CN114426215B - Variable-amplitude conveying type refrigerating ship unloading system and working method - Google Patents
Variable-amplitude conveying type refrigerating ship unloading system and working method Download PDFInfo
- Publication number
- CN114426215B CN114426215B CN202210050295.8A CN202210050295A CN114426215B CN 114426215 B CN114426215 B CN 114426215B CN 202210050295 A CN202210050295 A CN 202210050295A CN 114426215 B CN114426215 B CN 114426215B
- Authority
- CN
- China
- Prior art keywords
- unloading
- module
- conveying
- tray
- goods
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000007599 discharging Methods 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims description 21
- 230000007246 mechanism Effects 0.000 claims description 11
- 230000005484 gravity Effects 0.000 claims description 10
- 238000005057 refrigeration Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 7
- 238000004321 preservation Methods 0.000 claims description 5
- 238000004659 sterilization and disinfection Methods 0.000 claims description 4
- 238000012546 transfer Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 30
- 241000700605 Viruses Species 0.000 abstract description 11
- 230000000694 effects Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 239000000463 material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000010391 action planning Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 235000014102 seafood Nutrition 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000026676 system process Effects 0.000 description 1
- 230000009385 viral infection Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ship Loading And Unloading (AREA)
- Devices That Are Associated With Refrigeration Equipment (AREA)
Abstract
The invention provides a variable amplitude conveying type refrigerating ship unloading system, which comprises the following components: the device comprises a trailing suction hopper module, a turning conveying tray, a luffing conveying module, a self-discharging container, a walking module, a positive pressure cab, a machine vision system, a central control system and a storage. The unloading system of the invention 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, can be switched at any time, and realizes the high-reliability automation of the unloading operation of the refrigerating ship to a certain extent. The unloading system and the operation process thereof have the promotion effect on realizing the automatic, intelligent and safe medium-long term targets of the unloading operation of the refrigerated ship, furthest reduce the probability of transmitting harmful viruses from objects to people and have great practical significance.
Description
Technical Field
The invention relates to the technical field, in particular to a variable amplitude conveying type refrigerating ship unloading system and a working method.
Background
The refrigerated vessel is used as a front-end carrier in the cold chain transportation process, is a transportation vessel which is specially used for transporting perishable foods such as seafood, meat and the like in a frozen state, has a bearing capacity of thousands of tons, and the unloading mode directly determines the efficiency and virus prevention and control level of the whole cold chain transportation process. However, due to the characteristics of complex cargo hold structure (large space and small hatch), low temperature (-20 ℃) in the cargo hold, unordered storage and transportation of cargoes (various types, specifications, and mess placement) and the like, the unloading operation of the refrigerated container is still carried out in a traditional manual mode at present. The manual unloading mode has low operation efficiency and high labor cost, and the transmission probability of harmful viruses from objects to people is easily increased, so that serious loopholes appear in virus prevention and control in the unloading operation process of the refrigerated ship. In this regard, the invention provides a set of variable amplitude conveying type unloading system and an operation process thereof aiming at the unloading process of the refrigerated ship, which effectively improves the unloading efficiency, reduces the operation cost and furthest reduces the probability of transmitting harmful viruses from objects to people on the basis of fully realizing less operation and humanization. The unloading system and the operation process thereof have the promotion effect on realizing the medium-long term targets of the automatic, intelligent and safe 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 in the unloading operation of the refrigerated-storage ship, the unloading system of the variable-amplitude conveying type refrigerated-storage ship and the working method are provided. The invention mainly realizes the operation of few people and even no people on the basis of not changing the unloading operation mode of the traditional refrigerated-vessel as much as possible, improves the unloading operation efficiency, reduces the transmission probability of harmful viruses on a cold chain as much as possible, and realizes the automation and the intellectualization of the unloading operation of the refrigerated-vessel in a long term.
The present invention comprises a luffing transport refrigeration vessel discharge system comprising:
The device comprises a trailing suction hopper module, a turning conveying tray, a luffing conveying module, a self-discharging container, a walking module, a positive pressure cab, a machine vision system, a central control system and a storage;
The amplitude variation transmission module is connected to the frame through a hinge, and the elevation angle of the amplitude variation transmission module is changed by adjusting the elongation of the electric cylinder, namely the height of the far end of the amplitude variation transmission module is adjusted; the turning conveying tray is connected with the far end of the amplitude-variable conveying module through a hinge joint, and elevation angle adjustment relative to the amplitude-variable conveying module is realized through a pair of electric cylinders arranged below the amplitude-variable conveying module;
The drag suction module is arranged on the turning conveying tray through a screw nut mechanism and a guide rail below the conveying belt, and can slide back and forth on the turning conveying tray to finish drag suction cargo operation through forward and backward rotation of a screw during operation.
The invention also comprises a working method for unloading the luffing transport type refrigerated ship, which can realize two working modes of manual operation or autonomous operation and comprises the following steps:
Step S1: pulling out the mouth for unloading operation; opening a cabin door of a first layer of the refrigerated ship through a control hydraulic switch to unload cargoes right below the cabin door;
step S2: the unloading system enters a zone to be unloaded; the unloading system is lowered to the emptied area below the hatch through the crane, and then the traveling module drives the unloading system to operate to the cargo area in the cabin; ;
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 is rotated forward to drive the trailing suction module to be close to and suck the goods package, and the rakes are contracted to clamp the goods; the lead screw is reversed to drive the trailing suction module to drag the goods to the turning conveying tray; the goods are transferred to the amplitude-variable conveying module by the direction-changing tray conveying belt and directly slide down to the self-unloading type cargo collecting box along with the running of the conveying belt.
Step S4: unloading the cargo box to an out-of-cabin transferring hanging basket;
Step S5: unloading the transportation hanging basket from the cabin;
Step S6: carrying out outdoor disinfection operation on cargoes;
step S7: and repeating the steps S1-S6 to gradually finish the unloading task.
Compared with the prior art, the invention has the following advantages:
Because of the characteristics of complex cargo hold structure (large space, small hatch), low temperature (-20 ℃) in the cargo hold, unordered storage and transportation cargoes (various types, specifications, disorder arrangement) and the like, the unloading operation of the refrigerated container is still carried out in a traditional manual mode at present. The manual unloading mode has lower operation efficiency and higher labor cost, and easily increases the transmission probability of harmful viruses from objects to people, so that serious loopholes appear in virus prevention and control in the unloading operation process of the refrigerated storage vessel. In order to solve the problems of the traditional manual unloading operation of the refrigerated ship, the invention provides a set of 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-unloading type container (comprising a gravity sensor and the like), a walking module, a positive pressure cab (comprising a 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 and the like. In terms of system structure, the amplitude-variable transmission module is connected to the rack through a hinge, so that the height of the far end of the amplitude-variable transmission module can be adjusted; the direction-changing conveying tray is connected with the far end of the amplitude-changing conveying module through a hinge, so that the horizontal operation mode of the direction-changing conveying tray at any working position can be ensured; the drag suction module slides back and forth on the tray through the screw nut mechanism and the guide rail so as to finish drag 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 the machine vision system is in a reasonable working temperature interval. In the aspect of system control, the invention can realize a traditional manual operation mode by using cab operation or an autonomous operation mode of the whole machine by using a machine vision system.
According to the variable amplitude conveying type unloading system and the operation process thereof, the unloading operation of the refrigerated ship can be upgraded from a traditional manual mode to a less-humanized or automatic mode, so that the unloading efficiency is effectively improved, the construction period is saved, the operation cost is reduced, and the probability of spreading viruses from objects to people is reduced to the greatest 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 the promotion effect on realizing the medium-long term targets of the automatic, intelligent and safe 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 that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic view of a discharge system of a luffing transport refrigeration vessel in accordance with the present invention; wherein, (a) is a front view; (b) is a backside view.
FIG. 2 is a schematic diagram of a control system according to the present invention.
Fig. 3 is a schematic structural diagram of a suction-drag module according to the present invention.
Fig. 4 is a schematic view of the direction-changing conveying tray of the present invention.
Fig. 5 is a schematic view of the structure of the luffing transport module of the present invention.
Fig. 6 is a schematic view of the self-discharging pallet of the present invention.
Fig. 7 is a schematic view of the structure of the positive pressure cab of the present invention.
Fig. 8 is a schematic view of a walking module according to the present invention.
Fig. 9 is a schematic diagram of the structure of the nacelle-out transferring basket of the present invention.
Fig. 10 is a flow chart of the operation process of the luffing conveyor discharge system of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise 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 luffing transport refrigeration vessel discharge system comprising:
The automatic lifting device comprises a trailing suction hopper module, a turning conveying tray, a luffing conveying module, a self-unloading type cargo collecting box (comprising a gravity sensor and the like), a walking module, a positive pressure cab (comprising a 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-variable transmission module is connected to the frame through a hinge, and elevation angle change of the amplitude-variable transmission module is realized by adjusting the elongation of the electric cylinder, namely, the height of the far end of the amplitude-variable 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 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, a horizontal operation mode of the turning conveying tray at any working position is ensured;
The drag suction module is arranged on the turning conveying tray through a screw nut mechanism and a guide rail below the conveying belt, and can slide back and forth on the turning conveying tray to finish drag suction cargo operation through forward and backward rotation of a screw during operation.
In the application, a machine vision system is a necessary means for ensuring that the luffing discharge system realizes an autonomous operation mode in the cabin. On one hand, the amplitude-variable unloading system needs to rely on a machine vision system to identify the to-be-unloaded package so as to realize reliable and accurate pickup of the goods; on the other hand, the amplitude-variable unloading system needs to rely on a machine vision system to pre-judge surrounding working conditions, so that autonomous navigation and obstacle avoidance of the whole system walking in the cabin are realized. Thus, to achieve the above-described function, in the present embodiment, the machine vision system includes: industrial cameras, ultrasonic sensors, and laser sensors; the industrial camera is used for realizing image acquisition and identification of goods package and surrounding working conditions; the ultrasonic sensor and the laser sensor mainly complete positioning and ranging of the whole system.
Meanwhile, the temperature of the working environment in the cabin of the amplitude-variable unloading system is relatively low (less than or equal to-20 ℃), which directly threatens the normal operation of hardware facilities of a machine vision system, such as frosting of an industrial camera lens, and the like, so that the machine vision system is also provided with an auxiliary heat preservation system for heat preservation. As a preferred implementation mode, the auxiliary heat preservation system provided by the application adopts frosting-proof glass to realize sealing and is heated in an electric tracing mode, so that good visual transparency is realized while effective isolation of the internal environment and the external environment of the machine vision system is ensured.
In the present application, as shown in fig. 3, the trailing suction module includes: suction cup group and telescopic rake mechanism. Such a combination is mainly to allow suction cups to suck surface-structured packages in consideration of the variety of package specifications of refrigerated-vessel goods, but for surface-ventilated package types, such as woven bags and the like, it is necessary to increase suction reliability of suction cups by means of a rake. The sucking disc group is arranged on the turning conveying tray through two guide rails, a nut is arranged at the bottom end and is connected to the screw rod below the conveying belt, and the forward and backward movements of the sucking disc group can be realized along with the forward and backward rotation of the screw rod, as shown in fig. 3. The rake mechanism is arranged on the box body of the sucker group, and the telescopic rod of the rake mechanism is designed to be foldable and telescopic from the viewpoint of increasing the working range. When the device works, the lead screw is rotated forward to drive the trailing suction hopper module to be close to the goods package, the sucker contacts the surface of the goods after being packaged, and the goods are clamped by shrinkage of the rake; and then, the screw rod is reversed to drive the trailing suction module to retract, and the goods are dragged to the turning conveying tray. Considering the low-temperature working environment of the refrigerated ship, all key components of the drag suction module designed by the application need to be made of low-temperature resistant materials, such as silicon rubber materials for sucking discs, low-temperature resistant stainless steel materials for screw rods and the like.
The direction-changing transfer tray includes: a longitudinal conveyor belt, a transverse conveyor belt, and a wedge tray; the rear end of the turning conveying tray is connected with the variable amplitude conveying module through a hinge joint, a pair of electric cylinders are 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 face of the transverse conveying belt can be kept parallel to the surface of the package during working.
As shown in fig. 4, the conveying tray has a wedge-shaped structure, so that on one hand, the effective shoveling of bottom-layer cargoes (cargoes directly placed on a deck in a cabin) is realized, and on the other hand, enough space is provided for the installation of a conveying belt, a screw rod, a guide rail and a matched transmission device. Considering that the unloading system needs to be frequently started and stopped in the working process, the goods package is generally in the form of a hard paper box, a frozen woven bag and the like, the working environment temperature is minus 20 ℃, and the air is moist and has stronger corrosiveness, so that the invention adopts a power roller conveying mechanism aiming at the direction-changing conveying tray to realize the conveying function. For controlling the hinge elevation angle of the turning tray, the invention selects an electric cylinder for driving. In the working process, after the goods are dragged onto the turning tray by the trailing suction module, the goods directly run along with the turning conveyor belt, so that the goods are converted from longitudinal movement to transverse movement.
Likewise, the invention selects the power roller conveying mechanism to realize the conveying function aiming at the amplitude-variable conveying module due to the characteristic of working conditions. For elevation control of the luffing delivery module, the present invention employs a pair of long-necked electric cylinder drives, as shown in FIG. 5. In the working process, the two long-neck electric cylinders adjust the working height of the turning tray, after the height is determined, cargoes are sucked by the trailing suction module, and after the cargoes are transferred onto the variable-amplitude conveying module by the turning tray conveying belt, the cargoes directly run along with the conveying belt and slide to the self-unloading type cargo collecting box.
The self-unloading type cargo collecting box mainly comprises three parts, namely a cargo collecting box body, a lifting electric cylinder and a gravity sensor, as shown in fig. 6. The bottom surface of the self-discharging type container body is designed to be inclined, and enough space is reserved for installation of the electric cylinder. The self-unloading container is provided with a discharging door at the wide side, and an electromagnetic valve is arranged at the bottom end of the discharging door for controlling the opening and closing of the discharging door. The electric cylinder is arranged below the self-discharging type cargo collecting box body, so that the self-dumping operation of the self-discharging type cargo collecting box is realized. When the operation is carried out, the gravity sensor judges whether the self-unloading type cargo collecting box is fully loaded, and if the self-unloading type cargo collecting box is not fully loaded, the amplitude-variable unloading system continues to utilize the trailing suction hopper module to execute unloading operation; if the cargo collecting box is fully loaded, stopping the trailing suction hopper from sucking the cargo and running to the position near the hanging basket of the hatch, and after the relative position adjustment of the cargo collecting box and the hanging basket is completed, extending an electric cylinder of the self-discharging cargo collecting box, powering off an electromagnetic valve, and opening a discharging door to realize the autonomous discharging operation; after unloading, the electric cylinder is shortened, the unloading door is automatically closed by 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 frame platform, and the specific structural form is shown in fig. 7. The positive pressure cab comprises a cab shell, a control platform, a temperature control system, a positive pressure system, a toilet module and the like. The control platform of each operation subsystem of the unloading system is arranged in the positive pressure cab and is a manual operation center in the amplitude-variable unloading system, and various manual operation commands are sent out. The unloading operation environment temperature is lower, so the invention is provided with the temperature control system in the cab, which is used for keeping the comfortable environment temperature of the driver, and improving the operation concentration and comfort level. In order to isolate a driver from the outside of the cabin to avoid virus infection, the cab is provided with a positive pressure system, so that the air pressure in the cab is ensured to be slightly higher than the air pressure in the outside cabin, and the back flow of polluted air outside the cabin is avoided. In addition, the positive pressure cab is provided with a toilet module, so that tedious processes caused by the fact that a driver leaves a cabin in the unloading process are 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 track and a frame platform, as shown in fig. 8. The working environment of the unloading system is-20 ℃ and the air is moist, so that the deck in the cabin is easy to frost, and the running system has anti-skid performance. In addition, the seawater corrosion problem is fully considered. In conclusion, the application selects rubber materials for the walking caterpillar band, and can realize the aims of low temperature resistance, corrosion resistance, skid resistance and the like. In the operation process, the walking module receives control signals of the central control system according to operation requirements, and walks in different directions are completed.
In a preferred embodiment, in the application, a discharging door is arranged on the bottom surface of the cabin-outlet transferring hanging basket, and the opening and closing actions of the discharging door are controlled through an electromagnetic valve; the nacelle-out transferring 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 crane is fully loaded, the crane lifts the hanging basket and conveys the hanging basket out of the cabin to reach the position above the unloading place, the electromagnetic valve is powered off, and the unloading door is opened, so that 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 is put back to the original position below the hatch. According to the application, more than two hanging baskets are arranged, and through the operation mode of staggered lifting and unloading, the loading waiting time of the hanging baskets under the cabin is reduced, and the operation efficiency is improved.
The working method of the system comprises the following steps:
Step S1: pulling out the mouth for unloading operation; opening a cabin door of the first layer of the refrigerated ship by controlling a hydraulic switch, and unloading cargoes right below the cabin door;
An operator opens the cabin door of the bow layer of the refrigerator by controlling the hydraulic switch and performs unloading operation on the goods right under the cabin door. In order to cooperate with the unloading system to rapidly open and unfold the unloading operation, the cargoes under the hatch are independently piled up by the net bags in advance when loaded, and are placed under the hatch layer by layer one by one. When the opening pulling operation is performed, the net bag hanging is completed by a small amount of workers, the goods are lifted by the crane and conveyed to the shoreside unloading area, and then the goods are killed. And after the goods right below the cabin door are completely emptied and the complete cabin inner deck is exposed, the opening pulling operation is finished.
Step S2: the unloading system enters a zone to be unloaded; the unloading system is lowered to the emptied area below the hatch through the crane, and then the unloading system is controlled to operate to the cargo area 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 refrigerator ship together with the unloading process of the unloading system, and then operate and control the unloading system in the positive pressure cab.
For the autonomous operation mode, the unloading system continuously identifies the cabin operation environment by utilizing the machine vision system, and mainly comprises a cargo placement position, a cabin upright post position, a cabin deck position and the like. The machine vision system transmits the collected environmental data to the central control system for processing operation, so that coarse positioning of the self position is realized. Based on the collected environmental data, the central control system obtains a walking path in the whole cabin by using an internal autonomous obstacle avoidance and track planning algorithm. 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 drive into the area to be unloaded. Under the condition of executing the automatic operation mode, an operator can manually intervene through the operation of the cab at any time, so that the stability and the safety of the operation are ensured. At the stage, the lower discharge cabin of the crane is required to be transported to a hanging basket under the hatch, so that the unloading operation of a subsequent unloading system is ensured to be smoothly carried out.
Step S3: unloading operation in the unloading system cabin; the unloading system is driven to be close to the stack to be unloaded by controlling the walking module, and the unloading system is stopped at a proper position; after the unloading system enters the waiting area, an operator can perform unloading operation in the positive pressure cab. The operator controls the traveling module to drive the discharge system to approach the stack to be discharged and stop at the appropriate position. The operator controls the electric cylinder of the amplitude transmission module to extend, and drives the far end of the amplitude transmission module to rise so as to drive the direction-changing transmission tray to rise. The direction-changing transfer tray is to keep the upper surface in a horizontal position at all times during the lifting process. When the far end of the direction-changing conveying tray rises to a height position below the first-layer package of the goods stack, the power cylinder of the amplitude-changing conveying module stops working, and an operator controls the traveling module to advance, so that the far end of the direction-changing conveying tray is close to and clings to the goods to be unloaded.
An operator controls a lead screw of the turning conveying tray to rotate forward to drive the trailing suction hopper module to be close to the goods package, the sucker contacts the surface of the goods to be sucked after the package, and the goods is clamped by shrinkage of the rake; and then, an operator controls the screw rod to reversely rotate, drives the trailing suction module to drag the goods to the direction-changing conveying tray, and the goods move along with the direction-changing conveying belt to realize the conversion from longitudinal movement to transverse movement. After the goods are transferred onto the amplitude-variable conveying module by the direction-changing tray conveying belt, the goods directly run along with the conveying belt and slide to the self-discharging container.
The operation flow 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 stack to be unloaded mainly comprises information such as surface information, type, specification, quantity, placement form and the like of the goods package. The information data of the goods stacks are transmitted to a central control system through a wireless network, and the central control system processes and calculates the data by utilizing 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-variable transmission module, an action process of the turning transmission tray and the like. The data are converted into control signals through a central control system, and all the subsystems or components of the unloading system are driven to complete the flow.
Step S4: unloading the cargo box to an out-of-cabin transferring hanging basket; in the operation process of the unloading system, cargoes continuously slide to the self-unloading type cargo collecting box along with the transportation process of the conveyor belt, and a gravity sensor at the bottom of the self-unloading type cargo collecting box judges whether the self-unloading type cargo collecting box is fully loaded or not. If the container is not fully loaded, returning a 'continue operation' signal and displaying the signal on a cab console, and controlling a discharging system to keep the current operation state unchanged by an operator to continue discharging; if the cargo collecting box is fully loaded, a 'pause unloading operation' signal is returned and displayed on a cab console, and an operator controls an unloading system to stop the action of sucking cargoes by a trailing suction, so that the unloading system exits from an unloading area and moves to the vicinity of a hatch basket position, and a unloading door of the self-unloading cargo collecting box is aligned to an unloading transportation basket; then, an operator controls the extension of the electric cylinder of the self-discharging container, the electromagnetic valve of the discharging door is powered off, and the discharging door is opened, so that the autonomous discharging operation is realized; after unloading, an operator controls the electric cylinder of the container to retract, the unloading door is automatically closed by 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 executive component, etc. to realize autonomous operation flow. The full load signal of the cargo collecting box is sent to a central control system, the central control system controls a machine vision system to identify the working environment in the cargo cabin, and the collected environmental data is processed and operated to realize coarse positioning of the position of the unloading system and obtain the walking path in the cargo cabin for unloading operation. 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 drive away from the unloading area and drive to the transferring basket. When the machine vision system approaches to the transferring hanging basket, the machine vision system performs accurate shape recognition and position positioning on the hanging basket, the acquired hanging basket shape and position information is transmitted to the central control system, and the processing and calculation are performed by means of a track and action planning algorithm integrated in the central control system, so that gesture action data capable of realizing reliable matching of the unloading system and the hanging basket are obtained. And then the central control system converts the gesture motion data into control signals and transmits the control signals to each actuator of the unloading system, so that the accurate matching of the unloading door of the container of the unloading system and the transferring hanging basket is realized. Then, the central control system transmits an operation command to the container electric cylinder, the solenoid valve and other components to complete the automatic unloading operation of the unloading container. Under the condition of executing the autonomous operation mode, an operator can manually intervene through the cab operation at any time, so that the stability and the safety of unloading operation are ensured.
Step S5: taking the transferring hanging basket out of the cabin; and in the working process, the transporting hanging basket continuously accumulates cargoes, and a gravity sensor below the transporting hanging basket judges whether the transporting hanging basket is fully loaded. If the transferring basket is not fully loaded, returning a 'continue operation' signal to the cab console of the crane, and enabling the crane operator to continue waiting without taking any operation action based on the information; if the transferring basket is fully loaded, a cargo 'out-of-cabin operation' signal is returned to the crane cab console, and a crane operator operates the crane to lift the basket based on the information and transfers the basket to the position of the shoreside unloading area. After the hanging basket reaches the unloading position, an crane operator controls an electromagnetic switch of an unloading door of the hanging basket to be powered off, the unloading door of the hanging basket is opened, and the goods automatically slide to the unloading position, so that the goods can be disinfected and sterilized subsequently. After unloading is completed, the operator in the unloading area assists to close the unloading door of the transferring basket, and then the crane operator controls the electromagnetic switch of the unloading door to be electrified, and the unloading door of the transferring basket is locked. And the crane operator controls the crane to lift to drive the transferring hanging basket to return to the position right below the hatch of the cabin of the ship, and waits for the unloading system to unload. In the operation process, under the condition that space below the hatch allows, a plurality of transferring hanging baskets can be simultaneously arranged, so that alternate collaborative operation of unloading outside the transferring hanging basket cabin is realized, the loading waiting time of the hanging basket under the cabin is reduced, and the operation efficiency is improved.
Step S6: carrying out outdoor disinfection operation on cargoes;
After the cargoes are unloaded to a unloading area by the cabin-outlet transferring hanging basket, the cargoes are transferred by using a conveyor belt, and virus killing is carried out on the cargoes one by using the box type killing device in the transferring process. After sterilization, the goods are piled by a piling robot and then transported to a refrigerated warehouse or transported by a refrigerated van.
Step S7: and repeating the steps S1-S6 to gradually finish the unloading task. According to the operation flow, after the cargo in the first layer of cargo holds of the refrigerated storage vessel is completely cleared by the unloading system, the operator on the vessel opens the cabin door of the second layer of cargo holds, and the steps S1-S6 are repeated to finish the unloading task of the second layer of cargo. By the pushing, unloading operations of the cargo holds of other layers are respectively completed, and finally, cargo unloading operations of the whole refrigeration ship are completed.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (4)
1. A luffing transport refrigeration vessel discharge system, comprising:
The device comprises a trailing suction hopper module, a turning conveying tray, a luffing conveying module, a self-discharging container, a walking module, a positive pressure cab, a machine vision system, a central control system and a storage;
The amplitude variation transmission module is connected to the frame through a hinge, and the elevation angle of the amplitude variation transmission module is changed by adjusting the elongation of the electric cylinder, namely the height adjustment of the far end of the amplitude variation transmission module is realized; the turning conveying tray is connected with the far end of the amplitude-variable conveying module through a hinge joint, and elevation angle adjustment relative to the amplitude-variable conveying module is realized through a pair of electric cylinders arranged below the amplitude-variable conveying module;
The drag suction module is arranged on the turning conveying tray through a screw nut mechanism and a guide rail below the conveying belt, and the drag suction module slides back and forth on the turning conveying tray through forward and backward rotation of a screw to finish drag suction cargo operation during working;
The machine vision system includes: industrial cameras, ultrasonic sensors, and laser sensors; the industrial camera is used for realizing image acquisition and identification of goods package and surrounding working conditions; the ultrasonic sensor and the laser sensor mainly complete positioning and ranging of the whole system; the machine vision system is also provided with an electric heat tracing type auxiliary heat preservation system; the harrowing and sucking module comprises: suction cup group and telescopic rake mechanism;
The sucker group is arranged on the turning conveying tray through two guide rails; the bottom of the sucker group is provided with a nut, the nut is connected to a screw rod below the conveyor belt, and the forward and backward movement of the sucker group on the slide rail is realized along with the forward and backward rotation of the screw rod; the telescopic rake mechanism is arranged on the sucker box body; when the device works, the lead screw is rotated forward to drive the trailing suction hopper module to be close to the goods package, the sucking disc is contacted with the surface of the goods package to suck the goods package, the harrow is contracted to clamp the goods, and at the moment, the lead screw is turned over to drive the trailing suction hopper module to retract, so that the goods are dragged to the turning conveying tray;
The direction-changing transfer tray includes: a longitudinal conveyor belt, a transverse conveyor belt, and a wedge tray; the rear end of the turning conveying tray is connected with the variable amplitude conveying module through a hinge joint, a pair of electric cylinders are 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 face of the transverse conveying belt can be kept parallel to the surface of the package during working;
the amplitude-variable conveying module comprises a conveying belt and two long-neck electric cylinders; the conveyor belt conveys and pours goods into a self-unloading cargo collecting box; the variable amplitude conveying module is connected with the frame through a hinge, and the two long-neck electric cylinders realize lifting variable amplitude actions of the far end of the conveying belt, so that the trailing suction module and the turning conveying tray can reach working positions with different heights.
2. A luffing transport refrigeration vessel discharge system as set forth in 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 frame; the positive pressure cab is provided with a positive pressure system to ensure that the pressure inside the cab is slightly higher than the pressure inside the external cabin.
3. A luffing transport refrigeration vessel discharge system as set forth in claim 1 wherein: the bottom of the cabin-outlet transferring hanging basket is provided with a discharging door, and the opening and closing actions of the discharging door are controlled through an electromagnetic valve; a gravity sensor is arranged below the nacelle-out transferring 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 flow is kept unchanged; if the crane is fully loaded, the crane lifts the hanging basket, the hanging basket is transported out of the cabin and reaches 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 manual assistance, the electromagnetic valve is electrified, the unloading door is locked, and the crane is put back to the original position below the hatch.
4. A method of operation for unloading a luffing transport refrigeration vessel employing a discharge system as defined in any one of claims 1 to 3, capable of operating in both manual and autonomous modes, comprising the steps of:
S1: pulling out the mouth for unloading operation; opening a cabin door of a first layer of the refrigerated ship by controlling a hydraulic switch, and unloading cargoes right below the cabin door;
S2: the unloading system enters a zone to be unloaded; the unloading system is lowered to the emptied area below the hatch through the crane, and then the traveling module drives the unloading system to operate to the cargo 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 is rotated forward to drive the trailing suction module to be close to and suck the goods package, and the rakes are contracted to clamp the goods; the lead screw is reversed to drive the trailing suction module to drag the goods to the turning conveying tray; the goods are transferred to the variable amplitude conveying module by the direction changing tray conveying belt and directly slide down to the self-unloading type cargo collecting box along with the operation of the conveying belt;
s4: unloading the cargo box to an out-of-cabin transferring hanging basket;
S5: unloading the transportation hanging basket from the cabin;
s6: carrying out outdoor disinfection operation on cargoes;
s7: and repeating the steps S1-S6 to gradually finish the unloading task.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210050295.8A CN114426215B (en) | 2022-01-17 | 2022-01-17 | Variable-amplitude conveying type refrigerating ship unloading system and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210050295.8A CN114426215B (en) | 2022-01-17 | 2022-01-17 | Variable-amplitude conveying type refrigerating ship unloading system and working method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114426215A CN114426215A (en) | 2022-05-03 |
| CN114426215B true CN114426215B (en) | 2024-06-11 |
Family
ID=81313374
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210050295.8A Active CN114426215B (en) | 2022-01-17 | 2022-01-17 | Variable-amplitude conveying type refrigerating ship unloading system and working method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114426215B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115027971B (en) * | 2022-05-13 | 2024-05-28 | 大连海事大学 | Pneumatic loading and unloading vehicle applied to cold chain transportation |
| CN114920039B (en) * | 2022-05-16 | 2024-05-28 | 大连海事大学 | Intelligent unloading and transferring robot |
| CN115043230A (en) * | 2022-05-16 | 2022-09-13 | 大连海事大学 | Be applied to complete set of device that cold-stored ship intelligence was unloaded |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3323168A1 (en) * | 1983-06-28 | 1985-01-03 | Baas Technik GmbH, 2000 Wedel | Mobile drawing off and loading device |
| JPS611594A (en) * | 1984-06-14 | 1986-01-07 | Mitsui Eng & Shipbuild Co Ltd | Cargo raking device in ship hold |
| EP0317788A2 (en) * | 1987-11-25 | 1989-05-31 | Salzgitter Maschinenbau Gmbh | Method and device for unloading articles |
| CN105492348A (en) * | 2013-08-28 | 2016-04-13 | 因特利格兰特总部有限责任公司 | Robotic carton unloader |
| CN105843229A (en) * | 2016-05-17 | 2016-08-10 | 中外合资沃得重工（中国）有限公司 | Unmanned intelligent vehicle and control method |
| WO2018167152A1 (en) * | 2017-03-14 | 2018-09-20 | SAMA GmbH | Device for receiving stacked objects |
| CN209739716U (en) * | 2019-01-31 | 2019-12-06 | 扬州兴湖食品有限公司 | Aquatic products food is with conveyer that has discharge function |
| CN110817459A (en) * | 2019-12-05 | 2020-02-21 | 武汉和越装备技术有限公司 | Dual-purpose stacking gripper for sucking boxes and grabbing bags |
| CN111003508A (en) * | 2019-12-31 | 2020-04-14 | 深圳市宇道机电技术有限公司 | Blanking device |
| CN111204665A (en) * | 2020-02-23 | 2020-05-29 | 长沙中联恒通机械有限公司 | Transfer vehicle |
| CN112919148A (en) * | 2021-02-08 | 2021-06-08 | 青岛大地厚生科技有限责任公司 | Non-contact type cold chain container drawing, disinfecting, loading and unloading intelligent equipment |
| CN113233216A (en) * | 2021-06-08 | 2021-08-10 | 曜琅智慧科技产业(天津)有限公司 | Box drawing robot and using method thereof |
| CN214779439U (en) * | 2021-04-20 | 2021-11-19 | 昆船智能技术股份有限公司 | Intelligent automatic unloading system |
| CN113697491A (en) * | 2021-08-31 | 2021-11-26 | 青岛创科未来机器人科技有限公司 | Cold-chain container carton cargo handling equipment and method |
| CN113844904A (en) * | 2020-06-26 | 2021-12-28 | 德国邮政股份公司 | Method and device for unloading containers with piece packages |
-
2022
- 2022-01-17 CN CN202210050295.8A patent/CN114426215B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3323168A1 (en) * | 1983-06-28 | 1985-01-03 | Baas Technik GmbH, 2000 Wedel | Mobile drawing off and loading device |
| JPS611594A (en) * | 1984-06-14 | 1986-01-07 | Mitsui Eng & Shipbuild Co Ltd | Cargo raking device in ship hold |
| EP0317788A2 (en) * | 1987-11-25 | 1989-05-31 | Salzgitter Maschinenbau Gmbh | Method and device for unloading articles |
| CN105492348A (en) * | 2013-08-28 | 2016-04-13 | 因特利格兰特总部有限责任公司 | Robotic carton unloader |
| CN105843229A (en) * | 2016-05-17 | 2016-08-10 | 中外合资沃得重工（中国）有限公司 | Unmanned intelligent vehicle and control method |
| WO2018167152A1 (en) * | 2017-03-14 | 2018-09-20 | SAMA GmbH | Device for receiving stacked objects |
| CN209739716U (en) * | 2019-01-31 | 2019-12-06 | 扬州兴湖食品有限公司 | Aquatic products food is with conveyer that has discharge function |
| CN110817459A (en) * | 2019-12-05 | 2020-02-21 | 武汉和越装备技术有限公司 | Dual-purpose stacking gripper for sucking boxes and grabbing bags |
| CN111003508A (en) * | 2019-12-31 | 2020-04-14 | 深圳市宇道机电技术有限公司 | Blanking device |
| CN111204665A (en) * | 2020-02-23 | 2020-05-29 | 长沙中联恒通机械有限公司 | Transfer vehicle |
| CN113844904A (en) * | 2020-06-26 | 2021-12-28 | 德国邮政股份公司 | Method and device for unloading containers with piece packages |
| CN112919148A (en) * | 2021-02-08 | 2021-06-08 | 青岛大地厚生科技有限责任公司 | Non-contact type cold chain container drawing, disinfecting, loading and unloading intelligent equipment |
| CN214779439U (en) * | 2021-04-20 | 2021-11-19 | 昆船智能技术股份有限公司 | Intelligent automatic unloading system |
| CN113233216A (en) * | 2021-06-08 | 2021-08-10 | 曜琅智慧科技产业(天津)有限公司 | Box drawing robot and using method thereof |
| CN113697491A (en) * | 2021-08-31 | 2021-11-26 | 青岛创科未来机器人科技有限公司 | Cold-chain container carton cargo handling equipment and method |
Non-Patent Citations (4)
| Title |
|---|
| 大型"货改耙"――12000m~3耙吸挖泥船改装设计;周健, 费龙, 王忠贤, 冯维忠;船舶;20021225(第06期);全文 * |
| 推耙机的设计研究;金丹;季有昌;金山;;工程机械;20131110(第11期);全文 * |
| 美国帕山科公司集装箱装卸设备――赴美考察报告;陈国璋;起重运输机械;19840620(第06期);全文 * |
| 耙吸挖泥船高效节能耙头的研发与应用;文武;硕士学位论文;20171130;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114426215A (en) | 2022-05-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114426215B (en) | Variable-amplitude conveying type refrigerating ship unloading system and working method | |
| CN114194873B (en) | Visual system-based intelligent unloading system and method for refrigerator ship | |
| CN111470242B (en) | Transfer robot, transfer system, and transfer method thereof | |
| US20040033126A1 (en) | Apparatus for loading and unloading a cargo compartment of an aircraft | |
| NL1028990C2 (en) | Device for unloading a loading space II. | |
| CN109789904B (en) | Cargo loading and unloading vehicle, cargo transferring system and method for automatically adjusting cargo layout | |
| US4292784A (en) | Field crop harvesting and loading machine | |
| CN110023214B (en) | Cargo loading and unloading vehicle and cargo transferring system | |
| CN212244811U (en) | Transfer robot and transfer system having the same | |
| CN215854060U (en) | Novel portal forward chain bucket continuous ship unloader | |
| CN109789906A (en) | Cargo handler, cargo transfer system and its method of unloading | |
| WO2016139701A1 (en) | Cargo handling method | |
| US4832553A (en) | Apparatus for loading and palletizing boxes and cartons, especially from an agricultural field | |
| JP2022546616A (en) | Autonomous luggage device | |
| CN110002362B (en) | Automatic loading equipment and loading and unloading method thereof | |
| CN107967588A (en) | efficient logistics system | |
| CN208813063U (en) | The lorry of goods is fetched and delivered using unmanned plane | |
| EP3072838B1 (en) | An apparatus for unloading baggage from a baggage cart and a method of operating the apparatus | |
| WO2016139698A1 (en) | Cargo container | |
| CN114701877B (en) | Auxiliary unloading trolley for refrigerated ship and unloading method | |
| CN209160846U (en) | A kind of logistics unmanned plane dress easing gear | |
| CN208555050U (en) | A kind of delivery bin structure and sorting platform | |
| CN115231475B (en) | Unloading trolley and unloading process for refrigerated ship | |
| CN114634037B (en) | Automatic unloading device of refrigerated ship and working method | |
| CN207375379U (en) | A kind of harbour cold chain automation continuously transmits system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |