AGV with automatic disassembly and assembly lock function and operation system thereof

Abstract

The application discloses an AGV with a dismounting and locking function and an operation system thereof, a plurality of dismounting and locking systems are arranged on an AGV main body, one dismounting and locking system corresponds to one container lock, and each dismounting and locking system is composed of a tray, a bracket, a bracket support platform, a belt transmission system, a twist lock system, a second clamping jaw, a tray frame and a lock frame; in the process that the AGV transports the container from a yard to a quay crane, the dismounting and locking system implements locking on the container, in the process that the AGV transports the container from the quay crane to the yard, the dismounting and locking system implements dismounting on the container lock, the AGV can directly drive to the quay crane or the yard to implement container interactive operation, a special lock station is not needed to be arranged between the yard and the quay crane to implement the dismounting and locking, and the AGV does not need to queue and wait for the dismounting and locking at the lock station, compared with double-trolley quay crane operation, the application has the technical effects of reducing cost and maintenance investment, and compared with single-trolley quay crane operation, the application has the technical effect of improving the low efficiency of the terminal operation.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automated container wharf, in particular, it relates to an AGV with automatic locking and unlocking functions and its operation system. BACKGROUND

[0002] To avoid the falling of containers due to the sway of the ship during navigation, the containers need to be fixed on the deck of the container ship by means of lock connection. When the container ship is berthed at the wharf, the bridge crane is loaded in front of the ship, and the lock is fixed in the lock hole of the container in advance, and then the bridge crane is used for loading operation; when the bridge crane is unloaded, the lock needs to be removed after the container is unloaded by the bridge crane, so that the AGV (Automatic Guided Vehicle) can put the container into the yard.

[0003] In the traditional manual operation container wharf, a manual lock area is generally set in the fixed area; when loading, the container is put on the truck by the yard equipment, the truck arrives at the lock area, the lock is manually installed, and after the lock is installed, the truck goes to the bridge crane interaction area for loading; when unloading, the container is put on the truck by the bridge crane, the truck goes to the lock area, the lock is manually removed, and after the lock is removed, the truck goes to the area interacting with the yard equipment, and the container is put into the yard by the yard equipment. This manual operation mode has high labor cost, low efficiency, and personnel are prone to safety accidents with trucks.

[0004] Automatic wharf has become a general development trend due to its high safety and reliability, high operation efficiency, high site utilization rate, environmental friendliness, and low labor cost. The shore-based handling equipment used in the automatic wharf has single-car shore cranes and double-car shore cranes, and the double-car shore cranes are provided with a transfer platform to configure a 6-axis industrial robot for unlocking or locking. However, the overall cost of the double-car shore cranes is about 1.5 times higher than that of the single-car shore cranes, and due to the weight difference between the double-car shore cranes and the single-car shore cranes, the wheel pressure is larger, and the requirements for the treatment of the wharf shore water structure are also higher, which requires a huge initial investment, and the maintenance cost is also extremely high due to the complex structure of the double-car shore cranes. The single-car shore cranes are relatively low in cost, but the unlocking or locking is performed by setting an automatic lock station at a fixed position (configuring a 6-axis industrial robot), which causes great trouble for the scheduling of AGVs. The main reason is that when the AGV in front of the lock station is unlocked or locked, the AGV behind needs to wait in line, which may cause a series of AGV waiting, and each AGV needs to go to the fixed position for unlocking or locking, which is not conducive to the flexible scheduling of AGVs, and the overall AGV efficiency is low. In the automatic wharf, AGV is the most critical link connecting the bridge crane and the yard, that is, even if the efficiency of the bridge crane or the yard equipment is high, if the efficiency of the AGV is low, it will also greatly affect the efficiency of the entire wharf. SUMMARY

[0005] The application aims to provide an AGV with automatic undocking and locking function and an operation system thereof, which can dock and lock containers during the operation of the AGV without configuring a locking station at a fixed position, and the AGV can directly interact with the yard equipment or the shore equipment to load and unload containers after reaching the target position, thereby reducing the cost and maintenance input compared with the double-car shore operation and avoiding the problem of low operation efficiency caused by queuing at the fixed locking station for undocking and locking compared with the single-car shore operation.

[0006] The application is implemented by adopting the following technical solutions:

[0007] The application provides an AGV with automatic undocking and locking function, which comprises an AGV main body, a space for arranging an undocking and locking system is arranged below the AGV main body corresponding to the installation position of a container lock; the undocking and locking system comprises:

[0008] A tray is designed in a split structure and is used to clamp the container lock after being combined;

[0009] A bracket is in a multi-layer frame structure and is used to support the tray clamping the container lock, and is provided with a tray moving structure, and the tray can move in the transverse direction along the tray moving structure;

[0010] A bracket supporting platform is used to support the bracket and drive the bracket to move in the vertical and longitudinal directions based on a driving structure;

[0011] A belt transmission system is composed of a driving motor, a belt, a support frame, a supporting plate and a tray limiting slide rack; the driving motor and the belt are fixed on the supporting plate, and the tray limiting slide rack is fixed on the top of the bracket;

[0012] A twist lock system is assembled in the belt transmission system and is composed of a twist lock jacking cylinder, a twist lock block, a first clamping cylinder, a tray pushing cylinder, a rotary motor, a support and a working plate; the twist lock jacking cylinder is installed at the top end of the support, and the output end thereof is fixed with the working plate; the twist lock block, the first clamping cylinder and the tray pushing cylinder are all fixed on the upper end of the working plate; the rotary motor is arranged below the working plate, and the output end thereof is connected with the twist block through the working plate;

[0013] A second clamping jaw is fixed below the AGV main body and comprises a second pushing cylinder and a second clamping cylinder connected with the output end of the second pushing cylinder;

[0014] A tray frame is used to hold the split tray;

[0015] A lock frame is used to hold the split container lock.

[0016] In some embodiments of the present application, the tray is composed of a first tray, a second tray, a locking pin, a locking hole, a first slider and a second slider; the first tray and the second tray are symmetrical and have the same structure, and are composed of an upper tray, a lower tray arm and a support plate connected between the two; the lower tray arm is in a left and right arm embracing structure; the first slider is installed at the end of the lower tray arm of the first tray, the second slider is installed at the end of the lower tray arm of the second tray, the locking pin is fixed at the end of the first slider, and the locking hole is opened on the second slider and opposite to the locking pin.

[0017] In some embodiments of the present application, the frame structure of each layer of the bracket is composed of a plurality of groups of side-by-side tray fixing structures, each tray fixing structure is composed of two opposite bracket sliding grooves, and a ball screw motor is installed at one end of each group of tray fixing structures; a rack is installed on the outside of the bottom layer of the bracket; a bracket bottom positioning hole is opened at the bottom of the bracket.

[0018] In some embodiments of the present application, the bracket support platform has a door-shaped frame structure and is used for supporting the bracket, and is provided with a bracket jacking cylinder, a gear and a gear driving motor; the gear is engaged with the rack of the bracket.

[0019] In some embodiments of the present application, the belt conveying system further comprises a first stop and a second stop, both of which are installed on the tray limiting slide.

[0020] In some embodiments of the present application, the torsion block is matched with the shape of the torsion part of the container lock.

[0021] In some embodiments of the present application, the tray jacking cylinder is at least two, one is used for jacking the first tray from the inside of the first tray, and the other is used for jacking the second tray from the inside of the second tray in the opposite direction, so that the first tray and the second tray can be separated.

[0022] An AGV operation system with a dismounting and mounting lock function is proposed, which comprises a shore crane, a yard and an AGV with a dismounting and mounting lock function as described above;

[0023] In the mounting lock condition, the AGV transports the container with the container lock mounted on the container from the yard to the shore crane during the transportation, and the container lock is mounted on the container during the AGV running;

[0024] In the dismounting lock condition, the shore crane directly places the container with the container lock on the AGV, and the AGV runs to the yard during the container loading, and the container lock on the container is dismounted by the dismounting and mounting lock system during the AGV running.

[0025] In some embodiments of the present application, the mounting lock condition comprises:

[0026] 1, the bracket drives a tray with a container lock to the belt transmission system;

[0027] 2, the belt transmission system starts to drive the tray to the torsion system;

[0028] 3, the torsion system starts, and the torsion lock lifting cylinder lifts the tray to the specified position, and the first clamping cylinder clamps the container lock;

[0029] 4, the tray pushing cylinder starts to separate the split structure of the tray;

[0030] 5, the drive motor pushes half of the tray to fall into the tray frame;

[0031] 6, the drive motor reverses to allow the container lock to be above the torsion system;

[0032] 7, the torsion lock lifting cylinder continues to lift, so that the torsion part of the container lock falls into the torsion lock block;

[0033] 7, the rotating motor drives the torsion block to install the container lock on the container;

[0034] 9, the torsion lock lifting cylinder is lowered to the lowest position, and the drive motor starts to drive the belt to allow the other half of the tray to fall into the tray frame;

[0035] 10, when a layer and a column of container locks are installed, the bracket lifting cylinder and the gear drive motor drive the bracket to switch to a new layer and column, and the steps are repeated until the container lock is installed.

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

[0037] 1, when the container falls on the AGV, the torsion lock lifting cylinder of the torsion lock system is lifted to the specified position below the container lock, so that the torsion part of the container lock falls into the torsion lock block of the torsion lock system, and the first clamping cylinder is controlled to start clamping the container lock;

[0038] 2, the rotating motor is started to twist the container lock, so that it is removed;

[0039] 3, the torsion lock lifting cylinder is lowered to the specified position, the second pushing cylinder of the second clamping jaw is extended to the specified position, and the second clamping cylinder clamps the container lock;

[0040] 4, the first clamping cylinder of the torsion lock system is retracted, and only the second clamping cylinder of the second clamping jaw clamps the container lock;

[0041] 5, the second pushing cylinder of the second clamping jaw is retracted to the upper end of the lock frame, and the second clamping cylinder is retracted, so that the container lock falls into the lock frame.

[0042] Compared with the prior art, the application has the advantages and positive effects that: the AGV with dismounting and mounting lock function and the operation system thereof are provided, a plurality of dismounting and mounting lock systems are arranged on the AGV, one dismounting and mounting lock system corresponds to one container lock, in the process of transporting the container by the AGV, the dismounting and mounting lock system installs or dismounts the container lock, the AGV can directly drive to the shore crane or the yard to implement the container interaction operation, without arranging a special lock station between the yard and the shore crane to implement the dismounting and mounting lock, and without queuing and waiting for the dismounting and mounting lock at the lock station, the technology effect of reducing the cost and maintenance investment compared with the double-trolley shore crane operation and improving the low port operation efficiency compared with the single-trolley shore crane operation is achieved.

[0043] Other features and advantages of the present application will become more apparent from the following detailed description of the application when read in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the application. Obviously, the drawings are only some embodiments and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0045] Figure 1 The dismounting and mounting lock structure of the AGV with automatic dismounting and mounting lock function is provided in the application;

[0046] Figure 2 The structure of the container lock is provided in the application;

[0047] Figure 3 The tray structure is provided in the application;

[0048] Figure 4 The structure of the tray fixing the container lock is provided in the application;

[0049] Figure 5 The three-dimensional structure of the bracket is provided in the application;

[0050] Figure 6 The bottom structure of the bracket is provided in the application;

[0051] Figure 7 The lock structure is provided in the application;

[0052] Figure 8 The belt conveying system structure is provided in the application;

[0053] Figure 9 The twist lock system structure is provided in the application;

[0054] Figure 10This is a schematic diagram of the second gripper structure in the present invention;

[0055] Figure 11 This is a schematic diagram showing the location of the AGV installation and disassembly lock structure according to the present invention;

[0056] Reference numerals: 01, Container connecting part; 02, First cylinder clamping surface; 03, Second cylinder clamping surface; 04, Torsion 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 limiting slide; 81. Twist lock lifting cylinder; 82. Twist lock block; 83. First gripping cylinder; 84. Pallet pushing cylinder; 85. Rotary motor; 86. Bracket; 87. Working plate; 9. Second gripper; 91. Second pushing cylinder; 92. Second gripping cylinder; 10. AGV main body; 101. Pallet frame; 102. Lock frame.

[0057] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0058] To make the objectives, 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 with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0059] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0060] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or connection through intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0061] As shown in Figures 1 to 10 , the AGV with automatic dismounting and mounting lock function provided by the present application comprises:

[0062] AGV main body 10, running between container yard and shore crane, used for transporting containers from yard to shore crane and interacting with bridge crane, and transporting containers to yard after interacting with bridge crane. The shore crane here includes single trolley shore crane and double trolley shore crane, and is especially suitable for single trolley shore crane operation.

[0063] Dismounting and mounting lock system, dismounting and mounting lock structure is arranged in the space opened at the position corresponding to the container lock of the AGV main body 10, one set of dismounting and mounting lock system is arranged at each container lock position, as shown in Figure 11 , in order to deal with 20 feet container and 40 feet container, 8 sets of dismounting and mounting lock system are arranged at A0 to A7 positions as shown in the figure.

[0064] Each dismounting and mounting lock system comprises:

[0065] Tray, composed of first tray 11, second tray 12, lock pin 13, lock eye 14, first sliding block 15 and second sliding block 16; the first tray 11 / second tray 12 has the same structure and is symmetrical, composed of upper tray, lower arm and support plate connected between the upper tray and the lower arm, wherein the upper tray is used to support the container lock; the lower arm is in the form of left and right arm embracing structure, the end of the lower arm of the first tray 11 is provided with the first sliding block 15, and the end of the lower arm of the second tray 12 is provided with the second sliding block 16; the lock pin 13 is fixed in the first sliding block 15 module, and the lock eye 14 is opened on the second sliding block 16 and opposite to the lock pin 13. As shown in Figure 4 , the container lock is clamped in the middle by the first tray 11 and the second tray 12, supported by the upper trays of the two, and the lock pin 13 is deeply inserted into the lock eye 14, so as to fix the container lock in the tray.

[0066] Tray 40, as shown in Figure 5 , in the form of multi-layer frame structure, each layer of frame structure is composed of a plurality of groups of tray fixing structures arranged side by side, and each group of tray fixing structure is composed of two opposite tray sliding grooves 41; as shown in Figure 7As 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. Each set of pallet fixing structures can hold multiple pallets with container locks fixed. Taking three sets of pallet fixing structures per layer as an example, and each set of pallet fixing structures can hold three pallets with container locks fixed, one bracket 40 can be configured with 27 container locks. Taking the current ultra-large container ships with a capacity of 22,000 TEU or more as an example, the AGV needs to work continuously for more than 9 hours. The AGV will cycle about three times per hour to meet the 9-hour operation requirements. The time required for container lock removal and installation is also sufficient during the AGV operation.

[0067] Bracket support platform 60, such as Figure 7 The frame structure shown is a portal frame, used to support the bracket 40 and drive the bracket 40 to change position in the longitudinal and vertical directions. To achieve position adjustment of the bracket 40 in the longitudinal, vertical, and lateral directions, a rack 42 and a ball screw motor 43 are configured for the bracket 40. The rack 42 is installed on the side of the bottom frame of the bracket 40. Each pallet fixing structure is equipped with a ball screw motor 43, which is used to push the pallet with the container lock fixed along the bracket sliding groove 41 to move laterally. The bracket support platform 60 is equipped with a bracket lifting cylinder 61, a gear 62, and a gear drive motor 63. The bracket lifting cylinder 61 is located below the bracket 40 and is used to lift the bracket 40 to change its position in the vertical direction. The gear 62 meshes with the rack 42 on the bracket 40. The gear drive motor 63 is installed below the bracket 40, and 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 moving the bracket 40 in the longitudinal direction. A bracket bottom positioning hole 44 is also provided on the bottom surface of the bracket 40. The bracket lifting cylinder 61 extends into the bracket bottom positioning hole 44 during the vertical lifting or lowering of the bracket 40 to ensure the safety and directional accuracy of the bracket 40.

[0068] The belt conveyor system 7 consists of a drive motor 71, a first stop 72, a second stop 73, a belt 74, and a support frame 75. The belt 74 is fixed to a belt support plate 76, which is fixed to the top of the support frame 75. The drive motor 71 is fixed to the support plate 76 and is used to drive the belt 74 to rotate. A pallet limiting slide 77 is fixed to the upper end of the belt support plate 76. The first stop 72 and the second stop 73 are installed on the pallet limiting slide 77. Figure 8 As shown, the pallet with the container lock fixed is located above the belt 74 and is limited by the pallet limiting carriage 76, and can move based on the rotation of the belt 74.

[0069] The twist lock system, assembled in the middle of the support frame 75 of the belt conveyor system 7, consists of a twist lock lifting cylinder 81, a twist lock block 82, a first clamping cylinder 83, a tray pushing cylinder 84, a rotary motor 85, and a bracket 86; as shown... Figure 9 As shown, the torsion lock lifting cylinder 81 is mounted on the top of the bracket 86, and the output end of the torsion lock lifting cylinder 81 is fixed to the working plate 87. The torsion lock block 82, the first clamping cylinder 83, and the tray pushing cylinder 84 are all fixed to the upper end of the working plate 87. The rotary motor 84 is located below the working plate 87, and its output end passes through the working plate 87 and connects to the torsion block 82. Figure 2 As shown in the container lock structure, the torsion block 82 is shaped to match the torsion part 04 of the container lock. Under the action of the rotary motor 84, the torsion block 82 rotates, thereby driving the torsion part 04 to rotate. The container lock can be installed or removed based on the different directions of rotation. 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 inside the first pallet 11, and the other for pushing the second pallet 12 from inside the second pallet 12 in the opposite direction, thereby separating the first pallet 11 and the second pallet 12.

[0070] Second gripper 9, as Figure 1 As shown, fixed below the AGV body 10, there is a second push cylinder 91 and a second gripping cylinder 92 connected to the output shaft of the second push cylinder 91; the pushing direction of the second push cylinder 91 is perpendicular to the gripping direction of the second gripping cylinder 92, and the two cooperate to grab the container lock that has been removed from the twist lock system and put it into the pallet frame 101.

[0071] like Figure 1 As shown, the disassembly and assembly lock system is installed in the space below the AGV body 10. One set is arranged for each container lock position. The bracket 40 is assembled on the bracket support platform 60. One end of the bracket sliding groove 41 is equipped with a ball screw motor 43, and the other end serves as the output port of the pallet and is connected to the belt transmission system 7. A torsion system is arranged in the middle of the belt transmission system 7. The second gripper 9 is assembled at the lower end of the AGV body 10 directly 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.

[0072] The AGV with the lock dismounting function is applied to the yard operation, and is divided into a lock mounting condition and a lock dismounting condition; in the lock mounting condition, the AGV mounts the container lock on the container during the container loading and the container transportation, and the container lock is mounted on the container during the AGV running; in the lock dismounting condition, the container with the container lock is directly placed on the AGV by the quay crane, and the container lock is dismounted from the container during the AGV running. Therefore, the AGV provided by the application can save the lock dismounting station arranged at a fixed position of the wharf, save the time for AGV queuing and waiting for lock dismounting, save the construction cost of the wharf, and improve the operation efficiency of the whole wharf.

[0073] The two conditions are described in detail below.

[0074] Lock mounting condition:

[0075] Taking the first container lock on the first layer and the first column of the bracket 40 as an example, (1) the tray is moved along the bracket sliding groove 41 of the layer and the column by the rotation of the ball screw motor 43 until the first tray is above the belt 74 of the belt transmission system 7; (2) the belt transmission system 7 is started, the belt 74 is rotated to drive the first tray to move, and when the first tray passes the first stop 72, the first stop 72 and the second stop 73 are extended and the ball screw motor 43 is stopped to drive, so that the second tray cannot appear on the belt 74; (3) when the first tray reaches the second stop 73 position, the belt transmission system 7 is stopped; the second stop 73 is used to define the position of the tray opposite the twist lock system; (4) the second stop 73 is retracted, the twist lock system is started, the twist lock lifting cylinder 81 lifts the first tray on the belt 74 to the specified position, and the first clamping cylinder 83 clamps the second cylinder clamping surface 03 on the container lock, so that the container lock is in the clamped state; (5) the tray pushing cylinder 84 is started, and the first tray 11 and the second tray 12 are pushed out of the tray, respectively, to separate the two; (6) the driving motor 71 is started, and the half tray after separation is pushed to fall into the tray frame 101; (7) the other half tray after separation is blocked by the tray pushing cylinder 84, and the driving motor 71 is controlled to reverse, the belt 74 reverses to drive the other half tray to retreat to the position of the first stop 72 and be blocked, and the driving motor 71 is stopped; (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 twist part 04 of the container lock, so as to mount the container lock on the container; (9) the twist lock lifting cylinder 81 is lowered to the lowest point, and the driving motor 71 is started to drive the other half tray to fall into the tray frame 101 through the belt 74.

[0076] Repeat the operation of (1)-(9) until all the container locks in one layer and one column are installed.

[0077] When the first layer and the first column of container locks are installed, the control of changing the layer and the column involving the carrier 40 is realized through the following steps:

[0078] (10) The carrier jacking cylinder 61 extends into the carrier bottom positioning hole 44 at the bottom of the carrier 40 to jack up the second layer and the first column of the carrier 40 to the working surface (the original position of the first layer and the first column, and the working surface is connected with the belt conveying system 7 through the carrier sliding groove 41), and the steps of (1)-(9) are repeated until all the container locks are installed; the carrier jacking cylinder 61 jacks up the third layer and the first column of the carrier 40 to the working surface, and the steps of (1)-(9) are repeated until all the container locks in the first column and the third layer are installed, at which time the carrier jacking cylinder 61 is in the highest position; (11) control the carrier jacking cylinder 61 to descend to the lowest point until the carrier 40 is supported by the carrier support platform 6, start the gear driving motor 63, rotate the gear 62, and based on the meshing relationship, the carrier 40 as a whole advances one column; (12) install the second layer and the second column of container locks according to the above steps until all the container locks in the third layer are installed.

[0079] As described above, the carrier jacking cylinder 61 is configured with at least four, and the four cylinders jack up from the four corners of the carrier 40 to ensure the stability of the execution process.

[0080] Lock disassembly working condition:

[0081] (1) After the container falls on the AGV, the twist lock jacking cylinder 81 of the twist lock system is jacked up to a specified position below the container lock, so that the twist 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 to clamp the second cylinder clamping surface 03 of the container lock, so that the container lock is in a clamped state; (2) start the rotating motor 85 to twist the container lock so that it is disassembled; (3) the twist lock jacking cylinder 81 is lowered to a specified position, the second jacking cylinder 91 of the second clamping jaw 9 extends to a specified position, and the second clamping cylinder 92 clamps the first cylinder clamping surface 02 of the container lock; (4) the first clamping cylinder 83 of the twist lock system is retracted, and only the second clamping cylinder 92 of the second clamping jaw 9 clamps the container lock; (5) the second jacking cylinder 91 of the second clamping jaw 9 is retracted to the upper end of the lock frame 102, and the second clamping cylinder 92 is retracted, so that the container lock falls into the lock frame 102.

[0082] The above-mentioned transverse, longitudinal and vertical directions, such as X-axis direction, Y-axis direction and Z-axis direction in three-dimensional space coordinates.

[0083] It should be noted that in the specific implementation process, the control part can be realized by a processor in the form of hardware to execute computer execution instructions in the form of software stored in the memory, which is not described here, and the programs corresponding to the actions performed by the control circuit can be stored in the computer readable storage medium of the system in the form of software, so that the processor calls and executes the operations corresponding to each module.

[0084] The computer readable storage medium in the above can include a volatile memory, such as a random access memory; can also include a non-volatile memory, such as a read-only memory, a flash memory, a hard disk or a solid state disk; and can also include a combination of the above kinds of memories.

[0085] The processor mentioned above can also be a collective term for a plurality of processing elements. For example, the processor can be a central processing unit, or can be 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. The general-purpose processor can be a microprocessor or can be any conventional processor, etc., and can also be a special-purpose processor.

[0086] It should be pointed out that the above description is not a limitation of the present application, and the present application is also not limited to the above examples. Changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present application should also be within the scope of the present application.

Claims

1. An AGV with an automatic lock disassembly and assembly function, comprising an AGV body (10), characterized in that, The AGV body (10) has a space below the location of the container lock for installing a lock-removal system; the lock-removal system includes: The pallet (1) is designed as a split structure, which is used to clamp the container lock after the split structure is combined. The bracket (40) has a multi-layer frame structure and is used to hold the pallet (1) with the container lock clamped. It is equipped with a pallet moving structure, and the pallet (1) can move laterally 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 a drive structure; The belt transmission system (7) is connected to the bracket (40) and consists of a drive motor (71), belt (74), support frame (75), pallet (76) and pallet limiting slide (77); the drive motor (71) and belt (74) are fixed on the pallet (76) and the pallet limiting slide (77) is fixed on the top of the pallet (76); The twist lock system (8) is assembled inside the belt conveyor system (7) and consists of a twist lock lifting cylinder (81), a twist lock block (82), a first clamping cylinder (83), a pallet pushing cylinder (84), a rotary motor (85), a bracket (86), and a working 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 working plate (87). The twist lock block (82), the first clamping cylinder (83), and the pallet pushing cylinder (84) are all fixed on the upper end of the working plate (87). The rotary motor (85) is arranged below the working plate (87), and its output end passes through the working plate (87) and connects to the twist lock block (82). The second gripper (9) is fixed below the AGV body (10) and includes a second push cylinder (91) and a second gripping cylinder (92) connected to the output end of the second push cylinder (91). Tray frame (101) for holding disassembled trays (1); Lock frame (102) is used to hold the disassembled container locks.

2. The AGV with automatic lock disassembly and assembly 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 slider (15), and a second slider (16). The first tray (11) and the second tray (12) have the same structure and are symmetrical. They are composed of an upper tray, a lower support arm, and a support plate connected between the two. The lower support arm has a left and right arm-shaped 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).

3. The AGV with automatic lock disassembly and assembly function according to claim 1, characterized in that, Each layer of the frame structure of the bracket (40) consists of several sets of pallet fixing structures arranged in parallel. Each pallet fixing structure consists of two opposing bracket sliding grooves (41). A ball screw motor (43) is installed at one end of each set of pallet fixing structures. A rack (42) is installed on the outer side of the bottom layer of the bracket (40). A bracket bottom positioning hole (44) is opened at the bottom of the bracket (40).

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

5. The AGV with automatic lock disassembly and assembly 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 installed on the pallet limiting slide (77).

6. The AGV with automatic lock disassembly and assembly function according to claim 1, characterized in that, The twist lock block (82) is shaped to match the twist part (04) of the container lock.

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

8. An AGV operation system with lock disassembly and assembly function, characterized in that, Includes quay cranes, storage yards, and AGVs with automatic locking and unlocking functions as described in any one of claims 1-7; During the locking process, when the AGV is loading containers from the yard to the quay crane, it uses its locking and unlocking system to install the container locks onto the containers. When the AGV travels under the quay crane, the container locks have already been installed during the AGV's travel. During the unlocking process, the quay crane directly places the container with the container lock on the AGV. While the AGV is moving towards the yard, the container lock on the container is removed through its unlocking and removal system. When the AGV reaches the yard interaction area, the container lock has already been removed during the AGV's journey.

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

1. The bracket (40) drives a pallet (1) with a container lock attached to move onto the belt conveyor system (7); 2. The belt conveyor system (7) is started, which moves the pallet (1) above the torsion lock system (8); 3. The twist lock system (8) is activated, the twist lock lifting cylinder (81) lifts the pallet (1) to the designated position, and the first clamping cylinder (83) clamps the container lock.

4. The pallet push cylinder (84) is activated to separate the split structure of the pallet (1); 5. The drive motor (71) pushes half of the tray to fall into the tray frame (101); 6. The drive motor (71) reverses the transfer of the container lock located above the twist lock system (8); 7. The twist lock lifting cylinder (81) continues to lift, causing the twist part (04) of the container lock to fall into the twist lock block (82); 8. The rotary motor (85) drives the torsion lock block (82) to install the container lock onto the container; 9. When the twist lock lifting cylinder (81) descends to its lowest point, the drive motor (71) starts and drives the belt (74) to let the other half of the pallet fall into the pallet frame (101); 10. After the containers in one layer and one column 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 column. Repeat steps 1-9 until the container locks are loaded.

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

1. When the container is placed on the AGV, the twist lock lifting cylinder (81) of the twist lock system (8) is lifted to the designated position below the container lock, so that the twist part (04) of the container lock falls into the twist lock block (82) of the twist lock system, and controls the first clamping cylinder (83) to start clamping the container lock.

2. Start the rotary motor (85) to twist the container lock so that it can be removed; 3. The twist lock lifting cylinder (81) descends to the designated position, the second push cylinder (91) of the second gripper (9) extends to the designated 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 the container lock is clamped only by the second clamping cylinder (92) of the second jaw (9); 5. The second push cylinder (91) of the second gripper (9) retracts to the upper end of the lock frame (102), and the second gripping cylinder (92) retracts, so that the container lock falls into the lock frame (102).

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