WO2022241899A1 - 一种港口集装箱水平搬运无人车卸货***及方法 - Google Patents
一种港口集装箱水平搬运无人车卸货***及方法 Download PDFInfo
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- WO2022241899A1 WO2022241899A1 PCT/CN2021/101559 CN2021101559W WO2022241899A1 WO 2022241899 A1 WO2022241899 A1 WO 2022241899A1 CN 2021101559 W CN2021101559 W CN 2021101559W WO 2022241899 A1 WO2022241899 A1 WO 2022241899A1
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- container
- unmanned vehicle
- clamping
- rod
- unloading
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 111
- 210000000078 claw Anatomy 0.000 claims description 64
- 238000011084 recovery Methods 0.000 claims description 2
- 238000003491 array Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 description 7
- 230000003028 elevating effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
- B66C19/002—Container cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/101—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means for containers
Definitions
- the invention belongs to the field of unmanned ports, in particular to an unmanned vehicle unloading system and method for horizontally moving port containers.
- Containers are the basic carrier of ocean cargo trade and transportation. In the port environment, the transfer and handling of containers is the most basic work. In modern port transportation operations, drones are usually used as vehicles to transfer containers. After transferring to the destination, the containers are hoisted and unloaded by unloading cranes, and then the containers are loaded onto cargo ships or stacked at the dock. Unmanned operation can greatly reduce the amount of manual labor, but due to the large number of goods in the port, when transferring work through unmanned vehicles, due to the slow unloading process, there will be more waiting time for unmanned vehicles until the crane is completed. Unloading can only be carried out in one transportation, which undoubtedly causes a certain degree of waste of time.
- Chinese patent CN107720323A discloses a system and method for unmanned vehicle unloading of horizontal container handling in ports, which records the problems of long waiting time for unloading of existing unmanned vehicles and low environmental efficiency of port operation.
- the lifting device and the receiving device are used to temporarily shelve the container on the top of the UAV, so that the UAV can be put into the next transfer operation again.
- the structure such as the receiving device on the ground will occupy the space on the ground, which is not conducive to the convenience of port traffic. The coordination between them is not clear and simple enough.
- a system and method for unmanned vehicle unloading of port containers for horizontal handling are provided to overcome the above-mentioned technical problems existing in the existing related technologies.
- An unmanned vehicle unloading system for horizontally transporting containers in a port including a bracket. Inside the bracket, a lifting frame, a beam and a roof are sequentially arranged from the bottom up. A moving device is installed on the top of the beam. The sling is connected with a clamping mechanism. Two push blocks are arranged on both sides of the lift frame. A push hydraulic cylinder is set between the push block and the bottom of the support.
- a cross bar is set inside the lift frame, and both sides of the cross bar are set There is a claw mechanism, the top of the claw mechanism is provided with a clamping sleeve that matches the clamping mechanism, two distance sensors are installed at the bottom of the front of the lifting frame, the unmanned vehicle is installed under the claw mechanism, and the top of the top plate is provided with a counterweight piece.
- the lifting frame and the cross bar form a sun-shaped structure
- two limit blocks are arranged on both sides of the lifting frame
- a limit slot matching the limit block is opened on the inside of the bracket, which can fix two clamps. Claw mechanism, and through the limit slot to ensure the stability and safety of the lifting frame.
- the snap-in mechanism includes a connecting frame arranged at the bottom of the sling, the connecting frame is an inverted convex structure and a plurality of snap-through holes arranged equidistantly are opened at the bottom of both sides, and the snap-through holes
- the inner side of the connecting frame is connected with each other to form a storage cavity, the top of the storage cavity is provided with a first electromagnet, the bottom of the storage cavity is provided with a magnetic column, and one side of the magnetic column is provided with a plurality of snap-in rods inserted through the snap-through holes, snap-in
- the bottom of the end of the rod far away from the connecting frame is in active link with the connecting rod, and the bottom end of the connecting rod is in a flexible connection with the bottom of one side of the connecting frame.
- Two second electromagnets are arranged in the middle of the bottom of the connecting frame, so as to be able to pass the up and down movement of the clamping rod. Move to realize the installation and disassembly of the clamping mechanism inside the clamping sleeve, and the second electromagnet can help the fast positioning of the clamping mechanism, and through the cooperation of the clamping rod and the clamping groove, the clamping mechanism and the clamping sleeve can be realized fixed connection.
- a plurality of snap-in grooves arranged equidistantly and matched with the snap-in rods are provided on both sides of the snap-in sleeve, a horizontal bar is provided at the inner bottom of the snap-in sleeve, and two bars are provided on the top of the horizontal bar.
- the magnetic block matched with the two electromagnets can fix the snap-in rod inside the snap-in groove to realize connection and fixation.
- the jaw mechanism includes a main board arranged at the bottom of the clip sleeve, sliding cavities are provided on both sides of the main board, a support rod is inserted inside the sliding cavity, and a threaded shaft vertical to it is inserted in the middle of the support rod.
- the matching threaded rod, the motor room is set in the middle of the top of the main board, and the drive motor is set at the bottom of the motor room.
- the two threaded rods are inserted into the motor room to keep connected with the driving motor.
- the support rod is fixed inside the sliding cavity.
- the bottom of both ends of the support rod are equipped with box buckles. The support rod is located between the box buckle and the limit rod.
- the matching wheel groove can adjust the width of the support rod through the drive motor to meet the needs of containers of different lengths, and the container can be installed and fixed by the buckle of the box, so as to realize hoisting and ensure the distance between the claw mechanism and the container. safety and stability in between.
- both sides of the top of the mainboard are provided with rope drive devices, the front and back of the top of the mainboard are provided with generators, and the front and back of the mainboard are provided with a number of equidistantly arranged side bars, which are far away from the main board.
- two sets of placement brackets are arranged on the inner side of the lifting frame to match the placement side bars, the placement brackets have a hollow trapezoidal structure, and the top of the placement brackets is provided with a plurality of placement slots that match the placement side bars , so that the claw mechanism can be placed between the lifting frames, and through the clamping cooperation with the placement bracket, the stability of the main board during the placement process is ensured, and the installation of the container is facilitated.
- the placement side rod is a cylindrical structure
- the bottom of the placement groove is an arc-shaped structure with the same diameter as the placement side rod
- the top of the placement groove is an arc-shaped structure, so that the placement side rod can slide into the corresponding Place it in the slot, and ensure that it is in the middle position, so as to ensure that the claw mechanism is always in the middle position, which is convenient for manipulation and management.
- the port container horizontal handling unmanned vehicle unloading method includes:
- the container on the top of the unmanned vehicle is clamped and hoisted, and the claw mechanism is used to fix the container;
- the lifting device is used to lift the claw mechanism
- the preset rule is that when the claw mechanism connected with the clamping mechanism is hoisting the container, another claw mechanism at the top of the lifting frame falls to lift the container; When the claw mechanism connected to the mechanism is not hoisted with the container, the unmanned vehicle is carried and waits for the running claw mechanism to be recovered and hoisted.
- the container can be stably connected and fixed, so as to ensure the stability and safety of the hoisting, and at the same time improve the assembly and lifting efficiency between the lifting device and the container, thereby speeding up the installation of the container Unloading and loading.
- the container can be hoisted and protected in various ways, and different types of containers can be installed in different clips, thereby improving the practicability of the system.
- Fig. 1 is a structural schematic diagram according to an embodiment of the present invention
- Fig. 2 is a schematic structural diagram of a clamping mechanism and a claw mechanism according to an embodiment of the present invention
- Fig. 3 is a schematic structural diagram of a claw mechanism according to an embodiment of the present invention.
- Fig. 4 is a sectional view of a claw mechanism according to an embodiment of the present invention.
- Fig. 5 is a schematic structural diagram of a lifting frame according to an embodiment of the present invention.
- Fig. 6 is a schematic structural diagram of a locking mechanism according to an embodiment of the present invention.
- Fig. 7 is a cross-sectional view of a locking mechanism according to an embodiment of the present invention.
- Fig. 8 is a flowchart of a method according to an embodiment of the present invention.
- Crossbar 12, claw mechanism; 1201, main board; 1202, sliding cavity; 1203, support rod; 1204, threaded rod; 1205, motor room; 1206, drive motor; 1207, limit rod; ; 1209, pulley; 1210, wheel groove; 13, clamp sleeve; 14, distance sensor; 15, carrying unmanned vehicle; 16, counterweight block; 17, limit block; Slot; 20, magnetic block; 21, rope driving device; 22, generator; 23, place side bar; 24, side plate; 25, place support; 26, place groove.
- a system and method for unloading an unmanned vehicle for horizontally moving a port container are provided.
- the port container horizontal handling unmanned vehicle unloading system includes a bracket 1, and the interior of the bracket 1 is sequentially provided with a lifting frame 2, a beam 3 and a top plate 4 from the bottom up, and the inside of the beam 3
- the top is provided with a mobile device 5, the top of the mobile device 5 is provided with a lifting device 6, the bottom of the lifting device 6 is connected with a clamping mechanism 8 through a sling 7, and two pushing blocks 9 are arranged on both sides of the lifting frame 2.
- a jacking hydraulic cylinder 10 is arranged between 9 and the bottom of the support 1, and a cross bar 11 is arranged inside the elevating frame 2, and claw mechanisms 12 are arranged on both sides of the cross bar 11, and the top of the claw mechanism 12 is provided with a clamping mechanism 8
- Cooperating snap-in sleeves 13 two distance sensors 14 are arranged on the bottom of the front of the lifting frame 2, an unmanned vehicle 15 is arranged under the claw mechanism 12, and a counterweight 16 is arranged on the top of the top plate 4.
- the waiting unmanned vehicle 15 can be temporarily unloaded, so that it can enter The next operation cycle, thereby improving the work efficiency of carrying the unmanned vehicle 15, and then improving the efficiency of port container unloading.
- the claw mechanism 12, the clamping mechanism 8 and the clamping sleeve 13 the container can be connected and fixed stably, thereby ensuring stable and safe hoisting, and at the same time improving the assembly and lifting efficiency between the lifting device 6 and the container, thereby speeding up the installation of the container. Unloading and loading of containers.
- the elevating frame 2 and the cross bar 11 form a sun-shaped structure
- two limit blocks 17 are arranged on both sides of the elevating frame 2
- a limit groove 18 matching the limit blocks 17 is provided on the inner side of the bracket 1 , so that the two claw mechanisms 12 can be fixed, and the stability and safety of the lifting frame 2 can be ensured through the limiting groove 18 .
- the clamping mechanism 8 includes a connecting frame 801 arranged at the bottom of the sling 7.
- the connecting frame 801 has an inverted convex structure and a plurality of locking through holes 802 arranged equidistantly on the bottom of both sides.
- the inner sides of the snap-through holes 802 communicate with each other inside the connecting frame 801 to form a receiving cavity 803, the top of the receiving cavity 803 is provided with a first electromagnet 804, the bottom of the receiving cavity 803 is provided with a magnetic post 805, and one side of the magnetic post 805 is provided with a plurality of interspersed
- Two second electromagnets 808 are arranged in the middle of the bottom, so that the up and down movement of the snap-in rod 806 can realize the installation and disassembly of the snap-in mechanism 8 inside the snap-in sleeve 13, and the second electromagnet 808 can help the clip
- the connecting mechanism 8 is quickly positioned, and the fixed
- the working principle of the clamping mechanism 8 when the clamping starts, the first electromagnet 804 starts to work, and the magnetic column 805 moves upward. At this time, an obtuse angle is formed between the clamping rod 806 and the connecting rod 807, and the width of the clamping mechanism 8 is narrow Narrows can enter the snap-in sleeve 13 .
- the second electromagnet 808 When entering the inside of the clamping sleeve 13, open the second electromagnet 808, so that the second electromagnet 808 and the magnetic block 20 complete the docking, then power off the first electromagnet 804, and the magnetic force column 805 moves downward, so that the clamping
- the rod 806 is engaged with the engaging slot 19 , so that the engaging mechanism 8 and the engaging sleeve 13 are fixedly connected.
- a plurality of snap grooves 19 arranged equidistantly and matching with the snap rod 806 are provided on both sides of the clip sleeve 13 , a horizontal bar is provided at the inner bottom of the clip sleeve 13 , and two bars are provided at the top of the horizontal bar.
- a magnetic block 20 matched with the second electromagnet 808 can fix the clamping rod 806 inside the clamping slot 19 to achieve connection and fixation.
- the claw mechanism 12 includes a main board 1201 arranged at the bottom of the snap sleeve 13. Both sides of the main board 1201 are provided with a sliding cavity 1202, and a support rod 1203 is inserted inside the sliding cavity 1202, and the middle position of the support rod 1203 is interspersed. There is a threaded rod 1204 that is vertical and threaded.
- a motor chamber 1205 is provided in the middle of the top of the main board 1201.
- a drive motor 1206 is provided at the bottom of the motor chamber 1205. Two threaded rods 1204 are inserted into the motor chamber 1205 to maintain the drive motor 1206.
- both sides of the threaded rod 1204 are provided with limit rods 1207, the limit rods 1207 pass through the support rod 1203 and are fixed inside the sliding cavity 1202, the bottoms of both ends of the support rod 1203 are provided with box buckles 1208, and the support rod 1203 is located
- a pulley 1209 is provided between the box buckle 1208 and the limit rod 1207, and the top and bottom of the sliding cavity 1202 are provided with a wheel groove 1210 matching the pulley 1209, so that the width of the support rod 1203 can be adjusted by the drive motor 1206, It is suitable for containers of different lengths, and the container is installed and fixed through the box buckle 1208, so as to realize hoisting and ensure the safety and stability between the claw mechanism 12 and the container.
- the working principle of the jaw mechanism 12 push the hydraulic cylinder 10 up and down to pull the lifting frame 2, and during the falling process, the jaw mechanism 12 adjusts the width of the support rod 1203 according to the length of the container calculated by the system. That is, the rotation of the control drive motor 1206 drives the threaded rod 1204, so that the support rods 1203 on both sides move directionally under the drive of the threaded rod 1204, and the support rod 1203 remains stable to both sides under the action of the limit rod 1207 and the pulley 1209. Move until adjusted to the same length as the container. Then, the elevating frame 2 falls on the container, and is fixed in the four snap rings on the top of the container through the box buckle 1208, and the snap-fitting is completed. At this time, the jacking hydraulic cylinder 10 pushes the lifting frame 2 upwards so that the container is separated from the unmanned vehicle 15, so that the unmanned vehicle 15 can carry out the next round of transfer work.
- both sides of the top of the main board 1201 are provided with rope drive devices 21, the front and back of the top of the main board 1201 are provided with generators 22, and the front and back of the main board 1201 are provided with a number of equidistant placement side bars 23, A side plate 24 is arranged between the end of the side bar 23 away from the main board 1201, so that the container can be further hoisted and fixed, and the bottom of the container can be fixed by lowering the rope, thereby further enhancing the safety performance of hoisting.
- two sets of placement brackets 25 are arranged on the inner side of the lifting frame 2 to match the placement side rods 23.
- the cooperating placement slots 26 enable the claw mechanism 12 to be placed between the lifting frames 2, and through snap fit with the placement bracket 25, the stability of the main board 1201 during placement is ensured, which facilitates the installation of the container.
- the placement side rod 23 is a cylindrical structure
- the bottom of the placement groove 26 is an arc-shaped structure with the same diameter as the placement side rod 23
- the top of the placement groove 26 is an arc-shaped structure, so that the placement of the side rod 23 It can be slid into the corresponding placement groove 26 and ensure that it is in the middle position, thereby ensuring that the claw mechanism 12 is always in the middle position, which is convenient for manipulation and management.
- a method for unloading unloading of unmanned vehicles for horizontal handling of port containers includes the following steps:
- the container on the top of the unmanned vehicle 15 is clamped and hoisted, so that the claw mechanism 12 can fix the container;
- the preset rule is that when the claw mechanism 12 being connected with the clamping mechanism 8 is hoisting the container, another claw mechanism 12 located at the top of the lifting frame 2 falls to hoist the container; When the claw mechanism 12 connected with the clamping mechanism 8 is not hoisted with the container, the unmanned vehicle 15 waits for the recovery of the claw mechanism 12 which is running and hoistes it.
- this unloading system is installed on the port operation platform.
- the unmanned vehicle 15 equipped with the positioning device loads the container and drives into the device. Since the lifting frame is divided into two parts, the carrying The running track of the unmanned vehicle 15 is set as two exclusive tracks, which are located directly below the two claw mechanisms 12 . Under the control of the system, the carrying unmanned vehicle 15 enters under the claw mechanism 12 where no container is shelved, and unloads.
- the system starts to detect, and when it detects that there is a container at the bottom of the claw mechanism 12 connected to the clamping mechanism 8, the unmanned vehicle 15 drives into the lifting frame 2 for loading.
- the distance sensor 14 in front detects and starts to record until the container completely enters and cuts off the probability.
- the length of the container is obtained through computer calculation, and the unmanned vehicle 15 runs to the right below the claw mechanism 12. .
- the jacking hydraulic cylinder 10 pulls the elevating frame 2 up and down, and during the falling process, the claw mechanism 12 adjusts the width of the support rod 1203 according to the length of the container calculated by the system.
- the rotation of the control drive motor 1206 drives the threaded rod 1204, so that the support rods 1203 on both sides move directionally under the drive of the threaded rod 1204, and the support rod 1203 remains stable to both sides under the action of the limit rod 1207 and the pulley 1209. Move until adjusted to the same length as the container. Then, the elevating frame 2 falls on the container, and is fixed in the four snap rings on the top of the container through the box buckle 1208, and the snap-fitting is completed. At this time, the jacking hydraulic cylinder 10 pushes the lifting frame 2 upwards so that the container is separated from the unmanned vehicle 15, so that the unmanned vehicle 15 can carry out the next round of transfer work.
- the upper claw mechanism 12 is first unloaded to the other side of the lifting frame 2, that is, the mobile device. 5 run to the top of it to loosen the clamping mechanism 8 so that the claw mechanism 12 falls off to the top of the lifting frame 2, and the first electromagnet 804 is energized to run, so that the magnetic force column 805 moves upward.
- the clamping rod 806 and the connecting rod 807 There is an obtuse angle between them, and the clamping mechanism 8 is narrow enough to enter into the clamping sleeve 13 .
- the waiting unmanned vehicle 15 can be carried out. Temporary unloading makes it enter the next operation cycle, thereby improving the work efficiency of carrying the unmanned vehicle 15, and then improving the efficiency of port container unloading.
- the claw mechanism 12, the clamping mechanism 8 and the clamping sleeve 13 the container can be connected and fixed stably, thereby ensuring stable and safe hoisting, and at the same time improving the assembly and lifting efficiency between the lifting device 6 and the container, thereby speeding up the installation of the container. Unloading and loading of containers.
- the placing side rod 23 and the placing bracket 25 By arranging the placing side rod 23 and the placing bracket 25, while ensuring the stability of the claw mechanism 12, it can be ensured that it is in the middle position on both sides of the lifting frame 2, which is convenient for adjusting the support rod 1203 and realizing the hoisting of the container, improving the stability sex.
- the support rod 1203 and the rope driving device 21 By arranging the support rod 1203 and the rope driving device 21 on the main board 1201 at the same time, the container can be hoisted and protected in various ways, and different types of containers can be clamped and installed differently, thereby improving the practicability of the system.
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Abstract
一种港口集装箱水平搬运无人车卸货***及方法，包括支架(1)，支架(1)内部由底部向上依次设置有升降架(2)、横梁(3)及顶板(4)，横梁(3)内顶部设置有移动装置(5)，移动装置(5)顶部设置有起吊装置(6)，起吊装置(6)底部通过吊索(7)连接有卡接机构(8)，升降架(2)两侧均设置有两个顶推块(9)，顶推块(9)与支架(1)底部之间设置有顶推液压缸(10)，升降架(2)内部设置有横杆(11)，横杆(11)两侧均设置有卡爪机构(12)，卡爪机构(12)顶部设置有与卡接机构(8)相配合的卡接套(13)，升降架(2)正面底部设置有两个距离传感器(14)。起吊装置进行集装箱起吊卸货时，对等待的运载无人车进行暂时的卸货，进入下一个运转周期，提高运载无人车的工作效率。
Description
本发明属于无人化港口领域，尤其是一种港口集装箱水平搬运无人车卸货***及方法。
集装箱是远洋货物贸易运输的基础载体，在港口环境中，对集装箱的转移搬运是最基础的工作。在现代化港口运输作业中，通常采用无人机作为载具对集装箱进行转移，在转移至目的地后，通过卸货起重机对集装箱进行吊装与卸载，再将集装箱装上货船或堆叠在码头。通过无人化的操作能够大大减少人工的劳动量，但是由于港口的货物数量繁多，通过无人车进行转移工作时，由于卸货过程缓慢，无人车会存在较多的等待时间，直到起重机完成一次运输才能进行卸货，这无疑对时间造成一定程度浪费。
中国专利CN107720323A公开了一种港口集装箱水平搬运无人车卸货***及方法，记载了用于解决现有无人车卸货等待时间长，港口运行环境效率低的问题。该申请中利用举升装置与承接装置将无人机顶部的集装箱进行暂时的搁置，从而解放无人机再次投入到下一个转移作业中。但该申请中还需要对无人机安装举升机构，同时在地面上的承接装置等结构会占用地面的空间，不利于港***通的便利，同时该申请中承接装置与吊升装置等结构之间的配合不够明确简单。
针对相关技术中的问题，目前尚未提出有效的解决方案。
提供一种港口集装箱水平搬运无人车卸货***及方法，以克服现有相关技术所存在的上述技术问题。
一种港口集装箱水平搬运无人车卸货***，包括支架，支架内部由底部向上依次设置有升降架、横梁及顶板，横梁内顶部设置有移动装置，移动装置顶部设置有起吊装置，起吊装置底部通过吊索连接有卡接机构，升降架两侧均设置有两个顶推块，顶推块与支架底部之间设置有顶推液压缸，升降架内部设置有横杆，横杆两侧均设置有卡爪机构，卡爪机构顶部设置有与卡接机构相配合的卡接套，升降架正面底部设置有两个距离传感器，卡爪机构下方设置有运载无人车，顶板顶部设置有配重块。
在进一步的实施例中，升降架与横杆形成日字形结构，升降架两侧均设置有两个限位块，支架内侧开设有与限位块相配合的限位槽，能够固定两个卡爪机构，并通过限位槽确保升降架的稳定性与安全性。
在进一步的实施例中，卡接机构包括设置在吊索底部的连接架，连接架为倒凸字形结构且两侧底部均开设有多个等距排布的卡接通孔，卡接通孔内侧在连接架内部相互连通形成容纳腔，容纳腔顶部设置有第一电磁铁，容纳腔底部设置有磁力柱，磁力柱一侧设置有多个穿插过卡接通孔的卡接杆，卡接杆远离连接架的一端底部与连接杆保持活动链接，连接杆底端与连接架一侧底部保持活动连接，连接架底部中间位置设置有两个第二电磁铁，从而能够通过卡接杆的上下移动，实现卡接机构在卡接套内部的安装与拆卸，并且通过第二电磁铁能够帮助卡接机构快速定位，并通过卡接杆与卡接槽的配合，实现卡接机构与卡接套的固定连接。
在进一步的实施例中，卡接套两侧开设有多个等距排列且与卡接杆相配合的卡接槽，卡接套内底部设置有横杆，横杆顶部设置有两个与第二电磁铁相配合的磁块，从而能够将卡接杆固定在卡接槽内部实现连接固定。
在进一步的实施例中，卡爪机构包括设置在卡接套底部的主板，主板内部两侧均开设有滑动腔，滑动腔内部穿插有支撑杆，支撑杆中间位置穿插有与之保持垂直且螺纹配合的螺纹杆，主板顶部中间位置设置有电机室，电机室内底部设置有驱动电机，两个螺纹杆穿插至电机室与驱动电机保持连接，螺纹杆两侧均设置有限位杆，限位杆穿插过支撑杆且固定在滑动腔内部，支撑杆两端底部均设置有箱体卡扣，支撑杆位于箱体卡扣与限位杆之间设置有滑轮，滑动腔顶部与底部开设有与滑轮相配合的轮槽，从而能够通过驱动电机对支撑杆的宽度进行调节，满足不同长度的集装箱的，并且通过箱体卡扣的作用对集装箱进行安装固定，从而实现吊装，保证卡爪机构与集装箱之间的安全稳固性。
在进一步的实施例中，主板顶部两侧均设置有绳索驱动装置，主板顶部正面与背面均设置有发电机，主板正面与背面均设置有若干等距排列的放置侧杆，放置侧杆远离主板的一端之间设置有侧板，从而能够对集装箱进行进一步的吊装固定，通过放下绳索将集装箱底部进行固定，进而进一步增强吊装的安全性能。
在进一步的实施例中，升降架内侧设置有两组与放置侧杆相配合的放置支架，放置支架为内部镂空的梯形结构，且放置支架顶部开设有多个与放置侧杆相配合的放置槽，从而能够将卡爪机构放置在升降架之间，并且通过与放置支架的卡接配合，保证主板在放置过程中的稳定性，便于对集装箱的安装。
在进一步的实施例中，放置侧杆为圆柱形结构，放置槽底部为与放置侧杆同直径的圆弧形结构，且放置槽顶部为弧形结构，从而能够使得放置侧杆能够滑入对应的放置槽中，并且保证其处于居中的位置，进而确保卡爪机构始终处于中间位置，便于操控管理。
根据本发明的另一方面，提供了一种港口集装箱水平搬运无人车卸货的方法，
该港口集装箱水平搬运无人车卸货方法包括：
S1、运载无人车通过定位运行至升降架底部，并通过距离传感器的运行是的运载无人车位于卡爪机构正下方；
S2、通过预设规则，对运载无人车顶部的集装箱进行卡接吊装，实现卡爪机构对集装箱进行固定；
S3、通过卡接机构与卡接套的配合，同时通过起吊装置实现对卡爪机构的吊起；
S4、通过移动装置在横梁顶部进行滑动，将集装箱转移至卸货区域；
S5、卸下集装箱，并将卡爪机构分离集装箱，通过起吊装置与移动装置进行回收；
S6、将卡爪机构悬在升降架上方，实现一次集装箱的卸货。
在一步的实施例中，预设规则为当正在与卡接机构连接的卡爪机构正在对集装箱进行吊装时，另一个位于升降架顶部的卡爪机构下落对集装箱进行吊装；当正在与卡接机构连接的卡爪机构没有与集装箱进行吊装时，运载无人车等待正在运行的卡爪机构回收并对其进行吊装。
1、通过设置两个卡爪机构及可升降的升降架，能够在起吊装置进行集装箱起吊卸货时，对等待的运载无人车进行暂时的卸货，使其进入下一个运转周期，从而提高运载无人车的工作效率，进而提高港口集装箱卸货的效率。
2、通过设置卡爪机构、卡接机构及卡接套，能够对集装箱进行稳定的连接固定，从而保证吊装稳定安全的同时，提高起吊装置与集装箱之间的装配起吊效率，从而加快对集装箱的卸货与装货。
3、通过设置放置侧杆与放置支架，能够在保证卡爪机构稳定的同时，确保其处在升降架两侧的中间位置，便于对支撑杆进行调节以及实现集装箱的吊装，提高稳定性。
4、通过在主板同时设置支撑杆与绳索起吊装置，能够对集装箱进行多方面的吊装保护，对不同类型的集装箱进行不同的卡接安装，从而提高***的实用性。
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是根据本发明实施例的结构示意图；
图2是根据本发明实施例的卡接机构与卡爪机构结构示意图；
图3是根据本发明实施例的卡爪机构结构示意图；
图4是根据本发明实施例的卡爪机构剖视图；
图5是根据本发明实施例的升降架结构示意图；
图6是根据本发明实施例的卡接机构结构示意图；
图7是根据本发明实施例的卡接机构剖视图；
图8是根据本发明实施例的方法流程图。
图中：
1、支架；2、升降架；3、横梁；4、顶板；5、移动装置；6、起吊装置；7、吊索；8、卡接机构；801、连接架；802、卡接通孔；803、容纳腔；804、第一电磁铁；805、磁力柱；806、卡接杆；807、连接杆；808、第二电磁铁；9、顶推块；10、顶推液压缸；11、横杆；12、卡爪机构；1201、主板；1202、滑动腔；1203、支撑杆；1204、螺纹杆；1205、电机室；1206、驱动电机；1207、限位杆；1208、箱体卡扣；1209、滑轮；1210、轮槽；13、卡接套；14、距离传感器；15、运载无人车；16、配重块；17、限位块；18、限位槽；19、卡接槽；20、磁块；21、绳索驱动装置；22、发电机；23、放置侧杆；24、侧板；25、放置支架；26、放置槽。
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
根据本发明的实施例，提供了一种港口集装箱水平搬运无人车卸货***及方法。
如图1-7所示，根据本发明实施例的港口集装箱水平搬运无人车卸货***，包括支架1，支架1内部由底部向上依次设置有升降架2、横梁3及顶板4，横梁3内顶部设置有移动装置5，移动装置5顶部设置有起吊装置6，起吊装置6底部通过吊索7连接有卡接机构8，升降架2两侧均设置有两个顶推块9，顶推块9与支架1底部之间设置有顶推液压缸10，升降架2内部设置有横杆11，横杆11两侧均设置有卡爪机构12，卡爪机构12顶部设置有与卡接机构8相配合的卡接套13，升降架2正面底部设置有两个距离传感器14，卡爪机构12下方设置有运载无人车15，顶板4顶部设置有配重块16。
通过本发明的上述方案，通过设置两个卡爪机构12及可升降的升降架2，能够在起吊装置6进行集装箱起吊卸货时，对等待的运载无人车15进行暂时的卸货，使其进入下一个运转周期，从而提高运载无人车15的工作效率，进而提高港口集装箱卸货的效率。通过设置卡爪机构12、卡接机构8及卡接套13，能够对集装箱进行稳定的连接固定，从而保证吊装稳定安全的同时，提高起吊装置6与集装箱之间的装配起吊效率，从而加快对集装箱的卸货与装货。
在一个实施例中，升降架2与横杆11形成日字形结构，升降架2两侧均设置有两个限位块17，支架1内侧开设有与限位块17相配合的限位槽18，从而能够固定两个卡爪机构12，并通过限位槽18确保升降架2的稳定性与安全性。
在一个实施例中，卡接机构8包括设置在吊索7底部的连接架801，连接架801为倒凸字形结构且两侧底部均开设有多个等距排布的卡接通孔802，卡接通孔802内侧在连接架801内部相互连通形成容纳腔803，容纳腔803顶部设置有第一电磁铁804，容纳腔803底部设置有磁力柱805，磁力柱805一侧设置有多个穿插过卡接通孔802的卡接杆806，卡接杆806远离连接架801的一端底部与连接杆807保持活动链接，连接杆807底端与连接架801一侧底部保持活动连接，连接架801底部中间位置设置有两个第二电磁铁808，从而能够通过卡接杆806的上下移动，实现卡接机构8在卡接套13内部的安装与拆卸，并且通过第二电磁铁808能够帮助卡接机构8快速定位，并通过卡接杆806与卡接槽19的配合，实现卡接机构8与卡接套13的固定连接。
卡接机构8的工作原理：进行卡接开始时，第一电磁铁804开始工作，磁力柱805向上运动，此时，卡接杆806与连接杆807之间呈钝角，卡接机构8宽度较窄能够进入卡接套13中。当进入到卡接套13内部时，打开第二电磁铁808，使得第二电磁铁808与磁块20完成对接，然后给第一电磁铁804断电，磁力柱805向下运动，使得卡接杆806与卡接槽19相互卡接，从而使得卡接机构8与卡接套13实现固定连接。此外，在第二电磁铁808的作用下，能够对磁力柱805产生作用力，加强卡接杆806对卡接槽19的作用。最后，通过起吊装置6即可实现集装箱的起吊与卸货。
在一个实施例中，卡接套13两侧开设有多个等距排列且与卡接杆806相配合的卡接槽19，卡接套13内底部设置有横杆，横杆顶部设置有两个与第二电磁铁808相配合的磁块20，从而能够将卡接杆806固定在卡接槽19内部实现连接固定。
在一个实施例中，卡爪机构12包括设置在卡接套13底部的主板1201，主板1201内部两侧均开设有滑动腔1202，滑动腔1202内部穿插有支撑杆1203，支撑杆1203中间位置穿插有与之保持垂直且螺纹配合的螺纹杆1204，主板1201顶部中间位置设置有电机室1205，电机室1205内底部设置有驱动电机1206，两个螺纹杆1204穿插至电机室1205与驱动电机1206保持连接，螺纹杆1204两侧均设置有限位杆1207，限位杆1207穿插过支撑杆1203且固定在滑动腔1202内部，支撑杆1203两端底部均设置有箱体卡扣1208，支撑杆1203位于箱体卡扣1208与限位杆1207之间设置有滑轮1209，滑动腔1202顶部与底部开设有与滑轮1209相配合的轮槽1210，从而能够通过驱动电机1206对支撑杆1203的宽度进行调节，满足不同长度的集装箱的，并且通过箱体卡扣1208的作用对集装箱进行安装固定，从而实现吊装，保证卡爪机构12与集装箱之间的安全稳固性。
卡爪机构12工作原理：顶推液压缸10开上向下拉动升降架2，并在下落过程中，卡爪机构12通过***计算得到的集装箱长度，对支撑杆1203的宽度进行调节。即控制驱动电机1206的转动带动螺纹杆1204，使得两侧的支撑杆1203在螺纹杆1204的带动下定向移动，而支撑杆1203在限位杆1207与滑轮1209的作用下，保持稳定向两侧移动，直至调节至与集装箱相同的长度。然后，升降架2落在集装箱上方，通过箱体卡扣1208在集装箱顶部的四个卡环中，并完成卡接固定。此时，顶推液压缸10向上推动升降架2使得集装箱脱离运载无人车15，从而使得运载无人车15能够进行下一轮的转移工作。
在一个实施例中，主板1201顶部两侧均设置有绳索驱动装置21，主板1201顶部正面与背面均设置有发电机22，主板1201正面与背面均设置有若干等距排列的放置侧杆23，放置侧杆23远离主板1201的一端之间设置有侧板24，从而能够对集装箱进行进一步的吊装固定，通过放下绳索将集装箱底部进行固定，进而进一步增强吊装的安全性能。
在一个实施例中，升降架2内侧设置有两组与放置侧杆23相配合的放置支架25，放置支架25为内部镂空的梯形结构，且放置支架25顶部开设有多个与放置侧杆23相配合的放置槽26，从而能够将卡爪机构12放置在升降架2之间，并且通过与放置支架25的卡接配合，保证主板1201在放置过程中的稳定性，便于对集装箱的安装。
在一个实施例中，放置侧杆23为圆柱形结构，放置槽26底部为与放置侧杆23同直径的圆弧形结构，且放置槽26顶部为弧形结构，从而能够使得放置侧杆23能够滑入对应的放置槽26中，并且保证其处于居中的位置，进而确保卡爪机构12始终处于中间位置，便于操控管理。
根据本发明的实施例，如图8，还提供了一种港口集装箱水平搬运无人车卸货的方法，该方法包括以下步骤：
S1、运载无人车15通过定位运行至升降架2底部，并通过距离传感器14的运行是的运载无人车位于卡爪机构12正下方；
S2、通过预设规则，对运载无人车15顶部的集装箱进行卡接吊装，实现卡爪机构12对集装箱进行固定；
S3、通过卡接机构8与卡接套13的配合，同时通过起吊装置6实现对卡爪机构12的吊起；
S4、通过移动装置5在横梁3顶部进行滑动，将集装箱转移至卸货区域；
S5、卸下集装箱，并将卡爪机构12分离集装箱，通过起吊装置6与移动装置5进行回收；
S6、将卡爪机构12悬在升降架2上方，实现一次集装箱的卸货。
在一个实施例中，预设规则为当正在与卡接机构8连接的卡爪机构12正在对集装箱进行吊装时，另一个位于升降架2顶部的卡爪机构12下落对集装箱进行吊装；当正在与卡接机构8连接的卡爪机构12没有与集装箱进行吊装时，运载无人车15等待正在运行的卡爪机构12回收并对其进行吊装。
为了方便理解本发明的上述技术方案，以下就本发明在实际过程中的工作原理或者操作方式进行详细说明。
在实际应用时，本卸货***被安装于港口作业平台上，在正常运行中，装有定位装置的运载无人车15装载集装箱驶入装置内，由于升降架2分位两个部分，所以运载无人车15的运行轨迹被设置成两个专属的轨道，即位于两个卡爪机构12正下方。运载无人车15在***的控制下，分别进入没有集装箱搁置的卡爪机构12下方，进行卸货。
在实际运行中，当运载无人车15快要来临时，***开始检测，当检测到与卡接机构8连接的卡爪机构12底部装有集装箱时，运载无人车15驶入升降架2装有卡爪机构12下方的轨道上，前方的距离传感器14检测到并开始记录，直到集装箱完全进入并截止几率，通过计算机运算得到集装箱长度，运载无人车15运行至卡爪机构12的正下方。此时，顶推液压缸10开上向下拉动升降架2，并在下落过程中，卡爪机构12通过***计算得到的集装箱长度，对支撑杆1203的宽度进行调节。即控制驱动电机1206的转动带动螺纹杆1204，使得两侧的支撑杆1203在螺纹杆1204的带动下定向移动，而支撑杆1203在限位杆1207与滑轮1209的作用下，保持稳定向两侧移动，直至调节至与集装箱相同的长度。然后，升降架2落在集装箱上方，通过箱体卡扣1208在集装箱顶部的四个卡环中，并完成卡接固定。此时，顶推液压缸10向上推动升降架2使得集装箱脱离运载无人车15，从而使得运载无人车15能够进行下一轮的转移工作。
当起吊装置6与移动装置5完成一次卸货后，进行回收时，由于此时升降架2上方有一个集装箱，所以先将上方的卡爪机构12卸载到升降架2的另一侧，即移动装置5运行到其上方松开卡接机构8使得卡爪机构12脱落至升降架2上方，第一电磁铁804通电运行，使得磁力柱805向上运动，此时，卡接杆806与连接杆807之间呈钝角，卡接机构8宽度较窄能够进入卡接套13中。当进入到卡接套13内部时，打开第二电磁铁808，使得第二电磁铁808与磁块20完成对接，然后给第一电磁铁804断电，磁力柱805向下运动，使得卡接杆806与卡接槽19相互卡接，从而使得卡接机构8与卡接套13实现固定连接。此外，在第二电磁铁808的作用下，能够对磁力柱805产生作用力，加强卡接杆806对卡接槽19的作用。最后，通过起吊装置6即可实现集装箱的起吊与卸货。
综上所述，借助于本发明的上述技术方案，通过设置两个卡爪机构12及可升降的升降架2，能够在起吊装置6进行集装箱起吊卸货时，对等待的运载无人车15进行暂时的卸货，使其进入下一个运转周期，从而提高运载无人车15的工作效率，进而提高港口集装箱卸货的效率。通过设置卡爪机构12、卡接机构8及卡接套13，能够对集装箱进行稳定的连接固定，从而保证吊装稳定安全的同时，提高起吊装置6与集装箱之间的装配起吊效率，从而加快对集装箱的卸货与装货。通过设置放置侧杆23与放置支架25，能够在保证卡爪机构12稳定的同时，确保其处在升降架2两侧的中间位置，便于对支撑杆1203进行调节以及实现集装箱的吊装，提高稳定性。通过在主板1201同时设置支撑杆1203与绳索驱动装置21，能够对集装箱进行多方面的吊装保护，对不同类型的集装箱进行不同的卡接安装，从而提高***的实用性。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
Claims (10)
- 一种港口集装箱水平搬运无人车卸货***，其特征在于，包括支架（1），所述支架（1）内部由底部向上依次设置有升降架（2）、横梁（3）及顶板（4），所述横梁（3）内顶部设置有移动装置（5），所述移动装置（5）顶部设置有起吊装置（6），所述起吊装置（6）底部通过吊索（7）连接有卡接机构（8），所述升降架（2）两侧均设置有两个顶推块（9），所述顶推块（9）与所述支架（1）底部之间设置有顶推液压缸（10），所述升降架（2）内部设置有横杆（11），所述横杆（11）两侧均设置有卡爪机构（12），所述卡爪机构（12）顶部设置有与所述卡接机构（8）相配合的卡接套（13），所述升降架（2）正面底部设置有两个距离传感器（14），所述卡爪机构（12）下方设置有运载无人车（15），所述顶板（4）顶部设置有配重块（16）。
- 根据权利要求1所述的港口集装箱水平搬运无人车卸货***，其特征在于，所述升降架（2）与所述横杆（11）形成日字形结构，所述升降架（2）两侧均设置有两个限位块（17），所述支架（1）内侧开设有与所述限位块（17）相配合的限位槽（18）。
- 根据权利要求1所述的港口集装箱水平搬运无人车卸货***，其特征在于，所述卡接机构（8）包括设置在所述吊索（7）底部的连接架（801），所述连接架（801）为倒凸字形结构且两侧底部均开设有多个等距排布的卡接通孔（802），所述卡接通孔（802）内侧在所述连接架（801）内部相互连通形成容纳腔（803），所述容纳腔（803）顶部设置有第一电磁铁（804），所述容纳腔（803）底部设置有磁力柱（805），所述磁力柱（805）一侧设置有多个穿插过所述卡接通孔（802）的卡接杆（806），所述卡接杆（806）远离所述连接架（801）的一端底部与连接杆（807）保持活动链接，所述连接杆（807）底端与所述连接架（801）一侧底部保持活动连接，所述连接架（801）底部中间位置设置有两个第二电磁铁（808）。
- 根据权利要求3所述的港口集装箱水平搬运无人车卸货***，其特征在于，所述卡接套（13）两侧开设有多个等距排列且与所述卡接杆（806）相配合的卡接槽（19），所述卡接套（13）内底部设置有横杆，横杆顶部设置有两个与所述第二电磁铁（808）相配合的磁块（20）。
- 根据权利要求1所述的港口集装箱水平搬运无人车卸货***，其特征在于，所述卡爪机构（12）包括设置在所述卡接套（13）底部的主板（1201），所述主板（1201）内部两侧均开设有滑动腔（1202），所述滑动腔（1202）内部穿插有支撑杆（1203），所述支撑杆（1203）中间位置穿插有与之保持垂直且螺纹配合的螺纹杆（1204），所述主板（1201）顶部中间位置设置有电机室（1205），所述电机室（1205）内底部设置有驱动电机（1206），两个所述螺纹杆（1204）穿插至所述电机室（1205）与所述驱动电机（1206）保持连接，所述螺纹杆（1204）两侧均设置有限位杆（1207），所述限位杆（1207）穿插过所述支撑杆（1203）且固定在所述滑动腔（1202）内部，所述支撑杆（1203）两端底部均设置有箱体卡扣（1208），所述支撑杆（1203）位于所述箱体卡扣（1208）与所述限位杆（1207）之间设置有滑轮（1209），所述滑动腔（1202）顶部与底部开设有与所述滑轮（1209）相配合的轮槽（1210）。
- 根据权利要求5所述的港口集装箱水平搬运无人车卸货***，其特征在于，所述主板（1201）顶部两侧均设置有绳索驱动装置（21），所述主板（1201）顶部正面与背面均设置有发电机（22），所述主板（1201）正面与背面均设置有若干等距排列的放置侧杆（23），所述放置侧杆（23）远离所述主板（1201）的一端之间设置有侧板（24）。
- 根据权利要求6所述的港口集装箱水平搬运无人车卸货***，其特征在于，所述升降架（2）内侧设置有两组与所述放置侧杆（23）相配合的放置支架（25），所述放置支架（25）为内部镂空的梯形结构，且所述放置支架（25）顶部开设有多个与所述放置侧杆（23）相配合的放置槽（26）。
- 根据权利要求7所述的港口集装箱水平搬运无人车卸货***，其特征在于，所述放置侧杆（23）为圆柱形结构，所述放置槽（26）底部为与所述放置侧杆（23）同直径的圆弧形结构，且所述放置槽（26）顶部为弧形结构。
- 一种港口集装箱水平搬运无人车卸货的方法，用于实现权利要求1-8中任意一项所述的一种港口集装箱水平搬运无人车卸货***的操作，其特征在于，该方法包括以下步骤：S1、运载无人车（15）通过定位运行至升降架（2）底部，并通过距离传感器（14）的运行是的运载无人车位于卡爪机构（12）正下方；S2、通过预设规则，对运载无人车（15）顶部的集装箱进行卡接吊装，实现卡爪机构（12）对集装箱进行固定；S3、通过卡接机构（8）与卡接套（13）的配合，同时通过起吊装置（6）实现对卡爪机构（12）的吊起；S4、通过移动装置（5）在横梁（3）顶部进行滑动，将集装箱转移至卸货区域；S5、卸下集装箱，并将卡爪机构（12）分离集装箱，通过起吊装置（6）与移动装置（5）进行回收；S6、将卡爪机构（12）悬在升降架（2）上方，实现一次集装箱的卸货。
- 根据权利要求9所述的港口集装箱水平搬运无人车卸货的方法，其特征在于，所述预设规则为当正在与卡接机构（8）连接的卡爪机构（12）正在对集装箱进行吊装时，另一个位于升降架（2）顶部的卡爪机构（12）下落对集装箱进行吊装；当正在与卡接机构（8）连接的卡爪机构（12）没有与集装箱进行吊装时，运载无人车（15）等待正在运行的卡爪机构（12）回收并对其进行吊装。
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