An automated loading and unloading workstation for tank containers

Abstract

The present invention discloses an automated loading and unloading workstation for tank containers, which relates to the technical field of logistics automation equipment, including a workstation, a loading and unloading system, a hoisting mechanism, a stacking area, a support frame, a processing area, an installation slot, and a heavy-load AGV. A conveyor track is fixedly connected above the workstation, and the conveyor track includes parallel track sections and curved track sections. The stacking area is opened between the parallel track sections of the conveyor track, the support frame is fixedly connected at the end of the parallel track sections of the conveyor track, the processing area is installed at the curved track section of the conveyor track, an initial inspection area and a re-inspection area are opened in the processing area, the installation slots are respectively opened inside the initial inspection area and the re-inspection area, a number of nozzles are evenly installed in the installation slots, and the heavy-load AGV is arranged above the conveyor track. The present invention realizes automated, intelligent, and efficient tank container loading and unloading.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics automation equipment, and in particular to an automated loading and unloading workstation for tank containers. Background Art

[0002] Tank containers are standardized containers designed specifically for transporting bulk cargoes such as liquids, gases, and powders. They feature strong sealing, high-pressure resistance, and reusability, making them widely used in global logistics and transportation for the chemical, energy, food, and pharmaceutical industries. Because tank containers often carry liquids, gases, or hazardous chemicals, corrosive liquids and food ingredients can easily adhere to their surfaces during loading and unloading. Failure to thoroughly clean these containers can impact the external environment and even the quality of the cargo. Furthermore, potential hazards such as cracks in tank wall welds and aging seals can cause leakage, especially during loading and unloading, due to vibration and pressure fluctuations, which can exacerbate the risk. If not discovered and addressed promptly, these issues can not only result in cargo losses but also pose serious threats to the environment and personnel safety.

[0003] Currently, most tank container inspections are performed manually. In terms of cleaning, manual cleaning is inefficient and the cleaning quality is difficult to guarantee. Furthermore, operators may be exposed to various hazardous substances during the cleaning process, posing a threat to their health. In terms of leak detection, manual inspections mainly rely on visual inspections and simple instrument testing, which have low accuracy and are prone to missing tiny leaks, making it impossible to achieve real-time monitoring and early warning of tank container leaks.

[0004] Therefore, it is necessary to design an automated loading and unloading workstation for tank containers. Summary of the Invention

[0005] The object of the present invention is to provide an automated loading and unloading workstation for a tank container to solve the problems raised in the above background technology.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: an automated loading and unloading workstation for tank containers, comprising a workstation, a hoisting mechanism, a loading and unloading system, a stacking area, a support frame, a processing area, an installation trough, a water tank and an air compressor, a camera, a waste liquid tank, a detection mechanism, and a heavy-load AGV. A conveyor track is fixedly connected above the workstation, and the conveyor track includes parallel track segments and arc-shaped track segments. The stacking area is opened between the parallel track segments of the conveyor track, the support frame is fixedly connected to the ends of the parallel track segments of the conveyor track, and the processing area is fixedly connected to the ends of the parallel track segments of the conveyor track. It is installed on the curved track section of the conveying track, and an initial inspection area and a re-inspection area are provided in the processing area. The installation grooves are respectively provided inside the initial inspection area and the re-inspection area. Several nozzles are evenly installed in the installation grooves. The water tank and the air compressor are respectively connected to the nozzles through pipelines. The camera is fixedly connected to the upper inner wall of the initial inspection area and the re-inspection area. The waste liquid tank is provided below the initial inspection area and the re-inspection area. The detection mechanism is arranged on both sides of the processing area. The heavy-load AGV is provided above the conveying track, and a tank box is provided on the heavy-load AGV.

[0007] According to the above technical solution, the detection mechanism includes a gantry, a slide, a pulley block, a connecting end, a pneumatic push rod, and a positioning frame. The gantry is fixedly connected to both sides of the processing area, the slide is arranged above the gantry, the pulley block is slidably connected in the slide, the connecting end is fixedly connected to the lower end of the pulley block, the pneumatic push rod is fixedly connected to the connecting end, and the positioning frame is fixedly connected to the output end of the pneumatic push rod.

[0008] According to the above technical solution, a detection frame is installed inside the positioning frame, and a groove is opened on the upper surface of the detection frame, and a plurality of tooth columns are evenly arranged in the groove;

[0009] A gear is provided above the gear column, the gear is meshed with the gear column, and a driving motor is fixedly connected to the middle portion of the gear through a rod, and the driving motor is installed inside the positioning frame.

[0010] According to the above technical solution, a plurality of odor analyzers are installed on the inner side of the detection frame, and distance sensors are installed between the odor analyzers.

[0011] According to the above technical solution, hydraulic rods are fixedly connected to the inner walls on both sides of the re-inspection area, the output ends of the hydraulic rods are fixedly connected to pressure plates, and pressure sensors are installed on the inner sides of the pressure plates.

[0012] According to the above technical solution, the stabilizing platform is fixedly connected to a rotary motor via a rod, and the rotary motor is installed inside the support frame.

[0013] According to the above technical solution, the lifting frame is a structure driven by a hydraulic cylinder, and a column is fixedly connected to the top of the lifting platform.

[0014] According to the above technical solution, the nozzle is connected in series to a tee through a pipeline, and the other two pipes of the tee are fixedly connected to the water tank and the air compressor respectively. Electric control valve 1 and electric control valve 2 are installed on the pipelines of the water tank and the air compressor.

[0015] According to the above technical solution, the piping system of the nozzle also includes a colloid storage tank, and an electric control valve three is installed on the pipeline of the colloid storage tank. The nozzle switches the output of the water tank, the air compressor and the colloid storage tank through a multi-way valve structure.

[0016] According to the above technical solution, a transfer platform is provided on one side of the workstation, a positioning plate is fixedly connected to the top of the transfer platform, a lifting frame is installed above the positioning plate, a lifting platform is fixedly connected to the top of the lifting frame, a column is fixedly connected to the top of the lifting platform, an electric telescopic rod is fixedly connected to one side of the column, and a clamping claw is hinged at the telescopic end of the electric telescopic rod;

[0017] A stable platform is installed on the support frame, and an industrial camera is fixedly connected above the stable platform.

[0018] Compared with the existing technology, the beneficial effects achieved by the present invention are as follows: the present invention improves the accuracy of leakage detection by providing a detection mechanism that can surround the tank container and combining odor capture with distance feedback; by providing a processing area with integrated cleaning and detection equipment, using nozzles to spray neutral water-based solutions and high-pressure gas, and cooperating with odor analyzers, cameras and hydraulic pressure plates, the automation of surface cleaning, leakage detection and structural defect investigation is achieved; by providing stacking areas and transfer platforms, temporary storage of tank containers and intelligent loading and dispatching are achieved, which significantly improves the automation and intelligence level of tank container loading and unloading, ensures operation efficiency and safety, and is suitable for large-scale port scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 is a top view of the workstation of the present invention;

[0022] Figure 3 It is a schematic diagram of the structure inside the processing area of ​​the present invention;

[0023] Figure 4 This invention Figure 3 Schematic diagram of the enlarged structure of area A in the middle;

[0024] Figure 5 This invention Figure 2 Schematic diagram of the overall structure from another perspective;

[0025] Figure 6 This invention Figure 5 Schematic diagram of the enlarged structure of the middle B area;

[0026] Figure 7 It is a structural schematic diagram of the detection mechanism of the present invention;

[0027] Figure 8 This invention Figure 7 Schematic diagram of the enlarged structure of the middle C region;

[0028] Figure 9 It is a schematic diagram of the structure inside the positioning frame of the present invention;

[0029] Figure 10 It is a structural schematic diagram of the detection frame of the present invention;

[0030] Figure 11 It is a schematic diagram of the structure of the detection mechanism of the present invention after being flipped;

[0031] Figure 12 It is a structural schematic diagram of the lifting platform of the present invention;

[0032] Figure 13 Schematic diagram of the pipeline connected to the nozzle of the present invention;

[0033] In the figure: 1. Workstation; 2. Hoisting mechanism; 3. Conveyor track; 4. Stacking area; 5. Support frame; 6. Processing area; 7. Initial inspection area; 8. Re-inspection area; 9. Installation slot; 10. Sprinkler; 101. Water tank; 102. Air compressor; 103. Colloid storage tank; 11. Camera; 12. Waste liquid tank; 13. Hydraulic rod; 14. Press plate; 15. Inspection mechanism; 151. Gantry; 152. Slide; 15 3. Pulley block; 154. Connecting end; 155. Pneumatic push rod; 156. Positioning frame; 157. Detection frame; 1571. Gear column; 158. Gear; 159. Odor analyzer; 16. Transfer table; 17. Positioning plate; 18. Lifting frame; 19. Lifting platform; 20. Column; 21. Electric telescopic rod; 22. Gripper; 23. Heavy-duty AGV; 24. Tank container; 25. Stabilizing pan / tilt; 26. Industrial camera. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] Embodiment 1;

[0036] See also Figure 1-13 The present invention provides a technical solution: an automated loading and unloading workstation for tank containers, comprising a workstation 1, a hoisting mechanism 2, and a loading and unloading system. The workstation 1 is used to transfer and transport the unloaded tank containers. The loading and unloading system is integrated outside the workstation 1 and is used to control the equipment during the loading and unloading process and process the data of the loading and unloading parameters to ensure the stability of the loading and unloading process. The hoisting mechanism 2 includes a main frame, a spreader, an electric hoist, a hydraulic leveling and rotary power system, a laser guidance and positioning device, and is equipped with a control system. It is equipped with safety protection such as overload and anti-collision. It has a compact and efficient structure and can effectively lift and transfer tank containers.

[0037] A conveying track 3 is fixedly connected above the workstation 1. Figure 2 As shown, the conveying track 3 is a double track structure and is arranged in a "U" shape on the workstation 1, that is, the conveying track 3 includes a parallel track segment and an arc-shaped track segment, wherein the parallel track end of the conveying track 3 close to the lifting mechanism 2 is the starting point, and the parallel track end away from the lifting mechanism 2 is the end point. A stacking area 4 is provided between the parallel tracks of the conveying track 3. The stacking area 4 is opened above the workstation 1 and is used to achieve the effect of temporarily storing tank containers;

[0038] A heavy-load AGV 23 is arranged above the conveying track 3. The heavy-load AGV 23 is integrated with a speed control system. The heavy-load AGV 23 moves along the double-track structure according to the preset route of the conveying track 3. A tank container 24 is arranged above the heavy-load AGV 23. After the lifting mechanism 2 lifts the tank container unloaded from the ship and places it stably on the heavy-load AGV 23 on the conveying track 3 close to the side of the lifting mechanism 2, the tank container 24 moves along the track.

[0039] Furthermore, a support frame 5 is fixedly connected to the parallel track end of the conveying track 3 above the workstation 1, and a processing area 6 is installed on the curved track of the conveying track 3 above the workstation 1. The processing area 6 integrates cleaning and testing equipment for performing the processing operations required for the transfer of the tank container 24.

[0040] like Figure 2-4As shown, the processing area 6 is provided with an initial inspection area 7 and a re-inspection area 8. Both the initial inspection area 7 and the re-inspection area 8 are arched channel structures. The interiors of the initial inspection area 7 and the re-inspection area 8 are provided with mounting grooves 9 that fit the arched structures. Several nozzles 10 are evenly spaced and installed inside the mounting grooves 9. Figure 13 As shown, several nozzles 10 are connected in series through pipelines and finally connected in series to a tee. The other two pipes of the tee are fixedly connected to a water tank 101 and an air compressor 102 respectively. The pipelines of the water tank 101 and the air compressor 102 are installed with an electric control valve 1 and an electric control valve 2. The water tank 101 contains a neutral water-based solution suitable for cleaning the surface of the tank 24 with non-extreme chemical properties, so as to achieve the liquid and gas spraying effect on the surface of the tank 24 in the treatment area 6;

[0041] A camera 11 is fixedly connected to the upper inner wall of the initial inspection area 7 and the re-inspection area 8. The camera 11 is integrated with an image processing system and a buzzer to monitor the situation of the tank box 24 in the processing area 6 in real time and issue an alarm according to the on-site situation. A waste liquid tank 12 is opened below the initial inspection area 7 and the re-inspection area 8. The bottom of the waste liquid tank 12 is connected to the negative pressure collection system through a pipe. The negative pressure collection system includes a vacuum pump, a pipe, and a collection box. Based on the principle of fluid mechanics, a negative pressure environment is formed in the pipe by a vacuum pump, and the spray in the waste liquid tank 12 is discharged by the pressure difference. The spilled liquid, residual impurities, etc. are efficiently sucked into a special collection box, and the spread of odor generated by liquid volatilization can be suppressed to avoid contamination of the working environment and surrounding air; hydraulic rods 13 are fixedly connected to the inner walls on both sides of the re-inspection area 8, and the output end of the hydraulic rod 13 is fixedly connected to a pressure plate 14, which is arc-shaped and has a pressure sensor installed on its inner side. The curvature of the pressure plate 14 matches the contours of both sides of the tank box 24. When the hydraulic rod 13 is driven to retract, the pressure plate 14 can be brought into contact with the wall of the tank box 24, thereby performing an extrusion leakage detection on the tank box 24 within the tolerance range.

[0042] like Figure 2 、 5 As shown in FIG. 7 , detection mechanisms 15 are provided on both sides of the processing area 6 , and the two detection mechanisms 15 are located at the entrance sides of the initial inspection area 7 and the re-inspection area 8 respectively;

[0043] Furthermore, if Figure 7-11 As shown, the detection mechanism 15 includes a gantry 151, a slideway 152 is provided above the gantry 151, and a pulley block 153 is slidably connected inside the slideway 152. The driving wheel shaft of the pulley block 153 is fixedly connected to the output shaft of the driving machine (not shown) via a coupling. The driving machine adopts a servo motor, and its housing is rigidly connected to the frame of the pulley block 153 via a bracket. When the driving machine is powered on, it directly drives the driving wheel to rotate, thereby realizing the rolling displacement of the pulley block 153 within the slideway 152.

[0044] The lower end of the pulley block 153 is fixedly connected to a connecting end 154, to which a pneumatic push rod 155 is fixedly connected, and the output end of the pneumatic push rod 155 is fixedly connected to a positioning frame 156, and a detection frame 157 is installed inside the positioning frame 156. The upper surface of the detection frame 157 is provided with a groove, and a plurality of tooth columns 1571 are evenly arranged in the groove. A gear 158 is provided above the tooth column 1571, and the gear 158 meshes with the tooth column 1571. The middle part of the gear 158 is fixedly connected to a drive motor through a rod, and the drive motor is installed inside the positioning frame 156; when the drive motor is started, the gear 158 rotates to drive the tooth column 1571 to move, so that the detection frame 157 slides inside the positioning frame 156;

[0045] Several odor analyzers 159 are installed inside the detection rack 157 to feed back odor detection data around the tank box 24, such as Figure 10 As shown, distance sensors are installed between several odor analyzers 159. According to the distance parameters fed back by the distance sensors, the loading and unloading system controls the position of the detection rack 157 in real time to ensure the distance between the detection rack 157 and the tank box 24 to prevent collision.

[0046] like Figure 5-6 As shown, the support frame 5 is located at the starting point and the end point of the conveying track 3. A stabilizing platform 25 is installed on the support frame 5. The stabilizing platform 25 is fixedly connected to a rotary motor through a rod. The rotary motor is installed inside the support frame 5. An industrial camera 26 is fixedly connected to the top of the stabilizing platform 25. The rotation of the stabilizing platform 25 is driven by the rotary motor, thereby realizing the flipping of the industrial camera 26, realizing the precise positioning of the tank box 24 on the heavy-load AGV 23, and preventing errors such as placement offset.

[0047] When the industrial camera 26 is positioned at the tank box 24 and moves to the detection mechanism 15, the detection mechanism 15 is activated, driving the positioning frame 156 to move back and forth within the range of the slide 152. At the same time, the detection frame 157 moves around the outside of the tank box 24. Figure 11 Surrounding, the odor outside the tank box 24 is captured and judged by the odor analyzer 159.

[0048] A transfer platform 16 is provided on the side of the workstation 1 near the end of the conveying track 3. A positioning plate 17 is installed above the transfer platform 16. A lifting frame 18 is installed above the positioning plate 17. The lifting frame 18 is a hydraulic cylinder-driven structure. A lifting platform 19 is installed above the lifting frame 18 for transferring the tank box 24. A column 20 is fixedly connected above the lifting platform 19. An electric telescopic rod 21 is fixedly connected to the side of the column 20 near the workstation 1. The telescopic end of the electric telescopic rod 21 is hinged with a clamping claw 22, and the clamping claw 22 is flipped at the hinge by a motor-driven hinge, thereby assisting in grabbing the tank box 24 on the heavy-loaded AGV 23 and completing the transfer of the tank box 24.

[0049] In this embodiment, the lifting mechanism 2 lifts the tank box 24 and places it stably on the heavy-duty AGV 23 located at the starting point of the conveying track 3, and accurately locates it through the industrial camera 26 to ensure the accurate placement of the tank box 24. After the placement is completed, the tank box 24 begins to move along the conveying track 3. When it moves to the detection mechanism 15 in the initial inspection area 7, the detection mechanism 15 captures the odor of the tank box 24. When there is an irritating odor on the surface of the tank box 24, the odor analyzer 159 will give feedback, indicating that the outside of the tank box 24 is contaminated. At this time, the heavy-duty AGV 23 will stay in the initial inspection area 7 for a time t. Once the electric control valve is opened, the nozzle 10 sprays a neutral water-based solution to spray and clean the outside of the tank box. The neutral water-based solution is an inactive cleaning agent with a pH value of 6.5-7.5, and its main component is to remove The water and environmentally friendly surfactant do not contain strong oxidizing, reducing or acidic and alkaline components, and the gas inside the tank box 24 is isolated from the outside through a sealed structure. The cleaning process only acts on the pollutants on the surface of the tank body. At the same time, the odor analyzer 159 of the detection mechanism 15 has monitored the gas outside the tank box 24 in real time before spraying. If there is a risk of leakage, such as abnormal concentration of irritating gas, the loading and unloading system will first trigger the air compressor 102 to perform high-pressure gas purge, or switch to the colloid storage tank 103 to spray inert sealing colloid to avoid direct contact between the water-based solution and the active gas. After the tank box 24 leaves the initial inspection area 7 and enters the re-inspection area 8, it will pass the detection mechanism 15 again, so as to re-inspect the tank box 24. If the tank box 24 no longer has an irritating odor, it will pass directly. If it does, it will be sprayed again.

[0050] At the same time, when the detection frame 157 surrounds the tank container 24, it will continuously feedback the distance between it and the tank container 24. Specifically, the loading and unloading system pre-stores the geometric center coordinates (X0, Y0, Z0) of the heavy-duty AGV 23 and the contour model of the standard tank container 24, including the length L0, width W0, and height H0, and completes the initial position alignment through the industrial camera 26. The detection frame 157 is driven to move through the pulley group 153 and the pneumatic push rod 155 and collects the spatial coordinates (X1, Y1, Z1) of the surface of the tank container 24 through several distance sensors. The distance difference from the geometric center coordinates is calculated and the stable difference is set to Δ. When the difference is less than or equal to Δ, it indicates that the current tank container 24 is in a stable conveying position; otherwise, it is not.

[0051] When it is detected that the tank box 24 is in the stable conveying position of the heavy-load AGV 23, it indicates that the tank box 24 is accurately positioned. If it is not, it indicates that the tank box 24 is offset and the industrial camera 26 needs to be inspected and maintained.

[0052] When the tank container 24 is transported to the end of the conveying track 3, the lifting platform 19 is lifted to the same height as the heavy-load AGV 23, and the gripper 22 grabs the tank container 24 and moves it to the lifting platform 19 to facilitate the subsequent loading of the tank container 24. If the tank container 24 is not selected for loading, it is lifted again by the lifting mechanism 2 and placed in the stacking area 4 for buffering.

[0053] The heavy-loaded AGV 23 that has completed unloading will move in the opposite direction along the conveying track 3 and enter the re-inspection area 8 again. At this time, the nozzle 10 will spray high-pressure gas to clean the surface of the heavy-loaded AGV 23.

[0054] Through the above embodiment, the tank container is accurately lifted and leveled from the ship, and the tank container 24 is automatically transferred to the processing area 6 along the U-shaped double-track conveyor track 3 with the help of the heavy-duty AGV23. After detection by the odor analyzer 159 in the initial inspection area 7, cleaning by spraying a neutral water-based solution with the nozzle 10, and leakage detection of the hydraulic pressure plate 14 in the re-inspection area 8, the industrial camera 26 positioning system on the support frame 5 cooperates with the electric gripper 22 and the lifting device of the transfer platform 16 to complete the loading or temporary storage in the multi-layer shelf stacking area 4. When the heavy-duty AGV23 moves in the opposite direction, the nozzle 10 sprays air for cleaning; the entire process is monitored in real time by the control system, and the safety protection device installed in the workstation 1 monitors the entire process, which significantly improves the safety of the operation. It is suitable for large-scale and efficient processing of tank containers in ports, and realizes the automation and intelligence of loading and unloading, detection, transportation, and caching.

[0055] Example 2: Based on Example 1, the following structure is added to directly associate the odor detection data with the leakage level, such as Figure 13 As shown, several nozzles 10 are connected to a colloid storage tank 103 via pipelines, and an electrically controlled valve 3 is installed on the pipeline of the colloid storage tank 103. The pipeline system of the nozzle 10 adopts a multi-way valve structure, and the switching outputs of the water tank 101, the air compressor 102, and the colloid storage tank 103 are respectively controlled by the electrically controlled valves 1, 2, and 3. When the detection mechanism 15 feedbacks that there is a pungent odor outside the tank 24, the odor volume emitted by the tank 24 under normal circumstances is set to Q1, and the odor volume detected by the odor analyzer 159 is set to Q2. If the odor analyzer 159 detects that Q2 continuously exceeds Q1 and the odor diffusion rate exceeds a preset threshold, it indicates that the odor is continuously spreading and increasing. At this time, not only is there residue outside the tank 24, but there may even be leakage from the tank 24.

[0056] At this time, the detection rack 157 uses the positioning of several distance sensors and the response of several odor analyzers 159 to feedback the location of the irritating odor. When the tank 24 is transported to the initial inspection area 7, the spray head 10 is first opened by the electronically controlled valve to spray and clean it with a neutral water-based solution. After the cleaning is completed, the odor detection is performed again.

[0057] If a pungent odor is still detected, the electric control valve 3 is opened, and a sealant that does not react with the material in the tank 24 is sprayed onto the surface of the tank 24 through the nozzle 10. Bubbles will bulge out from the leaking part of the tank 24. At this time, the camera 11 focuses on the position reported by the detection frame 157. The size of the bubble feedback can be used to determine the size of the leak.

[0058] Specifically, the camera 11 analyzes the bubble size, sets the bubble size of the tank 24 in the maintainable range to D1 (a threshold value pre-set according to the tank material and design standards), and the bubble diameter detected by the camera 11 to D2;

[0059] When D2≤D1, it indicates that the leakage is small. In this case, the tank container 24 is marked and transferred to the maintenance area via the transfer platform 16 for sealant repair.

[0060] Furthermore, the image recognition algorithm of the camera 11 automatically measures the straight-line length L of the leak location and calculates its ratio η to the tank cross-sectional perimeter C (η=L / C). The ratio η is set to the interval [η1, η2]. If η≤η1, it is marked as a localized minor leak, and the transfer platform 16 preferentially moves the tank container 24 to a maintenance point, etc., to precisely seal the leak.

[0061] If η1<η≤η2, it is marked as linear leakage, triggering the restart of the electric control valve 3, and the nozzle 10 performs a second continuous colloid coating on the surface of the tank box 24 to block the leakage and prevent excessive leakage from affecting the environment during the transfer process.

[0062] When D2>D1, it indicates a large leak. At this time, the camera 11 issues an alarm to notify the staff to perform maintenance. At the same time, the air compressor 102 sprays inert gas into the leak area to neutralize the toxic gas, and the negative pressure collection system of the waste liquid tank 12 is activated to prevent the spread of pollution.

[0063] Through this embodiment, a three-stage progressive treatment of the tank container 24 leakage is achieved, first cleaning, then colloid positioning, and finally graded treatment, which significantly improves the accuracy and safety of leakage detection.

[0064] Example 3: Based on Example 2, the surface of the tank box 24 after spraying needs to be scraped to reduce the impact of residual residue on the life of the tank box 24. The odor detection data is analyzed simultaneously with the tank body defect characteristics. At the same time, the rebound displacement of the tank box 24 after being squeezed is monitored to assist in judging the tank body quality.

[0065] Specifically, the maximum allowable time for a single tank container 24 to complete odor detection and cleaning in the initial inspection area 7 is set to t1, the maximum allowable time for a single tank container 24 to complete leakage and extrusion detection and platen 14 surface scraping and rebound performance testing in the re-inspection area 8 is set to t2, and the constant running speed of the heavy-load AGV 23 along the track is v;

[0066] When the tank container enters the inspection mechanism 15 of the initial inspection area 7, the odor analyzer 159 starts timing. If a pungent odor is detected, the heavy-loaded AGV 23 stops for time t1, and the spray head 10 completes the spray cleaning.

[0067] If no odor is detected, the vehicle will stay for t1 / 2 to achieve rapid passage. If the single initial inspection time exceeds t1, the control system will automatically trigger an alarm and adjust the subsequent heavy-load AGV23 conveying speed v to v / 2 to avoid track blockage.

[0068] Before the tank container 24 enters the re-inspection area 8, the detection mechanism 15 located in the re-inspection area 8 performs an odor detection on the tank container 24. After the tank container 24 enters the re-inspection area 8, the hydraulic rod 13 drives the pressure plate 14 to squeeze the tank container surface until the pressure plate 14 is completely in contact with the tank body. It should be noted that at this time, the contact between the tank container 24 and the pressure plate 14 is within the contact pressure range. At this time, the camera 11 captures a high-definition image of the surface of the tank container 24 after being squeezed by the pressure plate 14. The image processing system performs a pixel-level comparison between the real-time image and the reference contour model of the standard tank container:

[0069] If there are no obvious defects on the can surface in the image and the odor analyzer 159 detects no abnormal odor, it indicates that the can structure is intact, and the pressing plate 14 stays for time t2 to complete the surface cleaning and then returns to the initial position;

[0070] If a local defect is detected and the tank container 24 does not have a pungent odor, the camera 11 will mark the abnormal area and continuously capture multiple images to eliminate misjudgments caused by light and shadow interference. After confirming the existence of the abnormal area, the actual size of the abnormal area is calculated through image processing. If the area of ​​a single defect is ≤M or the length of the crack is ≤I, it is marked as mild damage and the re-inspection time is extended to 2t2. If the total area of ​​the defect is greater than M or the length of the crack is greater than I, it is marked as severe damage. The system will immediately alarm and stop the action of the pressure plate 14. The hydraulic rod 13 will quickly depressurize and retract to avoid secondary deformation of the tank body.

[0071] If a local defect is detected and the odor detection data fed back by the odor analyzer 159 indicates that there is an abnormal pungent odor around the tank box 24, the tank box 24 will be marked as a leakage risk defect. Even if the area of ​​a single defect is ≤M or the length of the crack is ≤I, it will be directly judged as serious damage. The system will immediately alarm and trigger the colloid storage tank 103 to urgently seal the defective area, and at the same time start the negative pressure collection system of the waste liquid tank 12.

[0072] Furthermore, when the tank container 24 is squeezed and a dent is formed, if the dent rebounds under further observation by the camera 11, it indicates that the tank container 24 has a localized, slight structural deformation but the material's elastic properties have not been completely lost. At this time, the electrically controlled valve 3 on the colloid storage tank 103 is opened, and the dented area is repaired by filling and spraying. The dwell time in the re-inspection area 8 is extended to 2t2, and the hydraulic rod 13 drives the pressing plate 14 to squeeze the repaired area a second time to check the rebound consistency.

[0073] If the depression does not rebound, it indicates that the tank box 24 has undergone plastic deformation and its material has seriously deteriorated. At this time, the hydraulic rod 13 quickly releases pressure and returns to the pressure plate 14, stopping further extrusion, and marking the tank box 24 as a high-risk structural defect. The odor analyzer 159 is used to simultaneously confirm whether there is leakage. If there is leakage, the negative pressure collection system of the waste liquid tank 12 is simultaneously started to collect gas.

[0074] Furthermore, when defects such as dents or cracks are detected in the tank body and the colloid repair is completed, the tank container 24 automatically enters the re-inspection area 8 for a second inspection. The hydraulic rod 13 drives the pressure plate 14 to squeeze the repair area at a constant speed again. The camera 11 synchronously captures real-time images of the repaired area and feedback is provided on the deformation difference after the repair through image processing.

[0075] If no new dents are generated, the repair quality is determined to be qualified. If new defects are found, the colloid storage tank 103 is controlled by the electric control valve 3 to spray the defective area for the second time, and the extrusion test process is repeated until it is qualified or cannot be repaired and transferred to the manual work station;

[0076] When the re-inspection time of x consecutive tank containers 24 exceeds t2, the system automatically reduces the speed v of the conveyor track 3 to v / 3 to ensure that the inspection accuracy matches the logistics rhythm.

[0077] Through this embodiment, a balance is achieved among detection efficiency, equipment load, and safety management, further improving the intelligence level of the tank container automated loading and unloading workstation.

[0078] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0079] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An automated loading and unloading workstation for tank containers, characterized in that: It comprises a workstation (1), a hoisting mechanism (2) and a loading and unloading system, wherein a conveying track (3) is fixedly connected above the workstation (1), and the conveying track (3) comprises a parallel track section and an arc-shaped track section; A stacking area (4), the stacking area (4) being provided between parallel track sections of the conveying track (3); A support frame (5), wherein the support frame (5) is fixedly connected to the end of the parallel track section of the conveying track (3); A processing area (6), the processing area (6) is installed at the arc track section of the conveying track (3), an initial inspection area (7) and a re-inspection area (8) are provided in the processing area (6), a plurality of odor analyzers (159) and a spray cleaning system are installed in the initial inspection area (7), distance sensors are installed between the odor analyzers (159), and a pressing plate (14) is provided in the re-inspection area (8); Installation grooves (9), the installation grooves (9) are respectively opened inside the initial inspection area (7) and the re-inspection area (8), and a plurality of nozzles (10) are evenly spaced and installed in the installation grooves (9); a water tank (101) and an air compressor (102), wherein the water tank (101) and the air compressor (102) are respectively connected to the nozzle (10) via pipelines; A camera (11), the camera (11) being fixedly connected to the upper inner wall of the initial inspection area (7) and the re-inspection area (8); A waste liquid tank (12), the waste liquid tank (12) is arranged below the initial inspection area (7) and the re-inspection area (8); a detection mechanism (15), the detection mechanism (15) being arranged on both sides of the processing area (6); A heavy-load AGV (23), the heavy-load AGV (23) being arranged above the conveying track (3), and a tank box (24) being arranged on the heavy-load AGV (23); The location of the irritating odor is fed back through the response of several odor analyzers (159). When the tank (24) is transported to the initial inspection area (7), the nozzle (10) sprays a neutral water-based solution and performs odor detection again. If the pungent odor is still detected, a sealant that does not react with the material in the tank (24) is sprayed onto the surface of the tank (24) through the nozzle (10), and the bubbles bulging from the leaking part of the tank (24) are observed through the camera (11). The size of the leak can be obtained through the feedback of the size of the bubbles. The bubble size of the tank (24) in the maintainable range is set as D1, and the bubble diameter detected by the camera (11) is set as D2; When D2≤D1, it indicates that the leakage is small, and the tank container (24) is marked and transported to the maintenance area for sealant repair; Furthermore, at this time, the image recognition algorithm of the camera (11) automatically measures the straight line length L of the leakage position, and calculates its ratio η (η=L / C) to the tank cross-sectional perimeter C, and sets the ratio η interval to [η1, η2]. If η≤η1, it is marked as a local minor leak, and the tank container (24) is preferentially moved to a maintenance point for precise sealing of the leak point; If η1<η≤η2, it is marked as a linear leak, and the nozzle (10) performs secondary continuous colloid coverage on the surface of the tank (24) to block the leak; When D2>D1, it indicates that the leakage is large. At this time, the camera (11) issues an alarm, and at the same time, the air compressor (102) sprays inert gas into the leakage area to neutralize the toxic gas, and the negative pressure collection system of the waste liquid tank (12) is activated to prevent the spread of pollution.

2. The automated loading and unloading workstation for a tank container according to claim 1, characterized in that: The detection mechanism (15) comprises: A gantry (151), wherein the gantry (151) is fixedly connected to both sides of the processing area (6); A slideway (152), wherein the slideway (152) is arranged above the gantry (151); A pulley assembly (153), wherein the pulley assembly (153) is slidably connected in the slideway (152); A connecting end (154), wherein the connecting end (154) is fixedly connected to the lower end of the pulley block (153); A pneumatic push rod (155), wherein the pneumatic push rod (155) is fixedly connected to the connecting end (154); A positioning frame (156) is fixedly connected to the output end of the pneumatic push rod (155).

3. The automated loading and unloading workstation for a tank container according to claim 2, characterized in that: A detection frame (157) is installed inside the positioning frame (156), and a groove is provided on the upper surface of the detection frame (157), and a plurality of tooth columns (1571) are evenly arranged in the groove; A gear (158) is provided above the gear column (1571), the gear (158) being meshed with the gear column (1571), and a drive motor is fixedly connected to the middle portion of the gear (158) via a rod, and the drive motor is installed inside the positioning frame (156).

4. The automated loading and unloading workstation for a tank container according to claim 3, characterized in that: Several of the odor analyzers (159) are installed on the inner side of the detection frame (157).

5. The automated loading and unloading workstation for a tank container according to claim 4, characterized in that: Hydraulic rods (13) are fixedly connected to the inner walls on both sides of the re-inspection area (8), the pressure plate (14) is fixedly connected to the output end of the hydraulic rod (13), and a pressure sensor is installed on the inner side of the pressure plate (14).

6. The automated loading and unloading workstation for a tank container according to claim 5, characterized in that: A stabilizing platform (25) is installed on the support frame (5), and an industrial camera (26) is fixedly connected above the stabilizing platform (25); The stabilizing platform (25) is fixedly connected to a rotary motor via a rod, and the rotary motor is installed inside the support frame (5).

7. The automated loading and unloading workstation for a tank container according to claim 6, characterized in that: A transfer platform (16) is provided on one side of the workstation (1), a positioning plate (17) is fixedly connected above the transfer platform (16), a lifting frame (18) is installed above the positioning plate (17), and the lifting frame (18) is a structure driven by a hydraulic cylinder.

8. The automated loading and unloading workstation for a tank container according to claim 7, characterized in that: The nozzle (10) is connected in series to a tee pipe via a pipeline, and the other two pipes of the tee pipe are fixedly connected to the water tank (101) and the air compressor (102) respectively. An electric control valve 1 and an electric control valve 2 are installed on the pipelines of the water tank (101) and the air compressor (102).

9. The automated loading and unloading workstation for a tank container according to claim 8, characterized in that: The piping system of the nozzle (10) further comprises a colloid storage tank (103), and an electric control valve 3 is installed on the piping of the colloid storage tank (103). The nozzle (10) switches the output of the water tank (101), the air compressor (102) and the colloid storage tank (103) through a multi-way valve structure.

10. The automated loading and unloading workstation for a tank container according to claim 9, characterized in that: A lifting platform (19) is fixedly connected above the lifting frame (18), a column (20) is fixedly connected above the lifting platform (19), an electric telescopic rod (21) is fixedly connected to one side of the column (20), and a clamping claw (22) is hinged at the telescopic end of the electric telescopic rod (21).

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