A rigid-flexible coupling robot for yard operations

Abstract

The present invention discloses a rigid-flexible coupling robot for yard operations, comprising a mobile installation mechanism, a rigid-flexible coupling mechanism, a drone material dispensing mechanism, and a rope winding mechanism. The rigid-flexible coupling mechanism is disposed between the main frames of the mobile installation mechanism, and the rigid-flexible coupling mechanism is hoisted by the rope winding mechanism. The rigid-flexible coupling robot can realize twist lock lashing work on the sides of a container group, bridge lock lashing work on the top of a container group, and stacking work of 40-foot and 20-foot standard containers; the drone material dispensing mechanism can realize the deployment of bridge locks on the top of a container group and the auxiliary lashing belt lashing work. The present invention has the integrated functions of stacking, lashing, and material dispensing, and has both the characteristics of a hybrid mechanism and the characteristics of rigid-flexible coupling. It has a large working range, high positioning accuracy, a high degree of modularity, a simple structure, and strong practicality.

Description

Technical Field

[0001] The present invention relates to the field of palletizing robots, in particular to a rigid-flexible coupling robot used for stacking operations. Background Art

[0002] With the deepening of economic globalization, economic and trade exchanges between countries are increasing. Containers, as an indispensable component of import and export maritime transport, carry the vast majority of global cargo transportation. However, automated and efficient container stacking and lashing operations remain a challenge in the robotics field. Empty containers are typically stacked in designated storage yards, where they require stacking, lashing, and reinforcement to prevent collapse.

[0003] Empty containers can generally be stacked six layers high (up to 13 meters) in a yard. Currently, empty container palletizing operations mainly rely on equipment such as empty container handlers and forklifts. This palletizing method has high technical requirements for drivers. When stacking two layers of containers, drivers need to visually inspect whether the stacking is neat, resulting in long stacking time and low efficiency. Container lashing operations mainly include rotary locks, bridge locks, and lashing straps. Rotary locks are used for lashing all upper and lower layers of containers and are the most widely used. The loading and unloading workload of rotary locks is the heaviest and mostly simple and repetitive. Lashing straps are suitable for lashing and reinforcing the outer surface of the container, while bridge locks are used for horizontal lashing of the top container. When used, workers need to climb to the top of the container for loading and unloading operations. This lashing method is not only inefficient, labor-intensive, and has a harsh working environment, but also has certain risks and the personal safety of workers is not guaranteed.

[0004] Chinese patent CN109612764A discloses a test platform for container lashing, which is suitable for simulation tests within a factory. However, in actual application, the actual situation is often more complicated than the simulation, and interference with the lashing frame is prone to occur. In addition, due to the setting of the slider and the slide rail, the motor screw structure makes the overall weight of the frame very heavy, which is inconvenient to move and occupies power resources. In addition, it does not take into account the bridge lock lashing on the top of the container group and the lashing strap lashing work on the periphery.

[0005] Therefore, the existing technology still does not have a better container stacking and lashing integrated operation solution. Summary of the Invention

[0006] The present invention provides a rigid-flexible coupling robot for yard operations, so as to solve the problem that the existing container lashing platform cannot realize the integrated stacking and lashing operations because it does not have the container top bridge lock lashing capability.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is:

[0008] A rigid-flexible coupling robot for yard operations comprises a mobile installation mechanism (1), wherein the mobile installation mechanism (1) comprises a pair of oppositely arranged main frames (12), and a rigid-flexible coupling mechanism (2) is provided between the two main frames (12);

[0009] The rigid-flexible coupling mechanism (2) comprises a main frame (21) and an empty box crane (28); a variable stiffness rotating mechanism (25) is installed in the main frame (21) for lifting and lowering; a lifting driving mechanism for driving the variable stiffness rotating mechanism (25) to lift and lower is installed on the main frame (21); and the variable stiffness rotating mechanism (25) generates an elastic force opposite to the lifting direction when lifting and lowering, thereby achieving variable stiffness; a hoisting operation mechanism (27) is installed at the bottom of the variable stiffness rotating mechanism (25); a rotating motor (2503) is provided in the variable stiffness rotating mechanism (25) for driving the hoisting operation mechanism (27) to rotate; and the bottom of the hoisting operation mechanism (27) has a first operating mechanism with adjustable horizontal position. Arm (2701); The empty box crane (28) includes a horizontal basic frame, a hollow frame is arranged inside the basic frame, the bottom of the main frame (21) is connected to the top of the hollow frame, the bottom of the basic frame is located outside the two symmetrical sides of the hollow frame, and a plurality of rotary lock control devices are installed across each other, and the two symmetrical ends of each rotary lock control device in the horizontal direction are respectively rotatably installed with an axially vertical rotary lock (2805), and each rotary lock control device is provided with a gear transmission mechanism inside. A motor (2803) is installed on the basic frame, and the motor (2803) drives the rotary locks (2805) at both ends of the corresponding rotary lock control device to rotate through the gear transmission mechanism in each rotary lock control device;

[0010] In the mobile installation mechanism (1), each main frame (12) is respectively installed with a rope winding mechanism (5), and the rope output by each rope winding mechanism (5) is respectively passed around the pulley of the corresponding main frame (12) and then hoisted to the top of the main frame (21) in the rigid-flexible coupling mechanism (2); the second working arms (44) with adjustable horizontal and vertical positions are respectively installed on the opposite sides of the two main frames (12); the first working arm (2701) and the second working arm (44) in the rigid-flexible coupling mechanism (2) cooperate to realize the tying of the bridge lock and the twist lock of the container, the rope winding mechanism (5) cooperates with the rigid-flexible coupling mechanism (2) to realize the hoisting and stacking of the container, and the first working arm (2701) and the second working arm (44) cooperate to realize the tying operation of the container with the tying belt.

[0011] Furthermore, the horizontal position of each main frame (12) in the mobile installation mechanism (1) is adjustable.

[0012] Furthermore, the lifting drive mechanism in the rigid-flexible coupling mechanism (2) is a scissor-type lifting mechanism (24), one end of the scissor-type lifting mechanism (24) is fixed in the main frame (21), and the other end of the scissor-type lifting mechanism (24) is fixedly connected to the bottom of the variable rigidity rotation mechanism (25).

[0013] Furthermore, the variable stiffness rotation mechanism (25) further includes a mounting plate (2509) and a slewing bearing (2508). The top of the mounting plate (2509) is connected to the lifting drive mechanism, and the mounting plate (2509) is driven to rise and fall by the lifting drive mechanism. One of the inner ring and the outer ring of the slewing bearing (2508) is fixed to the bottom of the mounting plate (2509), and the other is fixedly connected to the top of the hoisting operation mechanism (27). The rotating motor (2503) is fixed on the mounting plate (2509), and the rotating motor (2503) drives the inner ring of the slewing bearing (2508). , one of the outer rings connected to the hoisting operation mechanism (27) rotates; flexible support rods (2501) are vertically fixed through the four corners of the mounting plate (2509), the upper and lower ends of each flexible support rod (2501) are respectively fixed in the main frame (21), and a spring (2502) is provided outside each flexible support rod (2501), one end of the spring (2502) is fixed on the mounting plate (2509) and the other end is fixed inside the main frame (21), and the spring (2502) generates an elastic force opposite to the lifting direction when the mounting plate (2509) is raised or lowered.

[0014] Furthermore, the rotary lock control device also includes a fixed frame (2815), and the two rotary locks (2805) corresponding to each rotary lock control device are respectively rotatably mounted on the two symmetrical ends of the fixed frame (2815) through a vertical bevel gear shaft (2809), and each bevel gear shaft (2809) is fixedly mounted with a bevel gear. The fixed frame (2815) is internally rotatably mounted with an axially horizontal rotary shaft, and end bevel gears (2810) are respectively fixedly mounted at both ends of the rotary shaft. The two end bevel gears (2810) are in one-to-one transmission engagement with the bevel gears on the two bevel gear shafts (2809), and the rotary shaft is also fixedly mounted with a middle bevel gear (2810). 812), an axially vertical power bevel gear (2813) is rotatably installed inside the fixed frame (2815), and the power bevel gear (2813) is in transmission engagement with the middle bevel gear (2812); each rotary lock control device is composed of the bevel gear rotating shaft (2809) and the bevel gear thereon, the rotating shaft and the end bevel gear (2810) thereon, the middle bevel gear (2812) and the power bevel gear (2813) to form a gear transmission mechanism, and the motor (2803) drives the power bevel gear (2813) of each rotary lock control device to rotate, and then drives the two rotary locks (2805) of the corresponding rotary lock control device to rotate through the gear transmission mechanism.

[0015] Furthermore, among the plurality of rotary lock control devices, at least one rotary lock control device has a fixed frame (2815) with a bidirectional driving device (2807) installed at the bottom thereof, and both ends of the bidirectional driving device (2807) are fixedly connected to mounting seats, and the two mounting seats are slidably connected to the two symmetrical ends of the fixed frame (2815) to form a telescopic beam structure, and the bidirectional driving device (2807) drives the two mounting seats to move toward or away from each other; the end bevel gears (2810) corresponding to the fixed frame (2815) of the rotary lock control device with the bidirectional driving device (2807) are respectively located in the two mounting seats, and the two rotary locks (2807) corresponding to the rotary lock control device with the bidirectional driving device (2807) are respectively located in the two mounting seats. 5) of the bevel gear rotating shafts (2809) correspond one by one to upwardly penetrate the mounting seats and are rotatably mounted in the mounting seats, whereby the bevel gears on each bevel gear rotating shaft (2809) are respectively located in the corresponding mounting seats; when the mounting seats are driven to separate from or approach each other by the bidirectional driving device (2807), the two bevel gear rotating shafts (2809) and the corresponding two rotating locks (2805) are separated from or approached each other, and when the two rotating locks (2805) are approaching each other, the bevel gears on the bevel gear rotating shafts (2809) can be driven and meshed with the corresponding end bevel gears (2810); when the two rotating locks (2805) are moving away from each other, the bevel gears on the bevel gear rotating shafts (2809) and the corresponding end bevel gears (2810) are disengaged from each other.

[0016] Furthermore, a plurality of cameras (2804) and infrared sensors (2808) are installed at the bottom of the basic frame of the empty container crane (28), and the distance between the basic frame of the empty container crane (28) and the container is detected by the infrared sensor (2808), and the image is collected by the camera (2804) to provide image support for the operation of the first working arm (2701).

[0017] Furthermore, the invention also includes a UAV material dispensing mechanism (3), wherein the UAV material dispensing mechanism (3) includes a UAV main body (31), the belly of the UAV main body (31) is connected to a landing gear (3201), the landing gear (3201) has a plurality of legs, a movable platform (35) is installed between the plurality of legs for lifting and lowering, and a movable platform (35) lifting drive mechanism for driving the movable platform (35) to lift and lower is installed in the landing gear (3201); the bottom of the movable platform (35) has a pair of symmetrically distributed splints that can separate from each other and move closer to each other, and the movable platform (35) also has an action driving mechanism for driving the two splints to move, and the two splints cooperate with the UAV main body (31) to realize the bridge lock dispensing of the container, and the two splints assist the first working arm (2701) and the second working arm to realize the tying of the device tying belt.

[0018] Furthermore, an ultrasonic rangefinder (3503) is provided at the bottom of the moving platform (35), and the ultrasonic rangefinder (3503) senses the distance information of the moving platform (35).

[0019] Furthermore, each splint has a pair of horizontally distributed hollow windows, and axially vertical rollers (3613) are rotatably installed in the hollow windows; a pair of upper and lower distributed arc pressure plates are fixed between the two rollers (3613) on the side of each splint facing the other splint, and the inner arcs of the two arc pressure plates are opposite to each other; the two splints are also provided with mutually matching surfaces on the sides facing each other, and one of the splints is also provided with a plurality of locking strips (3614) on the side facing the other splint, and the other splint is provided with matching holes corresponding to the positions of each locking strip (3614). When the two splints approach each other, the surfaces first contact and match, and after the two splints continue to approach each other, each locking strip (3614) is inserted into the corresponding matching hole.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. This invention uses an integrated operation mode of rigid-flexible coupling robots for the stacking and lashing of empty containers in the yard, which not only improves work efficiency but also reduces the personal safety risks in previous operations.

[0022] 2. The present invention designs an empty container lifting mechanism for the stacking of empty containers. It is not only light in weight, simple in structure, and easy to operate, but also forms an integrated device with the lifting operation mechanism, so that the rigid-flexible coupling robot can complete the stacking and lashing of 20-foot and 40-foot containers, enhancing its practicality.

[0023] 3. This invention utilizes a scissor-type lifting mechanism in conjunction with a variable-rigidity rotary mechanism, integrating the hoisting mechanism with the variable-rigidity rotary mechanism. When switching between palletizing and lashing modes, the spring is compressed or tensioned, providing a buffering effect. This reduces the impact of mechanism inertia on operational accuracy, demonstrating the unique characteristics of rigid-flexible coupling. Furthermore, the rope winding mechanism allows the position of the rigid-flexible coupled robot to be controlled. Simply changing the rope length to accommodate container groups of varying sizes enhances the device's versatility.

[0024] 4. The present invention has the advantages of a large hybrid mechanism working range, high positioning accuracy, small cumulative error, small inertia, and good dynamic response characteristics. It adopts a scissor-type lifting mechanism and a variable stiffness rotation mechanism in series to achieve the effect of variable stiffness, thereby ensuring the stiffness of the working arm during the binding operation; the empty box lifting mechanism is connected in parallel with the lifting operation mechanism, which expands the operating range of the robot. At the same time, the mobile installation mechanism and the rigid-flexible coupling robot operate in parallel, which greatly improves the working efficiency.

[0025] 5. This invention utilizes a drone-mounted material placement mechanism, which not only solves the problem of high-altitude operations but also enables multiple material placement operations and auxiliary lashing functions. The chute design of the landing gear allows the landing gear to serve as a support foot for the drone during landing, while also enabling the lifting and lowering of the movable plate. This also reduces the weight of the drone itself and improves the drone's payload ratio. Furthermore, a clamping mechanism is designed to control the distance between the left and right clamping plates to meet different loading requirements for different materials, improving the flexibility and maneuverability of high-altitude operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the overall structure of the rigid-flexible coupling robot provided in an embodiment of the present invention.

[0027] Figure 2 This is a structural schematic diagram of the rigid-flexible coupling robot in palletizing mode according to an embodiment of the present invention.

[0028] Figure 3 Schematic diagram of the structure of the mobile installation mechanism of an embodiment of the present invention, wherein: (a) is a structural diagram; (b) is a partial enlarged view of position A in (a); (c) is a partial enlarged view of position B in (a).

[0029] Figure 4 It is an exploded view of the second working arm mechanism according to an embodiment of the present invention.

[0030] Figure 5 Schematic diagram of the rigid-flexible coupling mechanism according to an embodiment of the present invention.

[0031] Figure 6 1 is an exploded view of the rigid-flexible coupling mechanism according to an embodiment of the present invention.

[0032] Figure 7 It is a structural schematic diagram of a variable stiffness rotation mechanism according to an embodiment of the present invention.

[0033] Figure 8 It is a structural schematic diagram of the lifting operation mechanism according to an embodiment of the present invention.

[0034] Figure 9 It is a structural schematic diagram of the empty box crane mechanism according to an embodiment of the present invention.

[0035] Figure 10 It is an exploded view of the power output device and the twist lock control device according to an embodiment of the present invention.

[0036] Figure 11 Schematic diagram of the structure of the rigid-flexible coupling robot in the binding mode according to an embodiment of the present invention.

[0037] Figure 12 It is a structural schematic diagram of the rope winding mechanism according to an embodiment of the present invention.

[0038] Figure 13 Schematic diagram of the structure of the UAV material dispensing mechanism according to an embodiment of the present invention.

[0039] Figure 14 Another view of the UAV cloth-laying mechanism according to an embodiment of the present invention, wherein: (a) is an overall structural diagram; (b) is a partial enlarged view of the action drive position.

[0040] Figure 15 1 is a schematic structural diagram of the clamping mechanism according to an embodiment of the present invention, wherein: (a) is an overall structural diagram; (b) is a partial enlarged diagram of the molding surface position.

[0041] Figure 16 This is an operation flow chart of the rigid-flexible coupling robot according to an embodiment of the present invention.

[0042] Figure 17 This is an operation flow chart of the UAV material dispensing mechanism according to an embodiment of the present invention.

[0043] The symbols in the above drawings are:

[0044] Mobile mounting mechanism 1, Z-axis mobile platform 11, screw bearing seat 1101, Z-axis linear guide 1102, slider mounting bearing seat 1103, guide rail slider 1104, Z-axis ball screw 1105, clamping nut 1106, coupling 1107, servo motor 1108, screw mounting base plate 1109, main frame 12, pulley top plate 13, fixed pulley 14, pulley base plate 15, roller 16.

[0045] Rigid-flexible coupling mechanism 2, main frame 21, layer plate 2201, upper column base plate 2202, lower column base plate 2203, side arm 23, scissor lift mechanism 24, lifting top plate 2401, hydraulic cylinder 2402, lifting bottom frame 2403, variable stiffness rotation mechanism 25, flexible support rod 2501, spring 2502, rotating motor 2503, reducer 2504, motor mounting plate 2505, rotating gear 2506, angle sensor 2507, internal gear slewing bearing 2508, mounting plate 2509, positioning plate 26, hoisting operation mechanism 27, first working arm 2701, mounting plate 2702, linear guide slider 2703, linear guide 2704, screw bearing 2705, bearing seat 2706, lead screw 2707, mounting bearing seat 2708, lead screw nut 2709, fastening screw 2710, lead screw base plate 2711, drive motor 2712, motor mounting seat 2713, small bevel gear 2714, large bevel gear 2715; empty box crane 28, crossbeam 2801, end beam 2802, motor 2803, 3D camera 2804, rotary lock 2805, telescopic beam structure 2806, bidirectional drive device 2807, infrared sensor 2808, bevel gear shaft 2809, end bevel gear 2810, bearing 2811, middle bevel gear 2812, power bevel gear 2813, driven pulley 2814, fixing bracket 2815, chain 2816, driving pulley 2817.

[0046] UAV fabric dispensing mechanism 3, UAV body 31, landing gear 3201, chute 3202, camera 33, micro motor 3401, take-up reel 3402, pull rope 3403, threading ring 3404, slip ring 3405, moving platform 35, movable plate 3501, square corner bracket 3502, ultrasonic rangefinder 3503, clamping mechanism 36, motor 3601, bracket 3602, transmission gear 3603, synchronous gear 3604, belt gear 3605, synchronous belt 3606, bearing seat 3607, second clamping plate 3608, first clamping plate 3609, micro screw 3610, bearing 3611, transmission nut 3612, roller 3613, and locking bar 3614.

[0047] Second working arm mechanism 4, moving slide 41, Y-axis linear guide 42, working arm mounting base 43, second working arm 44, driving motor 4501, driving gear 4502, slider 46, infrared sensor 47, rack 48, 3D camera 49.

[0048] Rope winding mechanism 5 , reel 51 , reel bracket 52 , coupling 53 , reducer 54 , rope winding motor 55 , motor mounting bracket 56 , mounting platform 57 , rope winding 58 .

[0049] Mobile platform 6, track 61, and railcar 62.

[0050] Container group 7, 40-foot container 71. DETAILED DESCRIPTION

[0051] To help those skilled in the art better understand the present invention, the following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings and examples. This will help those skilled in the art to fully understand and implement the present invention by applying technical means to solve technical problems and achieve corresponding technical effects. The embodiments of the present invention and the various features therein may be combined with each other as long as they do not conflict with each other, and the resulting technical solutions are all within the scope of protection of the present invention.

[0052] Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0053] It should be noted that the terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or apparatuses.

[0054] like Figure 1 、 Figure 2 As shown, this embodiment discloses a rigid-flexible coupling robot for yard operations, including a mobile installation mechanism 1, a rigid-flexible coupling mechanism 2, a drone material laying mechanism 3, a second working arm mechanism 4, a rope winding mechanism 5, and a mobile platform 6.

[0055] In this embodiment, the mobile platform 6 includes a pair of rails 61 symmetrically distributed in the X direction, each rail 61 extends along the Y direction, and a rail car 62 is installed on each rail 61. The rail car 62 can move in the Y direction along the rail 61.

[0056] In this embodiment, the mobile installation mechanism 1 includes a pair of main frames 12 symmetrically distributed in the X direction. Each main frame 12 is a vertical rectangle. The main frame 12 is composed of "L"-shaped steel. Every 8 groups of "L"-shaped steel are welded to form an elevated group as the main frame 12. Elevated groups can be modularly added according to actual requirements to meet working conditions. Figure 3 As shown, the two main frames 12 are arranged one by one on the two rail cars 62 in the mobile platform 6, and the bottom of each main frame 12 is fixed to the top of the corresponding rail car 62, so that the Y-axis horizontal position of the corresponding main frame 12 can be adjusted through the rail car 62.

[0057] A triangular support is fixed to each main frame 12 on both sides of the Y direction at the top, and a pulley top plate 13 is fixed to the side of the top of each triangular support. A plurality of fixed pulleys 14 with their axes horizontal in the Y direction are rotatably mounted on each pulley top plate 13. The triangular structure of the triangular support increases its stability and improves the load-bearing capacity of the top of the main frame 12. A pulley bottom plate 15 is fixed to each rail car 62 on both sides of the Y direction at the top of the corresponding main frame 12, and a plurality of rollers 16 with their axes horizontal in the Y direction are rotatably mounted on each pulley bottom plate 15.

[0058] A Z-axis mobile platform 11 is provided on the side of each main frame 12 facing each other. Each Z-axis mobile platform 11 includes a screw mounting base plate 1109, which is vertically fixed to the side of the corresponding main frame 12. A screw bearing seat 1101 is fixed to the upper surface of each screw mounting base plate 1109, and a servo motor 1108 is fixed to the lower surface of each screw mounting base plate 1109. The main shafts of the servo motors 1108 are vertically upward and coaxially fixedly connected to the Z-axis ball screws 1105 through couplings 1107 and compression nuts 1106. The upper ends of the Z-axis ball screws 1105 are rotatably mounted in the corresponding screw bearing seats 1101. The Z-axis ball screws 1105 are respectively threadedly assembled with slider mounting bearing seats 1103. Each screw mounting base 1109 is respectively fixed with vertically extending Z-axis linear guide rails 1102 on both sides of the Z-axis ball screw 1105, and each Z-axis linear guide rail 1102 is respectively slidably mounted with two guide rail sliders 1104.

[0059] In this embodiment, there are two groups of second working arm mechanisms 4, and the two groups of second working arm mechanisms 4 are mounted on the Z-axis moving platforms 11 on the opposite sides of the two main frames 12. Figure 3 (a), (b), (c) and Figure 4As shown, each second working arm mechanism 4 includes a moving slide 41, a working arm mounting base plate 43, and a second working arm 44; one side of each moving slide 41 is fixed to the guide rail slider 1104 and the slider mounting bearing seat 1103 of the corresponding Z-axis moving platform 11, and the upper and lower side positions of the other side of each moving slide 41 are respectively fixed with Y-axis linear guides 42 extending in the Y direction, and two sliders 46 are respectively slidably installed on each Y-axis linear guide 42, and the working arm mounting base plate 43 is fixed to each slider 46; the other side of each moving slide 41 is also fixed with a rack 48 parallel to the Y-axis linear guide 42, and a drive motor 4501 is fixed on the working arm mounting base plate 43, and the output shaft of the drive motor 4501 passes through the working arm mounting base plate 43 and points to the moving slide 41, and the output shaft of the drive motor 4501 is fixedly installed with a drive gear 4502, and the drive gear 4502 is engaged with the rack 48; the second working arm 44 is fixed to the other side of the working arm mounting base plate 43.

[0060] Thus, in this embodiment, when the servo motor 1108 of the Z-axis mobile platform 11 on each stand 12 drives the Z-axis ball screw 1105 to rotate, the corresponding second working arm mechanism 4 can be moved as a whole in the Z direction. The drive motor 4501 in each second working arm mechanism 4 drives the drive gear 4502 to rotate, causing the working arm mounting base 43 and second working arm 44 in the second working arm mechanism 4 to move as a whole in the Y direction, thereby enabling each second working arm 44 to achieve movement within the YZ plane. Stoppers are provided at both ends of the moving slide 41 to prevent the working arm mounting base 43 and working arm 44 from exceeding their operating range.

[0061] In addition, a 3D camera 49 for visual identification and an infrared sensor 47 for distance detection are respectively provided at both ends of the mobile slide 41. The infrared sensor 47 detects the distance between the mobile slider 41 corresponding to the second working arm 44 and the container, and the 3D camera 49 collects images to provide image support for the operation of the second working arm 44.

[0062] In this embodiment, the rigid-flexible coupling mechanism 2 is provided between the two main frames 12 in the mobile installation mechanism 1. Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 As shown, the rigid-flexible coupling mechanism 2 includes a main frame 21, a scissor-type lifting mechanism 24, a variable stiffness rotation mechanism 25, a hoisting operation mechanism 27, and an empty box crane 28.

[0063] like Figure 5 、 Figure 6As shown, the main frame 21 is a rectangular parallelepiped frame structure, the top of the main frame 21 is a frame plate, and the four corners of the top frame plate of the main frame 21 are respectively fixed with lifting rings. Inside the main frame 21, a layer plate 2201 is fixed between the four vertical frame edges of the main frame 21. The layer plate 2201 is located below the top frame plate of the main frame 21. The scissor lift mechanism 24 is provided below the layer plate 2201. The scissor lift mechanism 24 is a hydraulic scissor lift platform. The scissor lift mechanism 24 includes a lifting top plate 2401, a lifting bottom frame 2403, and a scissor arm connecting the lifting top plate 2401 and the lifting bottom frame 2403. A hydraulic cylinder 2402 is installed inside the scissor lift mechanism 24, and the lifting action is realized by driving the hydraulic cylinder 2402, wherein the lifting top plate 2401 of the scissor lift mechanism 24 is fixedly connected to the bottom of the layer plate 2201.

[0064] A horizontal upper column base plate 2202 and a lower column base plate 2203 located below the upper column base plate 2202 are respectively fixed to the edges of the four vertical frames inside the main frame 21. Each upper column base plate 2202 is located below the layer plate 2201, and each upper column base plate 2202 is in the same horizontal plane, and each lower column base plate is in the same horizontal plane.

[0065] like Figure 7 As shown, the variable-stiffness rotation mechanism 25 includes a rotating motor 2503, an internally geared slewing bearing 2508, and a mounting plate 2509. The mounting plate 2509 is located between the planes defined by the upper column base plates 2202 and the lower column base plates 2203. The four corners of the mounting plate 2509 extend between the upper column base plates 2202 and the lower column base plates 2203 at the four vertical edges of the main frame 21. The lifting base frame 2403 of the scissor-type lifting mechanism 24 is fixedly connected to the top of the mounting plate 2509. Thus, the scissor-type lifting mechanism 24 serves as the lifting drive mechanism to drive the lifting movement of the mounting plate 2509 in the variable-stiffness rotation mechanism 25. Flexible support rods 2501 are respectively fixedly installed through the four corners of the mounting plate 2509. The upper end of each flexible support rod 2501 is fixedly connected to the upper column foot plate 2202 above the corresponding corner of the mounting plate 2509, and the upper end of each flexible support rod 2501 is fixedly connected to the lower column foot plate 2203 below the corresponding corner of the mounting plate 2509, so that each flexible support rod 2501 is installed inside the main frame 21. Four groups of springs 2502 are respectively connected between the upper column foot plate 2202 corresponding to each flexible support rod 2501 and the corners of the mounting plate 2509. A total of 16 groups of springs cooperate with the variable stiffness rotating mechanism 25 to compress or stretch when the mounting plate 2509 is raised or lowered, thereby generating an elastic force opposite to the lifting direction to achieve the effect of variable stiffness.

[0066] The rotating motor 2503 is fixed to the top of the mounting plate 2509 through the motor mounting plate 2505. The outer ring of the internally-toothed slewing bearing 2508 is fixed to the bottom of the mounting plate 2509. A rotating gear 2506 is provided in the inner ring of the internally-toothed slewing bearing 2508. The rotating gear 2506 and the inner ring of the internally-toothed slewing bearing 2508 are meshed with each other. The output shaft of the rotating motor 2503 is connected to the input shaft of a reducer 2504. The output shaft of the reducer 2504 passes vertically downward through the mounting plate 2509, and the rotating gear 2506 is fixed to the output shaft of the reducer 2504. The output shaft of the rotating motor 2503 is also installed with an angle sensor 2507. Therefore, the rotating motor 2503 is used as a power source to drive the inner ring of the internally-toothed slewing bearing 2508 to rotate, and the rotation amount of the inner ring of the internally-toothed slewing bearing 2508 is obtained through the angle sensor 2507.

[0067] like Figure 8 As shown, the hoisting mechanism 27 includes a screw base plate 2711, a mounting plate 2702, a first operating arm 2701, a bearing seat 2706, a mounting bearing seat 2708, and a screw 2707. The top of the screw base plate 2711 is fixed to the bottom of the inner ring of the internally geared slewing bearing 2508. Parallel linear guide rails 2704 extending horizontally are fixed to two symmetrical sides of the bottom of the screw base plate 2711. A linear guide slider 2703 is slidably mounted on each linear guide rail 2704. The bearing seat 2706 and the mounting bearing seat 2708 are each secured between the two linear guide rails 2704 at the bottom of the screw base plate 2711 via fastening screws 2710. The straight line defined by the bearing seat 2706 and the mounting bearing seat 2708 is parallel to the linear guide rails 2704. Screw bearings 2705 are each mounted in the bearing seat 2706 and the mounting bearing seat 2708. The screw 2707 is mounted in the screw bearings of the bearing seat 2706 and the mounting bearing seat 2708. A screw nut 2709 is threadedly assembled on the screw 2707. A large bevel gear 2715 is fixed to one end of the screw 2707. A drive motor 2712 is secured to the bottom of the screw base plate 2711 via a motor mounting seat 2713. A small bevel gear 2714 is fixed to the output shaft of the drive motor 2712, which is in driving engagement with the large bevel gear 2715. The top of the mounting plate 2702 is fixed to the lead screw nut 2709 and each linear guide slider 2703 , and the first working arm 2701 is installed on the bottom of the mounting plate 2702 .

[0068] Thus, the scissor-type lifting mechanism 24 drives the variable-rigidity rotation mechanism 25 and the hoisting mechanism 27 to move upward and downward as a whole, thereby causing the first working arm 2701 to move upward and downward. The rotating motor 2503 in the variable-rigidity rotation mechanism 25 drives the inner ring of the internally geared slewing bearing 2508 to rotate, causing the hoisting mechanism 27 to rotate as a whole, thereby causing the first working arm 2701 to rotate. The drive motor 2712 in the hoisting mechanism 27 drives the lead screw 2707 to rotate, thereby causing the mounting plate 2702 and the first working arm 2701 to move horizontally. Therefore, in this embodiment, the first working arm 2701 can achieve Z-axis movement and horizontal position adjustment in any direction.

[0069] like Figure 9 、 Figure 10 As shown, the empty container crane 28 comprises a basic frame comprising two parallel end beams 2802 extending in the Y direction. A crossbeam 2801 extending in the X direction is connected between the ends of the two end beams 2802 in the same direction, forming an overall rectangular basic frame. Two connecting beams connect the middle portions of the two end beams 2802. These connecting beams and the portion of the end beams 2802 between them form a hollow frame in the center of the basic frame. The horizontal cross-sectional area within the hollow frame is the same as that of the bottom of the main frame 21. The external dimensions of the hollow frame are consistent with those of a 40-foot standard container, while the internal dimensions are compatible with those of a 20-foot standard container. The bottom of the main frame 21 is fixedly connected to the top of the corresponding end beams 2802 within the hollow frame. Specifically, the lower ends of the four vertical frame edges of the main frame 21 are fixedly connected to the top portions of the two corresponding end beams 2802 within the hollow frame, thus forming the main frame structure of the rigid-flexible coupling mechanism 2. The top four corners of the main frame 21 and the four corners of the basic frame of the empty box crane 28 are rigidly connected with side arms 23 in a one-to-one correspondence, thereby forming a triangular structure to make the connection more stable. An L-shaped positioning plate 26 is fixedly connected between the lower end of each vertical frame edge of the main frame 21 and the corresponding end beam 2802, further increasing the stability of the connection.

[0070] The bottom of the basic frame of the empty box crane 28 is located on both sides of the hollow frame in the Y direction, and a rotary lock control device is installed across it. There are two groups of rotary lock control devices on each side, and one group of rotary lock control devices on each side is located at the bottom of the corresponding side edge of the basic frame of the empty box crane 28 in the Y direction (that is, the bottom of the beam 2801), and the other group of rotary lock control devices on each side is located between the corresponding side edge of the basic frame of the empty box crane 28 in the Y direction and the hollow frame.

[0071] Each rotary lock control device includes a fixed frame 2815 with its long side along the X-direction, and rotary locks 2805 located at both ends of the fixed frame 2815 in the X-direction. The fixed frame 2815 in each rotary lock control device spans the base frame of the empty container crane 28 in the X-direction, and the top of the fixed frame 2815 is fixed to a corresponding position at the bottom of the base frame of the empty container crane 28. Two rotating shafts axially along the X direction and coaxially distributed are rotatably installed in each fixed frame 2815 through bearings 2811, and a middle bevel gear 2812 is fixed on the opposite ends of the two rotating shafts in each fixed frame 2815. The ends of the two rotating shafts in each fixed frame 2815 that are away from each other respectively pass through the end of the corresponding fixed frame 2815 and are respectively fixed with end bevel gears 2810. The top of each fixed frame 2815 is located between the opposite ends of the two rotating shafts and a power bevel gear 2813 is rotatably installed through an axially vertical gear shaft. The power bevel gear 2813 in each fixed frame 2815 is simultaneously engaged with the middle bevel gears 2812 on the two rotating shafts, and the gear shaft of the power bevel gear 2813 vertically passes through the top of the corresponding fixed frame 2815 and is fixed with a driven wheel 2814.

[0072] Each rotary lock control device has two rotary locks 2805 arranged vertically, and the upper end of each rotary lock 2805 is fixedly connected to an axially vertical bevel gear rotating shaft 2809. Each rotary lock control device's fixed frame 2815 is connected to mounting seats at both ends in the X direction. The ends of the two rotating shafts in each fixed frame 2815, on which end bevel gears 2810 are mounted, extend into the mounting seats in the corresponding directions, so that the end bevel gears 2810 are both located within the mounting seats. The bevel gear rotating shafts 2809 on the rotary locks 2805 in each rotary lock control device vertically penetrate the mounting seats at both ends of the fixed frame 2815 in the X direction and are rotatably mounted on the mounting seats. A bevel gear is fixed to one end of each bevel gear rotating shaft 2809 located within the mounting seat. The bevel gear on each bevel gear rotating shaft 2809 is in driving engagement with the end bevel gear 2810 in the corresponding mounting seat.

[0073] In each rotary lock control device, a gear transmission mechanism is composed of the bevel gear shaft 2809 of each rotary lock and the bevel gear on it, the two rotary shafts in each fixed frame and the end bevel gears 2810 and the middle bevel gear 2812 on the rotary shaft, and the power bevel gear 2813 of each fixed frame and its gear set. The gear transmission in the gear transmission mechanism brings a more precise rotation angle to prevent the rotary lock from falling off.

[0074] In this embodiment, in the rotary lock control device located on the Y-direction side of the basic frame of the empty box crane 28 (i.e., the bottom of the beam 2801), the mounting seat is fixedly connected to the fixing frame 2815 corresponding to the X-direction end, and the spacing between the rotary locks 2805 in the two rotary lock control devices located on the Y-direction side of the basic frame of the empty box crane 28 cannot be adjusted.

[0075] In this embodiment, in the rotary lock control device located between the Y-direction side and the hollow frame of the basic frame of the empty box crane 28, the mounting seat is slidably connected to the X-direction end corresponding to the fixed frame 2815, thereby forming a telescopic beam structure 2806, and a bidirectional driving device 2807 is installed at the bottom of the fixed frame 2815 corresponding to the telescopic beam structure 2806. The bidirectional driving device 2807 adopts a bidirectional telescopic motor. The two telescopic ends of the bidirectional driving device 2807 are respectively fixedly connected to the corresponding two telescopic beam structures 2806, and the two mounting seats are driven by the bidirectional driving device 2807 to move closer to or away from each other. The rotating shafts in the fixed frame 2815, which is equipped with the bidirectional drive device 2807, extend from the corresponding ends of the fixed frame 2815 in the X direction and then into the mounting seats in the corresponding directions. The end bevel gears 2810 at the ends of the rotating shafts are respectively located in the corresponding mounting seats. The bevel gear rotating shafts 2809 of the two corresponding rotating locks 2805 of the rotating lock control device equipped with the bidirectional drive device 2807 extend upwardly through the mounting seats and are rotated and installed in the mounting seats, thereby positioning the bevel gears on each bevel gear rotating shaft 2809 in the corresponding mounting seats. When the bidirectional drive device 2807 drives the mounting seats to separate or approach each other, the two bevel gear rotating shafts 2809 and the corresponding two rotating locks 2805 are separated or approached. When the two rotating locks 2805 approach each other, the bevel gears on the bevel gear rotating shafts 2809 can engage with the corresponding end bevel gears 2810. When the two rotating locks 2805 move away from each other, the bevel gears on the bevel gear rotating shafts 2809 disengage from the corresponding end bevel gears 2810.

[0076] The rotary lock control device, equipped with a bidirectional drive 2807, has a corresponding telescopic beam 2806 with a maximum extension slightly larger than the crossbeam 2801, creating a space suitable for 20-foot standard containers. The bidirectional drive 2807 controls the movement of two sets of bevel gear shafts 2809 in the X-direction. When the empty container crane 28 is in the 40-foot standard container stacking mode, the bidirectional drive 2807 controls the two sets of bevel gear shafts 2809 to move away from each other in the X-direction, thereby preventing interference between the rotary locks 2805 located on the Y-direction side of the empty container crane 28's base frame and the container. When the empty container crane 28 is in the 20-foot standard container stacking mode, the bidirectional drive 2807 controls the two sets of bevel gear shafts 2809 to move toward each other in the X-direction, allowing the four sets of rotary locks 2805 located between the Y-direction side of the empty container crane 28's base frame and the hollow frame to engage with the container, completing the stacking operation.

[0077] Two sets of power output devices are installed on the basic frame of the empty container crane 28. One set of power output devices is used to drive the hollow frame Y to rotate the two sets of rotation lock control devices on one side, and the other set of power output devices is used to drive the hollow frame Y to rotate the two sets of rotation lock control devices on the other side. Figure 10 As shown, each power output device includes a motor 2803, a driving pulley 2817, and a chain 2816. Each motor 2803 is fixed to a base frame. Each power output device has two driving pulleys 2817, each of which is fixed to the output shaft of the corresponding motor 2803. One driving pulley 2817 in each power output device is connected to a driven pulley 2814 above a fixed frame 2815 in one of the corresponding rotary lock control devices via a chain 2816. The other driving pulley in each power output device is connected to a driven pulley above a fixed frame in another corresponding rotary lock control device via a chain. Thus, the motor 2803 in each power output device drives the rotary locks 2805 in the corresponding rotary lock control devices via the driven pulleys 2814 and gear transmission mechanisms in the two corresponding rotary lock control devices. Each power output device can synchronously control the corresponding rotary lock control devices, saving motors and reducing weight.

[0078] In the basic frame of the empty container crane 28, an infrared sensor 2808 is provided in the middle position at the bottom of each end beam 2802, which can detect the distance between the basic frame of the empty container crane 28 and the standard container. Only when the detected distance meets the safety lifting threshold, the power output device will control the corresponding rotary lock 2805 in the rotary lock control device to rotate 90 degrees, thereby locking with the container; when the detected distance meets the safety lifting threshold, the power output device will control the corresponding rotary lock 2805 in the rotary lock control device to unlock, thereby releasing the locking cooperation with the container.

[0079] In the basic frame of the empty box crane 28, a 3D camera 2804 is installed at one quarter of each beam 2801. The images collected by the 3D camera 2804 can provide three-dimensional image technical support for the operation of the first working arm 2701 in the rigid-flexible coupling mechanism 2.

[0080] When the rigid-flexible coupling mechanism 2 is in the stacking mode, the scissor-type lifting mechanism 24 drives the mounting plate 2509 to move upward, and at the same time, the first working arm 2701 contracts until the entire lifting operation mechanism 27 is on the upper part of the empty box crane 28 without affecting the stacking operation; when the rigid-flexible coupling mechanism 2 is in the binding mode, the scissor-type lifting mechanism 24 drives the mounting plate 2509 to move downward until the screw base plate 2711 is below the empty box crane 28 without affecting the rotation operation. At the same time, due to the variable stiffness effect of the variable stiffness rotation mechanism 25, the binding operation is more stable and reliable.

[0081] In this embodiment, the rope winding mechanisms 5 are respectively arranged on the rail cars 62 of the mobile platform 6, and each rail car 62 is respectively provided with two sets of rope winding mechanisms 5. Figure 11 、 Figure 12As shown, each rope winding mechanism 5 includes a drum 51, a drum support 52, a coupling 53, a speed reducer 54, a rope winding motor 55, a motor mounting bracket 56, a mounting platform 57, and a rope 58. The mounting platform 57 and the drum support 52 in the rope winding mechanism 5 are respectively fixed to the top of the corresponding rail vehicle 62, and a safe distance is maintained between the mounting platform 57 and the drum support 52 and the main frame 12 on the corresponding rail vehicle 62. The rope winding motor 55 is fixed to the mounting platform 57 via the motor mounting bracket 56, and the speed reducer 54 is fixed to the mounting platform 57. The drum 51 is rotatably mounted on the drum support 52, and the rope 58 is wound around the drum. The output shaft of the rope winding motor 55 is connected to the input shaft of the speed reducer 54, and the output shaft of the speed reducer 54 is connected to one axial end of the drum 51 via the coupling 53. The rope winding motor 55 in each rope winding mechanism 5 drives the drum 51 to rotate, thereby realizing the retraction and extension of the rope 58.

[0082] The two sets of rope winding mechanisms 5 on each railcar 62 correspond one-to-one with the rollers 16 on both sides of the main frame 12 in the Y direction and the fixed pulleys 14 on the triangular supports on both sides of the main frame 12 in the Y direction on each railcar 62. Specifically, in each set of rope winding mechanisms 5, the rope 58 first passes horizontally around the corresponding rollers 16 located at the top of the corresponding railcar 62, then passes upward around the corresponding fixed pulleys 14 of the corresponding main frame 12, and then extends downward to the top of the rigid-flexible coupling mechanism 2 between the two main frames 12. The ropes 58 output by the four sets of rope winding mechanisms 5 are connected one-to-one to the lifting rings at the four corners of the top frame plate of the main frame 21 in the rigid-flexible coupling mechanism 2. Therefore, each rope 58 can evenly distribute the pressure brought by the rope to the vehicle body 62 and the main frame 12 through the corresponding multiple sets of rollers 16 and fixed pulleys 14, avoiding stress concentration.

[0083] like Figure 1 、 Figure 2 、 Figure 11 As shown, the rope winding mechanism 5 can control the wide range of movement of the rigid-flexible coupling mechanism 2 by retracting and releasing four sets of ropes 58. During the palletizing operation, the rope winding mechanism 5 can lift the rigid-flexible coupling mechanism 2 above the container group 7 consisting of a stack of 40-foot containers 71. The first working arm 2701 and the second working arm 44 in the rigid-flexible coupling mechanism 2 cooperate to realize the lashing of the bridge lock and twist lock of the container. The rope winding mechanism 5 cooperates with the rigid-flexible coupling mechanism 2 to realize the lifting and stacking of the container 71, and the first working arm 2701 and the second working arm 44 cooperate to realize the lashing operation of the container group 7 with the lashing belt.

[0084] The UAV material dispensing mechanism 3 of this embodiment is used in conjunction with the rigid-flexible coupling mechanism 2. Figure 13 、 Figure 14 、 Figure 15As shown, the UAV fabric dispensing mechanism 3 includes a UAV body 31, a landing gear 3201, a moving platform 35, and a clamping mechanism 36. The UAV body 31 is a quad-rotor UAV, and a camera 33 is installed on the belly of the UAV body 31 to provide image information for the fabric.

[0085] like Figure 14 As shown in Figures (a) and (b), the landing gear 3201 comprises a torus with a raised ring on top. The torus in the landing gear 3201 is secured to the underside of the drone body 31 via the raised ring. Four sets of vertically extending legs are connected to the bottom of the torus in the landing gear 3201, providing support for the drone body 31 during landing. Each set of legs is hollowed out to form a vertically extending slot 3202.

[0086] The movable platform 35 includes a movable plate 3501, which is provided with multiple groups of strip-shaped holes. This reduces weight and facilitates wiring layout. The movable plate 3501 is vertically positioned between the four legs of the landing gear 3201. Square brackets 3502 are connected to the edges of the movable plate 3501, corresponding to each leg position. Each square bracket 3502 is connected to a slip ring 3405, which slides into the corresponding leg's slot 3202. A threading ring 3404 is fixed at the upper end of the slide groove 3202 of each supporting leg, and a micro motor 3401 is fixed at the bottom of the circular ring body of the landing gear 3201 corresponding to each supporting leg. The output shaft of the micro motor 3401 is fixed with a wire reel 3402, and a pull rope 3403 is wound around the wire reel 3402. The pull rope 3403 passes downward through the threading ring 3404 in the corresponding supporting leg and is then fixedly connected to the slip ring 3405 in the slide groove 3202 of the corresponding supporting leg.

[0087] A micromotor 3401 drives a take-up drum 3402, which in turn controls the retraction and extension of a pull rope 3403. One end of the pull rope 3403 is connected to the take-up drum 3402, and the other end is connected to a slip ring 3405. The rope passes through a threading ring 3404, which is mounted on the upper end of the chute 3202. This prevents the rope 3403 from becoming entangled with the landing gear 3201 during retraction. The four sets of rope-retraction devices allow the platform 35 to freely rise and fall within the annular area formed by the four sets of legs.

[0088] like Figure 15 As shown in (a) and (b), the clamping mechanism 36 is installed at the bottom of the movable disk 3501. The clamping mechanism 36 includes a first clamping plate 3609, a second clamping plate 3608 and a motion driving mechanism. The motion driving mechanism drives the first clamping plate 3609 and the second clamping plate 3608 to separate from and approach each other.

[0089] A plurality of ultrasonic rangefinders 3503 are provided at the bottom of the movable plate 3501 near the peripheral edge thereof. The ultrasonic rangefinders 3503 sense the distance information of the movable platform 35 and can provide the distance information for the UAV material distributing mechanism 3 .

[0090] The motion drive mechanism includes a motor 3601 fixed to the bottom of the movable plate 3501 via a bracket 3602, and two micro screws 3610 rotatably mounted to the bottom of the movable plate 3501 via bearing blocks 3607 and bearings 3611. The two micro screws 3610 are axially horizontal and parallel to each other. Each micro screw 3610 is threadedly assembled with a drive nut 3612, and the two drive nuts 3612 rotate in opposite directions. A gear 3605 is fixedly mounted on one end of the two micro screws 3610 in the same direction, and the two gears 3605 are connected by a synchronous belt 3606. A transmission gear 3603 is fixedly mounted on the output shaft of the motor 3601, one of which is coaxially fixedly connected to a synchronous gear 3604, and the transmission gear 3603 and the synchronous gear 3604 are in driving engagement. The motor 3601 drives the transmission gear 3603 to rotate and transmit power to the synchronous gear 3604 and then to the gear 3605 installed coaxially with the synchronous gear 3604, thereby driving the two micro screws 3610 to rotate synchronously. Since the two transmission nuts 3612 rotate in opposite directions, when the two micro screws 3610 rotate synchronously, the two transmission nuts 3612 move in opposite directions.

[0091] The first and second plates 3609, 3608 are vertically arranged relative to each other. The first plate 3609 is fixedly connected to a drive nut 3612 on one micro-screw 3610, while the second plate 3609 is fixedly connected to a drive nut on the other micro-screw. When the two micro-screws 3610 rotate, the two drive nuts 3612 move in a horizontal straight line, moving away from or toward each other, thereby moving the first and second plates 3609, 3608 away from or toward each other.

[0092] The first clamping plate 3609 and the second clamping plate 3608 have mutually matching profiles on their opposite sides (such as Figure 15(See partial enlargement). Several locking strips 3614 are connected to the bottom side of the first plywood 3609 facing the second plywood 3608. The second plywood 3608 has a matching hole corresponding to each locking strip 3614. When the lead screw rotates and drives the first and second plywood 3609 and 3608 toward each other, the profiles of the first and second plywood 3609 and 3608 first come into contact and mate. When the bridge lock or tie wrap enters the enclosed space, continued rotation of the micro-screw allows the locking strips 3614 on the first plywood 3609 to insert into the matching holes on the second plywood 3608, thereby achieving a "locked state." If the bridge lock is made of fabric, the micro-screw reaching a "locked state" will meet operational requirements. Multiple sets of locking strips 3614 can be provided for different fabrics to prevent the drone from losing cargo during flight.

[0093] In addition, two sets of horizontally distributed hollow windows are hollowed out in each of the first and second clamping plates 3609 and 3608, and rollers 3613 are rotatably mounted in each set of hollow windows. A pair of vertically opposed curved pressure plates are provided on the opposing sides of the first and second clamping plates 3609 and 3608, located between the respective sets of hollow windows. The inner arcs of the two curved pressure plates on the same clamping plate face each other, and the height of the curved pressure plates is slightly lower than the radius of the rollers 3613. When the micro-screw 3610 reaches the locked state, the rollers 3613 allow the binding strap to slide within the enclosed space. Further rotation of the micro-screw reaches the "clamped state," at which point the curved pressure plates squeeze and lock the binding strap, preventing it from moving within the enclosed space.

[0094] The drone's material placement mechanism 3 can be used to place bridge locks on the top of the container group, or to assist in positioning the lashing straps, thereby improving the efficiency of container lashing.

[0095] like Figure 16 As shown, the control method of the rigid-flexible coupling robot in this embodiment is performed according to the following steps:

[0096] Step 1: Start the rail car 62, test whether the infrared sensor 47, the angle sensor 2507 and each 3D camera 49 are working properly, and initialize the mobile installation mechanism 1 and the rigid-flexible coupling mechanism 2 system.

[0097] Step 2: Control the railcar 62 to arrive at the waiting operation area and detect whether the infrared sensor 47 sends distance feedback information. If so, readjust the distance between the railcar 62 and the container group 7 until it is within the appropriate threshold. If not, proceed to the next step.

[0098] Step 3: Select the working mode of the rigid-flexible coupling mechanism 2.

[0099] 3.1. Select the single-box palletizing mode, which can palletize empty 20-foot or 40-foot standard containers.

[0100] 3.2. Select the container lashing mode to complete the lashing work of bridge locks and twist locks.

[0101] Step 4:

[0102] 4.1. In the single-box palletizing mode, adjust the position of the scissor lift mechanism 24 and simultaneously retract the first operating arm 2701 so that it is above the empty box crane 28.

[0103] 4.2. In container lashing mode, the position of the scissor lift mechanism 24 is adjusted, and the first working arm 2701 is extended to be positioned below the empty container crane 28. Furthermore, the Y-axis moving mechanism 4 and the Z-axis moving platform 11 are activated, and the position of the second working arm 44 is adjusted, awaiting the lashing command.

[0104] Step 5:

[0105] 5.1. In the single-box palletizing mode, the bidirectional drive device 2807 is controlled to move inward or outward according to the different standards of the container to be palletized. At the same time, the rope winding mechanism 5 drives the rigid-flexible coupling mechanism 2 to cooperate with the container to be palletized (taking a 40-foot standard container 71 as an example) and waits for the control signal of the infrared sensor 2808.

[0106] 5.2. When in container lashing mode, the three-dimensional image information provided by the multiple sets of 3D cameras 2804 is processed by the computer to control the corresponding second working arm 44 to reach the waiting position for operation and perform the lashing operation.

[0107] Step 6:

[0108] 6.1. When in single-box palletizing mode, the infrared sensor 2608 is detected to see if it has issued a rotation lock control signal. If the distance is within the safety threshold, the rotation lock control signal is issued and the rotation lock control device drives the rotation lock 2805 to rotate 90 degrees to a locked state.

[0109] 6.2. When in container lashing mode, determine whether all containers have completed the lashing and reinforcement operations. If so, the work task has been completed, turn off all drive motors, and control the rigid-flexible coupling robot to return to the specified position; if not, continue to step 2.

[0110] Step 7:

[0111] When in single-box palletizing mode, the rigid-flexible coupling mechanism 2 is controlled to lift the empty container 71 to be palletized to the palletizing area, and at the same time, the infrared sensor 2608 is detected to see whether it issues a rotation lock signal. If the distance is within the safety threshold, a rotation lock control signal is issued, and the rotation lock control device drives the rotation lock 2805 to rotate 90 degrees to reach the unloading state, thus completing a single palletizing operation. It is then determined whether all work tasks are completed. If not, step 2 is continued. If so, each drive motor is turned off and the rigid-flexible coupling robot is controlled to return to the designated position.

[0112] like Figure 17 As shown, the control method of the drone material dispensing mechanism 3 of this embodiment is performed according to the following steps:

[0113] Step 1: Start the quadrotor drone 31 (hereinafter referred to as the drone), test whether the drone camera 33 and ultrasonic rangefinder 3503 are working properly, and initialize the drone's material distribution mechanism 3 system.

[0114] Step 2: Select the fabric mode (1 bridge lock fabric mode, 2 auxiliary binding belt binding mode, the same below).

[0115] S2.1. Bridge lock placement mode: can complete the deployment operation of the bridge locks on the top of the container group.

[0116] S2.2, auxiliary binding belt tying mode: can assist the rigid-flexible coupling mechanism 2 to complete the binding belt tying operation.

[0117] Step 3:

[0118] S3.1. Place the bridge lock between the left and right splints (3608, 3609), start the micro screw 3610 to drive the left and right splints closer to each other until the bottom lock bar 3614 of the first splint 3609 is inserted into the matching hole at the bottom of the second splint 3608, thereby achieving a "locked state".

[0119] S3.2. Place one end of the binding strap (leaving a certain length from the joint) between the first and second clamping plates (3608, 3609), and start the micro screw 3610 to reach the "clamping state". At this time, the arc-shaped pressure plates squeeze each other to lock the binding strap.

[0120] Step 4: Start the four sets of rope pulling devices to drive the movable plate 3501 to rise to the appropriate position;

[0121] S4.1. Control the drone 31 to fly to a safe distance from the area where the materials are to be laid. If the ultrasonic rangefinder 3503 sends a message that the distance is too close or too far, repeat this step. If the distance has reached the appropriate distance, control the drone 31 to hover.

[0122] S4.2: Control the drone 31 to fly to the container's lashing location and hover on one side, waiting for the rigid-flexible coupling mechanism 2 to secure the lashing strap on that side. After the lashing strap on that side is secured, control the ball screw 3610 in the clamping mechanism 36 to lock it, ensuring that the lashing strap does not fall and can move within the container. Then, control the drone 31 to fly to the other side of the lashing location and hover, waiting for the rigid-flexible coupling mechanism 2 to secure the lashing strap on that side.

[0123] Step 5: Start the four sets of rope pulling devices to drive the movable plate 3501 down to the appropriate position;

[0124] S5.1. Control the ball screw 3610 in the clamping mechanism 36 to reach a "relaxed state" (i.e., the first clamping plate 3609 and the second clamping plate 3608 are separated, and the fabric can fall off freely). At this time, the bridge lock has been put into the area where the fabric is to be laid.

[0125] S5.2. Control the ball screw 3610 in the clamping mechanism 36 to reach a "relaxed state" (i.e., the first clamping plate 3609 and the second clamping plate 3608 are separated, and the fabric can fall off freely). At this time, the binding belt has fallen off, and then the rigid-flexible coupling mechanism 2 completes the tightening and reinforcement operation.

[0126] Step 6: After Step 5, determine whether the material laying or auxiliary lashing work on the top of the entire container group is complete. If not, proceed to Step 2. If completed, turn off the motors (micromotor 3401 and motor 3601) within the drone's material laying mechanism 3, control the drone's main body 31 to return, and complete the material laying mission.

[0127] The preferred embodiments of the present invention are described in detail above with reference to the accompanying drawings. The embodiments described in the present invention are merely descriptions of the preferred embodiments of the present invention and do not limit the concept and scope of the present invention. The various specific technical features described in the above specific embodiments can be combined in any suitable manner unless there is any contradiction. Such combinations should also be regarded as the contents disclosed in this disclosure as long as they do not violate the concept of the present invention. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0128] The present invention is not limited to the specific details of the above-mentioned embodiments. Within the scope of the technical concept of the present invention and without departing from the design concept of the present invention, various modifications and improvements made to the technical solution of the present invention by those skilled in the art should fall within the scope of protection of the present invention. The technical contents for which protection is sought in the present invention have been fully recorded in the claims.

Claims

1. A rigid-flexible coupling robot for yard operations, characterized in that: The mobile installation mechanism (1) comprises a pair of main frames (12) arranged opposite to each other, and a rigid-flexible coupling mechanism (2) is provided between the two main frames (12); The rigid-flexible coupling mechanism (2) comprises a main frame (21) and an empty box crane (28); a variable stiffness rotating mechanism (25) is installed in the main frame (21) for lifting and lowering; a lifting driving mechanism for driving the variable stiffness rotating mechanism (25) to lift and lower is installed on the main frame (21); and the variable stiffness rotating mechanism (25) generates an elastic force opposite to the lifting direction when lifting and lowering, thereby achieving variable stiffness; a hoisting operation mechanism (27) is installed at the bottom of the variable stiffness rotating mechanism (25); a rotating motor (2503) is provided in the variable stiffness rotating mechanism (25) for driving the hoisting operation mechanism (27) to rotate; and the bottom of the hoisting operation mechanism (27) has a first operating mechanism with adjustable horizontal position. Arm (2701); The empty box crane (28) includes a horizontal basic frame, a hollow frame is arranged inside the basic frame, the bottom of the main frame (21) is connected to the top of the hollow frame, the bottom of the basic frame is located outside the two symmetrical sides of the hollow frame, and a plurality of rotary lock control devices are installed across each other, and the two symmetrical ends of each rotary lock control device in the horizontal direction are respectively rotatably installed with an axially vertical rotary lock (2805), and each rotary lock control device is provided with a gear transmission mechanism inside. A motor (2803) is installed on the basic frame, and the motor (2803) drives the rotary locks (2805) at both ends of the corresponding rotary lock control device to rotate through the gear transmission mechanism in each rotary lock control device; In the mobile installation mechanism (1), each main frame (12) is respectively installed with a rope winding mechanism (5), and the rope output by each rope winding mechanism (5) is respectively passed around the pulley of the corresponding main frame (12) and then hoisted to the top of the main frame (21) in the rigid-flexible coupling mechanism (2); the second working arms (44) with adjustable horizontal and vertical positions are respectively installed on the opposite sides of the two main frames (12); the first working arm (2701) and the second working arm (44) in the rigid-flexible coupling mechanism (2) cooperate to realize the tying operation of the bridge lock and the twist lock of the container; the rope winding mechanism (5) cooperates with the rigid-flexible coupling mechanism (2) to realize the hoisting and stacking of the container, and the first working arm (2701) and the second working arm (44) cooperate to realize the tying operation of the container with the tying belt.

2. The rigid-flexible coupling robot for storage yard operations according to claim 1, characterized in that: The horizontal position of each main frame (12) in the mobile installation mechanism (1) is adjustable.

3. The rigid-flexible coupling robot for storage yard operations according to claim 1, characterized in that: The lifting drive mechanism in the rigid-flexible coupling mechanism (2) is a scissor-type lifting mechanism (24), one end of which is fixed in the main frame (21), and the other end of which is fixedly connected to the bottom of the variable-rigidity rotating mechanism (25).

4. The rigid-flexible coupling robot for yard operations according to claim 1, characterized in that: The variable stiffness rotation mechanism (25) further comprises a mounting plate (2509) and a slewing bearing (2508). The top of the mounting plate (2509) is connected to the lifting drive mechanism, and the mounting plate (2509) is driven to rise and fall by the lifting drive mechanism. One of the inner ring and the outer ring of the slewing bearing (2508) is fixed to the bottom of the mounting plate (2509), and the other is fixedly connected to the top of the hoisting operation mechanism (27). The rotating motor (2503) is fixed on the mounting plate (2509), and the rotating motor (2503) drives the inner ring and the outer ring of the slewing bearing (2508). One of the parts connected to the hoisting operation mechanism (27) rotates; flexible support rods (2501) are vertically fixed through the four corners of the mounting plate (2509), the upper and lower ends of each flexible support rod (2501) are respectively fixed in the main frame (21), and a spring (2502) is provided outside each flexible support rod (2501), one end of the spring (2502) is fixed on the mounting plate (2509), and the other end is fixed inside the main frame (21), and the spring (2502) generates an elastic force opposite to the lifting direction when the mounting plate (2509) is raised or lowered.

5. The rigid-flexible coupling robot for yard operations according to claim 1, characterized in that: The rotary lock control device also includes a fixed frame (2815), and the two rotary locks (2805) corresponding to each rotary lock control device are respectively rotatably mounted on the two symmetrical end positions of the fixed frame (2815) through a vertical bevel gear rotating shaft (2809). A bevel gear is fixedly mounted on each bevel gear rotating shaft (2809). An axially horizontal rotating shaft is rotatably mounted inside the fixed frame (2815), and end bevel gears (2810) are fixedly mounted at both ends of the rotating shaft. The two end bevel gears (2810) are in one-to-one transmission engagement with the bevel gears on the two bevel gear rotating shafts (2809). A middle bevel gear is also fixedly mounted on the rotating shaft. The fixed frame (2815) is internally rotatably mounted with an axially vertical power bevel gear (2813), and the power bevel gear (2813) is in transmission engagement with the middle bevel gear (2812); each rotary lock control device comprises a gear transmission mechanism composed of the bevel gear rotating shaft (2809) and the end bevel gear (2810) thereon, the middle bevel gear (2812) and the power bevel gear (2813), and the motor (2803) drives the power bevel gear (2813) of each rotary lock control device to rotate, thereby driving the two rotary locks (2805) of the corresponding rotary lock control device to rotate through the gear transmission mechanism.

6. The rigid-flexible coupling robot for storage yard operations according to claim 5, characterized in that: Among the plurality of rotary lock control devices, at least one rotary lock control device has a fixed frame (2815) with a bidirectional driving device (2807) installed at the bottom thereof, and mounting seats are fixedly connected at both ends of the bidirectional driving device (2807), and the two mounting seats are slidably connected to the two symmetrical ends of the fixed frame (2815) to form a telescopic beam structure, and the bidirectional driving device (2807) drives the two mounting seats to move toward or away from each other; the end bevel gears (2810) corresponding to the fixed frame (2815) of the rotary lock control device with the bidirectional driving device (2807) are respectively located in the two mounting seats, and the two rotary locks (2805) corresponding to the rotary lock control device with the bidirectional driving device (2807) are respectively located in the two mounting seats. The bevel gear rotating shafts (2809) pass through the mounting seats one by one and are rotatably mounted in the mounting seats, whereby the bevel gears on each bevel gear rotating shaft (2809) are respectively located in the corresponding mounting seats; when the mounting seats are driven to separate from or approach each other by the bidirectional driving device (2807), the two bevel gear rotating shafts (2809) and the corresponding two rotating locks (2805) are separated from or approached each other, and when the two rotating locks (2805) are approaching each other, the bevel gears on the bevel gear rotating shafts (2809) can be driven and engaged with the corresponding end bevel gears (2810); when the two rotating locks (2805) are away from each other, the bevel gears on the bevel gear rotating shafts (2809) and the corresponding end bevel gears (2810) are disengaged from each other.

7. The rigid-flexible coupling robot for storage yard operations according to claim 1, characterized in that: A plurality of cameras (2804) and infrared sensors (2808) are installed at the bottom of the basic frame of the empty container crane (28). The infrared sensors (2808) are used to detect the distance between the basic frame of the empty container crane (28) and the container, and the cameras (2804) are used to collect images to provide image support for the operation of the first working arm (2701).

8. The rigid-flexible coupling robot for storage yard operations according to claim 1, characterized in that: The invention also includes a drone material dispensing mechanism (3), wherein the drone material dispensing mechanism (3) includes a drone body (31), the belly of the drone body (31) is connected to a landing gear (3201), the landing gear (3201) has a plurality of legs, a movable platform (35) is installed between the plurality of legs for lifting and lowering, and a movable platform (35) lifting drive mechanism for driving the movable platform (35) to lift and lower is installed in the landing gear (3201); the bottom of the movable platform (35) has a pair of symmetrically distributed clamping plates that can separate from each other and move closer to each other, and the movable platform (35) also has a driving mechanism for driving the two clamping plates to move, and the two clamping plates cooperate with the drone body (31) to realize the bridge lock dispensing of the container, and the two clamping plates assist the first working arm (2701) and the second working arm to realize the tying of the device tying belt.

9. The rigid-flexible coupling robot for storage yard operations according to claim 8, characterized in that: An ultrasonic rangefinder (3503) is provided at the bottom of the moving platform (35), and the ultrasonic rangefinder (3503) senses the distance information of the moving platform (35).

10. The rigid-flexible coupling robot for storage yard operations according to claim 8, characterized in that: Each splint has a pair of horizontally distributed hollow windows, and axially vertical rollers (3613) are rotatably installed in the hollow windows; a pair of upper and lower arc-shaped pressure plates are fixed between the two rollers (3613) on the side of each splint facing the other splint, and the inner arcs of the two arc-shaped pressure plates are opposite to each other; the two splints are also provided with mutually matching surfaces on the sides facing each other, and one of the splints is also provided with a plurality of locking strips (3614) on the side facing the other splint, and the other splint is provided with matching holes corresponding to the positions of each locking strip (3614). When the two splints approach each other, the surfaces first contact and match, and after the two splints continue to approach each other, each locking strip (3614) is inserted into the corresponding matching hole.

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