APPARATUS FOR HANDLING CONTAINER AND SKEW RESISTANCE SYSTEM THEREOF [Technical Field]

The present invention relates to an apparatus for handling a container. More particularly, the present invention relates to apparatus for handling a container that has an improved structure of an upper arm so as to easily load and unload a container, and a skew resistance system thereof. [Background Art]

In general, in order to improve the productivity and economic efficiency of a container terminal, it is necessary to minimize the waiting time of container handling equipment and container transportation equipment. For this purpose, a multi-function apparatus for handling a container that can pick up a container placed on the yard, unload a container being loaded on the ground, directly receive a container from container handling equipment, and directly pick up a container being loaded has been researched.

However, if the alignment between a vehicle and a container is poor, skew is generated, so that the multi-function apparatus for handling a container cannot smoothly load and unload a container. Therefore, the apparatus needs to be improved to stably load and unload a container even if the skew of a container is generated. [DETAILED DESCRIPTION] [Technical Problem]

Accordingly, the present invention has been made in an effort to provide an apparatus for handling a container that can stably load and unload a container even if skew is generated due to poor alignment between a vehicle and a container, and a skew resistance system thereof.

[Technical Solution]

An exemplary embodiment of the present invention provides a skew resistance system of an apparatus for handling a container.

The skew resistance system senses the alignment between a container transportation vehicle and a container to guide loading and unloading operations.

The skew resistance system includes: a skew sensing ultrasonic sensor that senses the position of the container corresponding to the alignment of the container; a tilting cylinder that adjusts the position of a twist lock of the container transportation vehicle according to the position of the container sensed by the skew sensing ultrasonic sensor; a tilting position ultrasonic sensor that senses the position of the twist lock; and a tilting control device for comparing and analyzing positions of the container and the twist lock, which are sensed by the skew sensing ultrasonic sensor and the tilting position ultrasonic sensor, to control the tilting cylinder. Another embodiment of the present invention provides an apparatus for handling a container.

The apparatus loads or unloads a container.

The apparatus includes: a twist lock that fixes the container; a tilting cylinder that adjusts the position of the twist lock to left and right sides; a skew sensing ultrasonic sensor that senses the position of the container; a tilting position ultrasonic sensor that senses the position of the twist lock; and a tilting control device for comparing and analyzing the positions of the container and the twist lock, which are sensed by the skew sensing ultrasonic sensor and the tilting position ultrasonic sensor, to control the tilting cylinder. [Advantageous Effects]

According to the embodiments, even if alignment between a self- loading/unloading vehicle and a container is poor in the apparatus for handling a container, it is possible to stably load and unload a container. [Brief Description of the Drawings]

FIG. 1 is a view showing the entire structure of a multi-function apparatus for handling a container according to an exemplary embodiment of the present invention.

FIG. 2 is a plan view of FIG. 1. FIG. 3 is a view showing the structure of a movable loading arm shown in

FIG. 1.

FIG. 4 is a view showing an inner portion of the movable loading arm shown in FIG. 3.

FIG. 5 is a view showing the structure of an upper arm shown in FIG. 3. FIG. 6 is a view illustrating an operation where the upper arm is rotated by an upper arm cylinder assembly so as to be folded or unfolded.

FIG. 7 is a view illustrating an operation where a tilting structure is extended and retracted by a tilting cylinder.

FIG. 8 is a view showing the structure of a skew sensing device according to an exemplary embodiment of the present invention.

FIG. 9 is a view illustrating a process for loading a container, which is placed on the ground and has skew, by using the skew sensing apparatus according to the exemplary embodiment of the present invention. [Best Mode]

In the following detailed description, only certain exemplary embodiments of the present invention have been shown and described, simply by way of illustration. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not restrictive. Like reference numerals designate like elements throughout the specification.

It will be further understood that the terms "comprise" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

FIGS. 1 and 2 are views showing the entire structure of a multi-function apparatus for handling a container according to an exemplary embodiment of the present invention.

Referring to FIGS. 1 and 2, a multi-function apparatus for handling a container according to an exemplary embodiment of the present invention includes a frame 100, movable loading arms 101 and 102 that are disposed on both ends of the frame 100 and load and unload a container, and a stationary loading arm 103 that is disposed in the middle of the frame 100 and loads and unloads a container.

As shown in FIGS. 1 and 2, the movable loading arms are movably disposed on both ends of the frame 100. Accordingly, when a container is loaded and unloaded, the movable loading arms 101 and 102 are moved and pick up the container.

The movable loading arms 101 and 102 have the same structure. Therefore, only one movable loading arm 101 will be described hereinafter.

The movable loading arm 101 is composed of loading arms 31 and 32 that face each other, and the loading and unloading of the container can be performed by the loading arms 31 and 32.

As shown in FIGS. 3 and 4, the movable loading arm 101 includes outer masters 33 that are movably mounted on the frame 100, inner masters 34 that are mounted on the inner sides of the outer masters 33 so as to move up and down, and cylinder assemblies 35 that connect the inner masters 34 with the outer masters 33 and move the inner masters 34 upward and downward.

Each of the outer masters 33 includes a lower arm 36 that is provided at the lower end thereof so as to be operated like a hinge. The lower arm 36 is connected to a lower arm cylinder assembly 37, thereby being capable of moving up and down.

That is, the upper portion of the lower arm cylinder assembly 37 is connected to a lower portion 36a of the outer master 33, and the lower portion thereof is connected to the lower arm 36.

Accordingly, when the lower arm cylinder assembly 37 is operated, the lower arm 36 is operated up and down like a hinge, thereby supporting the bottom of a container C.

Further, an upper arm 50 is provided at the upper portion of the inner master 34, and can pick up the container. The upper arm 50 may be driven by an upper arm cylinder assembly 57. That is, the lower portion of the upper arm cylinder assembly 57 is connected to a bracket 57a of the inner master 34, and the upper portion thereof is connected to the upper arm 50.

Accordingly, when the upper arm cylinder assembly 57 is driven, the upper arm 50 can be rotated so as to be folded or unfolded as shown in FIG. 6. As shown in FIG. 5, the upper arm 50 includes a twist lock 51 that fixes a container, a tilting cylinder 54 that adjusts the position of the twist lock 51 , a tilting position ultrasonic sensor 56 that checks the position of the twist lock 51 , and a landing pin 52 that is used to determine whether a container is fixed.

The twist lock 51 is inserted into a cast of a container C and fixed to the cast by being rotated, so that the container C can be picked up. It is possible to sense whether the container C is fixed or not by using the landing pin 52 that is positioned near the twist lock 51. The twist lock 51 and the landing pin 52 form one tilting structure 53, and are connected to the tilting cylinder 54 through a connecting rod 55. If the tilting cylinder 54 is driven and the connecting rod 55 is moved, the position of the twist lock 51 of the tilting structure 53 can be adjusted leftward and rightward as shown in FIG. 7. The position of the twist lock 51 can be detected using a distance sensed by the tilting position ultrasonic sensor 56 fixed to the upper arm 50. This prevents the container from not being smoothly picked up due to the skew of the container C. As shown in FIG. 4, the skew of the container C can be sensed by measuring a distance between the movable loading arm 101 and the container C with a skew sensing ultrasonic sensor 61 fixed to the outer master 33 of the movable loading arm 101. Further, a container guiding device 38 is provided at the upper portion of the inner master 34. Accordingly, when a container C is received from container loading/unloading equipment, the container guiding device guides the container to an accurate position.

Referring to FIG. 8, a tilting control device 800 includes a container position storing unit 801 that stores the position of the container corresponding to the skew of the container, a twist lock position storing unit 802 that stores the position of the twist lock, an analysis unit 803 that compares the position of the container with the position of the twist lock and analyzes the positions in order to calculate a position adjustment value, and a tilting cylinder control unit 804 that controls the tilting cylinder 54 so as to correspond to the calculated position adjustment value. The tilting control device 800 adjusts the position of the twist lock 51 according to the skew of the container C, and controls the tilting cylinder

54 so that the container C can be stably picked up.

It is possible to correct the skew of the container C and to stably load and unload the container by the apparatus for handling a container that has the above- mentioned structure.

Hereinafter, the operation of the apparatus for handling a container according to the exemplary embodiment of the present invention will be described in detail with reference to the drawings. When a container C placed on the ground is loaded on a vehicle by using the apparatus for handling a container as shown in FIG. 9, first, the movable loading arms are moved so that the positions of the movable loading arms 101 and 102 correspond to the size of the container C. Then, the upper arm cylinder assemblies 57 move the upper arms 50 downward. When the upper arms 50 of the movable loading arms 101 and 102 are moved downward and are ready to pick up the container, it is confirmed whether the skew of the container C is sensed by the skew sensing ultrasonic sensors 61 of the outer masters 33. Then, the tilting cylinders 54 adjust the positions of the twist locks 51 to appropriate positions.

In detail, the positions of the cast of the container C, which are sensed by the skew sensing ultrasonic sensors 61 fixed to the outer masters 33 of the movable loading arms 101 and 102, are compared with the positions of the twist locks 51 that are sensed by the tilting position ultrasonic sensors 56 of the upper arms 50, and the position adjustment values of the twist locks are analyzed so that the twist locks and the cast of the container are positioned at the same position. The analyzed adjustment values are input to the tilting cylinder control unit 804, and the tilting cylinders 54 are driven so as to correspond to the position adjustment values. The connecting rod 55 is moved due to the drive of the tilting cylinder 54, so that the tilting structure 53 is moved and the position of the twist lock 51 of the tilting structure 53 is adjusted.

If the position of the twist lock 51 is completely adjusted, the cylinder assembly 35 is moved downward until a signal is input from the landing pin 52 so that the twist lock 51 of the upper arm 50 is completely inserted into the upper corner cast of the container C. If the twist lock 51 is completely inserted into the cast of the container C, the twist lock 51 is rotated so that the cast and the twist lock 51 may not be separated from each other.

Further, the container C is lifted as high as the cylinder assembly 35 can be moved upward and the lower arm 36 is moved downward. In this case, the tilting cylinder 54 returns the twist lock 51 to an initial position, and corrects the skew of the container C.

If the container C is moved upward to the height where the lower arm 36 can be moved downward, the lower arm 36 is moved downward so as to support the bottom of the container C and the container C is then placed thereon. Further, after the twist lock 51 of the upper arm 50 is rotated so that the cast and the twist lock 51 are separated from each other, the upper arm 50 is moved upward and the twist lock 51 is separated from the cast of the container C. Self-loading of the apparatus for handling a container is finished through these processes. Meanwhile, the container C loaded on a self-loading/unloading vehicle is unloaded in the yard of a container terminal through the following processes.

When only the container C is unloaded, first, the upper arms 50 of the movable loading arms 101 and 102 are moved downward. Further, the skew of the container C is confirmed and the positions of the twist locks 51 are adjusted. Then, the cylinder assemblies 35 are moved downward, so that the twist lock 51 of the upper arm 50 is inserted into the corner cast of the container C.

When a signal representing the completion of downward movement is input from the landing pin 52 provided on the upper arm 50, the twist lock 51 is rotated in a clockwise direction by 90° so as to not be separated from the corner cast. Further, the cylinder assembly 35 is moved upward to the height where the lower arm 36 can be moved upward, thereby lifting the container C.

If the container C is moved upward to the height where the lower arm 36 can be moved upward, the lower arm 36 is moved upward and the cylinder assembly 35 is moved downward until a signal is input from the landing pin 52, so that the container C is unloaded in the yard of the terminal.

When a signal is input from the landing pin 52 and it is confirmed that the container C is completely placed on the ground of the terminal, the twist lock 51 is rotated in a clockwise direction by 90° and the cylinder assembly 35 is moved upward, so that the twist lock 51 is separated from the corner cast. As a result, self-unloading of the apparatus for handling a container is finished.

Self-loading and unloading of the apparatus for handling a container may be finished through the above-mentioned processes.