APPARATUS AND METHOD FOR HANDLING TWISTLOCKS

WIPO Patent Application WO/2022/099513

A1

An apparatus and a method for handling twistlocks configured to lock a container (4) onto a vehicle (1). The apparatus comprises a robot (2) comprising a gripper (201) configured to grip one of the twistlocks to be mounted onto or dismounted from a corner fitting of the container (4); a visual sensor arranged on the robot (2) and configured to capture a first image of the corner fitting when the vehicle (1) is moving in a twistlock handling station (3); and a control unit. The control unit is configured to obtain, from the visual sensor, the first image of the corner fitting; determine, based on the first image, a first position of the corner fitting at the moment when the first image is captured by the visual sensor; determine a handling position of the gripper (201) for the one of the twistlocks, at which the gripper (201) is to be aligned with the corner fitting, based on the first position of the corner fitting and a position correction parameter representative of a predictive displacement of the corner fitting within a predetermined response time of the robot (2); and send the handling position to the robot (2) such that the gripper (201) moves to the handling position to handle the one of the twistlocks during the moving of the vehicle (1).

TIAN YE (CN)
ZHANG JIAFAN (CN)

PCT/CN2020/128155

May 19, 2022

November 11, 2020

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ABB SCHWEIZ AG (CH)
TIAN YE (CN)
ZHANG JIAFAN (CN)

B60P7/08; B25J19/04; B65D90/00

US6688249B1	2004-02-10
CN107857071A	2018-03-30
CN109319317A	2019-02-12
CN105700530A	2016-06-22
CN107857134A	2018-03-30
CN105431370A	2016-03-23

KING & WOOD MALLESONS (CN)

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