CN114426215A - Variable-amplitude conveying type refrigerated ship unloading system and working method - Google Patents
Variable-amplitude conveying type refrigerated ship unloading system and working method Download PDFInfo
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- CN114426215A CN114426215A CN202210050295.8A CN202210050295A CN114426215A CN 114426215 A CN114426215 A CN 114426215A CN 202210050295 A CN202210050295 A CN 202210050295A CN 114426215 A CN114426215 A CN 114426215A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000008569 process Effects 0.000 claims abstract description 33
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- 230000005484 gravity Effects 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 9
- 238000007599 discharging Methods 0.000 claims description 7
- 230000032258 transport Effects 0.000 claims description 7
- 238000004806 packaging method and process Methods 0.000 claims description 6
- 230000001954 sterilising effect Effects 0.000 claims description 6
- 238000004321 preservation Methods 0.000 claims description 5
- 238000004659 sterilization and disinfection Methods 0.000 claims description 4
- 241000700605 Viruses Species 0.000 abstract description 10
- 206010063385 Intellectualisation Diseases 0.000 abstract description 5
- 230000007480 spreading Effects 0.000 abstract description 5
- 230000007774 longterm Effects 0.000 abstract description 4
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- 230000002265 prevention Effects 0.000 description 2
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/60—Loading or unloading ships
- B65G67/603—Loading or unloading ships using devices specially adapted for articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B25/00—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby
- B63B25/26—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for frozen goods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
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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
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/20—Auxiliary treatments, e.g. aerating, heating, humidifying, deaerating, cooling, de-watering or drying, during loading or unloading; Loading or unloading in a fluid medium other than air
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- Devices That Are Associated With Refrigeration Equipment (AREA)
Abstract
The invention provides a variable-amplitude conveying type refrigerated ship unloading system which comprises: the device comprises a trailing suction module, a turning conveying tray, a variable amplitude conveying module, a self-unloading container, a walking module, a positive pressure cab, a machine vision system, a central control system and a storage. The unloading system simultaneously introduces a computer control technology based on machine vision on the basis of realizing manual control, provides two working modes of manual operation and autonomous operation, and the two working modes can be switched at any time, thereby realizing high-reliability automation of the unloading operation of the refrigerated ship to a certain extent. The unloading system and the operation process thereof have a promotion effect on realizing the medium and long-term targets of automation, intellectualization and safety of the unloading operation of the refrigerated ship, reduce the probability of spreading harmful viruses from objects to people to the maximum extent and have great practical significance.
Description
Technical Field
The invention relates to the technical field, in particular to a variable-amplitude conveying type refrigerated ship unloading system and a working method.
Background
The refrigerated ship is a key front-end carrier in the cold chain transportation process, is a transportation ship specially used for transporting perishable foods such as marine products, meat and the like in a frozen state, has the bearing capacity of thousands of tons, and directly determines the efficiency and the virus prevention and control level of the whole cold chain transportation process by the unloading mode. However, the cargo hold of the refrigerated ship has the characteristics of complex structure (large space and small opening), low temperature in the hold (-20 ℃), disordered cargo storage and transportation (various types, various specifications and disordered arrangement) and the like, so the conventional manual unloading operation for the refrigerated ship is still adopted at present. The manual unloading mode has low working efficiency and high labor cost, and easily increases the probability of spreading harmful viruses from objects to people, thereby causing serious loopholes in the virus prevention and control in the unloading working process of the refrigerated ship. Therefore, the invention provides a variable-amplitude conveying type unloading system and an operation process thereof aiming at the unloading process of the refrigerated ship, so that the unloading efficiency is effectively improved, the operation cost is reduced and the probability of spreading harmful viruses from objects to people is reduced to the maximum extent on the basis of fully realizing less operation and humanization. The unloading system and the operation process thereof have a promotion effect on realizing the medium and long-term targets of automation, intellectualization and safety of the unloading operation of the refrigerated ship, and have great practical significance.
Disclosure of Invention
According to the technical problems of low operation efficiency and high labor cost of the unloading operation of the refrigerated ship, the variable-amplitude conveying type refrigerated ship unloading system and the working method are provided. The invention mainly realizes the operation of less humanization and even no humanization on the basis of not changing the unloading operation mode of the traditional refrigerated ship as far as possible, improves the unloading operation efficiency, reduces the propagation probability of harmful viruses on a cold chain as far as possible, and realizes the automation and the intellectualization of the unloading operation of the refrigerated ship from a long-term perspective.
The invention comprises a variable amplitude transport refrigerated vessel unloading system comprising:
the device comprises a trailing suction module, a turning transmission tray, a variable amplitude transmission module, a self-unloading container, a walking module, a positive pressure cab, a machine vision system, a central control system and a storage device;
the variable-amplitude transmission module is hinged to the rack, and the elevation angle change of the variable-amplitude transmission module is realized by adjusting the elongation of the electric cylinder, namely the height adjustment of the far end of the variable-amplitude transmission module; the turning conveying tray is connected with the far end of the variable-amplitude conveying module through a hinge joint, and the elevation angle adjustment relative to the variable-amplitude conveying module is realized through a pair of electric cylinders arranged below the variable-amplitude conveying module;
the trailing suction module is arranged on the turning conveying tray through a lead screw nut mechanism and a guide rail below the conveying belt, and during work, the leading screw is rotated forwards and backwards to slide forwards and backwards on the turning conveying tray to finish trailing suction of goods.
The invention also comprises a working method for unloading the variable-amplitude conveying type refrigerated ship, which can realize two working modes of manual operation and autonomous operation and comprises the following steps:
step S1: drawing a mouth to unload the goods; opening a port at the fore layer of the refrigerated ship by controlling a hydraulic switch to unload the goods under the port;
step S2: the unloading system enters a waiting unloading area; the unloading system is lowered to an empty area below the hatch through a crane, and then the walking module drives the unloading system to move to a cargo unloading area in the cabin; (ii) a
Step S3: unloading operation in the unloading system cabin; the unloading system is close to the stack to be unloaded, the far end of the turning conveying tray is close to and clings to the goods to be unloaded, the conveying tray screw rod rotates forwards to drive the harrowing and sucking module to be close to and suck the goods for packaging, and the harrows shrink to clamp the goods; the screw rod rotates reversely to drive the trailing suction module to drag the goods to the turning conveying tray; goods are transferred to the amplitude-variable conveying module by the turning tray conveying belt and directly slide to the self-discharging container along with the operation of the conveying belt.
Step S4: unloading the unloading box to an out-of-cabin transferring hanging basket;
step S5: discharging the transfer hanging basket out of the cabin for unloading;
step S6: carrying out sterilization operation outside the cargo;
step S7: and repeating the steps S1-S6 to gradually complete the unloading task.
Compared with the prior art, the invention has the following advantages:
due to the characteristics of complex structure (large space and small opening), low temperature (20 ℃) in the cargo hold, disordered cargo storage and transportation (various types, various specifications and disordered arrangement) and the like of the cargo hold of the refrigerated ship, the conventional manual unloading operation for the refrigerated ship is still adopted at present. The manual unloading mode has low operation efficiency and high labor cost, and easily increases the probability of spreading harmful viruses from objects to people, thereby causing serious loopholes in the unloading operation process of the refrigerated ship. In order to solve the problems of the traditional manual unloading operation of the refrigerated ship, the invention provides a variable-amplitude conveying type unloading system and an operation process thereof.
The amplitude-variable conveying type unloading system mainly comprises a trailing suction module, a turning conveying tray, an amplitude-variable conveying module, a self-discharging container (comprising a gravity sensor and the like), a walking module, a positive pressure cab (comprising an air pressure sensor and the like), a machine vision system (comprising an industrial camera, an ultrasonic sensor, a laser sensor, a temperature sensor and the like), a central control system, a storage device and the like. In terms of system structure, the variable-amplitude transmission module is hinged on the frame, so that the height of the far end of the variable-amplitude transmission module can be adjusted; the diversion conveying tray is connected with the far end of the variable amplitude conveying module through a hinge joint, so that the horizontal operation mode of the diversion conveying tray at any working position can be ensured; the trailing suction module realizes the front and back sliding on the tray through the screw nut mechanism and the guide rail so as to complete trailing suction operation; the unloading system cab adopts a positive pressure cabin form to reduce the virus transmission probability to the maximum extent; the machine vision system is provided with an auxiliary heat preservation system to ensure that it is in a reasonable working temperature interval. In the aspect of system control, the invention can realize the traditional manual operation mode by utilizing cab operation or realize the autonomous operation mode of the whole machine by utilizing a machine vision system.
By the variable-amplitude conveying type unloading system and the operation process thereof, unloading operation of the refrigerated ship can be upgraded from a traditional manual mode to a less-manual or automatic mode, so that unloading efficiency is effectively improved, construction period is saved, operation cost is reduced, and probability of spreading viruses from objects to people is reduced to the maximum extent. The automatic unloading technology based on machine vision can realize automation and intellectualization of unloading operation of the refrigerated ship to a certain extent, and has better control precision and continuity compared with the traditional manual mode. The unloading system and the operation process thereof have a promotion effect on realizing the medium and long-term targets of automation, intellectualization and safety of the unloading operation of the refrigerated ship, and have great practical significance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of a variable amplitude transport refrigerated vessel unloading system of the present invention; wherein, (a) is a front view; (b) is a rear side view.
FIG. 2 is a schematic diagram of a control system according to the present invention.
FIG. 3 is a schematic view of the structure of the trailing suction module of the present invention.
FIG. 4 is a schematic view of a direction-changing conveying tray according to the present invention.
FIG. 5 is a schematic view of a luffing transfer module of the present invention.
Fig. 6 is a schematic structural view of the dump cargo container of the present invention.
Fig. 7 is a schematic view of the positive pressure cab structure of the present invention.
Fig. 8 is a schematic structural diagram of the walking module of the present invention.
Fig. 9 is a schematic structural diagram of the delivery transfer basket of the invention.
Fig. 10 is a process flow diagram of the operation of the variable amplitude transport unloading system of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1-10, the present invention provides a variable amplitude transport refrigerated vessel unloading system comprising:
the automatic control system comprises a trailing suction module, a turning transmission tray, a variable amplitude transmission module, a self-unloading container (comprising a gravity sensor and the like), a walking module, a positive pressure cab (comprising an air pressure sensor and the like), a machine vision system (comprising an industrial camera, an ultrasonic sensor, a laser sensor, a temperature sensor and the like), a central control system and a storage.
As a preferred embodiment, in the application, the amplitude variation transmission module is connected to the frame through an articulated joint, and the elevation angle change of the amplitude variation transmission module, namely the height adjustment of the far end of the amplitude variation transmission module, is realized by adjusting the elongation of the electric cylinder; the turning conveying tray is connected with the far end of the variable-amplitude conveying module through a hinge joint, and the elevation angle change relative to the variable-amplitude conveying module is realized through a pair of electric cylinders arranged below the variable-amplitude conveying module, namely the horizontal operation mode of the turning conveying tray at any working position is ensured;
the trailing suction module is arranged on the turning conveying tray through a lead screw nut mechanism and a guide rail below the conveying belt, and during work, the leading screw is rotated forwards and backwards to slide forwards and backwards on the turning conveying tray to finish trailing suction of goods.
In the present application, a machine vision system is a necessary means to ensure that the luffing unloading system achieves an autonomous mode of operation within the cabin. On one hand, the amplitude-variable unloading system needs to identify the packages of the objects to be unloaded by depending on a machine vision system, so that the reliable and accurate picking of the goods is realized; on the other hand, the amplitude-variable unloading system needs to pre-judge the surrounding working conditions by depending on a machine vision system, and realizes autonomous navigation and obstacle avoidance of the whole machine system walking in the cabin. To achieve the above-described functions, therefore, in the present embodiment, a machine vision system includes: industrial cameras, ultrasonic sensors, and laser sensors; the industrial camera realizes image acquisition and identification of goods packaging and surrounding working conditions; the ultrasonic sensor and the laser sensor are mainly used for positioning and ranging the whole machine system.
Meanwhile, because the temperature of the working environment in the cabin of the amplitude-variable unloading system is relatively low (less than or equal to-20 ℃), the normal operation of hardware facilities of the machine vision system can be directly threatened, such as frosting of an industrial camera lens and the like, and therefore the machine vision system is also provided with an auxiliary heat preservation system for heat preservation. As a preferred embodiment, the auxiliary heat preservation system disclosed by the invention adopts anti-frosting glass to realize sealing, and is heated in an electric tracing mode, so that the effective isolation of the internal and external environments of a machine vision system is ensured, and meanwhile, the good vision perspective is realized.
In the present application, as shown in fig. 3, the trailing suction module includes: sucking disc group and scalable rake mechanism. The combination mainly considers the diversity of the packing specification of the goods of the refrigerated ship, the suction disc can suck the packages with regular surfaces, but for the packing types with ventilated surfaces, such as woven bags and the like, the suction reliability of the suction disc needs to be improved by utilizing the rake. The sucker group is arranged on the turning conveying tray through two guide rails, the bottom end of the sucker group is provided with a nut, the nut is connected to a screw rod below the conveying belt, and the forward and backward movement of the sucker group can be realized along with the forward and reverse rotation of the screw rod, as shown in fig. 3. For the rake mechanism, the rake mechanism is arranged on the box body of the sucker group, and the telescopic rod of the rake mechanism is designed into a folding telescopic form from the viewpoint of increasing the operation range. When the goods clamping device works, the lead screw rotates forwards to drive the harrowing and sucking module to be close to goods packages, the sucking disc is in contact with the surfaces of the goods after the goods are sucked, and the harrows shrink to clamp the goods; and then, the screw rod reversely rotates to drive the trailing suction module to retract, and the goods are dragged to the turning conveying tray. In consideration of the low-temperature working environment of the refrigerated ship, all key parts of the trailing suction module designed by the invention need to be made of low-temperature resistant materials, such as a sucker needs to be made of a silicon rubber material, and a lead screw is made of a low-temperature resistant stainless steel material.
The diversion conveying tray includes: the device comprises a longitudinal conveyor belt, a transverse conveyor belt and a wedge-shaped tray; the rear end of the turning conveying tray is hinged with the variable amplitude conveying module, a pair of electric cylinders is further arranged between the turning conveying tray and the variable amplitude conveying module to achieve free control of the elevation angle of the turning conveying tray, and the working surface of the transverse conveying belt can be kept parallel to the surface of a package in working.
As shown in fig. 4, the conveying tray is a wedge-shaped structure, which on one hand realizes effective 'shoveling' of the bottom goods (goods directly placed on the deck in the cabin) and on the other hand provides enough space for installation of the conveyor belt, the screw rod, the guide rail and the matching transmission device. Considering that the unloading system needs to be started and stopped frequently in the working process, the goods package is generally in the form of hard cartons, frozen woven bags and the like, the working environment temperature is minus 20 ℃, the air is moist and has strong corrosivity, and therefore the conveying function is realized by selecting the power roller conveying mechanism for the turning conveying tray. For the hinged elevation control of the turning tray, the electric cylinder is selected for driving. In the working process, after the goods are dragged to the turning tray by the trailing suction module, the goods directly move along with the turning conveyor belt, and the goods are changed from longitudinal movement to transverse movement.
Similarly, due to the working condition characteristics, the invention selects a power roller conveying mechanism for the amplitude variation conveying module to realize the conveying function. For the elevation control of the amplitude variation transmission module, the invention adopts a pair of long neck electric cylinders for driving, as shown in figure 5. In the working process, the operation height of the turning tray is adjusted by the two long-neck electric cylinders, after the height is determined, the goods are sucked by the trailing suction module, and after the goods are transferred to the amplitude-variable conveying module by the turning tray conveying belt, the goods directly run along with the conveying belt and slide to the self-unloading container.
The self-unloading cargo container mainly comprises three parts, namely a cargo container body, a lifting electric cylinder and a gravity sensor, as shown in figure 6. The bottom surface of the self-unloading cargo collection box body is designed to be inclined, and enough space is reserved for the installation of the electric cylinder. The self-discharging formula collection packing box is at the broadside door of unloading of opening, and the door bottom of unloading designs an electromagnetic valve for control door of unloading opens and shuts. The electric cylinder is arranged under the self-discharging type cargo collection box body, and the self-discharging type cargo collection box can independently dump. When the self-unloading type cargo collection box is operated, the gravity sensor judges whether the self-unloading type cargo collection box is fully loaded or not, and if the self-unloading type cargo collection box is not fully loaded, the amplitude-variable unloading system continues to utilize the trailing suction module to execute unloading operation; if the cargo is fully loaded, the amplitude-variable unloading system stops trailing and sucking the cargo and operates to the position close to the hatch opening hanging basket, after the relative position adjustment of the cargo collection box and the hanging basket is completed, the electric cylinder of the self-unloading cargo collection box extends, the electromagnetic valve is powered off, and the unloading door is opened, so that the autonomous unloading operation is realized; after unloading, the electric cylinder is shortened, the unloading door is automatically closed by means of gravity, the electromagnetic valve is electrified, and the unloading door is locked.
The positive pressure cab is arranged on the right side of the whole machine and is fixed on the upper part of the rack platform, and the specific structural form is shown in fig. 7. The positive pressure cab comprises a cab shell, an operation platform, a temperature control system, a positive pressure system, a toilet module and the like. The inside of the positive pressure cab is provided with a control platform of each operation subsystem of the unloading system, and the control platform is a manual operation center in the variable-amplitude unloading system, and various manual operation commands are sent out by the control platform. The unloading operation environment temperature is lower, so the temperature control system is arranged in the cab of the invention and used for keeping the comfortable environment temperature of a driver, and improving the operation concentration and comfort. In order to isolate the driver from the environment outside the cabin and avoid virus infection, the cab of the invention is provided with a positive pressure system, so that the air pressure inside the cab is slightly higher than the air pressure inside the external cabin, and the polluted air outside the cabin is prevented from flowing backwards. In addition, the positive pressure cab is provided with the toilet module, so that a complex process caused by the fact that a driver leaves the cab in the unloading process is avoided, and the operation efficiency is improved while the driving comfort of the driver is improved.
In the present application, the walking module is mainly composed of two parts, namely a walking crawler and a frame platform, as shown in fig. 8. The working environment of the unloading system is-20 ℃, the air is humid, and the deck in the cabin is easy to frost, so the walking system has the anti-skid performance. Besides, the problem of seawater corrosion is also fully considered. In conclusion, the invention selects rubber materials for the walking crawler belt, and can realize the aims of low temperature resistance, corrosion resistance, skid resistance and the like. In the operation process, the walking module receives a control signal of the central control system according to the operation requirement to finish walking in different directions.
As a preferred embodiment, in the application, the bottom surface of the out-of-cabin transfer hanging basket is provided with an unloading door, and the opening and closing actions of the unloading door are controlled by an electromagnetic valve; the out-of-cabin transfer hanging basket is provided with a gravity sensor for judging the bearing condition of the hanging basket, and when the hanging basket is not fully loaded, the current operation flow is kept unchanged; if the ship is fully loaded, the crane lifts the hanging basket and conveys the hanging basket out of the cabin to the position above the unloading place, the electromagnetic valve is powered off, and the unloading door is opened, so that the autonomous unloading operation is realized; after unloading, the unloading door is closed by the assistance of an operator, the electromagnetic valve is electrified, and the crane returns the hanging basket to the original position below the hatch. The invention is provided with more than two hanging baskets, reduces the waiting time for loading the hanging baskets under the cabin by the staggered hoisting and unloading operation mode, and improves the operation efficiency.
A working method applying the system specifically comprises the following steps:
step S1: drawing a mouth to unload the goods; opening a port at the fore layer of the refrigerated ship by controlling a hydraulic switch, and unloading goods under the port;
an operator opens the port of the refrigerated bow layer by controlling the hydraulic switch and unloads goods under the port. For the cooperation the unloading operation is carried out fast to the unloading system, and the goods is independently divided the buttress with the string bag in advance when the loading under the hatch to the successive layer is put one by one under the hatch. When the operation of drawing a mouthful, rely on a small amount of workman to help accomplishing string bag dress of hanging, utilize the loop wheel machine to hoist the goods and transport to bank unloading district, later eliminate and kill the operation to the goods. And (5) after the goods under the cabin door are completely emptied and the deck in the complete cabin is exposed, ending the port pulling operation.
Step S2: the unloading system enters a waiting unloading area; the unloading system is lowered to an empty area below the hatch through a crane, and then the unloading system is controlled to run to a to-be-unloaded area of the goods in the cabin through a manual operation mode or an autonomous operation mode; for the manual operation mode, an operator can enter the positive pressure cab in advance and enter the cargo hold of the refrigerated ship along with the lowering process of the unloading system, and then the operator operates and controls the unloading system to operate in the positive pressure cab.
For the autonomous operation mode, the unloading system continuously identifies the operation environment in the cabin by using a machine vision system, and mainly comprises a cargo placement position, a position of an upright post in the cabin, a position of a deck in the cabin and the like. The machine vision system transmits the acquired environmental data to the central control system for processing and operation, so as to realize the coarse positioning of the self position. Based on the collected environmental data, the central control system obtains a walking path in the whole cabin by utilizing an internal autonomous obstacle avoidance and track planning algorithm. And the related path data and pose form data are converted into control signals by the central control system, and the walking module is driven to drive the unloading system to enter an area to be unloaded. Under the condition of executing the automatic operation mode, an operator can manually intervene through a cab operator at any time, so that the stability and the safety of the operation are ensured. At this stage, the crane is required to lower the cabin transferring hanging basket under the hatch, so that the subsequent unloading operation of the unloading system can be carried out smoothly.
Step S3: unloading operation in the unloading system cabin; driving the unloading system to be close to the stack to be unloaded by controlling the walking module, and stopping at a proper position; after the unloading system enters the unloading area, the operator can carry out unloading operation in the positive pressure cab. The operator controls the walking module to drive the unloading system close to the stack to be unloaded and stop at a suitable position. And an operator controls the electric cylinder of the variable-amplitude transmission module to extend to drive the far end of the variable-amplitude transmission module to rise so as to drive the variable-direction transmission tray to rise. The direction-changing conveying tray keeps the upper surface in a horizontal position at any time in the lifting process. When the far end of the turning conveying tray rises to a height position below the first layer of the goods stack, the electric cylinder of the variable-amplitude conveying module stops working, and an operator controls the walking module to move forward, so that the far end of the turning conveying tray is close to and clings to goods to be unloaded.
An operator controls a lead screw of the turning conveying tray to rotate forward to drive the trailing suction module to be close to the goods package, the suction disc is in contact with the surface of the goods after being packaged, and the rake contracts to clamp the goods; then, an operator controls the screw rod to rotate reversely, the trailing suction module is driven to drag the goods to the turning conveying tray, and the goods move along with the turning conveying belt, so that the goods are changed from longitudinal movement to transverse movement. After the goods are transferred to the amplitude-variable conveying module by the turning tray conveying belt, the goods directly move along with the conveying belt and slide to the self-unloading container.
The operation process can also be realized through an autonomous operation mode, and the machine vision system is utilized to identify the stack to be unloaded, and the operation process mainly comprises information such as surface information, types, specifications, quantity, placement forms and the like of the goods package. The goods stack information data are transmitted to the central control system through a wireless network, the central control system processes and calculates the data by using algorithms such as track planning and the like to obtain data such as a walking path of the unloading system, an attitude process of the amplitude variation transmission module, a motion process of the diversion transmission tray and the like. The data are converted into control signals through the central control system, and the unloading system is driven to complete the processes by each subsystem or part.
Step S4: unloading the unloading box to an out-of-cabin transferring hanging basket; during the operation process of the unloading system, the goods continuously slide to the self-unloading container along with the conveying process of the conveying belt, and the gravity sensor at the bottom of the self-unloading container judges whether the self-unloading container is fully loaded. If the cargo collection box is not fully loaded, returning to a 'continuous operation' signal and displaying the signal on a cab console, and controlling the unloading system to keep the current operation state and continuously unloading the cargo by an operator according to the signal; if the cargo collection box is fully loaded, returning a signal of 'suspending unloading operation' and displaying the signal on a cab console, and controlling the unloading system to stop the action of trailing and sucking the cargos by an operator so that the unloading system exits from an unloading area and runs to the position near the hatch basket position, and the unloading door of the self-unloading cargo collection box is aligned with the delivery basket; then, an operator controls the electric cylinder of the self-unloading type cargo collection box to extend, the electromagnetic valve of the unloading door is powered off, and the unloading door is opened, so that the autonomous unloading operation is realized; after unloading, an operator controls the electric cylinder of the cargo collection box to retract, the unloading door is automatically closed by means of gravity, and the electromagnetic valve is electrified to ensure that the unloading door is tightly closed.
The above process can also utilize machine vision system, central control system, each execution component, etc. to implement autonomous operation flow. And a full-load signal of the cargo collection box is sent to the central control system, the central control system controls the machine vision system to identify the operation environment in the cabin, and the collected environment data is processed and calculated, so that the position of the unloading system is roughly positioned, and the walking path in the cabin of the unloading operation is obtained. And the related path data and pose form data are converted into control signals by the central control system, and the walking module is driven to drive the unloading system to move away from the unloading area and move to the transfer hanging basket. When the hanging basket is close to the transfer hanging basket, the machine vision system carries out accurate shape recognition and position positioning on the hanging basket, the obtained shape and position information of the hanging basket is transmitted to the central control system, processing and calculation are carried out by means of a track and action planning algorithm integrated in the central control system, and attitude action data capable of realizing reliable matching of the unloading system and the hanging basket are obtained. And the central control system converts the attitude action data into control signals and transmits the control signals to each actuator of the unloading system, so that the unloading doors of the cargo collection box of the unloading system are accurately matched with the transfer hanging basket. Then, the central control system sends an action command to components such as an electric cylinder and an electromagnetic valve of the cargo collection box, and the self-unloading work of the cargo unloading box is completed. Under the condition of executing the autonomous operation mode, an operator can manually intervene through a cab operation at any time, so that the stability and the safety of unloading operation are ensured.
Step S5: taking the transfer hanging basket out of the cabin; during the operation, the transfer basket continuously accumulates goods, and a gravity sensor below the transfer basket judges whether the transfer basket is full. If the transfer basket is not fully loaded, returning a 'continuous operation' signal to a control console of a cab of the crane, and continuously waiting by a crane operator without taking any operation action based on the information; if the transferred hanging basket is fully loaded, a signal of 'out-of-cabin operation' of the goods is returned to a control console of a cab of the crane, and an operator of the crane controls the crane to lift the hanging basket based on the information and transfer the hanging basket to a position of a bank unloading area. After the hanging basket arrives at the unloading position, a crane operator controls the electromagnetic switch of the hanging basket unloading door to be powered off, the hanging basket unloading door is opened, the goods automatically slide to the unloading position, and the goods can be disinfected and sterilized subsequently. After unloading is finished, workers in the unloading area assist to close the unloading door of the transfer hanging basket, and then the operator of the crane controls the electromagnetic switch of the unloading door to be powered on, so that the unloading door of the transfer hanging basket is locked. And controlling the lifting operation of the crane by a crane operator to drive the transfer hanging basket to return to the position right below the hatch in the cabin to wait for unloading of the unloading system. In the operation process, under the condition that hatch below space allows, can set up a plurality of baskets of transporting simultaneously, realize transporting the alternately collaborative operation that basket extra-cabin unloaded, reduce under-deck basket dress goods latency to improve the operating efficiency.
Step S6: carrying out sterilization operation outside the cargo;
after the goods are unloaded to the unloading area by the out-of-cabin transfer hanging basket, the goods are transferred by the conveyor belt, and the box type sterilizing device is used for sterilizing the virus of the goods packages one by one in the transferring process. After the sterilization, the goods are stacked by the stacking robot and then transferred to a refrigerated warehouse or transferred by a refrigerated van truck.
Step S7: and repeating the steps S1-S6 to gradually complete the unloading task. According to the operation flow, after the cargo in the first layer of the cargo compartment of the refrigerated ship is completely cleaned by the unloading system, the operating personnel on the refrigerated ship opens the cargo compartment door of the second layer of the cargo compartment, and the steps S1-S6 are repeated to finish the unloading task of the cargo in the second layer. In this example, the unloading operation of the cargo holds of other layers is respectively completed, and finally the cargo unloading operation of the whole refrigerated ship is completed.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A variable amplitude transport refrigerated vessel unloading system comprising:
the device comprises a trailing suction module, a turning transmission tray, a variable amplitude transmission module, a self-unloading container, a walking module, a positive pressure cab, a machine vision system, a central control system and a storage device;
the variable-amplitude transmission module is hinged to the rack, and the elevation angle of the variable-amplitude transmission module is changed by adjusting the elongation of the electric cylinder, namely the height of the far end of the variable-amplitude transmission module is adjusted; the turning conveying tray is connected with the far end of the variable-amplitude conveying module through a hinge joint, and the elevation angle adjustment relative to the variable-amplitude conveying module is realized through a pair of electric cylinders arranged below the variable-amplitude conveying module;
the trailing suction module is arranged on the turning conveying tray through a lead screw nut mechanism and a guide rail below the conveying belt, and during work, the leading screw is rotated forwards and backwards to slide forwards and backwards on the turning conveying tray to finish trailing suction of goods.
2. A luffing transfer reefer unloading system according to claim 1, wherein:
the machine vision system includes: industrial cameras, ultrasonic sensors, and laser sensors; the industrial camera realizes image acquisition and identification of goods packaging and surrounding working conditions; the ultrasonic sensor and the laser sensor are mainly used for positioning and ranging the whole machine system.
3. A luffing transfer reefer unloading system according to claim 2, wherein: the machine vision system is also provided with an electric heat tracing type auxiliary heat preservation system.
4. A luffing transfer reefer unloading system according to claim 1, wherein: the trailing suction module includes: a sucker group and a telescopic rake mechanism;
the sucking disc group is arranged on the turning conveying tray through two guide rails; the bottom of the sucker group is provided with a nut which is connected to a screw rod below the conveyor belt, and the forward and backward actions of the sucker group on the slide rail are realized along with the forward and reverse rotation of the screw rod; the telescopic rake mechanism is arranged on the sucker box body; when the goods conveying device works, the lead screw positively rotates to drive the harrowing and sucking module to be close to goods packaging, the sucking disc is contacted with the surface of the goods packaging, the rake contracts to clamp the goods, and the lead screw overturns to drive the harrowing and sucking module to retract and drag the goods to the turning conveying tray.
5. A luffing transfer reefer unloading system according to claim 1, wherein:
the diversion conveying tray includes: the device comprises a longitudinal conveyor belt, a transverse conveyor belt and a wedge-shaped tray; the rear end of the turning conveying tray is hinged with the variable-amplitude conveying module, a pair of electric cylinders is further arranged between the turning conveying tray and the variable-amplitude conveying module to realize free control of the elevation angle of the turning tray, and the working surface of the transverse conveying belt can be kept parallel to the surface of the package during working.
6. A luffing transfer reefer unloading system according to claim 1, wherein:
the variable-amplitude transmission module comprises a transmission belt and two long-neck electric cylinders; the conveyer belt transports and pours the goods into a self-unloading container; the variable-amplitude conveying module is connected with the rack through a hinge joint, and the two long-neck electric cylinders realize the lifting variable-amplitude action of the far end of the conveying belt, so that the trailing suction module and the turning conveying tray can reach operation positions with different heights.
7. A luffing transfer reefer unloading system according to claim 1, wherein:
the positive pressure cab is arranged on the right side of the whole machine and is fixed on the upper part of the rack platform; the positive pressure cab is provided with a positive pressure system to ensure that the internal air pressure of the cab is slightly higher than the air pressure in an external cabin.
8. A luffing transfer reefer unloading system according to claim 1, wherein:
the bottom of the delivery transfer hanging basket is provided with an unloading door, and the opening and closing actions of the unloading door are controlled through an electromagnetic valve; a gravity sensor is arranged below the out-of-cabin transfer hanging basket and used for judging the bearing condition of the hanging basket, and when the hanging basket is not fully loaded, the current operation process is kept unchanged; if the lifting machine is fully loaded, the lifting machine lifts the hanging basket, conveys the hanging basket out of the cabin and reaches the upper part of the unloading place, the electromagnetic valve is powered off, and the unloading door is opened, so that the autonomous unloading operation is realized; after unloading, the unloading door is closed under the assistance of manual work, the electromagnetic valve is electrified, the unloading door is locked, and the hanging basket is put back to the original position below the hatch in the original way of the crane.
9. A working method for unloading a variable-amplitude conveying type refrigerated ship can realize two working modes of manual operation and autonomous operation, and is characterized by comprising the following steps of:
s1: drawing a mouth to unload the goods; opening a port at the fore layer of the refrigerated ship by controlling a hydraulic switch, and unloading goods under the port;
s2: the unloading system enters a waiting unloading area; the unloading system is lowered to an empty area below the hatch through a crane, and then the walking module drives the unloading system to move to a cargo unloading area in the cabin;
s3: unloading operation in the unloading system cabin; the unloading system is close to the stack to be unloaded, the far end of the turning conveying tray is close to and clings to the goods to be unloaded, the conveying tray screw rod rotates forwards to drive the harrowing and sucking module to be close to and suck the goods for packaging, and the harrows shrink to clamp the goods; the screw rod rotates reversely to drive the trailing suction module to drag the goods to the turning conveying tray; goods are transferred to the amplitude variation conveying module through the turning tray conveying belt and directly slide to the self-unloading container along with the operation of the conveying belt.
S4: unloading the unloading box to an out-of-cabin transferring hanging basket;
s5: discharging the transfer hanging basket out of the cabin for unloading;
s6: carrying out sterilization operation outside the cargo;
s7: and repeating the steps S1-S6 to gradually complete the unloading task.
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