Container loading control method
By automating the control of the container gripper's position and angle, the inconvenience caused by manual adjustment mechanisms in existing technologies has been solved, thus improving loading efficiency and reducing operating costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHANGSHA ZHONGLIAN HENGTONG MACHINERY
- Filing Date
- 2023-10-26
- Publication Date
- 2026-07-24
AI Technical Summary
Existing container loading and unloading equipment requires manual adjustment of multiple mechanisms when loading containers, which leads to inconvenience in operation and affects loading efficiency.
By detecting the height and position information of the container, the position and angle of the container gripper are automatically adjusted so that it can grab and place the container, thus achieving automated control.
It improves the efficiency of container loading, reduces operating costs, and decreases reliance on specialized lifting equipment.
Smart Images
Figure CN117842682B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of container loading and unloading technology, and in particular to a container loading control method. Background Technology
[0002] Container shipping is an advanced and modern mode of transportation that uses containers as the transport unit. In inland areas, it mainly uses semi-trailers for road transport. Regarding container loading and unloading, current technology typically involves installing a container loading and unloading device on the chassis of a container truck. This device includes a subframe, on which a tilting frame is horizontally hinged. A tilting drive is mounted on the subframe, enabling the tilting frame to rotate relative to the subframe. The tilting frame is equipped with a telescopic drive that can extend and retract along its length. A mounting frame is installed at the telescopic end of the telescopic drive, and an adjustable telescopic drive is mounted on the mounting frame. A container gripper is installed at the telescopic end of the adjustable telescopic drive.
[0003] However, each time a container loading and unloading device loads a container, operators need to manually adjust mechanisms such as the tilting drive, length extension drive, and adjustment extension drive to ensure the container gripper can grasp the container. This operation is inconvenient and severely impacts container loading efficiency. Therefore, it is necessary to design a container loading control method for the aforementioned container loading and unloading device to achieve automated control of containers and thus improve container loading efficiency. Summary of the Invention
[0004] To address the problems in the prior art, this application proposes a container loading control method to meet the automated control requirements of the container loading and unloading device, thereby improving the efficiency of container loading.
[0005] This invention provides a container loading control method, the container loading control method comprising the following steps:
[0006] The height of the container to be loaded, the distance from the front of the container to the rear of the subframe, and the height difference between the top of the container and the subframe are measured.
[0007] Based on the detected height of the container to be loaded, the telescopic drive is extended so that the height of the container gripper from the subframe is equal to the height of the container to be loaded.
[0008] Based on the detected distance from the front end of the container to the rear end of the subframe and the height difference from the top of the container to the subframe, the drive length extension drive extends so that the container gripper can grab the container to be loaded after the tilting frame rotates.
[0009] The tilting drive unit drives the tilting frame to rotate relative to the subframe, so that the container gripper can grab the container to be loaded.
[0010] Container grabbers grasp containers to be loaded;
[0011] The tilting drive unit drives the tilting frame to rotate in the opposite direction relative to the subframe, so that the container gripper can grab and place the container onto the subframe.
[0012] As a further improvement to the above technical solution:
[0013] The above-mentioned container loading control method further includes the following steps: Based on the detected distance between the front end of the container and the rear end of the subframe, and the height difference between the top of the container and the subframe, the length extension drive extends to enable the container gripper to grab the container to be loaded after the tilting frame rotates.
[0014] The distance from the hinge point between the tipping frame and the subframe to the front of the container is calculated based on the detected distance from the front of the container to the rear of the subframe.
[0015] Calculate the height difference between the hinge point of the tipping frame and the top of the container based on the height difference between the top of the container and the subframe.
[0016] The distance from the hinge point of the tipping frame and the subframe to the front of the container is calculated based on the distance from the hinge point of the tipping frame and the subframe to the front of the container and the height difference from the hinge point of the tipping frame and the subframe to the top of the container.
[0017] Calculate the height of the container gripper from the hinge point between the tipping frame and the subframe based on the height of the container gripper from the subframe.
[0018] The horizontal distance from the hinge point of the tipping frame and the subframe to the container gripper is calculated based on the distance from the hinge point of the tipping frame and the subframe to the container gripper and the height of the container gripper from the hinge point of the tipping frame and the subframe.
[0019] The extension distance of the telescopic drive is calculated based on the horizontal distance from the container gripper to the hinge point between the tipping frame and the subframe, and the telescopic drive is then driven to extend.
[0020] The above-described container loading control method further includes the following steps: the tilting drive unit drives the tilting frame to rotate relative to the subframe so that the container gripper can grab the container to be loaded.
[0021] Calculate the angle between the direction of the hinge point of the tipping frame and the subframe to the front of the container and the height difference between the hinge point of the tipping frame and the subframe to the top of the container after tipping, and the horizontal direction.
[0022] The height of the container grabbing from the hinge point between the tipping frame and the subframe, and the horizontal distance from the container grabbing to the hinge point between the tipping frame and the subframe, are calculated. The angle between the direction from the hinge point between the tipping frame and the subframe to the container grabbing and the horizontal direction before tipping is calculated.
[0023] The angle of rotation of the tilting frame relative to the subframe is calculated based on the angle between the hinge point of the tilting frame and the subframe to the container grab and the horizontal direction after the tilting frame is tilted, and the angle between the hinge point of the tilting frame and the subframe to the container grab and the horizontal direction before the tilting frame is tilted.
[0024] Based on the calculated angle of rotation of the tilting frame relative to the subframe, the tilting drive unit drives the tilting frame to rotate relative to the subframe so that the container gripper can grab the container to be loaded.
[0025] In the above-mentioned container loading control method, the extension distance of the length telescopic drive component is equal to the horizontal distance from the container gripper to the hinge point between the tipping frame and the subframe - the length of the tipping frame - the preset length.
[0026] The above-described container loading control method further includes the following steps before the container gripper grabs the container to be loaded:
[0027] The rotating telescopic drive component drives the support beam assembly to rotate relative to the support frame by a preset angle in the direction closer to the support frame.
[0028] The above-mentioned technical features can be combined in various suitable ways or replaced by equivalent technical features, as long as the purpose of the present invention can be achieved.
[0029] The container loading control method provided by this invention has at least the following advantages compared with the prior art: When a container needs to be loaded, the height of the container to be loaded, the distance from the front end of the container to the rear end of the subframe, and the height difference between the top of the container and the subframe are detected; based on the detected height of the container to be loaded, the telescopic drive component is driven to extend so that the height of the container gripper from the subframe is equal to the height of the container to be loaded; based on the detected distance from the front end of the container to the rear end of the subframe and the height difference between the top of the container and the subframe, the telescopic drive component is driven to extend so that the container gripper can grab the container to be loaded after the tilting frame rotates; the tilting drive component drives the tilting frame to rotate relative to the subframe so that the container gripper can grab the container to be loaded; the container gripper grabs the container to be loaded; the tilting drive component drives the tilting frame to rotate in the opposite direction relative to the subframe so that the container gripper grabs the container and places it on the subframe. This container loading control method can automatically adjust the position of the container gripper based on the container's location information, enabling the gripper to grab the container to be loaded and place it on the subframe. This satisfies the automated control of the container loading and unloading device, thereby improving the efficiency of container loading.
[0030] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description
[0031] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0032] The invention will now be described in more detail with reference to embodiments and the accompanying drawings.
[0033] Figure 1 A schematic diagram of the container loading and unloading equipment is shown.
[0034] Figure 2 This diagram shows the structure of the container gripper in the container loading and unloading device. Figure 1 ;
[0035] Figure 3 This diagram shows the structure of the container gripper in the container loading and unloading device. Figure 2 ;
[0036] Figure 4 This diagram shows the structure of the container gripper in the container loading and unloading device. Figure 3 ;
[0037] Figure 5 This diagram shows the structure of the container gripper in the container loading and unloading device. Figure 4 ;
[0038] Figure 6 The diagram shows a schematic illustration of the container loading control method provided in an embodiment of the present invention.
[0039] In the accompanying drawings, the same parts use the same reference numerals. The drawings are not to scale.
[0040] Figure label:
[0041] 100-Container loading and unloading device, 110-Subframe, 111-Tilting drive, 112-Container guiding device, 113-Placement seat, 120-Tilting frame, 121-Length telescopic drive, 130-Mounting frame, 131-Adjustable telescopic drive, 132-Support frame, 140-Container gripper, 141-Grip plate, 142-Clamping telescopic drive, 143-Limit pin, 144-Hinge block, 145-Rotating telescopic drive, 146-Hook, 147-Rotating telescopic drive, 148-Sleeve seat, 149-Support beam, 150-Connecting pin, 151-Elastic element, 152-Guide positioning seat. Detailed Implementation
[0042] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.
[0043] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.
[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.
[0045] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0046] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0047] The invention will now be further described with reference to the accompanying drawings.
[0048] This invention provides a container loading control method to meet the automated control requirements of the container loading and unloading device, thereby improving the efficiency of container loading.
[0049] Please see Figure 1 The container loading and unloading device 100 provided in this embodiment of the invention includes a sub-frame 110, a tilting frame 120 horizontally hinged to the sub-frame 110, and a tilting drive 111 mounted on the sub-frame 110. The tilting drive 111 can drive the tilting frame 120 to rotate relative to the sub-frame 110. The tilting frame 120 is provided with a length telescopic drive 121 that can extend and retract along the length direction of the tilting frame 120. A mounting frame 130 is mounted on the telescopic end of the length telescopic drive 121. An adjustable telescopic drive 131 is mounted on the mounting frame 130. A support frame 132 is mounted on the telescopic end of the adjustable telescopic drive 131. A container gripper 140 is mounted on the support frame 132.
[0050] When a container needs to be loaded, the tilting drive 111 first drives the tilting frame 120 to rotate relative to the sub-frame 110 towards the rear of the sub-frame 110. Then, the length extension drive 121 extends, and the extension drive 131 is adjusted to extend so that the container gripper 140 on the support frame 132 can grab the container. After the container gripper 140 grabs the container, the length extension drive 121 retracts, the extension drive 131 retracts, and the tilting drive 111 drives the tilting frame 120 to rotate relative to the sub-frame 110 towards the head of the sub-frame 110, finally placing the container on the sub-frame 110. When unloading the container, the operation is reversed. The container loading and unloading device 100 provided in this embodiment of the invention can achieve self-loading and unloading of containers without relying on these specialized lifting equipment, thereby reducing operating costs and improving the efficiency of container loading and unloading operations.
[0051] The container loading and unloading device 100 provided in this embodiment of the invention, for details please refer to... Figure 2 , Figure 3 as well as Figure 5 The container gripper 140 includes a support beam assembly and two gripping plates 141. Both ends of the support beam assembly are equipped with clamping telescopic drive members 142 that can extend and retract along the length of the support beam assembly. The two gripping plates 141 are correspondingly installed at the telescopic ends of the two clamping telescopic drive members 142. Each gripping plate 141 is provided with a limiting pin 143. The two clamping telescopic drive members 142 can drive the two gripping plates 141 closer together so that the limiting pin 143 is positioned within the limiting hole of the container. When the container gripper 140 needs to grip a container, firstly, the two clamping telescopic drive members 142 extend relative to each other, causing the two gripping plates 141 to move away from each other. Then, the container gripper 140 is driven closer to the container so that the two gripping plates 141 are positioned on opposite sides of the container. Finally, the two clamping telescopic drive members 142 retract relative to each other, causing the two gripping plates 141 to move closer together so that the limiting pin 143 is positioned within the limiting hole of the container, thereby completing the gripping of the container.
[0052] The container loading and unloading device 100 provided in this embodiment of the invention, further, please refer to... Figure 2 and Figure 3 A guide positioning seat 152 is rotatably mounted on the gripper plate 141 via a limiting pin 143. The guide positioning seat 152 can rotate relative to the gripper plate 141 under its own weight. As the gripper plate 141 moves, the guide positioning seat 152 can rotate relative to the gripper plate 141 under its own weight, so that the guide positioning seat 152 always remains in a fixed state, which facilitates the guidance and positioning of the container. In this embodiment, the guide positioning seat 152 includes a vertical plate and a horizontal plate mounted on the upper side of the vertical plate. The vertical plate can abut against the front face of the container, and the horizontal plate can abut against the upper face of the container. The guide positioning seat 152 keeps the vertical plate vertical and the horizontal plate horizontal under its own weight.
[0053] The container loading and unloading device 100 provided in this embodiment of the invention, further, please refer to... Figure 2 and Figure 3 The support frame 132 is horizontally hinged to a hinge block 144. The support beam assembly is mounted on the hinge block 144. Two rotating telescopic drive members 145 are also horizontally hinged to the support frame 132. The two rotating telescopic drive members 145 are symmetrically distributed on both sides of the hinge block 144. The telescopic ends of both rotating telescopic drive members 145 are horizontally hinged to the support beam assembly. The rotating telescopic drive members 145 can drive the support beam assembly to rotate relative to the support frame 132. By extending and retracting the rotating telescopic drive members 145, the support beam assembly can be driven to rotate relative to the mounting frame 130, thereby adjusting the rotation angle of the support beam assembly relative to the mounting frame 130 so that the limiting pin 143 can be aligned with the limiting hole of the container.
[0054] The container loading and unloading device 100 provided in this embodiment of the invention, further, please refer to... Figure 4 A hook 146 is horizontally hinged to the side of the hinge block 144 away from the support beam assembly. A rotary telescopic drive 147 is also horizontally hinged to the support beam assembly. The telescopic end of the rotary telescopic drive 147 is horizontally hinged to the hook 146, and the rotary telescopic drive 147 can drive the hook 146 to rotate relative to the hinge block 144. When the container loading and unloading device 100 is used to load and unload transport pallets, the support beam assembly can be driven to rotate relative to the mounting frame 130 by rotating the telescopic drive 145 to extend and retract. At the same time, the rotary telescopic drive 147 drives the hook 146 to rotate relative to the hinge block 144, so that the hook 146 can hook onto the connecting part of the transport pallet, thereby achieving the purpose of lifting the transport pallet.
[0055] In this embodiment, please refer to Figure 2 , Figure 3 as well as Figure 5 The support beam assembly includes a sleeve seat 148 and a support beam 149. The support beam 149 is fitted inside the sleeve seat 148. A connecting pin 150 is provided on the hinge block 144. The connecting pin 150 passes through the sleeve seat 148 and the support beam 149 in sequence, and the sleeve seat 148 is fixed relative to the connecting pin 150. The support beam 149 can rotate relative to the connecting pin 150. The rotation of the support beam 149 relative to the connecting pin 150 adjusts the height of the two gripping plates 141 to accommodate the gripping of containers with height differences on both sides. Furthermore, elastic elements 151 are provided on the upper and lower sides of the inner sidewalls of the sleeve seat 148 on both sides of the connecting pin 150. The elastic elements 151 can buffer the rotation of the support beam 149 relative to the sleeve seat 148.
[0056] The container loading and unloading device 100 provided in this embodiment of the invention, further refer to... Figure 1 The rear of the subframe 110 is also equipped with a container guide device 112. When the container loading / unloading device 100 loads or unloads containers, the containers contact the rear of the subframe 110 via the container guide device 112. The container guide device 112 protects the containers, preventing them from sliding and rubbing against the rear of the subframe 110, which could damage them. In this embodiment, the container guide device 112 is a roller mechanism.
[0057] The container loading and unloading device 100 provided in this embodiment of the invention, further refer to... Figure 1 The subframe 110 is equipped with a placement seat 113, which is used to place the container.
[0058] Please see Figure 1 and Figure 2The container loading control method provided in this embodiment of the invention includes the following steps:
[0059] S10: Detect the height of the container to be loaded, the distance from the front of the container to the rear of the subframe, and the height difference between the top of the container and the subframe.
[0060] A detection and identification module is installed at the rear of the subframe of the container loading and unloading device. The detection and identification module can detect the height of the container to be loaded, the distance from the front of the container to the rear of the subframe, and the height difference between the top of the container and the subframe.
[0061] S20: Based on the detected height of the container to be loaded, drive the telescopic drive to extend so that the height of the container gripper from the subframe is equal to the height of the container to be loaded.
[0062] S30: Based on the detected distance from the front end of the container to the rear end of the subframe and the height difference from the top of the container to the subframe, the drive length extension drive extends so that the container gripper can grab the container to be loaded after the tilting frame rotates.
[0063] S31: Calculate the distance from the hinge point of the tipping frame and the subframe to the front of the container based on the detected distance from the front of the container to the rear of the subframe.
[0064] S32: Calculate the height difference between the hinge point of the tipping frame and the subframe and the top of the container based on the height difference between the top of the container and the subframe.
[0065] S33: Calculate the distance from the hinge point of the tilting frame and the subframe to the front of the container based on the distance from the hinge point of the tilting frame and the subframe to the front of the container and the height difference from the hinge point of the tilting frame and the subframe to the top of the container.
[0066] S34: Calculate the height of the container gripper from the hinge point between the tipping frame and the subframe based on the height of the container gripper from the subframe.
[0067] S35: Calculate the horizontal distance from the container grabber to the hinge point of the tilting frame and subframe based on the distance from the hinge point of the tilting frame and subframe to the container grabber and the height of the container grabber from the hinge point of the tilting frame and subframe.
[0068] S36: Calculate the extension distance of the length telescopic drive based on the horizontal distance from the container grabber to the hinge point between the tipping frame and the subframe, and drive the length telescopic drive to extend.
[0069] S40: The tilting drive unit drives the tilting frame to rotate relative to the subframe so that the container gripper can grab the container to be loaded.
[0070] S41: Calculate the angle between the direction of the hinge point of the tipping frame and the subframe to the front of the container and the height difference between the hinge point of the tipping frame and the subframe to the top of the container after tipping, and the horizontal direction.
[0071] S42: Calculate the height of the container gripper from the hinge point between the tipping frame and the subframe, and the horizontal distance from the container gripper to the hinge point between the tipping frame and the subframe. Calculate the angle between the direction of the container gripper from the hinge point between the tipping frame and the subframe and the horizontal direction before tipping.
[0072] S43: Calculate the angle of rotation of the tilting frame relative to the subframe based on the angle between the hinge point of the tilting frame and the subframe to the container grab and the horizontal direction after tilting, and the angle between the hinge point of the tilting frame and the subframe to the container grab and the horizontal direction before tilting.
[0073] S44: Based on the calculated angle of rotation of the tilting frame relative to the subframe, the tilting drive unit drives the tilting frame to rotate relative to the subframe so that the container gripper can grab the container to be loaded.
[0074] S50: The rotating telescopic drive unit drives the support beam assembly to rotate relative to the support frame by a preset angle in the direction closer to the support frame.
[0075] S60: Container grabber grabs containers to be loaded.
[0076] S70: The tilting drive unit drives the tilting frame to rotate in the opposite direction relative to the subframe, so that the container gripper can grab and place the container onto the subframe.
[0077] The container loading control method provided in this invention can automatically adjust the position of the container gripper based on the container's location information, enabling the gripper to grab the container to be loaded and place it on the subframe. This satisfies the automated control requirements of the container loading and unloading device, thereby improving the efficiency of container loading. By automatically identifying positioning information and establishing a coordinate model, the loading path is automatically planned, avoiding repeated manual alignment adjustments. Furthermore, personnel do not need to leave the cab, saving time spent changing workstations.
[0078] In one specific embodiment, such as Figure 6 As shown, where,
[0079] R is the grab radius, a virtual value. Through calculation, we know that R2 = B2 + A2 = L2 + H2.
[0080] A is the theoretical length of the telescopic arm, A = S + A1;
[0081] S is the telescopic amount, and A1 is the fully retracted arm length, which is a fixed value and is known.
[0082] B is the theoretical grab point height, B = B1 + B2;
[0083] B1 is the height value of the angle between the bottom surface of the box body (subframe support surface) and the lifting arm, which is designed as a fixed value and is a known quantity;
[0084] B2 represents the container height, which is equal to H3. H3 is the reversing navigation recognition parameter, which is a known quantity.
[0085] B4 is the column expansion / contraction amount, and B3 is the column's fully collapsed dimension, which is designed as a fixed value and is known.
[0086] L is the distance between the lifting arm tip and the front face of the container, L = L1 + L2;
[0087] L1 is the distance between the lifting arm tip and the vehicle rear identification module, designed as a fixed value, and is a known quantity;
[0088] L2 is the distance between the vehicle's rear identification module and the front face of the container, which is a known parameter for reversing navigation recognition.
[0089] H is the height difference between the lifting arm's chuck point and the top of the container, H = H2 + H1;
[0090] H1 is the height difference between the lifting arm's pivot point and the vehicle's rear identification module, designed as a fixed value, and is a known quantity.
[0091] H2 is the height difference between the vehicle's rear identification module and the top of the container, which is a known parameter for reversing navigation recognition.
[0092] H4 is the height difference between the vehicle's rear identification module and the bottom of the tire, designed as a fixed value, and is a known quantity.
[0093] 'a' is the theoretical angle of the lifting arm movement, a = 180 - a1 - a2;
[0094] a1 is the initial angle of the grab radius, sina1 = B / R;
[0095] a2 is the last angle of the grab radius, sina2=H / R.
[0096] The extension distance of the telescopic drive component = the horizontal distance from the container grabber to the hinge point between the tipping frame and the subframe - the length of the tipping frame - the preset length.
[0097] This design incorporates a guide positioning seat that rotates around the locking pin at the end of the gripper and maintains a vertical posture under its own weight, adapting to different angles for guiding and positioning relative to the target (container or shelter, etc.). The guide positioning seat features both horizontal and vertical guiding positions. By combining the action steps in the automated loading and unloading process, pin positioning is achieved through a step-by-step process: first guiding and positioning the upper surface (horizontal plate) of the container, then guiding and positioning the front surface (vertical plate). This eliminates accumulated errors caused by identification, calculation, and manufacturing processes. Furthermore, it enables one-time positioning by the identification system. After establishing the coordinate system, the automated process no longer relies on identification data, effectively reducing the amount of identification calculation data and eliminating the need to adjust the automated action data based on constantly changing identification data. Instead, guidance and positioning are achieved through adaptive mechanism after a single positioning.
[0098] Due to cumulative errors caused by identification, calculation, and manufacturing processes, the distance X between the vertical plate of the guide positioning seat and the front face of the container may be negative. In this case, the upper face cannot be positioned first. Therefore, based on the cumulative error range, after the control system calculates the theoretical gripping radius R / theoretical telescopic arm length A, the actual output telescopic arm length A will be 50mm smaller than the theoretical value (preset length). This ensures that X is positive, thus achieving pre-contact for the transverse plate guide positioning. Simultaneously, the guide positioning seat is designed with a proximity switch. The tilting drive mechanism drives the tilting frame to rotate relative to the subframe until the transverse plate guide positioning is achieved (proximity switch signal), at which point the tilting drive mechanism stops.
[0099] The tilting drive unit drives the tilting frame to rotate relative to the subframe to the top guide positioning (proximity switch signal). After the lifting action stops, the rotating telescopic drive unit drives the support beam assembly to rotate 0-3° (preset angle) relative to the telescopic end of the adjusting telescopic drive unit towards the adjusting telescopic drive unit. At this time, the horizontal plate of the guide positioning seat (i.e., the top guide) moves obliquely upward, away from the limiting surface, without movement interference, while the vertical plate of the guide positioning seat (i.e., the front face guide) moves obliquely backward, which can eliminate the first step of pre-measurement. The vertical plate is equipped with a proximity switch. After it is in position, the pin can be aligned with the corner hole of the container (length direction). At the same time, the tilting support tilting point is close to the center of the corner hole, and the height direction of the container corner is an oblong hole, which can adapt to the deviation of the horizontal height direction of the guide positioning seat.
[0100] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0101] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.
Claims
1. A container loading control method, characterized in that, The container loading and unloading device automates the control of containers. The device includes a subframe with a horizontally hinged tilting frame. A tilting drive is mounted on the subframe, which drives the tilting frame to rotate relative to the subframe. The tilting frame has a telescopic drive that can extend and retract along its length. A mounting frame is installed at the telescopic end of the telescopic drive. An adjustable telescopic drive is mounted on the mounting frame, and a support frame is installed at the telescopic end of the adjustable telescopic drive. A container gripper is mounted on the support frame. A detection and identification module is installed at the rear of the subframe. The detection and identification module can detect the height of the container to be loaded, the distance from the front of the container to the rear of the subframe, and the height difference between the top of the container and the subframe. The container loading control method includes the following steps: The height of the container to be loaded, the distance from the front of the container to the rear of the subframe, and the height difference between the top of the container and the subframe are measured. Based on the detected height of the container to be loaded, the telescopic drive is extended to make the height of the container gripper from the subframe equal to the height of the container to be loaded. Based on the detected distance from the front end of the container to the rear end of the subframe and the height difference from the top of the container to the subframe, the drive length extension drive extends so that the container gripper can grab the container to be loaded after the tilting frame rotates. The tilting drive unit drives the tilting frame to rotate relative to the subframe, so that the container gripper can grab the container to be loaded. Container grabbers grasp containers to be loaded; The tilting drive unit drives the tilting frame to rotate in the opposite direction relative to the subframe, so that the container gripper can grab and place the container on the subframe; The step of extending the drive length telescopic drive component based on the detected distance from the front end of the container to the rear end of the subframe and the height difference between the top of the container and the subframe, so that the container gripper can grab the container to be loaded after the tilting frame rotates, includes the following steps: The distance from the hinge point between the tipping frame and the subframe to the front of the container is calculated based on the detected distance from the front of the container to the rear of the subframe. Calculate the height difference between the hinge point of the tipping frame and the top of the container based on the height difference between the top of the container and the subframe. The distance from the hinge point of the tipping frame and the subframe to the front of the container is calculated based on the distance from the hinge point of the tipping frame and the subframe to the front of the container and the height difference from the hinge point of the tipping frame and the subframe to the top of the container. Calculate the height of the container gripper from the hinge point between the tipping frame and the subframe based on the height of the container gripper from the subframe. The horizontal distance from the hinge point of the tipping frame and the subframe to the container gripper is calculated based on the distance from the hinge point of the tipping frame and the subframe to the container gripper and the height of the container gripper from the hinge point of the tipping frame and the subframe. The extension distance of the telescopic drive component is calculated based on the horizontal distance from the container gripper to the hinge point between the tipping frame and the subframe, and the telescopic drive component is then driven to extend. The tilting drive unit drives the tilting frame to rotate relative to the subframe, so that the container gripper can grab the container to be loaded, including the following steps: Calculate the angle between the direction of the hinge point of the tipping frame and the subframe to the front of the container and the height difference between the hinge point of the tipping frame and the subframe to the top of the container after tipping, and the horizontal direction. The height of the container grabbing from the hinge point between the tipping frame and the subframe, and the horizontal distance from the container grabbing to the hinge point between the tipping frame and the subframe, are calculated. The angle between the direction of the container grabbing from the hinge point between the tipping frame and the subframe and the horizontal direction before tipping is calculated. The angle of rotation of the tilting frame relative to the subframe is calculated based on the angle between the hinge point of the tilting frame and the subframe to the container grab and the horizontal direction after the tilting frame is tilted, and the angle between the hinge point of the tilting frame and the subframe to the container grab and the horizontal direction before the tilting frame is tilted. Based on the calculated angle of rotation of the tilting frame relative to the subframe, the tilting drive unit drives the tilting frame to rotate relative to the subframe so that the container gripper can grab the container to be loaded.
2. The container loading control method according to claim 1, characterized in that, The extension distance of the telescopic drive component = the horizontal distance from the container grabber to the hinge point between the tipping frame and the subframe - the length of the tipping frame - the preset length.