CN114180352A - Automatic wharf container loading and unloading system and loading and unloading method - Google Patents
Automatic wharf container loading and unloading system and loading and unloading method Download PDFInfo
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- CN114180352A CN114180352A CN202111300202.4A CN202111300202A CN114180352A CN 114180352 A CN114180352 A CN 114180352A CN 202111300202 A CN202111300202 A CN 202111300202A CN 114180352 A CN114180352 A CN 114180352A
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- bridge crane
- yard
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000003993 interaction Effects 0.000 claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims description 8
- 230000007306 turnover Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/04—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially-horizontal transit by bridges equipped with conveyors
- B65G63/042—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially-horizontal transit by bridges equipped with conveyors for articles
- B65G63/045—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially-horizontal transit by bridges equipped with conveyors for articles for containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0428—Transfer means for the stacker crane between the alleys
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ship Loading And Unloading (AREA)
Abstract
The invention discloses an automatic wharf container handling system and a handling method, wherein the system comprises a bridge crane operation area, a three-dimensional container yard and a land side operation area, the yard is arranged on the land side of the bridge crane operation area and comprises a plurality of rows of container units, the sea side end of the yard is positioned in the rear extension distance range of a girder of the bridge crane, each row of container units is formed by N rows and M rows of container units formed by a frame structure, a stacker roadway is arranged between two adjacent rows of container units, and a stacker is arranged in the stacker roadway and is responsible for taking containers from or placing containers to each container unit lattice; the shuttle car tracks for operating the shuttle cars are arranged at the top of the three-dimensional container yard, the bridge crane can directly interact with the shuttle cars to take or put the boxes, the stacker interacts with the shuttle cars to realize box delivery or box collection, and the outer container truck directly interacts with the container yard through the stacker to realize box taking or box putting, so that a sea-side interaction area and sea-side horizontal transportation equipment are omitted, and the land utilization rate of the container yard and the turnover rate of the containers are reduced.
Description
Technical Field
The invention belongs to the technical field of automated wharfs, and particularly relates to a container loading and unloading system and a container loading and unloading method for an automated wharf.
Background
The yard layout of the automatic wharf is generally divided into two modes, one mode is horizontal layout, a yard box area and a wharf quay wall are arranged in parallel, and the arrangement direction of containers in the yard is the same as the ship stowage direction; one is vertical layout, the container area of the storage yard is vertically arranged with the quay wall of the wharf, and the placing direction of the containers in the storage yard is vertical to the ship stowage direction.
The horizontal layout has the advantages that low-speed storage yard equipment is adopted, the operation efficiency of single equipment is high, the full-automatic operation cannot be realized, and the problem of crossing of internal and external horizontal transportation equipment cannot be solved. The vertical layout has the advantages that the internal and external horizontal transportation equipment are isolated, the full-closed automatic operation of a storage yard is realized, and the defect is that the equipment is provided in a large quantity. The two layout modes have the common defects of low land utilization rate, high stock dump turnover rate and high energy consumption of single-box operation.
Therefore, the two layout modes have respective advantages and disadvantages and cannot meet the requirements of low energy consumption and high operation efficiency of the automatic wharf.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automatic wharf container handling system and a handling method, which adopt a three-dimensional container yard design, a bridge crane realizes sea side container handling through interaction of a shuttle car and a stacker, an outer container truck realizes land side container collection and distribution through the interaction of the stacker, the problems of low land utilization rate and high turnover rate of the traditional container yard are solved, horizontal transportation is reduced, and thus the investment of horizontal transportation equipment is saved.
The invention is realized by adopting the following technical scheme:
an automated quay container handling system is provided, comprising:
the container loading system comprises a bridge crane operation area, a container unloading area and a container unloading area, wherein a bridge crane is arranged along the quay wall of a wharf, and loads containers into a ship during the ship loading operation and unloads the containers onto a three-dimensional container yard during the ship unloading operation;
the three-dimensional container yard is arranged on the land side of the bridge crane operation area and consists of a plurality of rows of container units, and the sea side end of the three-dimensional container yard is positioned in the rear reach range of a girder of the bridge crane; each column of the container units is formed by N rows and M columns of container unit grids formed by a frame structure; a stacker roadway is arranged between two adjacent rows of container units;
the land side operation area is used for interaction between land side horizontal transportation equipment and the three-dimensional container yard;
the stacker is arranged in the stacker roadway and is responsible for picking and placing containers in container unit cells of container units on two sides of the stacker roadway;
the shuttle car is arranged on the shuttle car track and is responsible for interacting the containers with the bridge crane and the stacker; the shuttle vehicle track is arranged at the top of the three-dimensional container yard and is positioned in the rear reach range of the girder of the bridge crane.
Further, the shuttle car track includes: the transverse rail is parallel to the quay wall; the longitudinal rail is vertical to the quay wall of the wharf and corresponds to the stacker roadway; the transverse rail is communicated with the longitudinal rail at the intersection.
Furthermore, the land side operation area is arranged at the side of the outermost container unit of the three-dimensional container yard.
Furthermore, an interaction area of the shuttle car and the stacker is divided from the top of the three-dimensional container yard.
Further, the stacker includes: a cart frame; the cart pulley is arranged at the end part of the cart frame and is arranged in a roadway track arranged in the stacker roadway; the driving device is used for driving the cart frame to run in the roadway track; the lifting mechanism is arranged in a pulley track of the cart frame through a lifting pulley and is responsible for lifting the lifting appliance in the direction vertical to the ground; the lifting appliance can move in the direction parallel to the ground relative to the lifting mechanism and is responsible for taking or putting down the container with the container unit cell in an interaction manner.
An automated quay container handling method is provided, which is applied to the automated quay container handling system described above, and includes:
controlling the bridge crane to take the box from the target berth of the ship;
controlling the shuttle car to move along the shuttle car track to the lower part of the bridge crane to take the box from the bridge crane in an interaction way;
controlling the shuttle car to move to a target interaction area along the shuttle car track;
controlling a stacker to run to the target interaction area to be locked with the shuttle car, and taking boxes from the shuttle car;
and controlling the stacker to place the container into the target container unit cell.
An automated quay container handling method is provided, which is applied to the automated quay container handling system described above, and includes:
controlling the stacker to a target container cell for taking a container;
controlling the stacker to operate to a target interaction area with a box;
controlling the shuttle car to move to the target interaction area along the shuttle car track and locking the shuttle car with the stacker;
controlling a stacker to put boxes to the shuttle car;
controlling the shuttle car with the box to move below the bridge crane to interact with the bridge crane;
and controlling the bridge crane to transfer the container to the target berth of the ship.
An automated quay container handling method is provided, which is applied to the automated quay container handling system described above, and includes:
after the external collecting card reaches the land side operation area of the three-dimensional container yard, sending an instruction to a stacker;
the stacker operates to the land-side interaction area to take boxes from the external collecting card;
the stacker moves to the target container cell with the box.
An automated quay container handling method is provided, which is applied to the automated quay container handling system described above, and includes:
after the external collecting card reaches the land side operation area of the three-dimensional container yard, sending an instruction to a stacker; the stacker operates to the target container cell to take the container;
and the stacker operates to the land-side interaction area outward collecting and clamping box.
Compared with the prior art, the invention has the advantages and positive effects that: the invention provides an automatic wharf container loading and unloading system and a loading and unloading method, wherein the system comprises a bridge crane operation area, a three-dimensional container yard and a land side operation area, the three-dimensional container yard is arranged on the land side of the bridge crane operation area and comprises a plurality of rows of container units, the sea side end of the container yard is positioned in the rear extension distance range of a girder of the bridge crane, each row of container units is formed by N rows and M rows of container units formed by a frame structure, a stacker roadway is arranged between two adjacent rows of container units, a stacker is arranged in the stacker roadway, and the stacker is responsible for taking boxes from the container units or placing boxes into the container units; based on the handling system provided by the invention, the bridge crane can directly interact with the shuttle car to take or put the box, the stacker and the shuttle car to realize the exchange or the collection of the box, the external collecting card directly interacts with the container yard to realize the taking or the placement of the box through the stacker, a sea side interaction area and sea side horizontal transportation equipment are saved, the land utilization rate of the yard is reduced, the cost investment of wharf equipment is reduced, and under a frame type container cell structure, the control of the stacker to take or put the box each time is more accurate, the turnover rate of the container is reduced to zero, and the windproof problem of the yard equipment and the container is solved.
Other features and advantages of the present invention will become more apparent from the detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings.
Drawings
Fig. 1 is a top view block diagram of a system for automated quay container handling systems in accordance with the present invention;
FIG. 2 is a top view of the system of the three-dimensional container yard according to the present invention;
fig. 3 is a side sectional view of a three-dimensional container yard according to the present invention;
FIG. 4 is a schematic structural diagram of a stacker proposed in the present invention;
fig. 5 is a side sectional view of a three-dimensional container yard according to the present invention;
FIG. 6 is one of the schematic diagrams of the operation of the stacker of the embodiment of the present invention;
FIG. 7 is a second schematic diagram of the operation of the stacker of the embodiment of the present invention;
fig. 8 is a third schematic diagram of the operation of the stacker crane in the embodiment of the present invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
The invention aims to provide an automatic wharf container handling system and a handling method thereof, which adopt a three-dimensional container yard design, a bridge crane realizes sea side container handling through interaction of a shuttle car and a stacker, an external container truck realizes land side container collecting and distributing through the interaction of the stacker, the problems of low land utilization rate and high turnover rate of the traditional container yard are solved, horizontal transportation is reduced, and thus the investment of horizontal transportation equipment is saved.
Specifically, as shown in fig. 1, the automated quay container handling system provided by the present invention comprises:
and the bridge crane operation area 1 is provided with a bridge crane 11 along the quay wall of the wharf, the bridge crane 11 is used for hoisting the containers into the ship in the ship loading operation, and hoisting the containers on the ship to the three-dimensional container yard 2 in the ship unloading operation.
The three-dimensional container yard 2 is arranged on the land side of the bridge crane operation area 1 and consists of a plurality of rows of container units 21, and the sea side end of the container yard is positioned in the rear reach range of a girder of the bridge crane; wherein, each row of container units 21 is formed by N rows and M rows of container cells 22 formed by a frame structure; and a stacker roadway 23 is arranged between two adjacent rows of container units.
And the land side operation area 3 is used for the land side horizontal transportation equipment to interact with the three-dimensional container yard 2.
The stacker 4 is arranged in a stacker roadway 23 and is responsible for picking and placing containers in container unit cells of container units on two sides of the stacker roadway.
The shuttle car 5 is arranged on the shuttle car track and is responsible for interacting the containers with the bridge crane 11 and the stacker 4; the shuttle track is arranged at the top of the three-dimensional container yard 2 and is positioned in the rear reach range of the girder of the bridge crane.
Based on the loading and unloading system provided by the invention, the bridge crane can directly interact with the stacker and the container yard through the shuttle car to realize box taking or box placing, the outer container truck directly interacts with the container yard through the stacker to realize box taking or box placing, a sea side interaction area and sea side horizontal transportation equipment are omitted, the land utilization rate of the yard is reduced, the cost investment of wharf equipment is reduced, under the frame type container cell structure, the control of the stacker to take or place the box each time is more accurate, the turnover rate of the container is reduced to zero, and the windproof problem of the yard equipment and the container is solved.
In the embodiment shown in fig. 2, the shuttle car track comprises a transverse track 51 and a longitudinal track 52, the transverse track 51 being parallel to the quay wall; the longitudinal rail 52 is vertical to the quay wall and corresponds to the stacker roadway 23; the cross rail 51 is communicated with the longitudinal rail 52 at the intersection, and the shuttle car 5 can realize steering and accurate alignment through the cross rail 51 and the longitudinal rail 52.
The specific structure of the shuttle car track is not particularly limited, and the structure for realizing the fixed-point operation of the shuttle car 5 on the top of the three-dimensional container yard 2 is within the protection scope of the invention.
In order to realize accurate alignment when the shuttle car 5 and the stacker 4 are interacted, an interaction area of the shuttle car 5 and the stacker 4 is divided at the top of the three-dimensional container yard 2, and when the shuttle car 5 and the stacker 4 need to interact with each other, the shuttle car 5 and the stacker 4 both run to the interaction area to realize butt joint.
Under the loading and unloading system provided by the invention, the bridge crane and the three-dimensional container yard are interacted at the top of the three-dimensional container yard and at the rear reach of a girder of the bridge crane, horizontal transportation equipment such as AGV, IGV, straddle carrier and the like is not needed any more, short-distance transportation of the container between the bridge crane and the stacker is completed by using the shuttle, yard equipment such as rail cranes and the like is not needed any more, the container is stored in a frame type container cell, and the container is accessed and transported by using the stacker.
Under the loading and unloading system framework provided by the invention, the arrangement range of the land side operation area 3 is larger, the land side operation area is not limited to the land side end of the storage yard, and the land side operation area can also be arranged at the side of the outmost container unit of the three-dimensional container storage yard, as shown in figure 3, so that the land side card collecting operation range can be enlarged, the intersection probability of outer card collecting traffic flow is reduced, and the outer card collecting operation efficiency is improved
As shown in fig. 4, the stacker crane 4 according to the present invention comprises a cart frame 41, cart pulleys 42, a driving device 43, a hoisting mechanism 44 and a spreader 45, wherein the cart pulleys 42 are mounted at the end of the cart frame 41 and in a roadway track 47 arranged in the roadway of the stacker crane, as shown in fig. 5; the driving device 43 is responsible for driving the cart frame 41 to run in the roadway rails 47; the hoisting mechanism 44 is mounted in a sheave rail of the cart frame 41 via hoisting sheaves 46 and is responsible for hoisting of the spreader 45 in the direction perpendicular to the ground.
The spreader 45 is movable in the direction parallel to the ground relative to the lifting mechanism 44 and is responsible for taking or putting down containers in interaction with the container cells, and when the stacker 4 is operating in the stacker roadway 23, the stacker 4 is stopped, and the lifting mechanism 44 is operating, the state shown in fig. 6 is assumed, and when the stacker 4 is taking or putting containers in the container cells, the state shown in fig. 7 and 8 is assumed.
In view of the above-mentioned proposed automated quay container handling system, the present invention proposes a handling method for realizing ship handling work and land-side collective and distributed work as follows.
Import ship unloading operation
The method comprises the following steps:
1. the bridge crane receives the system instruction and grabs the container from the target berth of the ship.
2. And the shuttle car control system at the top of the three-dimensional container yard receives the instruction, and the dispatching shuttle car runs to the lower part of the rear reach of the bridge crane along the shuttle car track.
3. And (5) placing the box in the bridge crane and the shuttle car in an interactive mode.
Specifically, the main trolley of the bridge crane is placed on a transfer platform of the bridge crane, OCR identifies information of the boxes, the unlocking robot completes unlocking, and then the portal trolley and the transfer platform grab the boxes and place the boxes to the shuttle car after being locked with the shuttle car.
4. And the shuttle car control system controls the shuttle car to move to the target interaction area along the shuttle car track.
5. And the stacker control system controls the stacker to run to the target interaction area.
6. And the shuttle car is locked with the stacker, and the stacker takes the boxes from the shuttle car, lifts the boxes to a safe height and unlocks the boxes from the shuttle car.
The shuttle car may continue to receive other dispatches from the system.
7. And (5) the stacker operates to the target container cell, and the operation is finished after the container is placed.
Second, export shipment operation
The method comprises the following steps:
1. and the stacker control system receives the instruction and controls the stacker to operate to the target container unit grid for taking the container.
2. And the stacker control system controls the stacker to run to the target interaction area.
3. And the shuttle car control system controls the shuttle car to run to the target interaction area.
4. The shuttle car is locked with the stacker.
5. The stacker puts the case to the shuttle car, rises to the safe height, unlocks.
6. The shuttle car control system controls the shuttle car to move to the position below the rear reach of the bridge crane.
7. And the bridge crane and the shuttle car are mutually grabbed.
Specifically, the gantry trolley of the bridge crane is locked with the shuttle car, the shuttle car grabs the box to the transfer platform, locking and OCR box information recognition are completed on the transfer platform, and the main trolley runs to the transfer platform to grab the box.
8. And controlling the bridge crane to transfer the container to the target berth of the ship.
Third, export the operation of sending out the case
The method comprises the following steps:
1. and the external container truck reaches a land side operation area of the three-dimensional container yard, and after the OCR identifies the car number, the wharf operation system sends an instruction to the stacker control system.
2. And the stacker control system controls the stacker to run to a land side operation area and take boxes from the external collecting card.
3. And controlling the stacker to move to the target container cell for box placement.
4. And (4) an external hub card exit gate.
Four, import case-collecting operation
The method comprises the following steps:
1. and the external container truck reaches a land side operation area of the three-dimensional container yard, and after the OCR identifies the car number, the wharf operation system sends an instruction to the stacker control system.
2. And the stacker control system controls the stacker to operate to the target container unit grid for taking the container.
3. And controlling the stacker to operate the land side operation area and the collecting card to interactively and practically discharge the box.
4. And (4) an external hub card exit gate.
According to the automatic wharf container handling system provided by the invention, the container unit cells are divided into 20 feet, 40 feet and 45 feet according to the box type length, and the height is about 4 m, so that the stacking of common boxes and ultrahigh boxes is met; in the same stacker tunnel, according to the height and the depth of a three-dimensional container yard, 1 or more stackers can be configured, and the frame-type three-dimensional container stacking structure not only reduces the land utilization rate, but also reduces the turnover rate of the containers to zero, and simultaneously solves the problem of windbreak of the yard.
It should be noted that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art should also make changes, modifications, additions or substitutions within the spirit and scope of the present invention.
Claims (9)
1. An automated quay container handling system, comprising:
the container loading system comprises a bridge crane operation area, a container unloading area and a container unloading area, wherein a bridge crane is arranged along the quay wall of a wharf, and loads containers into a ship during the ship loading operation and unloads the containers onto a three-dimensional container yard during the ship unloading operation;
the three-dimensional container yard is arranged on the land side of the bridge crane operation area and consists of a plurality of rows of container units, and the sea side end of the three-dimensional container yard is positioned in the rear reach range of a girder of the bridge crane; each column of the container units is formed by N rows and M columns of container unit grids formed by a frame structure; a stacker roadway is arranged between two adjacent rows of container units;
the land side operation area is used for interaction between land side horizontal transportation equipment and the three-dimensional container yard;
the stacker is arranged in the stacker roadway and is responsible for picking and placing containers in container unit cells of container units on two sides of the stacker roadway;
the shuttle car is arranged on the shuttle car track and is responsible for interacting the containers with the bridge crane and the stacker; the shuttle vehicle track is arranged at the top of the three-dimensional container yard and is positioned in the rear reach range of the girder of the bridge crane.
2. The automated quay container handling system of claim 1 wherein the shuttle track comprises:
the transverse rail is parallel to the quay wall;
the longitudinal rail is vertical to the quay wall of the wharf and corresponds to the stacker roadway;
the transverse rail is communicated with the longitudinal rail at the intersection.
3. The automated quay container handling system of claim 1 wherein the land-side operations area is disposed at a side of an outermost container unit of the stereoscopic container yard.
4. The automated quay container handling system of claim 1 wherein the top of the stereoscopic container yard demarcates the area of interaction of the shuttle car with the stacker.
5. The automated quay container handling system of claim 1 wherein the stacker comprises:
a cart frame;
the cart pulley is arranged at the end part of the cart frame and is arranged in a roadway track arranged in the stacker roadway;
the driving device is used for driving the cart frame to run in the roadway track;
the lifting mechanism is arranged in a pulley track of the cart frame through a lifting pulley and is responsible for lifting the lifting appliance in the direction vertical to the ground;
the lifting appliance can move in the direction parallel to the ground relative to the lifting mechanism and is responsible for taking or putting down the container with the container unit cell in an interaction manner.
6. An automated quay container handling method for use in the automated quay container handling system of claim 1, comprising:
controlling the bridge crane to take the box from the target berth of the ship;
controlling the shuttle car to move along the shuttle car track to the lower part of the bridge crane to take the box from the bridge crane in an interaction way;
controlling the shuttle car to move to a target interaction area along the shuttle car track;
controlling a stacker to run to the target interaction area to be locked with the shuttle car, and taking boxes from the shuttle car;
and controlling the stacker to place the container into the target container unit cell.
7. An automated container terminal container handling method for use in the automated terminal container handling system of claim 1, comprising:
controlling the stacker to a target container cell for taking a container;
controlling the stacker to operate to a target interaction area with a box;
controlling the shuttle car to move to the target interaction area along the shuttle car track and locking the shuttle car with the stacker;
controlling a stacker to put boxes to the shuttle car;
controlling the shuttle car with the box to move below the bridge crane to interact with the bridge crane;
and controlling the bridge crane to transfer the container to the target berth of the ship.
8. An automated quay container handling method for use in the automated quay container handling system of claim 1, comprising:
after the external collecting card reaches the land side operation area of the three-dimensional container yard, sending an instruction to a stacker;
the stacker operates to the land-side interaction area to take boxes from the external collecting card;
the stacker moves to the target container cell with the box.
9. An automated quay container handling method for use in the automated quay container handling system of claim 1, comprising:
after the external collecting card reaches the land side operation area of the three-dimensional container yard, sending an instruction to a stacker; the stacker operates to the target container cell to take the container;
and the stacker operates to the land-side interaction area outward collecting and clamping box.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111300202.4A CN114180352A (en) | 2021-11-04 | 2021-11-04 | Automatic wharf container loading and unloading system and loading and unloading method |
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| CN202111300202.4A CN114180352A (en) | 2021-11-04 | 2021-11-04 | Automatic wharf container loading and unloading system and loading and unloading method |
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