Container grabbing device and control method

Abstract

The present invention discloses a container grabbing device and control method, comprising a fixed frame, a telescopic vertical beam assembly, and a connecting portion. The telescopic vertical beam assembly comprises a vertical guide sleeve and a vertical guide rod, the vertical guide rod being inserted into the vertical guide sleeve and telescopically engaged with the vertical guide sleeve. There are four telescopic vertical beam assemblies, and eight connecting portions for connecting to containers. The upper ends of the four telescopic vertical beam assemblies are respectively connected to the four corners of the fixed frame, the upper end of the vertical guide sleeve is provided with a connecting portion, and the lower end of the vertical guide rod is provided with a connecting portion. The present invention provides a container grabbing device capable of grabbing two containers simultaneously, thereby improving the efficiency of grabbing and transferring containers.

Description

Technical Field

[0001] The present invention belongs to the technical field of container lifting, and in particular relates to a container grabbing device and a control method. Background Art

[0002] In the dedicated 20-foot container storage area at a container terminal, most containers are stacked one above the other during double 20-foot container operations. Conventional container handling devices can only handle individual containers in a top-down order, impacting operational efficiency. With frequent trade exchanges between countries, the transportation of fresh food between countries via containers is even more common. Fresh food shipments into China are a frequent occurrence, becoming one of the primary sources of COVID-19 imports. Disinfection of fresh food containers, particularly at the connection points, is essential to prevent the importation of COVID-19.

[0003] At the same time, during the container grabbing process, it is necessary to identify and record the container number for later statistics and tracking.

[0004] Therefore, developing a container grabbing device and control method that can grab two containers placed in a vertical direction at one time, improve the efficiency of container grabbing and transshipment, and disinfect the containers at the same time is a technical problem that needs to be solved urgently. Summary of the Invention

[0005] In response to the problems pointed out in the background technology, the present invention provides a container grabbing device that can grab two containers at a time, thereby improving the efficiency of grabbing and transferring containers and disinfecting the containers at the same time.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0007] A container grabbing device comprises a fixed frame, a telescopic vertical beam assembly, a connecting part and a disinfecting part; the telescopic vertical beam assembly comprises a vertical guide sleeve and a vertical guide rod, the vertical guide rod is inserted into the vertical guide sleeve, and the vertical guide rod and the vertical guide sleeve are telescopically matched; the number of the telescopic vertical beam assemblies is four; the number of the connecting parts is eight, which are used to connect with the container; the disinfecting part is used to disinfect the lock hole of the container; wherein, the upper ends of the four telescopic vertical beam assemblies are respectively connected to the bottom of the four corners of the fixed frame, the upper end of the vertical guide sleeve is provided with a connecting part, the lower end of the vertical guide rod is provided with a connecting part, the upper end of the vertical guide sleeve, the upper end of the vertical guide sleeve is located next to the connecting part and the disinfecting part is provided, and the lower end of the vertical guide rod is located next to the connecting part and the disinfecting part is provided.

[0008] In some embodiments of the present application, the connecting part includes a first driving part and a locking part, and the locking part includes a lock head; the first driving part includes a first motor, and the first motor is used to drive the lock head to rotate, and the lock head engages with the container lock hole after rotation.

[0009] In some embodiments of the present application, a disinfection part is further included, which includes a nozzle, a disinfectant storage part and a disinfectant driving part. The disinfectant driving part drives the disinfectant from the disinfectant storage part to flow to the nozzle. The number of the nozzles is 8. The upper end of the vertical guide sleeve is located next to the connecting part and the nozzle is provided. The lower end of the vertical guide rod is located next to the connecting part and the nozzle is provided.

[0010] In some embodiments of the present application, a through hole is opened in the horizontal direction on the telescopic vertical beam assembly; the locking part also includes a telescopic beam, and the end of the telescopic beam close to the inner side is sleeved outside the lock head; the telescopic beam can slide relative to the through hole; the lock head can rotate relative to the telescopic beam; the first driving part also includes a second motor, a gear and a rack, the output end of the second motor is connected to the gear, the gear is engaged with the rack, and the rack is arranged on the telescopic beam.

[0011] In some embodiments of the present application, a first locking device bracket and a first locking device are further included. The first locking device bracket is disposed on the telescopic vertical beam assembly, and one end of the first locking device is disposed on the first locking device bracket. A first slot is defined on the telescopic crossbeam, and the other end of the first locking device can be inserted into the first slot and abut against the end of the lock head located in the telescopic vertical beam assembly. A second locking device bracket and a second locking device are further included. The second locking device bracket is disposed on the vertical guide sleeve, and one end of the second locking device is disposed on the first locking device bracket. A second slot is defined on the vertical guide sleeve, and the other end of the second locking device can be inserted into the second slot and abut against the vertical guide rod.

[0012] In some embodiments of the present application, a second driving unit is further included, and the second driving unit is a hydraulic cylinder, and the hydraulic cylinder is used to drive the vertical guide rod to move relative to the vertical guide sleeve.

[0013] In some embodiments of the present application, the first locking device is an electromagnetic first locking device; and further includes a control system for controlling the start and stop of the first motor, the second motor, and the hydraulic cylinder, and the control system controls the extension and retraction of the first locking device.

[0014] In some embodiments of the present application, a detection unit is further included, which includes a first position sensor, a second position sensor, a third position sensor, a first gravity sensor and a second gravity sensor, the first position sensor is used to detect the extension of the telescopic beam; the second position sensor is used to detect the rotation of the lock head, the third position sensor is used to detect the container located below, the first gravity sensor is used to detect the force on the vertical guide sleeve, the second gravity sensor is used to detect the force on the vertical guide rod, and the signals of the first position sensor, the second position sensor, the third position sensor, the first gravity sensor and the second gravity sensor are fed back to the control system; and / or, a camera and a display screen are also included, the camera is set with the telescopic vertical beam assembly, the camera is used to collect the container number, the display screen is used to display the container number, and the camera and the display screen are electrically connected to the control system.

[0015] In some embodiments of the present application, the telescopic vertical beam assembly also includes a supporting portion, which is arranged at the bottom end of the vertical guide rod, and the supporting portion includes a first guide surface and a second guide surface at angles to each other, the first guide surface is in contact with the first side surface of the bottom of the vertical guide rod and extends toward the bottom surface of the vertical guide rod; the second guide surface is in contact with a side surface of the bottom of the vertical guide rod and extends toward the bottom surface of the vertical guide rod.

[0016] On the other hand, the present application also relates to a control method of a container grabbing device, comprising:

[0017] Step 1: Grabbing the upper container: the connecting portion is connected to the lock hole of the upper container;

[0018] Step 2: Grab the container located below; the vertical guide rod extends downward relative to the vertical guide sleeve, and the connecting portion is connected to the lock hole of the container located below;

[0019] Step 3: Placing the container below: The connecting portion is removed from the lock hole of the container below; the vertical guide rod is retracted upward relative to the vertical guide sleeve;

[0020] Step 4: Placing the upper container: the vertical guide rod is retracted upward relative to the vertical guide sleeve; and the connecting portion is removed from the lock hole of the upper container.

[0021] Compared with the prior art, the advantages and positive effects of the present invention are:

[0022] Telescopic vertical beam assemblies are provided below the four corners of the fixed frame. The telescopic vertical beam assemblies include telescopically matched vertical guide sleeves and vertical guide rods. Connecting parts are provided at the lower end of the vertical guide rod and the upper end of the vertical guide sleeve. The vertical guide rod is retracted in the vertical guide sleeve, and the connection and disconnection with the lock hole of the container located above are achieved through the connecting part. The vertical guide rod extends relative to the vertical guide sleeve, and the connection and disconnection with the lock hole of the container located below are achieved through the connecting part, thereby achieving the simultaneous grasping of two containers placed in the vertical direction and improving the efficiency of container grasping and transshipment. At the same time, with the increasingly serious epidemic situation in various countries, foreign viruses are always occurring with the influx of fresh food containers. A disinfection part is provided near the connecting part. During the process of connecting the connecting part to the container, the connection between the connecting part and the container is also disinfected.

[0023] Other features and advantages of the present invention will become more apparent after reading the detailed description of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0025] Figure 1 This is a schematic diagram of the overall structure of a first embodiment of the present invention;

[0026] Figure 2 It is a front view of a first embodiment of the present invention;

[0027] Figure 3 A top view of a first embodiment of the present invention;

[0028] Figure 4 A side view of a first embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of a second embodiment of the present invention;

[0030] Reference numerals:

[0031] 100, fixed frame; 110, sling lock hole;

[0032] 200, telescopic vertical beam assembly; 210, vertical guide rod; 220, vertical guide sleeve; 230, second locking device;

[0033] 300, connecting portion; 310, locking portion; 311, lock head; 312, telescopic beam; 321, first motor; 322, second motor; 323, rack; 330, first locking device;

[0034] 400, nozzle;

[0035] 501, first position sensor; 502, third position sensor; 503, first gravity sensor;

[0036] 600, support department. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0038] In the description of this application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0039] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout this application, unless otherwise specified, "plurality" means two or more.

[0040] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0041] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0042] The disclosure below provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numbers and / or reference letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides examples of various specific processes and materials, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0043] Example 1

[0044] Since most of the 20-foot containers are stacked up and down in the storage area, in order to improve the grabbing efficiency, in this embodiment, two 20-foot containers are grabbed at the same time. Figure 1 As shown, the container grabbing device includes a fixing frame 100 , a telescopic vertical beam assembly 200 and a connecting portion 300 .

[0045] The fixing frame 100 is used to connect the upper frame of the sling above it and the telescopic vertical beam assembly 200 below it.

[0046] The four corners above the fixing frame 100 are each provided with a sling lock hole 110 for connecting with the sling upper frame located above.

[0047] The upper ends of the telescopic vertical beam assembly 200 are respectively connected to the four corners below the fixed frame 100 through the first gravity sensor 503. Since it is required to be able to grab two containers placed one above the other at the same time, and to be able to place the two containers placed one above the other on two trailers in succession, the telescopic vertical beam assembly 200 is designed to be a telescopic structure, so as to achieve adjustment of its vertical height. When the telescopic beam assembly 200 is in the extended state, it grabs the two containers placed one above the other at the same time, and the telescopic beam assembly 200 carries the two containers to the trailer where they need to be placed. The container at the bottom is first placed on the trailer, and then it is extended and retracted. The telescopic beam assembly 200 carries the container at the top to the position of the next trailer, and the container at the top is put down, thereby achieving the grabbing and placement of the two containers placed one above the other.

[0048] In this embodiment, if Figure 2 、 Figure 3 As shown, the telescopic vertical beam assembly 200 includes a vertical guide rod 210 and a vertical guide sleeve 220. The upper end of the vertical guide sleeve 220 is connected to the fixed frame 100 via a first gravity sensor 503. The lower end of the vertical guide sleeve 220 is sleeved outside the upper end of the vertical guide rod 210. The vertical guide rod 210 is inserted into the vertical guide sleeve 220. The vertical guide rod 210 and the vertical guide sleeve 220 are connected via a second gravity sensor.

[0049] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 As shown, the relative movement between the vertical guide sleeve 220 and the vertical guide rod 210 is driven by a second drive unit. Due to the large size and weight of the container, and the need for the second drive unit to extend and retract while the telescopic beam assembly 200 is carrying the container, a hydraulic cylinder is employed as the second drive unit. To prevent excessive load on the hydraulic cylinder, a second locking device 230 is provided to lock the relative position between the vertical guide sleeve 220 and the vertical guide rod 210.

[0050] like Figure 1 As shown, when the vertical guide rod 210 moves to the target position relative to the vertical guide sleeve 220, the second locking device 230 locks the relative position of the vertical guide rod 210 and the vertical guide sleeve 220. This prevents the vertical guide rod 210 from moving relative to the vertical guide sleeve 200, thereby damaging the second driving unit and causing safety risks.

[0051] In order to install the second locking device 230 , a second locking device bracket is further provided. One end of the second locking device bracket is connected to the vertical guide sleeve 220 , and the second locking device 230 is provided on the other end of the second locking device bracket.

[0052] A second slot is provided on the vertical guide sleeve 220. After the vertical guide rod 210 moves to the target position relative to the vertical guide sleeve 220, the second locking device is inserted into the second slot and abuts against the vertical guide rod 210, thereby achieving position locking between the vertical guide sleeve 220 and the vertical guide rod 210. While avoiding damage to the second driving part, it also prevents the vertical guide rod 210 from accidentally falling off in the vertical guide sleeve 220, reducing safety risks.

[0053] A third position sensor 502 is located below the vertical guide post 210. This sensor, which can be a laser rangefinder, faces downward and has a predetermined detection distance. Since collisions typically occur below the vertical guide post 210, the third position sensor 502 is installed in this location. As the vertical guide post 210 descends, the third position sensor 502 detects whether there is a container below. If a container is detected, it generates an anti-collision signal, causing the vertical guide post 210 to stop descending, thus preventing a collision.

[0054] In this embodiment, in order to connect the connecting portion 300 with the container lock hole, since two containers need to be hoisted, connecting portions 300 are respectively provided at the upper ends of the four vertical guide sleeves 220 and at the lower ends of the four vertical guide rods 210. A total of eight connecting portions 300 are provided.

[0055] like Figure 1 、 Figure 2 As shown, the connecting portion 300 includes a locking portion 310 , which includes a locking head 311 and a telescopic beam 312 . The telescopic beam 312 is sleeved on one end of the locking head 311 , and the locking head 311 can rotate relative to the telescopic beam 312 .

[0056] A through hole is provided on the telescopic vertical beam assembly 200 for connecting with the connecting portion 300 . Specifically, the through hole provided on the vertical guide rod 210 is defined as a first through hole, and the through hole provided on the vertical guide sleeve 220 is defined as a second through hole.

[0057] The vertical guide rod 210 is connected to the connecting portion 300 as follows: a telescopic crossbeam 312 passes through the first through-hole and can extend and slide relative to the first through-hole. A lock head 311 is connected to the side of the telescopic crossbeam 312 closest to the container. The telescopic crossbeam 312 can drive the lock head 311 from the first through-hole into the container's lock hole, and can also drive the lock head 311 from the container's lock hole back into the first through-hole. This effectively connects the connecting portion 300, which is connected to the vertical guide rod 210, to the lock hole of the container below.

[0058] The vertical guide sleeve 220 is connected to the connecting portion 300 as follows: a telescopic crossbeam 312 passes through the second through-hole and can extend and slide relative to the second through-hole. A lock head 311 is connected to the side of the telescopic crossbeam 312 closest to the container. The telescopic crossbeam 312 can drive the lock head 311 from the second through-hole into the container's lock hole, and can also drive the lock head 311 from the container's lock hole back into the second through-hole. This effectively connects the connecting portion 300, which is connected to the vertical guide sleeve 220, to the lock hole of the container below.

[0059] In this embodiment, if Figure 2 As shown, the connecting part also includes a first driving part, which includes a second motor 322, a gear and a rack 323. The output end of the second motor 322 is connected to the gear, and the gear is engaged with the rack 323. The rack 323 is set on the telescopic beam 312, thereby driving the movement of the telescopic beam 312, thereby driving the lateral movement of the lock head 311, and inserting the lock head 311 into the lock hole of the container.

[0060] In this embodiment, in order to detect the extension of the locking portion 310 in real time, a first position sensor 501 is further provided. The first position sensor 501 is used to detect whether the lock head 311 is extended into place, thereby ensuring a stable connection between the lock head 311 and the container lock hole.

[0061] In this embodiment, in order to achieve the connection between the lock head 311 and the lock hole of the container, the lock head 311 needs to be rotated relative to the lock hole of the container to achieve locking. The first driving unit also includes a first motor 321, and the first motor 321 drives the lock head 311 to rotate, thereby achieving a stable connection between the lock head 311 and the lock hole of the container.

[0062] In this embodiment, in order to detect the rotation of the lock head 311 in real time, a second position sensor is further provided.

[0063] Due to the serious epidemic situation abroad at present, the disinfection of import and export containers is particularly important. Since the lock hole of the container is in direct contact with the sling, the disinfection of the lock hole of the container is particularly important.

[0064] In this embodiment, there is still a disinfection unit, which includes a disinfection storage unit, a disinfectant drive unit and a nozzle 400. The disinfectant storage unit is used to store disinfectant, and the disinfectant drive unit can be a pump that delivers the disinfectant stored in the disinfectant storage unit to the nozzle 400 through a delivery pipeline.

[0065] Since the nozzle 400 focuses on disinfecting the container lock hole, the nozzle 400 is disposed on the vertical guide rod 210 or the vertical guide sleeve 220 near the lock head 311 .

[0066] In order to ensure that each container lock hole can be disinfected, the number of the spray heads 400 provided is the same as the number of the connecting parts 300 .

[0067] At the same time, while the connection between the connecting part 300 and the lock hole of the container is achieved, the disinfection part disinfects the lock hole of the container.

[0068] To ensure a stable connection between the lock head 311 and the container lock hole, the position of the lock head 311 relative to the telescopic crossbeam 312 must be maintained stably after rotation. A first locking device 330 is also provided. To support the first locking device 330, a first locking device bracket is also provided. One end of the first locking device 330 is connected to the telescopic vertical beam assembly 200 via the first locking device bracket. The telescopic crossbeam 312 has a first slot defined therein. The other end of the first locking device extends into the first slot and rests against the end of the lock head 311 located within the telescopic crossbeam 312, achieving locking. This prevents the locking portion 310 from becoming loose from the container lock hole.

[0069] Specifically, the first locking device 330 is an electromagnetic locking device.

[0070] In order to realize the control of the first motor 321, the second motor 322, the hydraulic cylinder, the first locking device 330, and the signal collection of the first position sensor 501, the second position sensor, the third position sensor 502, the first gravity sensor 503, and the second gravity sensor, a control system is provided.

[0071] In this embodiment, to facilitate connection between the connecting portion 300 and the container, a support portion 600 is provided below the vertical guide rod 210. The support portion 600 includes a first guide surface and a second guide surface. The first guide surface abuts against the first side surface of the vertical guide rod 210 and bends and extends toward the bottom of the vertical guide rod 210. The second guide surface abuts against the second side surface of the vertical guide rod 210 and bends and extends toward the bottom of the vertical guide rod 210, with the first and second side surfaces of the vertical guide rod 210 adjacent to each other. After the lock head 311 engages with the container's keyhole, the support portion 600 contacts the container, jointly lifting the container.

[0072] In addition, in order to collect the container number, a camera is provided on the telescopic vertical beam assembly 200. In order to realize the real-time display of the collected container number, a display screen is also provided. The camera and the display screen are electrically connected to the control system.

[0073] Example 2

[0074] like Figure 5 As shown, the container grabbing device in Example 1 is used to grab two containers placed vertically at one time, thereby improving the efficiency of container grabbing and transshipment. The specific steps of grabbing and placing are as follows:

[0075] S1: Grabbing of the upper container:

[0076] S11: The second motor 322 provided on the vertical guide sleeve 220 drives the telescopic beam 312 to extend;

[0077] S12: The first motor 321 provided on the vertical guide sleeve 220 drives the lock head 311 to rotate, thereby connecting the lock head 311 with the lock hole of the container located above;

[0078] S13: The first locking device provided on the vertical guide sleeve 220 is inserted into the first slot and abuts against the end of the lock head 311 inserted into the telescopic beam 312, thereby locking the relative positions of the lock head 311 and the telescopic beam 312;

[0079] S2: Grabbing of the container located below:

[0080] S21: The second driving unit drives the vertical guide rod 210 to extend relative to the vertical guide sleeve 220;

[0081] S22: The second locking device 230 is inserted into the second slot and abuts against the vertical guide rod 210, thereby locking the vertical guide sleeve 220 and the vertical guide rod 210;

[0082] S23: The second motor 322 provided on the vertical guide rod 210 drives the telescopic beam 312 to extend;

[0083] S24: The first motor 321 provided on the vertical guide rod 210 drives the lock head 311 to rotate, thereby connecting the lock head 311 to the container located below.

[0084] S25: The first locking device provided on the vertical guide rod 210 is inserted into the first slot and abuts against the end of the lock head 311 inserted into the telescopic beam 312, thereby locking the relative position relationship between the lock head 311 and the telescopic beam 312;

[0085] S3: Placement of the container located below:

[0086] S31: The first locking device provided on the vertical guide rod 210 is removed from the first slot, releasing the relative position relationship between the lock head 311 and the telescopic beam 312;

[0087] S32: The first motor 321 provided on the vertical guide rod 210 drives the lock head 311 to rotate, thereby releasing the connection between the lock head 311 and the lock hole of the container located below;

[0088] S33: The second motor 322 provided on the vertical guide rod 210 drives the telescopic beam 312 to retract and move out of the lock hole of the container; at the same time, the disinfectant driving unit drives the spray head to spray the disinfectant liquid;

[0089] S4: Placement of upper containers:

[0090] S41: The second locking device 230 provided on the vertical guide sleeve 220 is removed from the second slot, releasing the position lock between the vertical guide rod 210 and the vertical guide sleeve 220;

[0091] S42: The second driving unit drives the vertical guide rod 210 to retract relative to the vertical guide groove 220;

[0092] S43: The first locking device provided on the vertical slot rod 220 is moved out of the first slot, releasing the relative positional relationship between the lock head 311 and the telescopic beam 312;

[0093] S44: The first motor 321 provided on the vertical guide sleeve 220 drives the lock head 311 to rotate, releasing the connection between the lock head 311 and the lock hole of the container located above; at the same time, the disinfectant driving unit drives the spray head to spray the disinfectant liquid;

[0094] S45: The second motor 322 provided on the vertical guide sleeve 220 drives the telescopic beam 312 to retract and remove from the container lock hole.

[0095] In the description of the above embodiments, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0096] The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A container grabbing device, characterized in that: include: Fixed frame; The telescopic vertical beam assembly includes a vertical guide sleeve and a vertical guide rod, wherein the vertical guide rod is inserted into the vertical guide sleeve and the vertical guide rod and the vertical guide sleeve are in telescopic cooperation; the number of the telescopic vertical beam assemblies is four; and a through hole is opened in the horizontal direction on the telescopic vertical beam assembly; The connecting parts are eight in number and are used to connect to the container; the connecting parts include a first driving part and a locking part, and the locking part includes a lock head; the first driving part includes a first motor, and the first motor is used to drive the lock head to rotate, and the lock head engages with the container lock hole after rotation; the locking part also includes a telescopic beam, and the end of the telescopic beam close to the inner side is sleeved outside the lock head; the telescopic beam is slidable relative to the through hole; the lock head is rotatable relative to the telescopic beam; the first driving part also includes a second motor, a gear and a rack, the output end of the second motor is connected to the gear, the gear is meshed with the rack, and the rack is provided on the telescopic beam; A disinfection unit, which is used to disinfect the lock hole of the container; Among them, the upper ends of the four telescopic vertical beam assemblies are respectively connected to the bottom of the four corners of the fixed frame, the upper end of the vertical guide sleeve is provided with a connecting part, the lower end of the vertical guide rod is provided with a connecting part, the upper end of the vertical guide sleeve, the upper end of the vertical guide sleeve is located next to the connecting part and the disinfection part is provided, and the lower end of the vertical guide rod is located next to the connecting part and the disinfection part is provided.

2. The container grabbing device according to claim 1, characterized in that: It also includes a disinfection part, which includes a nozzle, a disinfectant storage part and a disinfectant driving part. The disinfectant driving part drives the disinfectant from the disinfectant storage part to the nozzle. The number of the nozzles is 8. The upper end of the vertical guide sleeve is located next to the connecting part and the nozzle is provided. The lower end of the vertical guide rod is located next to the connecting part and the nozzle is provided.

3. The container grabbing device according to claim 1, characterized in that: The telescopic crossbeam further comprises a first locking device bracket and a first locking device, wherein the first locking device bracket is disposed on the telescopic vertical beam assembly, and one end of the first locking device is disposed on the first locking device bracket; a first slot is provided on the telescopic crossbeam, and the other end of the first locking device can be inserted into the first slot and abut against an end of the lock head located in the telescopic vertical beam assembly; It also includes a second locking device bracket and a second locking device, the second locking device bracket is arranged on the vertical guide sleeve, and one end of the second locking device is arranged on the first locking device bracket; a second slot is opened on the vertical guide sleeve, and the other end of the second locking device can be inserted into the second slot and abut against the vertical guide rod.

4. The container grabbing device according to claim 3, characterized in that: It also includes a second driving part, which is a hydraulic cylinder. The hydraulic cylinder is used to drive the vertical guide rod to move relative to the vertical guide sleeve.

5. The container grabbing device according to claim 4, characterized in that: The first locking device is an electromagnetic first locking device; It also includes a control system, which is used to control the start and stop of the first motor, the second motor, and the hydraulic cylinder. The control system controls the extension and retraction of the first locking device.

6. The container grabbing device according to claim 5, characterized in that: The device further comprises a detection unit, which includes a first position sensor, a second position sensor, a third position sensor, a first gravity sensor, and a second gravity sensor. The first position sensor is used to detect the extension of the telescopic beam; the second position sensor is used to detect the rotation of the lock head; the third position sensor is used to detect the container located below; the first gravity sensor is used to detect the force applied to the vertical guide sleeve; the second gravity sensor is used to detect the force applied to the vertical guide rod; and signals from the first position sensor, the second position sensor, the third position sensor, the first gravity sensor, and the second gravity sensor are fed back to the control system. And / or, it also includes a camera and a display screen, the camera is set on the telescopic vertical beam assembly, the camera is used to collect the container number, the display screen is used to display the container number, and the camera and the display screen are electrically connected to the control system.

7. The container grabbing device according to claim 1, characterized in that: The telescopic vertical beam assembly also includes a supporting portion, which is arranged at the bottom end of the vertical guide rod. The supporting portion includes a first guide surface and a second guide surface at angles to each other, the first guide surface is in contact with a first side surface of the bottom of the vertical guide rod and extends toward the bottom surface of the vertical guide rod; the second guide surface is in contact with a side surface of the bottom of the vertical guide rod and extends toward the bottom surface of the vertical guide rod.

8. A method for controlling a container grabbing device according to any one of claims 1 to 7, characterized in that: include: Step 1: Grabbing the upper container: the connecting portion is connected to the lock hole of the upper container; Step 2: Grab the container located below; the vertical guide rod extends downward relative to the vertical guide sleeve, and the connecting portion is connected to the lock hole of the container located below; Step 3: Placing the container below: The connecting portion is removed from the lock hole of the container below; the vertical guide rod is retracted upward relative to the vertical guide sleeve; Step 4: Placing the upper container: the vertical guide rod is retracted upward relative to the vertical guide sleeve; and the connecting portion is removed from the lock hole of the upper container.

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