A magnetic adsorption type loading and unlocking mechanism capable of automatic deviation correction

Abstract

The present invention provides a magnetic adsorption type locking and unlocking mechanism capable of automatic deviation correction, which includes a base. A horizontal movement component is arranged on the base. The horizontal movement component is connected with an actuator through an automatic deviation correction component. A magnetic adsorption device and a vertical lifting component are arranged on the actuator. The vertical lifting component is connected with a locking and unlocking device. The horizontal movement component is used to control the actuator to move in the horizontal direction. The automatic deviation correction component is used to adjust the actuator so that the magnetic adsorption device is exactly opposite and attached to the container. The vertical lifting component is used to control the locking and unlocking device to move in the vertical direction. The magnetic adsorption type locking and unlocking mechanism capable of automatic deviation correction provided by the present invention adds an automatic deviation correction device and a magnetic adsorption device, which not only ensures that the locking and unlocking device can correspond to the position of the twist lock box before disassembling and assembling the twist lock, but also ensures the stability of the locking and unlocking device during the process of disassembling and assembling the twist lock, thereby enabling the disassembly and assembly work of the twist lock to be successfully completed.

Description

Technical Field

[0001] The present invention relates to a loading and unlocking mechanism, and in particular to a magnetic adsorption type loading and unlocking mechanism capable of automatic deviation correction. Background Art

[0002] During the transportation of containers by container ships, twist locks are usually used. In the past port loading and unloading operations, the disassembly and assembly of semi-automatic twist locks were manually completed by operators, which was time-consuming and laborious with low work efficiency. In addition, containers are usually in an environment with crane equipment, and operators are at risk of objects falling from the crane equipment during work, presenting a relatively large safety hazard.

[0003] To solve the above problems, the current loading and unloading operations use the loading and unlocking device in the patent application "A Loading and Unlocking Device and a Disassembly and Assembly Locking Cart Using the Same" (application number 202210420800.3) to automatically complete the disassembly and assembly of semi-automatic twist locks, replacing manual operations, improving work efficiency, and eliminating the safety hazards existing in the operation of operators in a risky environment.

[0004] In actual use of the loading and unlocking device, some use the disassembly and assembly locking cart in the above patent application as a mobile carrier, and some use a ground support base as a fixed carrier. The disassembly and assembly locking cart can move the loading and unlocking device to the position corresponding to the twist lock box, and the support base is also set according to the size of the container so that the loading and unlocking device is located at the position corresponding to the twist lock box. However, these can only meet the correspondence in the spatial orientation between the loading and unlocking device and the twist lock box, and cannot handle the vertical inclination deviation and horizontal rotation deviation generated during the lifting of the container, resulting in the inability of the loading and unlocking device to correspond to the position of the twist lock box, and thus unable to complete the disassembly and assembly of the twist lock. Summary of the Invention

[0005] The object of the present invention is to overcome the existing defects and provide a magnetic adsorption type loading and unlocking mechanism capable of automatic deviation correction to solve the problem that the current loading and unlocking device cannot correspond to the position of the twist lock box during the disassembly and assembly of the lock.

[0006] To solve the above technical problems, the present invention provides the following technical solutions:

[0007] A magnetic adsorption type loading and unlocking mechanism capable of automatic deviation correction, including a base, a horizontal movement component is arranged on the base, the horizontal movement component is connected with an execution frame through an automatic deviation correction component, a magnetic adsorption device and a vertical lifting component are arranged on the execution frame, and the vertical lifting component is connected with a loading and unlocking device; the horizontal movement component is used to control the execution frame to move in the horizontal direction; the automatic deviation correction component is used to adjust the execution frame so that the magnetic adsorption device is exactly attached to the container; the vertical lifting component is used to control the loading and unlocking device to move in the vertical direction.

[0008] Further, the horizontal movement assembly includes a column, the lower end of the column is fixedly connected to the upper end surface of the base, the upper end of the column is connected with a horizontal sliding table, two slide rails are arranged in parallel on the upper end of the horizontal sliding table, a horizontal sliding plate is slidably connected to the two slide rails, a groove is arranged between the two slide rails on the upper end surface of the horizontal sliding table, a first bearing seat is arranged at one end of the groove, a horizontal lead screw parallel to the slide rail is arranged through the first bearing seat, a connecting slider is arranged at the lower end of the horizontal sliding plate, the horizontal lead screw passes through the connecting slider and is threadedly connected with the connecting slider, a driven gear is sleeved on the outer end of the horizontal lead screw protruding out of the first bearing seat, a first servo motor is arranged on the lower end surface of the horizontal sliding table, a first driving gear is sleeved on the output shaft of the first servo motor, and the first driving gear meshes with the driven gear; the automatic deviation correction assembly is connected to one end of the horizontal sliding plate away from the first bearing seat.

[0009] Further, the automatic deviation correction assembly includes a slewing bearing, the slewing bearing is arranged at the end of the horizontal sliding plate, the slewing bearing is connected with a horizontal swing shaft, the upper end of the horizontal swing shaft is fixedly connected with a horizontal connecting plate, the outer end of the horizontal connecting plate is connected with a first vertical connecting block, two second vertical connecting blocks are arranged in parallel and opposite on the execution frame, the two second vertical connecting blocks are respectively located on both sides of the first vertical connecting block, a vertical swing shaft penetrates through the first vertical connecting block and the second vertical connecting block at the same time, the vertical swing shaft is fixedly connected with the first vertical connecting block and rotatably connected with the second vertical connecting block; a limiting rod facing the horizontal sliding plate is arranged on the execution frame, a limiting hole is arranged on the end surface of the horizontal sliding plate facing the execution frame, the limiting rod is inserted into the limiting hole and there is a gap between the limiting rod and the limiting hole.

[0010] Further, a bull's-eye bearing for supporting the horizontal sliding plate is arranged on the upper end surface of the end of the horizontal sliding table away from the first bearing seat.

[0011] Further, a twist lock commutation assembly is arranged on the upper end surface of the horizontal sliding plate, the twist lock commutation assembly includes a rotating disc, the lower end of the rotating disc is rotatably connected with the upper end surface of the horizontal sliding plate, two commutation plates are arranged in parallel on the upper end surface of the rotating disc, an annular rack is arranged on the edge of the upper end surface of the rotating disc, a second servo motor is arranged on the upper end surface of the horizontal sliding plate beside the rotating disc, a second driving gear is sleeved on the output shaft of the second servo motor, and the second driving gear meshes with the annular rack.

[0012] Further, the magnetic attraction device includes a mounting plate, the mounting plate is arranged on the end surface of the execution frame on the side facing away from the horizontal movement assembly, and a plurality of electromagnets are arranged on the mounting plate.

[0013] Further, the execution frame includes a bottom plate, and two parallel and opposite vertical plates are arranged on the upper end surface of the bottom plate. The vertical lifting assembly includes two guide rails, and one of the guide rails is fixedly arranged on the inner side surface of each vertical plate. The two guide rails are vertically arranged and parallel and opposite to each other. A lifting slide seat is slidably connected to the two guide rails together. The unlocking device is arranged on the lifting slide seat. A second bearing seat is arranged on the inner side surface of any one of the vertical plates. A vertical lead screw parallel to the guide rail penetrates through the second bearing seat. A connecting slide plate is arranged on the lifting slide seat. The vertical lead screw penetrates through the connecting slide plate and is threadedly connected to the connecting slide plate. The top of any one of the vertical plates is provided with a third servo motor through a fixing plate, and the output shaft of the third servo motor is connected to the upper end of the vertical lead screw.

[0014] A magnetic adsorption type unlocking mechanism capable of automatically correcting deviation in the present invention adds an automatic deviation correction device and a magnetic adsorption device, which not only ensure that the unlocking device can correspond to the position of the twist lock box before disassembling and assembling the twist lock, but also ensure the stability of the unlocking device during the process of disassembling and assembling the twist lock, so as to smoothly complete the disassembly and assembly work of the twist lock. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention. In the drawings:

[0016] Figure 1 is the front view schematic diagram of the present invention;

[0017] Figure 2 is the side view schematic diagram of the present invention;

[0018] Figure 3 is the partial three-dimensional schematic diagram of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] The following describes the preferred embodiments of the present invention with reference to the drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0020] As Figures 1-3 shown, a magnetic adsorption type unlocking mechanism capable of automatically correcting deviation includes a base 1. A horizontal movement assembly is arranged on the base 1. The horizontal movement assembly is connected to an execution frame 2 through an automatic deviation correction assembly. A magnetic adsorption device and a vertical lifting assembly are arranged on the execution frame 2. The vertical lifting assembly is connected to an unlocking device 3; the horizontal movement assembly is used to control the horizontal movement of the execution frame 2; the automatic deviation correction assembly is used to adjust the execution frame 2 so that the magnetic adsorption device is directly attached to the container; the vertical lifting assembly is used to control the vertical movement of the unlocking device 3.

[0021] The horizontal movement component includes a vertical column 4. The lower end of the vertical column 4 is fixedly connected to the upper end face of the base 1. The upper end of the vertical column 4 is connected to a horizontal slide 5. Two slide rails 6 are arranged in parallel on the upper end of the horizontal slide 5. A horizontal slide plate 7 is slidably connected to the two slide rails 6. A groove is arranged between the two slide rails 6 on the upper end face of the horizontal slide 5. A first bearing seat 8 is arranged at one end of the groove. A horizontal lead screw 9 parallel to the slide rail 6 is arranged through the first bearing seat 8. A connecting slider 10 is arranged at the lower end of the horizontal slide plate 7. The horizontal lead screw 9 passes through the connecting slider 10 and is threadedly connected to the connecting slider 10. A driven gear 11 is sleeved on the outer end of the horizontal lead screw 9 passing through the first bearing seat 8. A first servo motor 12 is arranged on the lower end face of the horizontal slide 5. A first driving gear 13 is sleeved on the output shaft of the first servo motor 12. The first driving gear 13 meshes with the driven gear 11. One end of the horizontal slide plate 7 away from the first bearing seat 8 is connected with an automatic deviation correction component.

[0022] The automatic deviation correction component includes a slewing bearing 14. The slewing bearing 14 is arranged at the end of the horizontal slide plate 7. The slewing bearing 14 is connected with a horizontal swing shaft. The upper end of the horizontal swing shaft is fixedly connected with a horizontal connecting plate 15. The outer end of the horizontal connecting plate 15 is connected with a first vertical connecting block 16. Second vertical connecting blocks 17 are arranged in parallel and opposite on the actuator frame 2. The two second vertical connecting blocks 17 are respectively located on both sides of the first vertical connecting block 16. A vertical swing shaft 18 passes through the first vertical connecting block 16 and the second vertical connecting block 17 at the same time. The vertical swing shaft 18 is fixedly connected with the first vertical connecting block 16 and rotatably connected with the second vertical connecting block 17. A limiting rod facing the horizontal slide plate 7 is arranged on the actuator frame 2. A limiting hole is arranged on the end face of the horizontal slide plate 7 facing the actuator frame 2. The limiting rod is inserted into the limiting hole and there is a gap between the limiting rod and the limiting hole. By controlling the size of the gap, the deviation angle adapted by the automatic deviation correction component can be adjusted. Usually, this deviation angle is 5 degrees.

[0023] The magnetic attraction device includes a mounting plate 19. The mounting plate 19 is arranged on the end face of the actuator frame 2 on the side away from the horizontal movement component. Four electromagnets 20 are arranged on the mounting plate 19.

[0024] The execution frame 2 includes a bottom plate 21. On the upper end surface of the bottom plate 21, there are two parallel and opposite vertical plates 22. The vertical lifting assembly includes two guide rails 23. On the inner side surface of each vertical plate 22, one guide rail 23 is fixedly arranged. The two guide rails 23 are vertically arranged and parallel and opposite to each other. A lifting slide seat 24 is slidably connected to the two guide rails 23 together. An unlocking and locking device 3 is arranged on the lifting slide seat 24. On the inner side surface of one of the vertical plates 22, a second bearing seat 25 is arranged. A vertical lead screw 26 parallel to the guide rail 23 penetrates through the second bearing seat 25. A connecting slide plate 27 is arranged on the lifting slide seat 24. The vertical lead screw 26 penetrates through the connecting slide plate 27 and is threadedly connected to the connecting slide plate 27. The top of this vertical plate 22 is provided with a third servo motor 29 through a fixing plate 28. The output shaft of the third servo motor 29 is connected to the upper end of the vertical lead screw 26.

[0025] Working principle:

[0026] The first servo motor 12 controls the rotation of the horizontal lead screw 9 through the transmission between the first driving gear 13 and the driven gear 11, thereby driving the horizontal slide plate 7 to move horizontally, making the unlocking and locking device 3 approach the container. During the approaching process, the automatic deviation correction assembly makes small rotations in both the horizontal and vertical directions to adapt to the lifting deviation of the container, so that the electromagnet 20 adheres to the outer surface of the container and ensures that the unlocking and locking device 3 is directly below the twist lock box. Then, the electromagnet 20 is powered on to make the execution frame 2 adsorb on the outer surface of the container. Then, the second servo motor 29 controls the rotation of the vertical lead screw 26, driving the lifting slide seat 24 to rise, making the unlocking and locking device 3 approach the twist lock box and reach the designated position, and then the unlocking and locking device 3 completes the operation of locking or unlocking.

[0027] On the upper end surface of the end of the horizontal slide table 5 far from the first bearing seat 8, there is a bull's-eye bearing 30 that supports the horizontal slide plate 7, ensuring the stability of the horizontal slide plate 7.

[0028] On the upper end surface of the horizontal slide plate 7, there is a twist lock reversing assembly. The twist lock reversing assembly includes a rotating disk 31. The lower end of the rotating disk 31 is rotatably connected to the upper end surface of the horizontal slide plate 7. On the upper end surface of the rotating disk 31, two reversing plates 32 are arranged in parallel. On the edge of the upper end surface of the rotating disk 31, there is an annular rack 33. On the upper end surface of the horizontal slide plate 7 beside the rotating disk 31, there is a second servo motor 34. A second driving gear 35 is sleeved on the output shaft of the second servo motor 34. The second driving gear 35 meshes with the annular rack 33.

[0029] During the process of disassembling and assembling the lock, a manipulator is required to place the removed twist lock from the locking and unlocking device 3 into the lock storage mechanism or move the twist lock to be installed from the lock storage mechanism to the locking and unlocking device 3. During this process, due to the asymmetric structure of the twist lock, the storage direction of the lock storage mechanism is single, and the corresponding orientations of the twist lock are different for different containers, so the installation direction of the twist lock is also different. Therefore, it is necessary to adaptively adjust the orientation of the twist lock when it is placed into the locking and unlocking device 3 or the lock storage mechanism. The function of the above-mentioned twist lock commutation component is to place the twist lock that needs to be adjusted in orientation onto the commutation plate 32 during the transportation by the manipulator, and then the second servo motor 34 controls the rotating disk 31 to rotate 180 degrees, thereby changing the orientation of the twist lock.

[0030] A magnetic absorption type locking and unlocking mechanism capable of automatic deviation correction according to the present invention adds an automatic deviation correction device and a magnetic absorption device, which not only ensure that the locking and unlocking device can correspond to the position of the twist lock box before disassembling and assembling the twist lock, but also ensure the stability of the locking and unlocking device during the process of disassembling and assembling the twist lock, so as to smoothly complete the disassembly and assembly work of the twist lock.

[0031] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A magnetic adsorption type installation and unlocking mechanism capable of automatic deviation correction, characterized in that: It includes a base, on which a horizontal movement component is provided. The horizontal movement component is connected to an execution frame through an automatic deviation correction component. A magnetic attraction device and a vertical lifting component are provided on the execution frame, and the vertical lifting component is connected to an installation and unlocking device; The horizontal movement component is used to control the horizontal movement of the execution frame; The automatic deviation correction component is used to adjust the execution frame so that the magnetic attraction device is directly opposite and attached to the container; The vertical lifting component is used to control the vertical movement of the installation and unlocking device; The horizontal movement component includes a column. The lower end of the column is fixedly connected to the upper end surface of the base. The upper end of the column is connected to a horizontal slide table. Two slide rails are arranged in parallel on the upper end of the horizontal slide table. A horizontal slide plate is slidably connected to the two slide rails. A groove is provided on the upper end surface of the horizontal slide table between the two slide rails. A first bearing seat is provided at one end of the groove. A horizontal lead screw parallel to the slide rail is penetrated through the first bearing seat. A connecting slider is provided at the lower end of the horizontal slide plate. The horizontal lead screw penetrates through the connecting slider and is threadedly connected to the connecting slider. A driven gear is sleeved on the outer end of the horizontal lead screw protruding from the first bearing seat. A first servo motor is provided on the lower end surface of the horizontal slide table. A first driving gear is sleeved on the output shaft of the first servo motor. The first driving gear meshes with the driven gear; One end of the horizontal slide plate away from the first bearing seat is connected to the automatic deviation correction component; The automatic deviation correction component includes a slewing bearing. The slewing bearing is arranged at the end of the horizontal slide plate. The slewing bearing is connected to a horizontal swing shaft. The upper end of the horizontal swing shaft is fixedly connected to a horizontal connecting plate. The outer end of the horizontal connecting plate is connected to a first vertical connecting block. Two second vertical connecting blocks are arranged in parallel and opposite on the execution frame. The two second vertical connecting blocks are respectively located on both sides of the first vertical connecting block. A vertical swing shaft penetrates through the first vertical connecting block and the second vertical connecting block at the same time. The vertical swing shaft is fixedly connected to the first vertical connecting block and rotatably connected to the second vertical connecting block; A limiting rod facing the horizontal slide plate is provided on the execution frame. A limiting hole is provided on the end surface of the horizontal slide plate facing the execution frame. The limiting rod is inserted into the limiting hole and there is a gap between the limiting rod and the limiting hole.

2. The magnetic adsorption type locking and unlocking mechanism capable of automatic deviation correction according to claim 1, wherein: A bull's-eye bearing for supporting the horizontal slide plate is provided on the upper end surface of the end of the horizontal slide table away from the first bearing seat.

3. The magnetic adsorption type locking and unlocking mechanism capable of automatic deviation correction according to claim 1, wherein: A twist lock commutation component is provided on the upper end surface of the horizontal slide plate. The twist lock commutation component includes a rotating disc. The lower end of the rotating disc is rotatably connected to the upper end surface of the horizontal slide plate. Two commutation plates are arranged in parallel on the upper end surface of the rotating disc. An annular rack is provided at the edge of the upper end surface of the rotating disc. A second servo motor is provided on the upper end surface of the horizontal slide plate beside the rotating disc. A second driving gear is sleeved on the output shaft of the second servo motor. The second driving gear meshes with the annular rack.

4. The magnetic adsorption type installation and unlocking mechanism capable of automatic deviation correction according to claim 1, wherein: The magnetic attraction device includes a mounting plate which is arranged on the end face of the actuator frame on the side facing away from the horizontal movement assembly, and a plurality of electromagnets are arranged on the mounting plate.

5. A magnetic adsorption type locking and unlocking mechanism capable of automatic deviation correction according to claim 1, characterized in that: The actuator frame includes a bottom plate, and two parallel and opposite vertical plates are arranged on the upper end face of the bottom plate. The vertical lifting assembly includes two guide rails. One of the guide rails is fixedly arranged on the inner side surface of each of the vertical plates. The two guide rails are vertically arranged and parallel and opposite to each other. A lifting slide seat is slidably connected to the two guide rails together. The unlocking and locking device is arranged on the lifting slide seat. A second bearing seat is arranged on the inner side surface of any one of the vertical plates. A vertical lead screw parallel to the guide rail is arranged through the second bearing seat. A connecting slide plate is arranged on the lifting slide seat. The vertical lead screw penetrates through the connecting slide plate and is threadedly connected to the connecting slide plate. The top of any one of the vertical plates is provided with a third servo motor through a fixing plate, and the output shaft of the third servo motor is connected to the upper end of the vertical lead screw.

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