Wharf container lock pin dismounting and mounting system

Abstract

The invention relates to a wharf container lock pin dismounting and mounting system which comprises a bottom frame, at least three lock pin containing boxes used for storing lock pins, a lock pin grabbing module used for feeding and discharging the lock pins and a lock pin dismounting and mounting module used for dismounting and mounting the lock pins on a container, and the lock pin containing boxes, the lock pin grabbing module and the lock pin dismounting and mounting module are sequentially arranged above the bottom frame from left to right. The invention relates to the technical field of container lock pin disassembly and assembly. According to the wharf container lock pin disassembling and assembling system, through high automation and accurate control, the wharf operation efficiency is improved, the safety risk in the operation process is greatly reduced, the wharf container lock pin disassembling and assembling system can adapt to various operation modes, lock pins can be automatically disassembled and assembled, and the wharf container lock pin disassembling and assembling system is high in practicability. And errors in traditional manual operation are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of container locking pin disassembly and assembly, and particularly to a wharf container locking pin disassembly and assembly system. Background Art

[0002] In traditional wharf operations, the disassembly and assembly of container locking pins usually need to be carried out manually, which is not only time-consuming but also poses safety hazards. With the development of technology, the introduction of automated disassembly and assembly systems has become a key measure to improve wharf operation efficiency.

[0003] A wharf container locking pin disassembly and assembly system is now proposed, which is a device specifically designed to automatically complete the disassembly and installation of container locking pins. This system can significantly reduce the need for manual operation and improve the safety and efficiency of operations.

[0004] Achieve unmanned operation. By automatically controlling the robotic arm or robot to disassemble and assemble the locking pins, the manpower requirement is greatly reduced, and the operation speed and safety are improved.

[0005] Precise control: Utilize advanced vision positioning systems, such as monocular or binocular vision systems, to ensure the accurate identification and rapid disassembly and assembly of locking pins, avoiding errors and potential risks in traditional manual operations.

[0006] Multi-mode compatibility: The system design takes into account different types and sizes of containers, such as 20-foot and 40-foot containers, and can adapt to multiple operation modes to meet the needs of different wharves. Summary of the Invention

[0007] In view of the deficiencies of the prior art, the present invention provides a wharf container locking pin disassembly and assembly system, which solves the problems mentioned above.

[0008] To achieve the above objectives, the present invention is realized through the following technical solutions: A wharf container locking pin disassembly and assembly system includes a bottom frame and at least three locking pin placement boxes for storing locking pins, a locking pin grasping module for loading and unloading locking pins, and a locking pin disassembly and assembly module for disassembling and assembling locking pins, which are sequentially arranged from left to right above the bottom frame. It also includes a locking pin box vision recognition system for identifying the state of locking pins in the locking pin box, a locking pin variety and state recognition vision system on the bottom frame, a ranging system on the locking pin disassembly and assembly module, and a central control system for controlling the operation of the entire device. The ranging system is used to measure the relative position between the locking pin disassembly and assembly module and the container;

[0009] The locking pin grasping module includes at least two support frames fixed on the upper surface of the bottom frame and a truss manipulator for the transfer manipulator to pick up and place locking pins. The tops of the support frames are all rotatably connected with a rotating disc driven by a turntable angle adjustment mechanism through a placement plate, and an electromagnet is arranged in the middle of the rotating disc;

[0010] The locking pin disassembly and assembly module includes a fixing frame, a first fixing frame, and a second fixing frame sequentially arranged from left to right on the upper surface of the bottom frame. At least two fixing locking pin trays corresponding to the support frame are fixedly connected to the top of the fixing frame. A left locking pin disassembly and assembly manipulator is fixedly connected to the top of the first fixing frame. The ranging system is arranged on the left locking pin disassembly and assembly manipulator. A middle locking pin disassembly and assembly manipulator is fixedly connected to the top of the second fixing frame. A right locking pin conveying unit located below the fixing frame, the first fixing frame, and the second fixing frame is fixedly connected to the top of the bottom frame. When assembling the container locking pins during use, first place the locking pins in the locking pin placement box, then, according to the type of container, control the truss manipulator to identify and pick up the locking pins, and then place the locking pins above the rotating disc. At this time, adjust the angle of the locking pins by rotating the rotating disc to an angle that is convenient for the transfer manipulator to clamp. Then, sequentially place the two locking pins vertically above the fixing locking pin trays through the transfer manipulator. Install the two left corners of the container through the left locking pin disassembly and assembly manipulator. Synchronously, grab two locking pins through the transfer manipulator and place them above the movable locking pin trays on the two guide rails respectively. Then, drive the movable locking pin trays to move below the middle locking pin disassembly and assembly manipulator through the sprocket, and install the locking pins through the middle locking pin disassembly and assembly manipulator. The disassembly steps are the reverse operation of the assembly steps.

[0011] As a further solution of the present invention: A protection frame is fixedly connected to the surface of the bottom frame. Observation windows are opened on the sides of the protection frame where the locking pin storage module, the locking pin grasping module, and the locking pin disassembly and assembly module are located, and the protection frame provides protection in the open-air situation.

[0012] As a further solution of the present invention: The locking pin box vision recognition system is arranged above the locking pin placement box, and the picking end of the truss manipulator picks up the locking pins through an electromagnet.

[0013] As a further solution of the present invention: The turntable angle adjustment mechanism includes a driving motor fixed below the placement plate. A transmission gear connected to the output shaft of the driving motor is rotatably connected above the placement plate. The transmission gear meshes with the rotating disc. The driving motor drives the transmission gear to rotate, driving the rotating disc to rotate to adjust the position of the locking pins.

[0014] As a further solution of the present invention: The turntable angle adjustment mechanism includes a driving motor fixed below the placement plate. A transmission gear connected to the output shaft of the driving motor is rotatably connected above the placement plate. The transmission gear meshes with the rotating disc. A locking pin angle vision recognition system is arranged above the rotating disc.

[0015] As a further solution of the present invention: The fixing locking pin tray is provided with positioning grooves for positioning the locking pins.

[0016] As a further solution of the present invention: The right locking pin conveying unit includes at least two guide rails fixed on the bottom frame, and a movable locking pin tray is drivingly connected in each of the two guide rails.

[0017] As a further solution of the present invention: The two fixed locking pin trays and the two movable locking pin trays respectively correspond to the set positions where the manipulator extracts the locking pins.

[0018] As a further solution of the present invention: The central control system can combine the locking pin box vision recognition system, the locking pin variety and status recognition vision system, the locking pin angle vision recognition system and the distance measurement system on the left locking pin disassembly and assembly manipulator to control the operation of the entire device. The locking pin box vision recognition system is used to recognize the types of locking pins in the locking pin storage module, and then take them through the truss manipulator. The locking pin variety and status recognition vision system is arranged on the side of the bottom frame to recognize the types of locking pins on the container, so as to select different locking pins in the locking pin storage module. The distance measurement system is used to measure the relative distance between the locking pin disassembly and assembly module and the container, and the left locking pin disassembly and assembly manipulator is used to disassemble and assemble the locking pins on the container. The locking pin angle vision recognition system is used to recognize the angle of the locking pin above the rotating disc, and then control the rotation of the rotating disc to drive the locking pin to rotate and adjust the angle.

[0019] The present invention has the following beneficial effects compared with the prior art:

[0020] 1. In the present invention, the wharf container locking pin disassembly and assembly system not only improves the efficiency of wharf operations through high automation and precise control, but also greatly reduces the safety risks during the operation process. It can adapt to various operation modes, can automatically disassemble and assemble the locking pins, and avoids the errors in traditional manual operations.

[0021] 2. In the present invention, when assembling the container locking pins, first place the locking pins in the locking pin placement box, and then according to the types required for installing the locking pins on the container, control the truss manipulator to recognize and then take the locking pins, and then place the locking pins above the rotating disc. At this time, adjust the angle of the locking pins by rotating the rotating disc to adjust it to an angle convenient for the transfer manipulator to clamp. Then, the transfer manipulator is used to vertically place the two locking pins above the fixed locking pin tray in sequence, and the left locking pin disassembly and assembly manipulator is used to install the two left corners of the container. Synchronously, the transfer manipulator grabs two locking pins and places them above the movable locking pin trays on the two guide rails respectively, and then the sprocket drives the movable locking pin tray to move under the middle locking pin disassembly and assembly manipulator, and the middle locking pin disassembly and assembly manipulator is used to install the locking pins. The disassembly steps can be operated in reverse synchronously. Description of the Drawings

[0022] Figure 1Structural schematic diagram of the present invention;

[0023] Figure 2 Structural sectional view of the present invention;

[0024] Figure 3 Structural schematic diagram of the placement plate of the present invention;

[0025] Figure 4 For the present invention Figure 2 Partial enlarged view of part A in the present invention.

[0026] In the figure: 1, lock pin placement box; 2, lock pin grasping module; 3, lock pin disassembly and assembly module; 4, bottom frame; 5, protection frame; 6, central control system; 21, support frame; 22, placement plate; 23, drive motor; 24, transmission gear; 25, rotating disc; 28, transfer manipulator; 31, first fixing frame; 32, second fixing frame; 33, left lock pin disassembly and assembly manipulator; 34, middle lock pin disassembly and assembly manipulator; 35, guide rail; 36, sprocket; 37, conveyor chain; 38, movable lock pin tray; 39, fixing frame; 310, fixed lock pin tray. Specific embodiments

[0027] To further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific embodiments, structures, features and their effects of the present invention as follows.

[0028] Please refer to Figures 1-4, the present invention provides a technical solution: a dock container locking pin disassembly and assembly system, which can disassemble the locking pins on multiple containers simultaneously. The entire system can add new disassembly and assembly structures according to the actual number of containers. It includes a bottom frame 4 and at least three locking pin placement boxes 1 for storing locking pins, a locking pin grasping module 2 for loading and unloading locking pins, and a locking pin disassembly and assembly module 3 for disassembling and assembling locking pins on the container, which are arranged in sequence from left to right above the bottom frame 4. It also includes a locking pin box vision recognition system for identifying the status of locking pins in the locking pin box, a locking pin variety and status recognition vision system on the bottom frame 4, a ranging system on the locking pin disassembly and assembly module 3, and a central control system 6 for controlling the operation of the entire device. The locking pin box vision recognition system is used to identify the types of locking pins in the locking pin storage module 1, and then take them through a truss manipulator. The locking pin variety and status recognition vision system is arranged on the side of the bottom frame 4 to identify the types of locking pins on the container, so as to select different locking pins in the locking pin storage module 1. The ranging system is used to measure the relative distance between the locking pin disassembly and assembly module 3 and the container. The locking pin on the rotating disc 25 is taken by the left locking pin disassembly and assembly manipulator 33. The angle of the locking pin above the rotating disc 25 is identified through the locking pin angle vision recognition system, and then the rotating disc 25 is controlled to rotate to drive the locking pin to rotate and adjust the angle. The central control system 6 can combine the locking pin box vision recognition system and the camera positioning system to control the operation of the entire device. The locking pin box vision recognition system can be arranged on the protection frame 5 and at a position where it can identify the locking pins in the locking pin storage module 1. Its actions can cooperate with the locking pin grasping module 2 and the locking pin disassembly and assembly module 3. The camera positioning system can be located in the locking pin disassembly and assembly module 3 to facilitate the positioning and identification of the position of the locking pin connection on the container. The above systems can be adjusted in position according to the actual situation. The locking pin placement box 1 can be removed and there are at least three of them. There are hanging ears on both sides of the locking pin placement box 1, and the locking pin placement box 1 can be taken and placed by a forklift. The locking pins are placed in the locking pin placement box 1 for container installation, or the locking pins disassembled from the container can be placed in the locking pin placement box 1 for storage. Different types of locking pins are placed in multiple locking pin placement boxes 1 and stored separately to prevent confusion. This process is completed by the locking pin box vision recognition system that identifies the locking pins and cooperates with the locking pin grasping module 2;

[0029] The lock pin grasping module 2 includes at least two support frames 21 fixed above the bottom frame 4, a transfer manipulator 28, and a truss manipulator for picking up and placing lock pins. The tops of the two support frames 21 are each rotatably connected through a placement plate 22 to a rotating disk 25 driven by a turntable angle adjustment mechanism. The lock pin is placed above the rotating disk 25 by the truss manipulator for simple positioning, and then the transfer manipulator 28 picks up the lock pin above the rotating disk 25. The transfer manipulator 28 can grasp different positions of the lock pin, facilitating subsequent positioning of the lock pin.

[0030] The lock pin disassembly and assembly module 3 includes a fixed frame 39, a first fixed frame 31, and a second fixed frame 32 sequentially arranged from left to right on the upper surface of the bottom frame 4. At least two fixed lock pin trays 310 corresponding to the support frames 21 are fixedly connected to the top of the fixed frame 39. A positioning groove for positioning the lock pin is provided in the inner cavity of the fixed lock pin tray 310. After the transfer manipulator 28 grasps the lock pin, it places the lock pin into the positioning groove on the fixed lock pin tray 310. Through the setting of the positioning groove, the lock pin can be accurately placed, and the upper lock head is more convenient to be clamped. Moreover, when placing, the up and down angle of the lock pin is fixed, which can ensure that the lock pin head is positioned upward, making subsequent installation more convenient after being picked up by the manipulator. The fixed frame 39 is fixed above the bottom frame 4. The top of the first fixed frame 31 is fixedly connected to a left-side lock pin disassembly and assembly manipulator 33, and the top of the second fixed frame 32 is fixedly connected to a middle lock pin disassembly and assembly manipulator 34. The top of the bottom frame 4 is fixedly connected to a right-side lock pin conveying unit located below the fixed frame 39, the first fixed frame 31, and the second fixed frame 32. When assembling and collecting lock pins during use, first place the lock pins in the lock pin placement box 1, then, according to the type of container, the lock pin box vision recognition system scans and recognizes the lock pins, and then controls the truss manipulator to recognize and pick up the lock pins, and then places the lock pins above the rotating disk 25. At this time, the angle of the lock pin is adjusted by rotating the rotating disk 25 to an angle convenient for the transfer manipulator 28 to clamp. Then, the transfer manipulator 28 sequentially places the two lock pins vertically above the fixed lock pin trays 310. After positioning the lock pins through the camera positioning system, the left-side lock pin disassembly and assembly manipulator 33 installs the two left corners of the container. Synchronously, the transfer manipulator 28 grasps the two lock pins and places them respectively above the movable lock pin trays 38 on two guide rails 35, and then drives the movable lock pin trays 38 to move under the middle lock pin disassembly and assembly manipulator 34 through a sprocket 36. After positioning the lock pin connection on the container through the camera positioning system, the middle lock pin disassembly and assembly manipulator 34 installs the lock pins. The disassembly steps are the same as the reverse operation.

[0031] Observation windows are provided at the positions of the protection frame 5 corresponding to the lock pin storage module 1, the lock pin grasping module 2, and the lock pin disassembly and assembly module 3. At this position of the protection frame 5, a door can also be provided to facilitate replenishment or replacement when the lock pins in the lock pin placement box 1 are almost used up. In addition, the protection frame 5 provides protection in the open-air environment.

[0032] The picking end of the truss manipulator picks up the lock pins through an electromagnet and can also classify and store the lock pins when disassembling them.

[0033] The turntable angle adjustment mechanism includes a driving motor 23 fixed below the placement plate 22. A transmission gear 24 connected to the output shaft of the driving motor 23 is rotatably connected above the placement plate 22. The transmission gear 24 meshes with the rotating disc 25. A lock pin angle visual recognition system is arranged above the rotating disc 25. By driving the transmission gear 24 to rotate through the driving motor 23, the rotating disc 25 is driven to rotate to adjust the position of the lock pin. After the truss manipulator picks up the lock pin through the electromagnet at the picking end and places it on the rotating disc 25, the rotating disc 25 fixes the lock pin magnetically. The lock pin angle visual recognition system recognizes the angle of the lock pin above the rotating disc 25, and then controls the rotating disc 25 to rotate to drive the lock pin to rotate and adjust the angle.

[0034] The right-side lock pin conveying unit includes at least two guide rails 35 fixed on the bottom frame 4. At both ends of the two guide rails 35, sprockets 36 driven by motors are rotatably connected. A transmission chain 37 is driven on the surfaces of the two sprockets 36. An active lock pin tray 38 slidably connected to the inner cavity of the guide rail 35 is fixedly connected to the surface of the transmission chain 37. The active lock pin tray 38 has the same structure as the fixed lock pin tray 310 and can effectively position the lock pins.

[0035] The two fixed lock pin trays 310 and the two active lock pin trays 38 respectively correspond to the set positions for the manipulator to pick up the lock pins.

[0036] The central control system 6 can combine the lock pin box visual recognition system, the lock pin variety and status recognition visual system, the lock pin angle visual recognition system, and the distance measurement system on the left-side lock pin disassembly and assembly manipulator 33 to control the operation of the entire device. The lock pin box visual recognition system is used to recognize the types of lock pins in the lock pin storage module 1, and then the truss manipulator is used to pick them up. The lock pin variety and status recognition visual system is arranged on the side of the bottom frame 4 to recognize the types of lock pins on the container, so as to select different lock pins in the lock pin storage module 1. The distance measurement system is used to measure the relative distance between the lock pin disassembly and assembly module 3 and the container. The left-side lock pin disassembly and assembly manipulator 33 is used to disassemble and assemble the lock pins on the container. The lock pin angle visual recognition system is used to recognize the angle of the lock pin above the rotating disc 25, and then controls the rotating disc 25 to rotate to drive the lock pin to rotate and adjust the angle.

[0037] As described above, it is only the preferred embodiment of the present invention, and it does not impose any form of limitation on the present invention. Although the present invention has been disclosed above with the preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to equivalent embodiments by using the above-disclosed technical content within the scope of the technical solution of the present invention. However, as long as it does not depart from the content of the technical solution of the present invention, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A dock container lock pin disassembly and assembly system, characterized by: The device comprises a bottom frame (4) and at least three lock pin placement boxes (1) for storing lock pins, which are arranged in sequence from left to right above the bottom frame (4), a lock pin grabbing module (2) for loading and unloading lock pins, and a lock pin disassembling module (3) for disassembling and assembling lock pins on a container, and also comprises a lock pin box visual recognition system for identifying the state of lock pins in the lock pin box, a lock pin type and state recognition visual system on the bottom frame (4), a distance measurement system on the lock pin disassembling module (3), and a central control system (6) for controlling the operation of the entire device, wherein the distance measurement system is used to measure the relative position of the lock pin disassembling module (3) and the container; The lock pin grabbing module (2) comprises at least two support frames (21) fixed on the upper surface of the bottom frame (4) and a transfer robot (28), the top of each of the support frames (21) being rotatably connected to a rotating disk (25) driven by a rotating disk angle adjustment mechanism via a placement plate (22), and an electromagnet is arranged in the middle of the rotating disk (25); The lock pin disassembly module (3) comprises a fixed frame (39), a first fixed frame (31) and a second fixed frame (32) which are arranged in sequence from left to right on the upper surface of the bottom frame (4); the top of the fixed frame (39) is fixedly connected to at least two fixed lock pin trays (310) corresponding to the support frame (21); the top of the first fixed frame (31) is fixedly connected to a left lock pin disassembly robot (33); the distance measuring system is arranged on the left lock pin disassembly robot (33); the top of the second fixed frame (32) is fixedly connected to a middle lock pin disassembly robot (34); and the top of the bottom frame (4) is fixedly connected to a right lock pin conveying unit located below the fixed frame (39), the first fixed frame (31) and the second fixed frame (32).

2. A dock container lock pin disassembly and assembly system according to claim 1, characterized in that: A protection frame (5) is fixedly connected to the surface of the bottom frame (4).

3. The dock container lock pin disassembly and assembly system according to claim 1, characterized in that: The lock pin box visual recognition system is arranged above the lock pin placement box (1).

4. The dock container lock pin disassembly and assembly system according to claim 1, characterized in that: The turntable angle adjustment mechanism comprises a driving motor (23) fixed below a placement plate (22); a transmission gear (24) connected to an output shaft of the driving motor (23) is rotatably connected above the placement plate (22); the transmission gear (24) is meshed with a rotating disk (25); and a locking pin angle visual recognition system is arranged above the rotating disk (25).

5. The dock container lock pin disassembly and assembly system according to claim 1, characterized in that: The fixed lock pin tray (310) is provided with a positioning groove for positioning the lock pin.

6. The dock container lock pin disassembly and assembly system according to claim 1, characterized in that: The right lock pin conveying unit comprises at least two guide rails (35) fixed on the bottom frame (4), and movable lock pin trays (38) are drivingly connected in the two guide rails (35).

7. A dock container lock pin disassembly and assembly system according to claim 6, characterized in that: The two fixed locking pin trays (310) and the two movable locking pin trays (38) respectively correspond to the set positions for the robot to extract the locking pins.

8. The dock container lock pin disassembly and assembly system according to claim 1, characterized in that: The central control system (6) can control the operation of the entire device by combining the lock pin box visual recognition system, the lock pin type and state recognition visual system, the lock pin angle visual recognition system and the distance measurement system on the left lock pin disassembly and assembly manipulator (33). The lock pin box visual recognition system is used to identify the type of lock pins in the lock pin storage module (1). The lock pin type and state recognition visual system is arranged on the side of the bottom frame (4) to identify the type of lock pins on the container to select different lock pins in the lock pin storage module (1). The distance measurement system is used to measure the relative distance between the lock pin disassembly and assembly module (3) and the container. The lock pins on the container are disassembled and assembled by the left lock pin disassembly and assembly manipulator (33). The lock pin angle visual recognition system is used to identify the lock pin angle above the rotating disk (25), and then the rotating disk (25) is controlled to rotate to drive the lock pin to rotate and adjust the angle.

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