowest position, and the drive motor (71) is started to drive the belt (74) to allow the other half of the pallet to fall into the pallet frame (101);

[0035] 10. When a layer and a row of containers are loaded, the bracket (40) is driven by the bracket lifting cylinder (61) and the gear drive motor (63) to switch to a new layer and row, and steps 1-9 are repeated until the container locks are loaded.

[0036] In some embodiments of the present invention, the unlocking working condition includes:

[0037] 1. When the container falls on the AGV, the twist lock lifting cylinder 81 of the twist lock system (8) is lifted to a designated position below the container lock, so that the twisting portion (04) of the container lock falls into the twist lock block (82) of the twist lock system, and the first clamping cylinder (83) is controlled to start clamping the container lock;

[0038] 2. Start the rotating motor (85) to twist the container lock so that it can be removed;

[0039] 3. The twist lock lifting cylinder (81) is lowered to a designated position, the second pushing cylinder (91) of the second clamping jaw (9) is extended to a designated position, and the container lock is clamped by the second clamping cylinder (92);

[0040] 4. The first clamping cylinder (83) of the twist lock system (8) is retracted, and only the second clamping cylinder (92) of the second clamping claw (9) clamps the container lock;

[0041] 5. The second pushing cylinder (91) of the second clamping claw (9) retracts to the upper end of the lock frame (102), and the second clamping cylinder (92) retracts, so that the container lock falls into the lock frame (102). Beneficial Effects

[0042] Compared with the prior art, the advantages and positive effects of the present invention are as follows: the present invention proposes an AGV with a disassembly and assembly lock function and an operating system thereof, and a plurality of disassembly and assembly lock systems are arranged on the AGV, one disassembly and assembly lock system corresponds to one container lock, and in the process of AGV transporting containers, the disassembly and assembly lock system installs or disassembles the container lock, and the AGV can directly drive to the quay crane or the yard to implement container interaction operations, without the need to arrange a special lock station between the yard and the quay crane to implement disassembly and assembly locks, and without the need to queue up at the lock station to wait for the disassembly and assembly locks, which has the technical effect of reducing costs and maintenance investment compared to double-trolley quay crane operations, and improving the low efficiency of terminal operations compared to single-trolley quay crane operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the accompanying drawings described below are only some embodiments. For those skilled in the art, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0044] Figure 1 This is a schematic diagram of the disassembly and assembly lock structure of the AGV with automatic disassembly and assembly lock function proposed by the present invention;

[0045] Figure 2The structural diagram of the container lock proposed by the present invention is as follows;

[0046] Figure 3 This is a schematic diagram of the tray structure in the present invention;

[0047] Figure 4 This is a schematic diagram of the structure of the pallet fixing container lock in the present invention;

[0048] Figure 5 It is a schematic diagram of the three-dimensional structure of the bracket in the present invention;

[0049] Figure 6 The bottom structure of the bracket in the present invention is shown in FIG.

[0050] Figure 7 It is a schematic diagram of the locking structure in the present invention;

[0051] Figure 8 It is a schematic diagram of the structure of the belt transmission system in the present invention;

[0052] Fig. 9 It is a schematic diagram of the twist lock system structure in the present invention;

[0053] FIG10 is a schematic diagram of the second clamping jaw structure of the present invention;

[0054] FIG11 is a schematic diagram of the position of the lock structure installed and disassembled on the AGV of the present invention;

[0055] Figure numerals: 01, container connection part; 02, first cylinder clamping surface; 03, second cylinder clamping surface; 04, twisting part; 11, first pallet; 12, second pallet; 13, locking pin; 14, locking hole; 15, first slider; 16, second slider; 40, bracket; 41, bracket sliding groove; 42, rack; 43, ball screw motor; 44, bracket bottom positioning hole; 6, bracket support platform; 61, bracket lifting cylinder; 62, gear; 63, gear drive motor; 7, belt Transmission system; 71. Drive motor; 72. First stop; 73. Second stop; 74. Belt; 75. Support frame; 76. Belt support plate; 77. Pallet limit slide; 81. Twist-lock lifting cylinder; 82. Twist-lock block; 83. First clamping cylinder; 84. Pallet pushing cylinder; 85. Rotating motor; 86. Bracket; 87. Working plate; 9. Second clamping jaw; 91. Second pushing cylinder; 92. Second clamping cylinder; 10. AGV body; 101. Pallet frame; 102. Lock frame.

[0056] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but are intended to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. Best Mode for Carrying Out the Invention

[0057] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0058] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as “upper”, “lower”, “front”, “back”, “left”, “right”, “vertical”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0059] 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 directly connected or connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] like Figure 1 to Figure 1 As shown in FIG. 0, the AGV with automatic disassembly and assembly lock function proposed by the present invention includes:

[0061] The AGV body 10 runs between the container yard and the quay crane, and is used to transport the container from the yard to the quay crane to interact with the bridge crane, and to transport the container to the yard after interacting with the bridge crane. The quay crane here includes a single-trolley quay crane and a double-trolley quay crane, and is particularly suitable for single-trolley quay crane operations.

[0062] A disassembly and assembly lock system is provided with a disassembly and assembly lock layout space at the position where the container lock is installed on the AGV body 10. The disassembly and assembly lock structure is arranged in the space, with one set arranged at one container lock position, as shown in FIG. 11. To cope with 20-foot containers and 40-foot containers, 8 sets of disassembly and assembly lock systems are arranged at 8 positions A0 to A7 as shown in the figure.

[0063] Each knock-down lock system includes:

[0064] The pallet is composed of a first pallet 11, a second pallet 12, a locking pin 13, a locking eye 14, a first slider 15 and a second slider 16; the first pallet 11 / the second pallet 12 have the same and symmetrical structure, and are composed of an upper pallet, a lower supporting arm and a support plate connected between the upper pallet and the lower supporting arm, wherein the upper pallet is used to support the container lock; the lower supporting arm is a left and right arm embracing structure, the first slider 15 is installed at the end of the lower supporting arm of the first pallet 11, and the second slider 16 is installed at the end of the lower supporting arm of the second pallet 12; the locking pin 13 is fixed to the first slider 15 module, and the locking eye 14 is opened on the second slider 16, opposite to the locking pin 13. Figure 4 As shown, the container lock is sandwiched between the first pallet 11 and the second pallet 12 and supported by the upper pallets of the two pallets, and the lock pin 13 penetrates into the keyhole 14, thereby fixing the container lock in the pallet.

[0065] Bracket 40, such as Figure 5 As shown, it is a multi-layer frame structure, each layer of the frame structure is composed of a plurality of groups of pallet fixing structures arranged side by side, and each group of pallet fixing structures is composed of two opposite bracket sliding grooves 41; Figure 7 As shown, the first slider 15 and the second slider 16 of the pallet with the container lock fixed slide into the two opposite bracket sliding grooves 41 respectively, and each set of pallet fixing structures can hold multiple pallets with container locks fixed. For example, three sets of pallet fixing structures are arranged on each layer, and each set of pallet fixing structures can hold three pallets with container locks fixed. For example, one bracket 40 can be equipped with 27 container locks as a whole. For example, the current ultra-large container ship with more than 22,000 TEUs requires the AGV to work continuously for more than 9 hours. The AGV performs about three cycles per hour to meet the 9-hour operation requirements. The AGV operation period is also sufficient for the time required for disassembling and installing the container locks.

[0066] The bracket supports the platform 60, such as Figure 7The frame structure shown is in the shape of a gate, and is used to support the bracket 40 and drive the bracket 40 to change its position in the longitudinal direction and the vertical direction. In order to adjust the position of the bracket 40 in the longitudinal, vertical and transverse directions, the bracket 40 is provided with a rack 42 and a ball screw motor 43. The rack 42 is installed on the side of the bottom frame of the bracket 40. Each set of pallet fixing structures is provided with a ball screw motor 43. The ball screw motor 43 is used to push the pallet fixed with the container lock to move laterally along the bracket slide groove 41. The bracket support platform 60 is provided with a bracket lifting cylinder 61, a gear 62 and a gear drive motor 63. The bracket lifting cylinder 61 is arranged under the bracket 40 and is used to lift the bracket 40 to change its position in the vertical direction. The gear 62 is meshed with the rack 42 on the bracket 40, and the gear drive motor 63 is installed under the bracket 40. The gear 62 is fixed on its output shaft. Based on the meshing relationship between the gear 62 and the rack 42, the gear drive motor 63 drives the gear to rotate, thereby driving the bracket 40 to move in the longitudinal direction. A bracket bottom positioning hole 44 is also provided on the bottom surface of the bracket 40 , and the bracket lifting cylinder 61 extends into the bracket bottom positioning hole 44 during vertical lifting or lowering of the bracket 40 to ensure the safety of the bracket 40 and the accuracy of the direction.

[0067] The belt transmission system 7 is composed of a driving motor 71, a first stop 72, a second stop 73, a belt 74 and a support frame 75; the belt 74 is fixed on a belt support plate 76, the belt support plate 76 is fixed on the top of the support frame 75, and the driving motor 71 is fixed on the support plate 76 to drive the belt 74 to rotate; the upper end of the belt support plate 76 is fixed with a tray limiting slide 77, and the first stop 72 and the second stop 73 are installed on the tray limiting slide 77, as shown in FIG. Figure 8 As shown, the pallet with the container lock fixed thereto is located above the belt 74 and is limited by the pallet limiting slide 76 , and can move based on the rotation of the belt 74 .

[0068] The twist lock system is assembled in the middle of the support frame 75 of the belt transmission system 7, and is composed of a twist lock lifting cylinder 81, a twist lock block 82, a first clamping cylinder 83, a tray pushing cylinder 84, a rotating motor 85 and a bracket 86; Fig. 9 As shown, the twist lock lifting cylinder 81 is installed at the top of the bracket 86, the output end of the twist lock lifting cylinder 81 is fixed to the working plate 87, the twist lock block 82, the first clamping cylinder 83 and the pallet pushing cylinder 84 are all fixed to the upper end of the working plate 87; the rotary motor 84 is arranged under the working plate 87, and its output end passes through the working plate 87 to connect the torsion block 82. Figure 2As shown in the container lock structure, the torsion block 82 is adapted to the torsion portion 04 of the container lock in shape. Under the action of the rotating motor 84, the torsion block 82 rotates, thereby driving the torsion portion 04 to rotate, and the container lock is installed or removed based on the different rotation directions. The first clamping cylinder 83 is used to clamp the pallet; there are at least two pallet pushing cylinders 84, one for pushing the first pallet 11 from the inside of the first pallet 11, and the other for pushing the second pallet 12 from the inside of the second pallet 12 in the opposite direction, so that the first pallet 11 and the second pallet 12 can be separated.

[0069] The second clamping jaw 9, such as Figure 1 As shown, it is fixed under the AGV body 10, and includes a second pushing cylinder 91 and a second clamping cylinder 92 connected to the output shaft of the second pushing cylinder (91); the pushing direction of the second pushing cylinder 91 and the clamping direction of the second clamping cylinder 92 are perpendicular to each other, and the two cooperate with each other to grab the disassembled container lock from the twist lock system and place it in the pallet frame 101.

[0070] like Figure 1 As shown, the disassembly and assembly lock system is installed in the space opened below the AGV body 10, and one set is arranged at one container lock position. The bracket 40 is assembled on the bracket support platform 60, and a ball screw motor 43 is installed at one end of the bracket slide groove 41, and the other end is connected to the belt transmission system 7 as the output port of the pallet. A torsion system is arranged in the middle of the belt transmission system 7, and the second clamp 9 is assembled at the lower end of the AGV body 10 above the torsion system; a pallet frame 101 for holding the pallet is arranged on the outside of the belt transmission system 7, and a lock frame 102 for holding the container lock is arranged on the rear side of the belt transmission system 71.

[0071] When the above-mentioned AGV with the function of disassembling and installing locks is applied to the yard operation, it is divided into the locking condition and the unlocking condition; in the locking condition, the AGV loads the container from the yard to the quay crane and transports it to the quay crane. The container lock is installed on the container through its disassembling and installing lock system. When the AGV drives under the quay crane, the container lock has been installed during the driving of the AGV; in the unlocking condition, the quay crane directly places the container with the container lock on the AGV. When the AGV runs to the yard with the container, the container lock on the container is removed through its disassembling and installing lock system. When the AGV drives to the yard interaction area, the container lock has been removed during the driving of the AGV. Therefore, based on the AGV provided by the present invention, it is possible to save the need to set up a disassembling and installing lock station at a fixed position on the wharf, save the time for the AGV to queue up and wait for the disassembling and installing locks, save the cost of wharf construction, and improve the operation efficiency of the entire wharf.

[0072] The two working conditions are described in detail below.

[0073] Locking conditions:

[0074] Taking the first container lock on the first layer and first row of the bracket 40 as an example, (1) the pallet is pushed to move along the bracket slide groove 41 of one layer and one row by the rotation of the ball screw motor 43 until the first pallet enters above the belt 74 of the belt transmission system 7; (2) the belt transmission system 7 is started, and the belt 74 rotates to drive the first pallet to move. When the first pallet passes the first stop 72, the first stop 72 and the second stop 73 are extended and the ball screw motor 43 stops driving to ensure that the second pallet does not appear on the belt 74; (3) when the first pallet reaches the position of the second stop 73, it stops and the belt transmission system 7 stops; the second stop 73 is used to assume that the position of the pallet is facing the twist lock system; (4) the second stop 73 is retracted, the twist lock system is started, and the twist lock lifting cylinder 81 lifts the first pallet on the belt 74. After lifting to the specified position, the first clamping cylinder 83 clamps the container The second cylinder clamping surface 03 on the container lock puts the container lock in a clamped state; (5) the pallet pushing cylinder 84 is started, pushing the first pallet 11 and the second pallet 12 from the inside of the pallet respectively, causing the two to separate; (6) the drive motor 71 is started, pushing the separated half of the pallet to fall into the pallet frame 101; (7) Since the other half of the separated pallet is blocked by the pallet pushing cylinder 84, the drive motor 71 is controlled to reverse, and the belt 74 is reversed to drive the other half of the pallet back to the position of the first stop 72 and is blocked, and the drive motor 71 stops; (8) the twist lock lifting cylinder 81 continues to lift to the specified position, and the twist lock block 82 is driven by the rotating motor 85 to twist the twisting part 04 of the container lock, thereby installing the container lock on the container; (9) the twist lock lifting cylinder 81 drops to the lowest point, the drive motor 71 is started, and the other half of the pallet is driven by the belt 74 to fall into the pallet frame 101.

[0075] Repeat steps (1) to (9) until all container locks in one row and one layer are installed.

[0076] After the first row of container locks on the first floor are installed, the control of changing floors and rows of the bracket 40 is implemented through the following steps:

[0077] (10) The bracket lifting cylinder 61 extends into the bracket bottom positioning hole 44 at the bottom of the bracket 40, and lifts the first row of the second layer of the bracket 40 to the working surface (the original position of the first row of the first layer, on which the bracket sliding groove 41 is connected to the belt transmission system 7), and follows the above steps (1)-(9) until all containers are installed; the bracket lifting cylinder 61 then lifts the first row of the third layer of the bracket 40 to the working surface and repeats (1)-(9) until the container locks of the first row and three layers are all installed, at which time the bracket lifting cylinder 61 is in the highest position; (11) The bracket lifting cylinder 61 is controlled to descend to the lowest point until the bracket 40 is supported by the bracket support platform 6 as a whole, and the gear drive motor 63 is started. The gear 62 rotates, and based on the meshing relationship, the bracket 40 as a whole moves forward one row; (12) The container locks of the second row and three layers are installed according to the above steps until all three layers of containers are installed.

[0078] As mentioned above, at least four bracket lifting cylinders 61 are configured, and the four cylinders perform lifting from the four corners of the bracket 40 to ensure the stability of the execution process.

[0079] Unlocking conditions:

[0080] (1) When the container falls on the AGV, the twist lock lifting cylinder 81 of the twist lock system is lifted to the specified position below the container lock, so that the twisting part 04 of the container lock falls into the twist lock block 82 of the twist lock system, and the first clamping cylinder 83 is controlled to start the second cylinder clamping surface 03 of the container lock, so that the container lock is in a clamped state; (2) The rotating motor 85 is started to twist the container lock so that it is removed; (3) The twist lock lifting cylinder 81 descends to the specified position, and the second pushing cylinder 91 of the second clamping jaw 9 extends to the specified position, and the first cylinder clamping surface 02 of the container lock is clamped by the second clamping cylinder 92; (4) The first clamping cylinder 83 of the twist lock system retracts, and only the second clamping cylinder 92 of the second clamping jaw 9 clamps the container lock; (5) The second pushing cylinder 91 of the second clamping jaw 9 retracts to the upper end of the lock frame 102, and the second clamping cylinder 92 retracts, so that the container lock falls into the lock frame 102.

[0081] The lateral, longitudinal and vertical directions referred to in the present invention are, for example, the X-axis, Y-axis and Z-axis in three-dimensional space coordinates.

[0082] It should be noted that, in the specific implementation process, the above-mentioned control part can be implemented by a hardware processor executing computer execution instructions in software form stored in the memory, which will not be elaborated here, and the programs corresponding to the actions performed by the above-mentioned control circuit can be stored in the computer-readable storage medium of the system in software form, so that the processor can call and execute the operations corresponding to the above-mentioned modules.

[0083] The computer-readable storage medium mentioned above may include volatile memory, such as random access memory; may also include non-volatile memory, such as read-only memory, flash memory, hard disk or solid-state drive; may also include a combination of the above types of memory.

[0084] The processor mentioned above may also be a general term for multiple processing elements. For example, the processor may be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, field programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc., or may be a dedicated processor.

[0085] It should be pointed out that the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An AGV with an automatic disassembly and assembly lock function, comprising an AGV body (10), Its characteristics are A space for arranging a disassembly and assembly lock system is provided below the AGV body (10) corresponding to the location of the container lock; the disassembly and assembly lock system comprises: The tray (1) is designed as a split structure, and the split structure is used to clamp the container lock after being assembled; The bracket (40) is a multi-layer frame structure, used for supporting the pallet (1) clamping the container lock, and is provided with a pallet moving structure, and the pallet (1) can move in the lateral direction along the pallet moving structure; A bracket support platform (60) is used to support the bracket (40) and drive the bracket (40) to move vertically and longitudinally based on the driving structure; The belt transmission system (7) is connected to the bracket (40) and is composed of a driving motor (71), a belt The invention is composed of a support frame (74), a support plate (75), a support plate (76) and a tray limiting slide (77); a driving motor (71) and a belt (74) are fixed on the support plate (76), and the tray limiting slide (77) is fixed on the top of the support plate (76); The twist lock system (8) is assembled inside the belt transmission system (7) and comprises a twist lock lifting cylinder (81), a twist lock block (82), a first clamping cylinder (83), a tray pushing cylinder (84), The rotary motor (85) is composed of a support (86) and a work plate (87); a twist lock lifting cylinder (81) is installed on the top of the support (86), and its output end is fixed to the work plate (87); the twist lock block (82), the first clamping cylinder (83) and the tray pushing cylinder (84) are all fixed to the upper end of the work plate (87); the rotary motor (85) is arranged below the work plate (87), and its output end passes through the work plate (87) to connect the torsion block (82); The second clamping claw (9) is fixed below the AGV body (10), and comprises a second pushing cylinder (91) and a second clamping cylinder (92) connected to the output end of the second pushing cylinder (91); A tray frame (101) for containing the disassembled tray (1); The lock frame (102) is used to hold the removed container lock.

2. The AGV with automatic disassembly and assembly lock function according to claim 1, characterized in that: The tray (1) is composed of a first tray (11), a second tray (12), a locking pin (13), a keyhole (14), a first slide block (15) and a second slide block (16); the first tray (11) and the second tray (12) are The two trays (12) have the same and symmetrical structure, and are composed of an upper tray, a lower supporting arm and a support plate connected therebetween, wherein the lower supporting arm is in the form of a left and right arm embracing structure; a first slider (15) is installed at the end of the lower supporting arm of the first tray (11), and a second slider (16) is installed at the end of the lower supporting arm of the second tray (12); a locking pin (13) is fixed at the end of the first slider (15), and a keyhole (14) is provided on the second slider (16) and is opposite to the locking pin (13).

3. The AGV with automatic disassembly and assembly lock function according to claim 1, characterized in that: Each layer of the frame structure of the bracket (40) is composed of a plurality of groups of tray fixing structures arranged side by side, each of which is composed of two opposite tray sliding grooves (41), and a ball screw motor (43) is installed at one end of each group of tray fixing structures; a rack (42) is installed on the outer side of the bottom layer of the bracket (40); and a bracket bottom positioning hole (44) is opened at the bottom of the bracket (40).

4. The AGV with automatic disassembly and assembly lock function according to claim 3, characterized in that: The bracket support platform (60) is a door-shaped frame structure, used to support the bracket (40), and is equipped with a bracket lifting cylinder (61), a gear (62) and a gear drive motor (63); the gear (62) is meshed with the rack (42) of the bracket (40).

5. The AGV with automatic disassembly and assembly lock function according to claim 1, characterized in that: The belt transmission system (7) also includes a first stop (72) and a second stop (73), both of which are mounted on the tray limiting slide (77).

6. The AGV with automatic disassembly and assembly lock function according to claim 1, characterized in that: The torsion block (82) is adapted in shape to the torsion portion (04) of the container lock.

7. The AGV with automatic disassembly and assembly lock function according to claim 1, characterized in that: There are at least two tray pushing cylinders (84), one for pushing the first tray (11) from the inside of the first tray (11), and the other for pushing the second tray (12) from the inside of the second tray (12) in the opposite direction, so that the first tray (11) and the second tray (12) can be separated.

8. An AGV operation system with a disassembly and assembly lock function, characterized in that: Including quay crane, A field and an AGV with a disassembly and assembly lock function as claimed in any one of claims 1 to 7; Under the locking condition, the AGV is disassembled and assembled during the transportation from the loading container in the yard to the quay crane. The lock system installs the container lock on the container. When the AGV drives under the quay crane, the container The box lock has been installed during the AGV driving; In the lock removal condition, the quay crane directly places the container with the container lock on the AGV. When the AGV is moving toward the yard, the lock on the container is removed through its lock removal system. When the AGV drives to the yard interaction area, the container lock has been removed during the AGV's driving. Unloading completed.

9. The AGV operation system with disassembly and assembly lock function according to claim 8, characterized in that: Locking conditions include:

1. The bracket (40) drives a pallet (1) clamped with a container lock to move onto the belt transmission system (7); 2. The belt transmission system (7) starts, driving the tray (1) to the top of the torsion system (8); 3. The twisting system (8) is started, the twist lock lifting cylinder (81) lifts the tray (1) to a designated position, and the first clamping cylinder (82) clamps the container lock; 4. The tray push cylinder (84) is activated to separate the split structure of the tray (1); 5. The driving motor (71) pushes half of the tray to fall into the tray frame (101); 6. The driving motor (71) is reversed so that the container lock is located above the torsion system (8); 7. The twist lock lifting cylinder (81) continues to lift, so that the twisting portion (04) of the container lock falls into the twist lock block (82); 8. The rotating motor (85) drives the torsion block (82) to install the container lock on the container; 9. The twist-lock lifting cylinder (81) is lowered to the lowest position, and the drive motor (71) is started to drive the belt (74) to allow the other half of the pallet to fall into the pallet frame (101); 10. When a layer and a row of containers are loaded, the bracket (40) is driven by the bracket lifting cylinder (61) and the gear drive motor (63) to switch to a new layer and row, and steps 1-9 are repeated until the container locks are loaded.

10. The AGV operation system with disassembly and assembly lock function according to claim 8, characterized in that: Lock removal conditions include:

1. When the container falls on the AGV, the twist lock lifting cylinder 81 of the twist lock system (8) is lifted to a designated position below the container lock, so that the twisting portion (04) of the container lock falls into the twist lock block (82) of the twist lock system, and the first clamping cylinder (83) is controlled to start clamping the container lock; 2. Start the rotating motor (85) to twist the container lock so that it can be removed; 3. The twist lock lifting cylinder (81) descends to a specified position, the second pushing cylinder (91) of the second clamping jaw (9) extends to a specified position, and the second clamping cylinder (92) clamps the container lock; 4. The first clamping cylinder (83) of the twist lock system (8) retracts, and only the second clamping cylinder (92) of the second clamping jaw (9) clamps the container lock; 5. The second pushing cylinder (91) of the second clamping claw (9) retracts to the upper end of the lock frame (102), and the second clamping cylinder (92) retracts, so that the container lock falls into the lock frame (102).

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