Container transfer device and control system therefor

Abstract

The utility model discloses a container transfer device and control system thereof, including storage array and handling mechanism, and storage array includes access hatch and a plurality of station unit, handling mechanism includes drive assembly and pulley system, drive assembly includes power unit and transmission mechanism, pulley system includes pulley body and moving track, access hatch and a plurality of station unit are set above moving track along moving track. The pulley body can move along the track and store the container on the station unit on the storage array or transfer from the station unit using the jacking device, and the control module obtains the absolute position of the pulley body through the absolute value encoder to ensure the action precision, the transfer process can be automated, improve container transfer efficiency, simple structure, convenient maintenance, set locking mechanism on the station unit, set limit limit sensor at the both ends of storage array, ensure the safety in the container transfer process.

Description

Technical Field

[0001] This utility model relates to the field of container transshipment technology, and in particular to a container transshipment device and its control system. Background Technology

[0002] When ships are out on missions, they often carry various large sets of operational equipment systems and other cargo, such as wind power maintenance vessels. These equipment systems are usually stored in standard containers. When there are many operational systems, multiple containers may be needed for storage.

[0003] Typically, these containers are hoisted into the ship's hold using the ship's lifting equipment, with multiple containers stored side-by-side. They are then hoisted out when needed. However, existing container transshipment and storage methods suffer from low efficiency and a lack of automation due to space constraints within the hold, which prevent the use of other lifting or transport equipment to move containers at the hatch. Utility Model Content

[0004] In view of the above-mentioned shortcomings of current container transshipment and storage equipment, this utility model provides a container transshipment device and its control system, which can improve the efficiency of container transshipment.

[0005] To achieve the above objectives, the embodiments of this utility model adopt the following technical solutions:

[0006] A container transfer device includes a storage array and a handling mechanism. The storage array includes an access door and several workstation units. The handling mechanism includes a drive assembly and a trolley system. The drive assembly includes a power unit and a transmission mechanism. The trolley system includes a trolley body and a moving track. The access door and several workstation units are arranged above the moving track. Rollers matching the moving track are provided below the trolley body, and a lifting device is provided on its upper surface. The trolley body is connected to the transmission mechanism. The power unit drives the trolley body to reciprocate along the moving track through the transmission mechanism. The device also includes a control module, a position sensor, and a cargo detection sensor. The position sensor is an absolute encoder and is connected to the transmission mechanism. The cargo detection sensor is disposed on the workstation unit. The position sensor, cargo detection sensor, and power unit are electrically connected to the control module.

[0007] According to one aspect of the present invention, the transmission mechanism includes a reduction drive, a drive chain, and a guide wheel; the trolley body is connected to the drive chain; and the position sensor is connected to the output shaft of the reduction drive.

[0008] According to one aspect of this utility model, it also includes a cargo detection sensor; the cargo detection sensor is disposed on the workstation unit and electrically connected to the control module.

[0009] According to one aspect of this utility model, it further includes a position calibration sensor; the position calibration sensor includes a detection end and a plurality of sensing ends; the detection end is disposed on the trolley body; the sensing ends are disposed on the workstation unit.

[0010] According to one aspect of this utility model, the workstation unit is provided with locking mechanisms at its four corners.

[0011] According to one aspect of the present invention, the drive chain includes a main drive chain, a secondary drive chain, and a drive wheel; the main drive chain drives the secondary drive chain through the drive wheel; the secondary drive chain is connected to the trolley body.

[0012] According to one aspect of this utility model, there are four lifting devices, which are respectively arranged at the four corners of the trolley body.

[0013] According to one aspect of the present invention, a guide limiter is provided on the edge of the trolley body.

[0014] According to one aspect of the present invention, the transmission mechanism further includes a chain roller disposed below the drive chain.

[0015] Secondly, this utility model provides a control system, including the aforementioned container transfer device.

[0016] Advantages of this utility model:

[0017] The trolley body can move along the track and use the lifting device to store containers in or transfer them from the workstations on the storage array. The control module obtains the absolute position of the trolley body through an absolute encoder to ensure precise operation. The transfer process can be automated, improving the efficiency of container transfer. The structure is simple and easy to maintain. The workstations are equipped with locking mechanisms, and the storage array is equipped with limit sensors at both ends to ensure the safety of container transfer. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of a container transfer device and its control system according to the present invention;

[0020] Figure 2 for Figure 1 A magnified view of the portion indicated by reference numeral I;

[0021] Figure 3 This is a side view structural diagram of a container transfer device and its control system according to the present invention. Figure 1 ;

[0022] Figure 4 This is a side view structural diagram of a container transfer device and its control system according to the present invention. Figure 2 ;

[0023] Figure 5 for Figure 4 A partial enlarged view of the portion described in reference numeral II;

[0024] Figure 6 for Figure 4 A partial enlarged view of the portion described in reference numeral III;

[0025] Figure 7 This is a schematic diagram of the structure of the trolley body described in this utility model;

[0026] Figure 8 This is a schematic diagram of the control system described in this utility model.

[0027] Illustrations: 1. Inbound / outbound door; 2. Workstation unit; 21. Locking mechanism; 3. Power unit; 41. Reduction drive; 421. Main drive chain; 422. Secondary drive chain; 423. Drive wheel; 43. Guide wheel; 44. Chain idler; 5. Trolley body; 51. Roller; 52. Lifting device; 53. Guide limiter; 6. Moving track; 7. Control module; 8. Position sensor; 9. Cargo detection sensor; 10. Limit sensor; 11. Position calibration sensor; 12. Control button; 13. Display device. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] Example 1

[0030] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5, Figure 6 , Figure 7 and Figure 8 As shown, a container transfer device and its control system are disclosed. The container transfer device includes a storage array and a handling mechanism. The storage array includes an access door 1 and several workstation units 2. The handling mechanism includes a drive assembly and a trolley system. The drive assembly includes a power unit 3 and a transmission mechanism. The trolley system includes a trolley body 5 and a moving track 6. The access door 1 and several workstation units 2 are arranged above the moving track 6 along the moving track 6. Rollers 51 matching the moving track 6 are arranged below the trolley body 5, and a lifting device 52 is arranged on its upper surface. The trolley body 5 is connected to the transmission mechanism.

[0031] The control system includes a control module 7, a position sensor 8, and a limit sensor 10. The position sensor 8, the limit sensor 10, and the power unit are electrically connected to the control module 7. The position sensor 8 is an absolute encoder connected to the transmission mechanism. The absolute encoder can encode absolute positions, and each mechanical position can output a unique digital signal. Therefore, the absolute position of the trolley body 5 can be read through the mechanical movement of the transmission mechanism. When the power unit 3 drives the trolley body 5 to reciprocate along the moving track 6 through the transmission mechanism, it drives the shaft of the absolute encoder to rotate. The control module 7 can read the position of the trolley body 5 through the absolute encoder and control the power unit to perform operations such as direction and acceleration / deceleration control.

[0032] Limit sensors 10 are installed on both sides of the storage array. When the trolley body 5 moves to the edge of the storage array, it triggers the limit sensor 10 at that position but does not stop moving. The control module 7 can send a signal to control the power unit 3 to stop operating, so as to prevent the container from exceeding the limit range and causing equipment damage.

[0033] In practical applications, the transmission mechanism includes a reduction drive, a drive chain, and a guide wheel; the trolley body is connected to the drive chain; in this embodiment, the position sensor 8 is connected to the output shaft of the reduction drive.

[0034] Optionally, each workstation unit is equipped with a cargo detection sensor 9 to detect whether the current workstation unit 2 is occupied (e.g., by detecting pressure changes through a pressure strain sensor, optical obstruction detection, or camera image recognition to determine whether there is a container on the workstation unit 2), which makes it easier for operators to understand the usage of the workstation unit and also facilitates the program to automatically control the transfer.

[0035] In theory, due to its special structure, an absolute encoder has a unique output signal for each mechanical position and usually does not require calibration. It can also maintain its position information after power failure. However, considering the large load of the container transfer device, its transmission mechanism may experience wear or deformation after long-term operation, resulting in signal drift. To detect position signal deviations in a timely manner, a position calibration sensor 11 is also provided. The position calibration sensor 11 includes a detection end and several sensing ends. The detection end is set on the trolley body, and the sensing ends are set on the workstation unit. The detection end is electrically connected to the control module 7 and can sense the position of the workstation unit during the movement of the trolley body 5. The position information of the sensed workstation unit 2 is compared with the absolute position signal detected by the absolute encoder. When the deviation between the two position signals exceeds a certain range, automatic calibration can be performed or maintenance personnel can be prompted to perform manual calibration and maintenance.

[0036] Optionally, the container transfer device can be controlled via a control console and a remote control. The control console and remote control are equipped with control buttons 12, which include buttons corresponding to workstation units 2 and necessary manual operation keys (such as stop button, return to origin button, etc.). Furthermore, the operator can control the trolley body 5 to move to the corresponding workstation unit 2 by pressing the button corresponding to the workstation unit 2. Similarly, in order to facilitate the operator's intuitive understanding of the occupancy status of the workstation unit 2, a display device 13 (indicator light or electronic display screen) is also provided to indicate whether a certain workstation unit 2 is occupied.

[0037] like Figure 8 The diagram shown is a schematic representation of the control system.

[0038] In the initial state, the trolley body 5 is located at the inlet / outlet door 1. During operation, the crane lifts the container to be transferred and places it on the trolley body 5. The lifting device 52 lifts the container to a certain height, so that the lower edge of the container is higher than the upper surface of the work station unit 2. Then, the power unit 3 drives the trolley body 5 along the track to a certain work station unit 2 through the transmission mechanism. At this time, the lifting device 52 is retracted and the container is placed at the work station unit 2.

[0039] In this embodiment, the transmission mechanism includes a reduction drive 41, a drive chain, and a guide wheel 43; the trolley body 5 is connected to the drive chain; and the power unit 3 is an electric motor.

[0040] Furthermore, to facilitate the placement of the power unit 3, the drive chain consists of a main drive chain 421, a secondary drive chain 422, and a drive wheel 423. The power unit 3 drives the main drive chain 421 through a reduction drive 41, and the main drive chain 421 drives the secondary drive chain 422 through the drive wheel 423. The secondary drive chain 422 is connected to the trolley body 5. In practical applications, a chain roller 44 is also provided below the drive chain to support the chain.

[0041] In practical applications, locking mechanisms 21 are set at the four corners of the workstation unit 2 to reinforce the container. The locking mechanism 21 is a twist lock specifically for fixing the container. After the container falls on the twist lock, it automatically aligns and locks to prevent the container from shifting or tipping over.

[0042] There are four lifting devices 52, which are respectively set at the four corners of the trolley body 5. The lifting devices 52 are hydraulically driven and can be controlled automatically or manually.

[0043] During container storage, operators use a crane to lift the container onto the trolley body 5. The handling mechanism then places the container in the storage array according to the rule of inside first, then outside. The trolley body 5 moves the container to an empty workstation unit 2, where it is precisely aligned using positioning sensors. The lifting component lowers the container and engages with the torsion lock on workstation unit 2 to secure it. Conversely, when transferring containers outwards, the handling mechanism moves the containers in the order of outside first, then inside. The trolley body 5 moves below workstation unit 2, and the lifting device 52 lifts the container, disengaging it from the torsion lock on workstation unit 2. The trolley body 5 then moves to the access door 1, where operators use a crane or other equipment to transfer the container. The container transfer process can be automated, improving efficiency.

[0044] The four corners of the trolley body 5 are equipped with guide limiters 53, which have an inclined structure facing the inside of the trolley body 5. When the crane lowers the container, it can guide the container to the correct position, and at the same time, it can limit the container when the trolley moves, ensuring the stability of the container during the transfer process.

[0045] Example 2

[0046] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8As shown, a container transfer device and its control system are disclosed. The container transfer device includes a storage array and a handling mechanism. The storage array includes an access door 1 and several workstation units 2. The handling mechanism includes a drive assembly and a trolley system. The drive assembly includes a power unit 3 and a transmission mechanism. The trolley system includes a trolley body 5 and a moving track 6. The access door 1 and several workstation units 2 are arranged above the moving track 6 along the moving track 6. Rollers 51 matching the moving track 6 are arranged below the trolley body 5, and a lifting device 52 is arranged on its upper surface. The trolley body 5 is connected to the transmission mechanism.

[0047] The control system includes a control module 7, a position sensor 8, and a limit sensor 10. The position sensor 8, the limit sensor 10, and the power unit are electrically connected to the control module 7. The position sensor 8 is an absolute encoder connected to the transmission mechanism. The absolute encoder can encode absolute positions, and each mechanical position can output a unique digital signal. Therefore, the absolute position of the trolley body 5 can be read through the mechanical movement of the transmission mechanism. When the power unit 3 drives the trolley body 5 to reciprocate along the moving track 6 through the transmission mechanism, it drives the shaft of the absolute encoder to rotate. The control module 7 can read the position of the trolley body 5 through the absolute encoder and control the power unit to perform operations such as direction and acceleration / deceleration control.

[0048] Limit sensors 10 are installed on both sides of the storage array. When the trolley body 5 moves to the edge of the storage array, it triggers the limit sensor 10 at that position but does not stop moving. The control module 7 can send a signal to control the power unit 3 to stop operating, so as to prevent the container from exceeding the limit range and causing equipment damage.

[0049] In practical applications, the transmission mechanism includes a reduction drive, a drive chain, and a guide wheel; the trolley body is connected to the drive chain; in this embodiment, the position sensor 8 is connected to the output shaft of the reduction drive.

[0050] Optionally, each workstation unit is equipped with a cargo detection sensor 9 to detect whether the current workstation unit 2 is occupied (e.g., by detecting pressure changes through a pressure strain sensor, optical obstruction detection, or camera image recognition to determine whether there is a container on the workstation unit 2), which makes it easier for operators to understand the usage of the workstation unit and also facilitates the program to automatically control the transfer.

[0051] In theory, due to its special structure, an absolute encoder has a unique output signal for each mechanical position and usually does not require calibration. It can also maintain its position information after power failure. However, considering the large load of the container transfer device, its transmission mechanism may experience wear or deformation after long-term operation, resulting in signal drift. To detect position signal deviations in a timely manner, a position calibration sensor 11 is also provided. The position calibration sensor 11 includes a detection end and several sensing ends. The detection end is set on the trolley body, and the sensing ends are set on the workstation unit. The detection end is electrically connected to the control module 7 and can sense the position of the workstation unit during the movement of the trolley body 5. The position information of the sensed workstation unit 2 is compared with the absolute position signal detected by the absolute encoder. When the deviation between the two position signals exceeds a certain range, automatic calibration can be performed or maintenance personnel can be prompted to perform manual calibration and maintenance.

[0052] Optionally, the container transfer device can be controlled via a control console and a remote control. The control console and remote control are equipped with control buttons 12, which include buttons corresponding to workstation units 2 and necessary manual operation keys (such as stop button, return to origin button, etc.). Furthermore, the operator can control the trolley body 5 to move to the corresponding workstation unit 2 by pressing the button corresponding to the workstation unit 2. Similarly, in order to facilitate the operator's intuitive understanding of the occupancy status of the workstation unit 2, a display device 13 (indicator light or electronic display screen) is also provided to indicate whether a certain workstation unit 2 is occupied.

[0053] like Figure 8 The diagram shown is a schematic representation of the control system.

[0054] In the initial state, the trolley body 5 is located at the inlet / outlet door 1. During operation, the crane lifts the container to be transferred and places it on the trolley body 5. The lifting device 52 lifts the container to a certain height, so that the lower edge of the container is higher than the upper surface of the work station unit 2. Then, the power unit 3 drives the trolley body 5 along the track to a certain work station unit 2 through the transmission mechanism. At this time, the lifting device 52 is retracted and the container is placed at the work station unit 2.

[0055] In this embodiment, the transmission mechanism includes a reduction drive 41, a drive chain, and a guide wheel 43; the trolley body 5 is connected to the drive chain; and the power unit 3 is an electric motor.

[0056] Furthermore, to facilitate the placement of the power unit 3, the drive chain consists of a main drive chain 421, a secondary drive chain 422, and a drive wheel 423. The power unit 3 drives the main drive chain 421 through a reduction drive 41, and the main drive chain 421 drives the secondary drive chain 422 through the drive wheel 423. The secondary drive chain 422 is connected to the trolley body 5. In practical applications, a chain roller 44 is also provided below the drive chain to support the chain.

[0057] In practical applications, locking mechanisms 21 are set at the four corners of the workstation unit 2 to reinforce the container. The locking mechanism 21 is a twist lock specifically for fixing the container. After the container falls on the twist lock, it automatically aligns and locks to prevent the container from shifting or tipping over.

[0058] There are four lifting devices 52, which are respectively set at the four corners of the trolley body 5. The lifting devices 52 are hydraulically driven and can be controlled automatically or manually.

[0059] During container storage, operators use a crane to lift the container onto the trolley body 5. The handling mechanism then places the container in the storage array according to the rule of inside first, then outside. The trolley body 5 moves the container to an empty workstation unit 2, where it is precisely aligned using positioning sensors. The lifting component lowers the container and engages with the torsion lock on workstation unit 2 to secure it. Conversely, when transferring containers outwards, the handling mechanism moves the containers in the order of outside first, then inside. The trolley body 5 moves below workstation unit 2, and the lifting device 52 lifts the container, disengaging it from the torsion lock on workstation unit 2. The trolley body 5 then moves to the access door 1, where operators use a crane or other equipment to transfer the container. The container transfer process can be automated, improving efficiency.

[0060] To improve the efficiency of container transfer, the inlet / outlet door 1 can be set in the middle of the storage array, and the trolley body 5 can move to both sides to transfer containers. This can reduce the average distance the trolley body 5 moves and improve transfer efficiency. Alternatively, goods can enter and exit from both ends of the inlet / outlet door 1, making the transfer operation more flexible.

[0061] Optionally, in practical applications, multiple storage arrays can be set up in parallel, with the access door 1 located on a straight channel and a mobile crane installed on that channel. Containers can enter through the access door 1 and be transferred to the workstations 2 of other storage arrays via the straight channel, further improving space utilization and reducing manual intervention.

[0062] The four corners of the trolley body 5 are equipped with guide limiters 53, which have an inclined structure facing the inside of the trolley body 5. When the crane lowers the container, it can guide the container to the correct position, and at the same time, it can limit the container when the trolley moves, ensuring the stability of the container during the transfer process.

[0063] Advantages of this utility model:

[0064] The trolley body can move along the track and use the lifting device to store containers in or transfer them from the workstations on the storage array. The control module obtains the absolute position of the trolley body through an absolute encoder to ensure precise operation. The transfer process can be automated, improving the efficiency of container transfer. The structure is simple and easy to maintain. The workstations are equipped with locking mechanisms, and the storage array is equipped with limit sensors at both ends to ensure the safety of container transfer.

[0065] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A container transfer device, comprising a storage array and a handling mechanism, characterized in that, The storage array includes an access door (1) and several workstation units (2); the transport mechanism includes a drive assembly and a trolley system; the drive assembly includes a power unit (3) and a transmission mechanism; the trolley system includes a trolley body (5) and a moving track (6); the access door (1) and several workstation units (2) are arranged above the moving track (6) along the moving track (6); a roller (51) matching the moving track (6) is provided below the trolley body (5), and a lifting device (51) is provided on its upper surface. 2); The trolley body (5) is connected to the transmission mechanism; the power unit (3) drives the trolley body (5) to reciprocate along the moving track (6) through the transmission mechanism; it also includes a control module (7), a position sensor (8) and a limit sensor (10); the position sensor (8) is an absolute encoder and is connected to the transmission mechanism; the limit sensor (10) is set on both sides of the storage array; the position sensor (8), the limit sensor (10) and the power unit (3) are electrically connected to the control module (7).

2. The container transfer device according to claim 1, characterized in that, The transmission mechanism includes a speed reducer (41), a drive chain, and a guide wheel (43); the trolley body (5) is connected to the drive chain; and the position sensor (8) is connected to the output shaft of the speed reducer (41).

3. The container transshipment device according to claim 1, characterized in that, It also includes a cargo detection sensor (9); the cargo detection sensor (9) is installed on the workstation unit (2) and is electrically connected to the control module (7).

4. The container transfer device according to claim 1, characterized in that, It also includes a position calibration sensor (11); the position calibration sensor (11) includes a detection end and several sensing ends; the detection end is set on the trolley body (5); the sensing ends are set on the workstation unit (2).

5. The container transfer device according to claim 1, characterized in that, The workstation unit (2) is equipped with locking mechanisms (21) at its four corners.

6. The container transshipment device according to claim 2, characterized in that, The drive chain includes a main drive chain (421), a secondary drive chain (422), and a drive wheel (423); the main drive chain (421) drives the secondary drive chain (422) through the drive wheel (423); the secondary drive chain (422) is connected to the trolley body (5).

7. The container transshipment device according to claim 1, characterized in that, There are four lifting devices (52), which are respectively set at the four corners of the trolley body (5).

8. The container transshipment device according to claim 1, characterized in that, The edge of the trolley body (5) is provided with a guide limiter (53).

9. The container transshipment device according to claim 1, characterized in that, The transmission mechanism also includes a chain roller (44) disposed below the drive chain.

10. A control system, characterized in that, Includes the container transfer device as described in any one of claims 1-9.

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