F-TR lock hooking prevention device of reach stacker operation container and detection method

Abstract

The embodiment of the invention discloses an F-TR lock hooking prevention device for a reach stacker operation container and a detection method, and the F-TR lock hooking prevention device comprises a plurality of detection assemblies which are respectively arranged at the head position of a reach stacker crane, the four corner positions of a lifting appliance of the reach stacker crane and in four spin lock devices; the controller calculates the variable quantity of the weights of the two sides of the long edge of the container and the difference value according to the weights of the four corner positions of the container, and calculates the variable quantity of the distance between any two corners of the reach stacker and the upper surface of the flatcar according to the distances between the four corner positions of the reach stacker and the upper surface of the flatcar; according to the distance between the container or the flatcar sideboard and the steel rail or the ground before and after hoisting, one of the variable quantities of the distance between the container or the flatcar sideboard and the steel rail or the ground is calculated to determine whether the container or the flatcar sideboard is hooked or not, so that the safety control of the flatcar unloading process is enhanced, and the F-TR lock hooking condition is avoided; therefore, the safety of hoisting the container by the reach stacker is improved, and the loading and unloading efficiency of the container is effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of transportation technology, and in particular to an F-TR lock anti-hooking device and a detection method for a front-loading container. Background Art

[0002] As the country continues to promote transportation policies such as "road to rail" and "bulk to container", as well as the opening of the China-Europe Express, container transportation has ushered in new opportunities for rapid development, but it has also brought safety concerns. In particular, the role of F-TR locks is crucial in the process of transporting containers on flat cars, especially when using front cranes for loading and unloading operations. If the lifting operation is improper, it is very easy to cause derailment accidents. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides an F-TR lock anti-hooking device and a detection method for a front-loading container, which can improve the safety of container operations and effectively improve the efficiency of container loading and unloading.

[0004] In a first aspect, an embodiment of the present invention provides an F-TR lock anti-hooking device for a front-loading container, the F-TR lock anti-hooking device comprising:

[0005] The first detection component is installed at the front of the reach stacker crane to detect the type of train and the distance between the container or flat car side and the rail before and after lifting;

[0006] Four second detection components are installed at the four corners of the reach crane's reach crane, and the four second detection components are used to measure the distances between the four corners of the reach crane and the upper surface of the flat car before and after lifting;

[0007] Four third detection components are respectively installed in the four rotating lock devices of the reach stacker, and the third detection components are used to detect the weight of the four corners of the container;

[0008] A controller is electrically connected to the first detection component, four second detection components, and four third detection components. The controller is used to calculate the change in the difference between the sum of the weights of the two sides of the long sides of the container according to the weights at the four corners of the container, calculate the change in the distance between any two corners of the front crane and the upper surface of the flat car according to the distance between the four corners of the front crane and the upper surface of the flat car, and calculate the change in the distance between the container or the side of the flat car and the rail or the ground according to the distance between the container or the side of the flat car and the rail or the ground before and after lifting.

[0009] Optionally, the controller is electrically connected to the four turn-lock devices, and the turn-lock devices send turn-lock signals to the controller, and the controller triggers the first detection component to detect the train model according to the turn-lock signals.

[0010] Optionally, the controller is electrically connected to the reachstacker, and is used to control the reachstacker to lift at a low speed when the train model is a flat car.

[0011] Optionally, the first detection component is an image acquisition device, the second detection component is a laser displacement sensor, and the third detection component is a weighing sensor.

[0012] In a second aspect, an embodiment of the present invention provides a detection method for an F-TR lock anti-hooking device for a reachstacker to operate on a container, and the detection method includes:

[0013] In response to receiving a turn-lock signal, trigger the first detection component to detect whether the train model is a flat car;

[0014] In response to the train model being a flat car, control the reachstacker to lift at a low speed, and at the same time control the first detection component to detect and obtain the distance between the container or the flat car side and the rail or the ground before and after lifting, control the four second detection components to respectively detect and obtain the distances between the four corner positions of the reachstacker spreader and the upper surface of the flat car, and control the four third detection components to respectively detect and obtain the weights of the four corner positions of the container;

[0015] Calculate the change amount of the difference between the weights on both sides of the long side of the container according to the weights of the four corner positions of the container, calculate the change amount of the distance between any two corners of the reachstacker spreader and the upper surface of the flat car according to the distances between the four corner positions of the reachstacker spreader and the upper surface of the flat car, and calculate the change amount of the distance between the container or the flat car side and the rail or the ground according to the distances between the container or the flat car side and the rail or the ground before and after lifting;

[0016] When the change amount meets at least one of the first condition, the second condition or the third condition, it is determined that the F-TR lock is hooked. The first condition is that the difference between the weights on both sides of the long side of the container meets the first preset condition, the second condition is that the difference between the distances of any two corners of the reachstacker spreader relative to the upper surface of the flat car meets the second preset condition, and the third condition is that the difference between the distances of the container or the flat car side relative to the rail or the ground meets the third preset condition;

[0017] Control the reachstacker to stop lifting and lower the container.

[0018] Optionally, the first preset condition is that the absolute difference between the sum of the weights of the two sides of the long side of the container is greater than or equal to 3 tons, the second preset condition is that the absolute difference between the distances of any two corners of the front sling relative to the upper surface of the flat car is greater than or equal to 40 mm, and the third preset condition is that the absolute difference between the distances of the container or the flat car side relative to the rail or the ground is greater than or equal to 80 mm.

[0019] Optionally, controlling the reach stacker to stop lifting and put down the container further comprises:

[0020] Sound and light alarm.

[0021] Optionally, the detection method comprises:

[0022] In response to the weight values ​​of the four corners of the container becoming 0, the distances between the four corners of the reach stacker and the upper surface of the flat car become initial values, and the distances between the container or the side of the flat car and the rail or the ground become initial values, and the reach stacker is controlled to restart lifting at a low speed.

[0023] Optionally, the rotation speed of the low-speed operation is: 800-1000r / min.

[0024] Optionally, the detection method further comprises:

[0025] In response to the change not satisfying the first working condition, the second working condition and the third working condition at the same time, determining that the F-TR lock is not hooked;

[0026] Continue to control the four second detection components to respectively detect and obtain the distances between the four corner positions of the front sling and the upper surface of the flat car;

[0027] In response to the fact that the distances between the four corner positions of the reach crane and the upper surface of the flat car are all greater than or equal to the first preset value, the low speed limit of the reach crane is released to continue unloading, and the first detection component, four second detection components, and four third detection components are controlled to enter a dormant state.

[0028] The embodiment of the present invention discloses an F-TR lock anti-hooking device and a detection method for a front-loading container, which enhances the safety control of a flat car unloading process, effectively avoids the occurrence of F-TR lock hooking accidents, thereby improving the safety of container operations and effectively improving the efficiency of container loading and unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0030] Figure 1 2 is a schematic structural diagram of an F-TR lock anti-hooking device for a reach stacker container according to an embodiment of the present invention;

[0031] Figure 2 It is a schematic diagram of the weighing detection logic of the F-TR lock anti-hooking device for the container in the reachstacker operation of the embodiment of the present invention;

[0032] Figure 3 It is a schematic structural diagram of the connection between the reachstacker spreader and the container of the F-TR lock anti-hooking device for the container in the reachstacker operation of the embodiment of the present invention;

[0033] Figure 4 It is a schematic flowchart of the detection method of the F-TR lock anti-hooking device for the container in the reachstacker operation of the embodiment of the present invention.

[0034] Reference numerals:

[0035] 11 - First detection component; 12 - Second detection component; 13 - Third detection component; 14 - Controller; 21 - Reachstacker crane; 22 - Reachstacker spreader; 23 - Container; 24 - Flat car. Detailed implementation manners

[0036] The following is a description of the present application based on embodiments, but the present application is not limited to these embodiments. In the following detailed description of the present application, some specific details are described in detail. Those skilled in the art can fully understand the present application without the description of these details. In order to avoid obscuring the essence of the present application, well-known methods, processes, procedures, components and circuits are not described in detail.

[0037] In addition, those of ordinary skill in the art should understand that the drawings provided herein are for illustrative purposes only, and the drawings are not necessarily drawn to scale.

[0038] Unless otherwise clearly specified and limited, terms such as "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0039] Unless the context clearly requires otherwise, words such as "including" and "comprising" in the entire application document should be interpreted as having the meaning of including rather than exclusive or exhaustive; that is, the meaning of "including but not limited to".

[0040] In the description of this application, it should be understood that terms such as "first" and "second" are only for descriptive purposes and cannot be construed as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0041] Figure 1 is a schematic structural diagram of the F-TR lock anti-hooking device for the container during the operation of the reachstacker in this embodiment. The F-TR lock anti-hooking device is installed on the reachstacker 21, so as to perform anti-hooking detection during the process of the reachstacker 21 lifting and unloading the container 23 on the flatcar 24, to judge whether the container 23 and the flatcar 24 are hooked, avoid the occurrence of F-TR lock hooking, thereby improving the safety of the container 23 operation and effectively improving the efficiency of container 23 loading and unloading.

[0042] Among them, the reachstacker 21 (also known as the container 23 front loader or simply reachstacker) is a heavy mechanical equipment specially used for stacking and handling containers 23, with the same structure as the existing reachstacker 21. Its main structural components include a cab, a telescopic boom, a reachstacker spreader 22, a hydraulic system, an engine, a steering system, etc. The cab is located at the front of the equipment, providing a comfortable working environment for the operator. The cab is equipped with a control panel, joysticks and other control systems, enabling the operator to conveniently control the operation of the entire machine. The telescopic boom can be telescoped to adapt to the operation requirements of different heights and distances. Four rotary locking devices are arranged on the reachstacker spreader 22 for mating connection with the corner fitting holes on the container 23 to lift and release the container 23. Among them, a rotating mechanism and a locking sensor are arranged in the rotary locking device. The rotating mechanism is used to control the rotation of the lock head for easy insertion and locking; the locking sensor is used to monitor the state of the rotary lock, that is, whether it is correctly locked.

[0043] As Figure 1 shown, the F-TR lock anti-hooking device includes a first detection component 11, four second detection components 12, four third detection components 13 and a controller 14. Among them, the first detection component 11 is installed at the front of the reachstacker 21, that is, the front part of the reachstacker 21. The first detection component 11 is used to detect the train type to judge whether the train is a flatcar 24. At the same time, the first detection component 11 is also used to detect the distances of the container 23 or the flatcar 24 car body relative to the rail before and after lifting.

[0044] The four second detection components 12 are installed at the four corners of the reachstacker spreader 22 of the reachstacker 21. The four second detection components 12 are respectively used to measure the distances between the four corner positions of the reachstacker spreader 22 and the upper surface of the flatcar 24 before and after lifting. The four third detection components 13 are respectively installed in the four rotary locking devices of the reachstacker spreader 22. The four third detection components 13 are respectively used to detect the weights of the four corner positions of the container 23, such asFigure 3 as shown

[0045] The controller 14 is arranged in the cab, and the controller 14 is electrically connected to the first detection component 11, four second detection components 12, and four third detection components 13. Among them, the first detection component 11, four second detection components 12, and four third detection components 13 all include a working state and a sleep state. When corresponding detection is required, the controller 14 controls the corresponding detection component to switch from the sleep state to the working state to perform detection and obtain corresponding data; when continuous detection is not required, the controller 14 controls all detection components to switch from the working state to the sleep state to reduce energy consumption and extend the service life of the detection components, etc.

[0046] Specifically, the first detection component 11, the second detection component 12, and the third detection component 13 respectively send the detected data to the controller 14 for processing to know the current state of the container 23. The controller 14 is used to calculate the change amount of the difference between the weights on both sides of the long side of the container 23 (i.e., the change in the difference in weights on both sides) based on the weights at the four corner positions of the container 23. The controller 14 is used to calculate the change amount of the distance between any two corners of the reach stacker spreader 22 relative to the upper surface of the flat car 24 (i.e., the change in the difference in the distances from any two corners to the upper surface of the flat car 24) based on the distances between the four corner positions of the reach stacker spreader 22 and the upper surface of the flat car 24. The controller 14 is used to calculate the change amount of the distance between the side of the container 23 or the flat car 24 relative to the rail or the ground before and after lifting (front and rear difference) based on the distance between the side of the container 23 or the flat car 24 and the rail or the ground. When the controller 14 determines that at least one of the above three change amounts satisfies the first condition, the second condition, or the third condition, it determines whether the F-TR lock is hooked. The first condition is that the difference between the weights on both sides of the long side of the container 23 satisfies the first preset condition. The second condition is that the difference between the distances of any two corners of the reach stacker spreader 22 relative to the upper surface of the flat car 24 satisfies the second preset condition. The third condition is that the difference between the distances of the side of the container 23 or the flat car 24 relative to the rail or the ground satisfies the third preset condition.

[0047] Optionally, the first preset condition is that the absolute difference between the weights on both sides of the long side of the container 23 is greater than or equal to 3 tons. The second preset condition is that the absolute difference between the differences in the distances of any two corners of the reach stacker spreader 22 relative to the upper surface of the flat car 24 is greater than or equal to 40 mm. The third preset condition is that the absolute difference between the differences in the distances of the side of the container 23 or the flat car 24 relative to the rail or the ground is greater than or equal to 80 mm. In other optional implementation manners, the values in the above first preset condition, second preset condition, and third preset condition are not limited and can be specifically set according to requirements.

[0048] Further, the controller 14 is electrically connected to the four turn-lock devices (i.e., the rotating mechanism and the locking sensor) of the reachstacker spreader 22. When the controller 14 controls the rotating mechanism in the turn-lock device to drive the lock head to rotate and lock, the locking sensor generates a turn-lock signal. The locking sensor sends the turn-lock signal to the controller 14. The controller 14 wakes up the first detection component 11 in the sleep state according to the turn-lock signal to detect the train model. When it is detected as a flat car 24, the anti-hooking detection process is executed. Specifically, refer to the detection method part described below for the anti-hooking detection process.

[0049] Further, the controller 14 is electrically connected to the reachstacker crane 21. When the first detection component 11 detects that the train model is a flat car 24, the controller 14 controls the engine of the reachstacker crane 21 to run at a low speed, so that the reachstacker spreader 22 can be slowly lifted. The anti-hooking detection is performed during the slow lifting process to avoid potential safety hazards during the unloading of the container 23 when hooking occurs during rapid lifting.

[0050] In this embodiment, the first detection component 11 can be an image acquisition device, such as an intelligent camera. The controller 14 can obtain the distance between the container 23 or the side of the flat car 24 and the rail or the ground in each image according to the images taken before and after the lifting by the image acquisition device, and then calculate the difference between the two distances before and after, that is, the change amount (front-back difference) of the distance between the container 23 or the side of the flat car 24 and the rail or the ground. Among them, the time interval between the two images taken before and after can be set according to requirements, such as 1S or 2S, etc. The second detection component 12 is a laser displacement sensor. The controller 14 can obtain the distances between the four corner positions of the reachstacker spreader 22 and the upper surface of the flat car 24 after lifting for a certain time (the same as the time interval between the two images taken before and after) according to the detection of the four laser displacement sensors, and then calculate the difference between the distances between any two corner positions and the upper surface of the flat car 24. The third detection component 13 is a weighing sensor. The controller 14 can obtain the weights of the four corner positions of the reachstacker spreader 22 after lifting for a certain time (the same as the time interval between the two images taken before and after) according to the detection of the four weighing sensors respectively, and then first calculate the sum of the weights of the two corners at both ends of the long side, and then calculate the difference between the two sums of weights.

[0051] Figure 4 is a flowchart of the detection method of the F-TR lock anti-hooking device for the reachstacker to operate on the container 23. It is implemented based on the above-mentioned F-TR lock anti-hooking device for the reachstacker to operate on the container 23. As Figure 4 shown, the detection method includes:

[0052] Step S100, in response to receiving the turn-lock signal, trigger the first detection component to detect whether the train model is a flat car.

[0053] The operator controls the reachstacker crane 21 to position the reachstacker spreader 22 above the container 23 to be unloaded from the vehicle, and then controls the four twistlock devices to rotate and lock with the container 23. At this time, the locking sensor in the twistlock device generates a twistlock signal after detecting the locking of the twistlock device with the container 23, and then sends the twistlock signal to the controller 14. The twistlock signal indicates that the twistlock device is locked with the container 23, and the reachstacker crane 21 can start lifting.

[0054] After receiving the twistlock signal, the controller 14 controls the first detection component 11 to enter the working state from the sleep state, so that the first detection component 11 starts to detect the train type. The first detection component 11 can be an image acquisition device. The image acquisition device captures image information including the train model and the appearance, and then sends the image information to the controller 14. The controller 14 can obtain the train type (such as the model, etc.) and the distance between the container 23 or the car body of the flatcar 24 and the rail or the ground before lifting according to the received image information. The train types include flatcars 24 and gondola cars. The controller 14 can compare the train type obtained from the image information with the train types stored in the database (model comparison) to determine whether the train type is a flatcar 24.

[0055] Step S200, in response to the train type being a flatcar, control the reachstacker crane to lift at a low speed, and at the same time control the first detection component to detect and obtain the distance between the container or the car body of the flatcar and the rail or the ground before and after lifting, control the four second detection components to respectively detect and obtain the distances between the four corner positions of the reachstacker spreader and the upper surface of the flatcar, and control the four third detection components to respectively detect and obtain the weights of the four corner positions of the container.

[0056] When the controller 14 determines that the train type is a flatcar 24 through comparison and analysis with the database, the controller 14 controls the reachstacker crane 21 to lift at a low speed, and at the same time controls the second detection component 12 and the third detection component 13 to switch from the sleep state to the working state to start corresponding detections. That is, when it is determined to unload a flatcar 24, the reachstacker crane 21 starts to lift the container 23 at a low speed and starts anti-hooking detection. Among them, anti-hooking detection during low-speed lifting can detect potential dangerous situations at the initial stage of lifting, such as whether the lifting ropes are correctly hung and whether other objects are accidentally hooked. This can effectively reduce the risk of equipment damage or damage to the lifted object, improve operation safety and loading and unloading efficiency. At the same time, through anti-hooking detection during low-speed lifting, problems can be discovered in time and measures can be taken to effectively prevent accidents. Among them, the rotational speed of the reachstacker crane 21 during low-speed operation is 800 - 1200 r / min.

[0057] Specifically, the anti-hooking detection includes: (1) The first detection component 11 captures the image information before and after lifting, and then sends the two pieces of image information to the controller 14. The controller 14 determines the distances between the sides of the container 23 or the flatcar 24 and the rail or the ground before and after lifting respectively according to the two pieces of received image information. (2) Four second detection components 12 respectively detect and obtain the distances between the four corner positions of the reach stacker spreader 22 and the upper surface of the flatcar 24, and send them to the controller 14 for analysis and processing. (3) Four third detection components 13 respectively detect and obtain the weights of the four corner positions of the container 23, and send them to the controller 14 for analysis and processing.

[0058] Step S300: Calculate the change amount of the difference between the weights on both sides of the long side of the container based on the weights of the four corner positions of the container, calculate the change amount of the distance between any two corners of the reach stacker spreader relative to the upper surface of the flatcar based on the distances between the four corner positions of the reach stacker spreader and the upper surface of the flatcar, and calculate the change amount of the distance between the side of the container or the flatcar and the rail or the ground before and after lifting based on the distances between the side of the container or the flatcar and the rail or the ground before and after lifting.

[0059] After receiving the above information, the controller 14 performs analysis and processing. Specifically: (1) The controller 14 calculates the change amount of the difference between the weights on both sides of the long side of the container 23 based on the weights of the four corner positions of the container 23. As Figure 2 shown, the four third detection components 13 can respectively detect and obtain that the weights of the four corner positions of the container 23 are F1, F2, F3, and F4 respectively. The change amount of the difference between the weights on both sides of the long side of the container 23 refers to the difference between the sums of the weights of the two corners on both sides of the container 23, that is, ΔG = |(F1 + F4) - (F2 + F3)|. (2) The controller 14 calculates the change amount of the distance between any two corners of the reach stacker spreader 22 relative to the upper surface of the flatcar 24 based on the distances between the four corner positions of the reach stacker spreader 22 and the upper surface of the flatcar 24. Among them, the distances between the four corner positions and the upper surface of the flatcar 24 are h1, h2, h3, and h4 respectively, and the change amounts of the distances between any two corners relative to the upper surface of the flatcar 24 are Δh1 = |h1 - h2|, Δh2 = |h1 - h3|, Δh3 =

[0060] |h1 - h4|, Δh4 = |h2 - h3|, Δh5 = |h2 - h4|, Δh6 = |h3 - h4|. (3) The controller 14 calculates the change amount of the distance between the side of the container 23 or the flatcar 24 and the rail or the ground before and after lifting based on the distances between the side of the container 23 or the flatcar 24 and the rail or the ground before and after lifting.

[0061] Step S400: When the change amount satisfies at least one of the first condition, the second condition, or the third condition, it is determined that the F-TR lock is hooked.

[0062] The first working condition is that the difference between the sums of the weights on both sides of the long side of the container 23 meets the first preset condition. The second working condition is that the difference between the distances of any two corners of the reach stacker spreader 22 relative to the upper surface of the flatcar 24 meets the second preset condition. The third working condition is that the difference between the distances of the side of the container 23 or the flatcar 24 relative to the rail or the ground meets the third preset condition.

[0063] After calculating each change amount in step S300, the controller 14 compares and analyzes each change amount. When at least one of the first working condition, the second working condition, or the third working condition is met, it can be determined that the F-TR lock is hooked. Among them, the first working condition is that the difference between the sums of the weights on both sides of the long side of the container 23 meets the first preset condition. The second working condition is that the difference between the distances of any two corners of the reach stacker spreader 22 relative to the upper surface of the flatcar 24 meets the second preset condition. The third working condition is that the difference between the distances of the side of the container 23 or the flatcar 24 relative to the rail or the ground meets the third preset condition.

[0064] In this embodiment, the first preset condition is that the absolute difference between the sums of the weights on both sides of the long side of the container 23 is greater than or equal to 3 tons, that is, ΔG = |(F1 + F4) - (F2 + F3)| ≥ 3t. The second preset condition is that the absolute difference between the distances of any two corners of the reach stacker spreader 22 relative to the upper surface of the flatcar 24 is greater than or equal to 40 mm, that is, any one of Δh1 = |h1 - h2|, Δh2 = |h1 - h3|, Δh3 = |h1 - h4|, Δh4 = |h2 - h3|, Δh5 = |h2 - h4|, Δh6 = |h3 - h4| is greater than or equal to 40 mm. The third preset condition is that the absolute difference between the distances of the side of the container 23 or the flatcar 24 relative to the rail or the ground is greater than or equal to 80 mm, that is, ΔH ≥ 80 mm. When one or more of the above three working conditions occur, it is determined that the F-TR lock is hooked.

[0065] Step S500, control the reach stacker crane to stop lifting and lower the container.

[0066] When the controller 14 determines that the F-TR lock is hooked, control the reach stacker crane 21 to stop lifting and lower the container 23 to avoid accidents during continued lifting and unloading. Further, when controlling the reach stacker crane 21 to stop lifting and lower the container 23, an audible and visual alarm can also be issued simultaneously to remind the operator of the hooking situation of the F-TR lock.

[0067] Step S600, in response to the weight values of the four corners of the container becoming 0, the distances of the four corners of the reach stacker spreader relative to the upper surface of the flatcar becoming the initial values, and the distances of the side of the container or the flatcar relative to the rail or the ground becoming the initial values, control the reach stacker crane to start lifting again at a low speed.

[0068] When the controller 14 controls the reachstacker crane 21 to stop lifting and lower the container 23, the first detection component 11, the second detection component 12, and the third detection component 13 continuously detect. When the weight values at the four corners of the container 23 become 0, the distances between the four corner positions of the reachstacker spreader 22 and the upper surface of the flatcar 24 become the initial values, and the distances between the sides of the container 23 or the flatcar 24 and the rail or the ground become the initial values (which may be 0), it indicates that the container 23 has been lowered again, and the reachstacker spreader 22 returns to the initial state.

[0069] The operator, etc. can operate to release the connection between the container 23 and the flatcar 24, and then the operator restarts to execute the above detection method. At this time, it is not necessary for the first detection component to re-check the train type, and the calculation of each detection data and the judgment of the working condition can be directly carried out.

[0070] In this embodiment, the detection method further includes:

[0071] Step S700: When the change amount does not satisfy the first working condition, the second working condition, and the third working condition at the same time, it is determined that the F-TR lock is not hooked.

[0072] When the controller 14 detects that none of the first working condition, the second working condition, and the third working condition appears, the reachstacker crane 21 continues to lift, and continues to control the four second detection components 12 to respectively detect and obtain the distances between the four corner positions of the reachstacker spreader 22 and the upper surface of the flatcar 24.

[0073] Step S800: When the distances between the four corner positions of the reachstacker spreader and the upper surface of the flatcar are all greater than or equal to the first threshold value, release the low-speed limit of the reachstacker crane for unloading, and control the first detection component, the four second detection components, and the four third detection components to enter the sleep state.

[0074] When it is detected that the distances between the four corner positions of the reachstacker spreader 22 and the upper surface of the flatcar 24 are all greater than or equal to the first threshold value, it indicates that the container 23 is completely separated from the flatcar 24 and is at a safe distance. After that, when entering the normal unloading mode, the container 23 will not collide with the flatcar 24, etc. At this time, the controller 14 controls to release the low-speed limit of the reachstacker crane 21 and enter the normal unloading mode. At the same time, the controller 14 controls the first detection component 11, the four second detection components 12, and the four third detection components 13 to enter the sleep state. Among them, the first threshold value can be set according to specific situations, such as 250 mm.

[0075] After completing the anti-hooking detection, the controller 14 stores the data of the entire detection process at the same time for convenient subsequent query. Among them, the data of the entire detection process includes the detection time, the operator, the vehicle number, the container number of the container 23, etc.

[0076] In this embodiment, the detection method further includes: when the controller 14 determines through comparison and analysis with the database that the train model is not a flat car 24, the controller 14 will not trigger the anti-hooking detection. That is, when the controller 14 detects that the train model is a gondola car or other models, it controls the first detection component 11 to switch from the working state to the sleep state, and the second detection component 12 and the third detection component 13 remain in the sleep state. The controller 14 no longer performs anti-hooking detection and directly controls the reach stacker crane 21 to operate and lift at a normal speed for unloading the vehicle.

[0077] This embodiment provides an F-TR lock anti-hooking device and detection method for a reach stacker crane operating on a container 23, including a first detection component 11, four second detection components 12, and four third detection components 13, which are respectively installed at the front of the reach stacker crane 21, at the four corners of the reach stacker spreader 22, and in four turn-lock devices. The controller 14 determines whether there is a hook-up by calculating one of the following: the change amount of the difference in the sum of the weights on both sides of the long side of the container 23 based on the weights at the four corner positions of the container 23, the change amount of the distance between any two corners of the reach stacker spreader 22 relative to the upper surface of the flat car 24 based on the distances at the four corner positions of the reach stacker spreader 22 and the upper surface of the flat car 24, and the change amount of the distance between the side of the container 23 or the flat car 24 relative to the rail or the ground before and after lifting based on the distance between the side of the container 23 or the flat car 24 and the rail or the ground. This enhances the safety control during the unloading process of the flat car 24, avoids the occurrence of F-TR lock hooking, thereby improving the safety of container 23 operations and effectively improving the efficiency of container 23 loading and unloading.

[0078] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, various modifications and changes can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. An F-TR lock anti-hooking device for a front-loading container, characterized in that: The F-TR lock anti-hooking device comprises: A first detection component (11) is installed at the front of a reach crane (21) and is used to detect the type of train and the distance between the side of a container (23) or a flat car (24) and the rails before and after lifting; Four second detection components (12) are installed at four corners of a front-end lifting device (22) of the front-end lifting crane (21), and the four second detection components (12) are used to measure the distances between the four corners of the front-end lifting device (22) and the upper surface of the flat car (24) before and after lifting. Four third detection assemblies (13) are respectively installed in four rotating lock devices of the front sling (22), and the four third detection assemblies (13) are respectively used to detect the weight of the four corner positions of the container (23); A controller (14) is electrically connected to the first detection component (11), four of the second detection components (12), and four of the third detection components (13). The controller (14) is used to calculate the change in the difference between the sum of the weights of the two sides of the long side of the container (23) based on the weights of the four corners of the container (23), calculate the change in the distance between any two corners of the front sling (22) and the upper surface of the flat car (24) based on the distances between the four corners of the front sling (22) and the upper surface of the flat car (24), and calculate the change in the distance between the side of the container (23) or the flat car (24) and the rail or the ground based on the distance between the side of the container (23) or the flat car (24) and the rail or the ground before and after lifting.

2. The F-TR lock anti-hooking device according to claim 1, characterized in that: The controller (14) is electrically connected to the four rotating lock devices, and the rotating lock devices generate rotating lock signals and send them to the controller (14). The controller (14) triggers the first detection component (11) to detect the train model according to the rotating lock signals.

3. The F-TR lock anti-hooking device according to claim 1, characterized in that: The controller (14) is electrically connected to the reach crane (21) and is used to control the reach crane (21) to operate at a low speed for lifting when the train vehicle type is a flat car (24).

4. The F-TR lock anti-hooking device according to claim 1, characterized in that: The first detection component (11) is an image acquisition device, the second detection component (12) is a laser displacement sensor, and the third detection component (13) is a weighing sensor.

5. A method for detecting an F-TR lock anti-hooking device of a front-loading container, characterized in that: The detection method comprises: In response to receiving the lock rotation signal, triggering the first detection component (11) to detect whether the train model is a flat car (24); In response to the train model being a flat car (24), the front crane (21) is controlled to operate at a low speed for lifting, and at the same time, the first detection component (11) is controlled to detect and obtain the distance between the container (23) or the side of the flat car (24) relative to the rail or the ground before and after lifting, the four second detection components (12) are controlled to respectively detect and obtain the distance between the four corner positions of the front crane sling (22) and the upper surface of the flat car (24), and the four third detection components (13) are controlled to respectively detect and obtain the weight of the four corner positions of the container (23); The change amount of the difference between the sum of the weights of the two sides of the long side of the container (23) is calculated based on the weights of the four corners of the container (23); the change amount of the distance between any two corners of the front sling (22) and the upper surface of the flat car (24) is calculated based on the distances between the four corners of the front sling (22) and the upper surface of the flat car (24); the change amount of the distance between the side of the container (23) or the flat car (24) and the rail or the ground is calculated based on the distance between the side of the container (23) or the flat car (24) and the rail or the ground before and after lifting; In response to the change satisfying at least one of the first working condition, the second working condition or the third working condition, it is determined that the F-TR lock is hooked, the first working condition being that the difference between the sum of the weights of the two sides of the long side of the container (23) satisfies the first preset condition, the second working condition being that the difference between the distances of any two corners of the front sling (22) relative to the upper surface of the flat car (24) satisfies the second preset condition, and the third working condition being that the difference between the distances of the side of the container (23) or the flat car (24) relative to the rail or the ground satisfies the third preset condition; The reach stacker (21) is controlled to stop lifting, and the container (23) can only be put down.

6. The detection method according to claim 5, characterized in that: The first preset condition is that the absolute difference between the sum of the weights of the two sides of the long side of the container (23) is greater than or equal to 3 tons, the second preset condition is that the absolute difference between the distances between any two corners of the front sling (22) and the upper surface of the flat car (24) is greater than or equal to 40 mm, and the third preset condition is that the absolute difference between the distances between the side of the container (23) or the flat car (24) and the rail or the ground is greater than or equal to 80 mm.

7. The detection method according to claim 5, characterized in that: The method of controlling the reach stacker crane (21) to stop lifting and only putting down the container (23) further comprises: Sound and light alarm.

8. The detection method according to claim 5, characterized in that: The detection method comprises: In response to the weight values ​​of the four corners of the container (23) becoming 0, the distances between the four corners of the reach sling (22) and the upper surface of the flat car (24) become initial values, and the distances between the side of the container (23) or the flat car (24) and the rail or the ground become initial values, and the reach sling crane (21) is controlled to start lifting at a low speed again.

9. The detection method according to claim 5, characterized in that: The rotation speed of the low-speed operation is: 800-1000r / min.

10. The detection method according to claim 5, characterized in that: The detection method further comprises: In response to the change not satisfying the first working condition, the second working condition and the third working condition at the same time, determining that the F-TR lock is not hooked; Continue to control the four second detection components (12) to respectively detect and obtain the distances between the four corner positions of the front sling (22) and the upper surface of the flat car (24); In response to the distances between the four corner positions of the front loader (22) and the upper surface of the flat car (24) being greater than or equal to a first preset value, the low speed limit of the front loader crane (21) is released, unloading continues, and the first detection component (11), the four second detection components (12), and the four third detection components (13) are controlled to enter a dormant state.

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