Container door opening and closing device

Abstract

The invention discloses a container door opening and closing device, which aims to use a hook block to hook a handle, and then pull two hook blocks to move by moving a sliding plate, and rotate two handles at the same time to complete the unlocking of a locking rod. Its technical solution is as follows: a container door opening and closing device, comprising a base frame, a door opening and closing unit and a handle operating unit; the door opening and closing unit comprises a frame body and a first driving module, the frame body is provided with a holding rod module for hooking the locking rod, the frame body is rotatably connected to the base frame, the first driving module drives the frame body to rotate to drive the door to rotate; the handle operating unit comprises a platform and a second driving module, the platform is perpendicular to the first direction, the platform is slidably matched with a sliding plate, and the second driving module drives the sliding plate to move away from or close to the door; a displacement plate and a third driving module are provided on the sliding plate, two hook blocks are rotatably provided on the displacement plate, and the two hook blocks correspond to the two handles on the door, and belongs to the technical field of transportation equipment.

Description

Technical Field

[0001] The present invention belongs to the technical field of transportation equipment, and more specifically, relates to a container door opening and closing device. Background Art

[0002] In bulk material transportation, containers are used. When unloading or loading materials, the container needs to be erected with the opening facing upward. Workers often need to climb to high places to operate and open or close the container door, which poses a safety hazard.

[0003] In view of this situation, CN112811029A discloses an automatic container door opening and closing device, which includes a frame mechanism, a door opening and closing mechanism and a locking mechanism. The door opening and closing mechanism includes a mounting frame, an arc track, a crank arm, a driving mechanism and a rotating beam. The mounting frame is mounted on the frame mechanism, the arc track is fixed on the mounting frame, one end of the crank arm is hinged on the mounting frame, and the other end is adapted to slide on the arc track. One end of the driving mechanism is hinged on the mounting frame, and the other end is hinged on the middle part of the crank arm. The rotating beam is fixed on the crank arm, and the driving mechanism is extended and retracted to drive the crank arm to rotate and drive the rotating beam to move in an arc.

[0004] The above container automatic door opening and closing device uses a clamp to grab the handle, and uses an arc track to make the clamp follow an arc track, so as to rotate the handle, and the handle rotates with the lock rod to complete the unlocking of the lock rod, and the shape of the arc track needs to be strictly controlled to ensure that the arc track of the clamp is consistent with the actual rotation track of the handle, so as to avoid interference between the clamp and the handle; according to the drawings in the specification, it can be seen that the handles on the container door are arranged at intervals up and down, and the unlocking rotation directions of the two handles are different. Therefore, the arc track in the patent can be arranged at intervals up and down, and the two third drive mechanisms can also be staggered;

[0005] However, in practice, the two handles on most container doors are arranged horizontally and at intervals, the two handles are at the same height, and the spacing between the two locking rods is close to the length of the handles. If the above-mentioned container automatic door opening and closing device is used, it is difficult to arrange the two curved tracks at the same height, and the handles and the curved tracks are prone to interference. Therefore, the above-mentioned container automatic door opening and closing device cannot automatically open and close the doors of containers whose handles are at the same height. Summary of the invention

[0006] The main purpose of the present invention is to provide a container door opening and closing device, which aims to use a hook block to hook a handle, then pull the two hook blocks to move by moving a sliding plate, and simultaneously rotate the two handles to complete the unlocking of the locking rod.

[0007] According to a first aspect of the present invention, there is provided a container door opening and closing device, comprising a base frame, a door opening and closing unit and a handle operating unit, wherein the length direction of the locking rod is a first direction;

[0008] The door opening and closing unit comprises a frame and a first driving module, the frame is provided with a holding rod module for hooking a locking rod, the frame is rotatably connected to the base frame, and the first driving module drives the frame to rotate so as to drive the door to rotate;

[0009] The handle operating unit includes a platform and a second driving module, the platform is perpendicular to the first direction, a sliding plate is slidably fitted on the platform, and the second driving module drives the sliding plate to move away from or close to the box door; a displacement plate and a third driving module are provided on the sliding plate, and two hook blocks are rotatably provided on the displacement plate, and the two hook blocks correspond to the two handles on the box door, and the rotation axis of the hook block is parallel to the first direction, and the third driving module drives the displacement plate to move along the first direction so that the hook block pushes the handle to swing.

[0010] In the above container door opening and closing device, the hook block has a hook opening for hooking the handle, and the displacement plate is provided with a coil spring connected to the hook block so that the hook opening tends to be opposite to the container door.

[0011] In the above container door opening and closing device, the hook block comprises a body, an end of the body close to the displacement plate is provided with a hook portion, and an end of the body away from the displacement plate is provided with a blocking portion;

[0012] When the hook block is not rotated, the hook mouth is opposite to the box door, the bent hook portion and the blocking portion are both located on the side of the main body facing the box door, and the hook mouth is surrounded by the side of the bent hook portion facing away from the displacement plate, the side of the blocking portion facing the displacement plate, and the side of the main body facing the box door.

[0013] In the above container door opening and closing device, a first guiding inclined surface is provided on the side of the hook portion facing away from the displacement plate, and the first guiding inclined surface guides the handle to enter the hook opening;

[0014] A second guiding slope is provided on one side of the blocking portion facing the displacement plate, and the second guiding slope guides the handle to leave the hook opening.

[0015] In the above container door opening and closing device, the platform is provided with a first limiting portion and a second limiting portion, a guide groove is formed between the first limiting portion and the second limiting portion, and the sliding plate is located in the guide groove and can move along the guide groove;

[0016] The second driving module comprises a hydraulic cylinder, one end of which is hinged to the platform, and the other end of which is hinged to the sliding plate.

[0017] In the above-mentioned container opening and closing door device, a first card groove is provided on the side of the first limiting portion close to the sliding plate, and a second card groove is provided on the side of the second limiting portion close to the sliding plate. The side of the sliding plate close to the first limiting portion can be inserted into the first card groove, and the side of the sliding plate close to the second limiting portion can be inserted into the second card groove.

[0018] In the above-mentioned container door opening and closing device, a positioning rod is provided on the sliding plate, and the positioning rod passes through the displacement plate. A baffle is provided at the end of the positioning rod, and the baffle is located on the side of the displacement plate facing away from the sliding plate to limit the swing angle of the handle in the first direction.

[0019] In the above container door opening and closing device, the pole holding module includes a fourth driving module and two hooks, the fourth driving module is arranged on the frame, and the two hooks move in opposite directions under the drive of the fourth driving module.

[0020] In the above container door opening and closing device, a track parallel to the moving direction of the hook is provided on the frame, and the fourth driving module is connected to the track so that the fourth driving module can slide on the track.

[0021] In the above container door opening and closing device, there are two door opening and closing units which are symmetrically arranged, and the two door opening and closing units correspond to the two doors of the container.

[0022] One of the above technical solutions of the present invention has at least one of the following advantages or beneficial effects:

[0023] In the present invention, two hook blocks are arranged on the displacement plate, corresponding to the two handles on the box door. The displacement plate moves along a first direction, so that the hook block can push the handle to swing so that the handle leaves the handle support. At the same time, the hook block is hooked on the handle, and then the sliding plate moves, which can drive the hook block to move. The hook block then pulls the handle to rotate so that the locking rod is unlocked. Since the hook block is rotatable, the hook block can adapt to the posture change of the handle during the rotation process. The movement trajectory of the sliding plate does not need to be consistent with the rotation trajectory of the handle, but only needs to conform to the rotation trend of the handle. The movement of the sliding plate can pull the two handles to rotate at the same time, and the structure is simpler, so that the container door opening and closing device can automatically open and close the container with the handles at the same height. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention is further described below in conjunction with the accompanying drawings and embodiments;

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

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

[0027] Figure 3 is a schematic structural diagram of a frame according to a first embodiment of the present invention;

[0028] Figure 4 The first embodiment of the present invention Figure 3 A partial enlarged view of A;

[0029] Figure 5 is a top view of a platform according to a first embodiment of the present invention;

[0030] Figure 6 is an exploded view of the connection between the hook block and the displacement plate of the first embodiment of the present invention;

[0031] Figure 7 It is a schematic diagram of the structure of the first embodiment of the present invention when it cooperates with a container door;

[0032] Figure 8 The first embodiment of the present invention Figure 7 A partial enlarged view of B;

[0033] Fig. 9 is another structural schematic diagram of the first embodiment of the present invention when it cooperates with a container door;

[0034] Fig.10 The first embodiment of the present invention Fig. 9 A partial enlarged view of C;

[0035] Fig.11 Schematic diagram of the movement of the displacement plate according to the first embodiment of the present invention.

[0036] Among them, the reference numerals of the figures are:

[0037] 1. Base frame; 2. Door opening and closing unit; 21. Frame; 22. First drive module; 23. Holding rod module; 231. Fourth drive module; 232. Hook; 24. Track; 3. Handle operating unit; 31. Platform; 311. First limiting part; 312. Second limiting part; 313. Guide slot; 314. First card slot; 315. Second card slot; 32. Second drive module; 33. Sliding plate; 34. Displacement plate; 35. Third drive module; 36. Hook block; 361. Main body; 362. Hook part; 363. Blocking part; 364. First guide slope; 365. Second guide slope; 37. Coil spring; 38. Positioning rod; 39. Blocking piece. DETAILED DESCRIPTION

[0038] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0039] The container targeted by the present application has two doors, each of which is provided with two locking rods, and the locking rods are provided with handles, and the two handles on the same door are at the same height, and the door is provided with a handle holder corresponding to the handles one by one. When unlocking, it is necessary to swing the handle to disengage the handle from the handle holder, and then turn the handle, the handle drives the locking rod to rotate together, so that the locking rod is unlocked, and the door can be opened; to close the door, the order is reversed, the handle is turned, the locking rod is rotated together, the locking rod is locked, and then the handle is swung to allow the handle to fit into the handle holder, and the door is closed.

[0040] Reference Figures 1 to 11 As shown, in one embodiment of the present invention, a container door opening and closing device comprises a base frame 1, a door opening and closing unit 2 and a handle operating unit 3, wherein the length direction of the locking rod is a first direction;

[0041] The door opening and closing unit 2 includes a frame 21 and a first driving module 22. The frame 21 is provided with a holding rod module 23 for hooking the lock rod. The frame 21 is rotatably connected to the base frame 1. The first driving module 22 drives the frame 21 to rotate, thereby driving the door to rotate.

[0042] The handle manipulation unit 3 includes a platform 31 and a second driving module 32. The platform 31 is perpendicular to the first direction. A sliding plate 33 is slidably matched on the platform 31. The second driving module 32 drives the sliding plate 33 to move away from or close to the door. A displacement plate 34 and a third driving module 35 are provided on the sliding plate 33. Two hook blocks 36 are rotatably provided on the displacement plate 34. The two hook blocks 36 correspond to the two handles on the door. The rotation axis of the hook blocks 36 is parallel to the first direction. The third driving module 35 drives the displacement plate 34 to move along the first direction so that the hook blocks 36 push the handle to swing.

[0043] When in use, the container will be connected to the base frame 1, and the base frame 1 is provided with a positioning structure to connect with the corner piece of the container to ensure that the door opening and closing unit 2 can correspond to the door;

[0044] Door opening stage: the displacement plate 34 first moves in the first direction, allowing the hook block 36 to push the handle to swing until the handle is separated from the handle bracket and the hook block 36 hooks the handle; then the sliding plate 33 moves, which can drive the hook block 36 to move, and the hook block 36 pulls the handle to rotate to unlock the lock rod; since the hook block 36 is rotatable, the hook block 36 can adapt to the posture change of the handle during the rotation process, and the movement trajectory of the sliding plate 33 does not need to be consistent with the rotation trajectory of the handle, but only needs to be consistent with the rotation trend of the handle. The movement of the sliding plate 33 can pull the two handles to rotate at the same time, so that the two lock rods are unlocked at the same time; then the frame 21 rotates again, and the locking rod is pulled together by the holding rod module 23 to open the door;

[0045] Door closing stage: the frame 21 rotates first to close the door; then the sliding plate 33 is reset, the hook block 36 pushes the handle to rotate, driving the lock rod to rotate together, so that the lock rod is locked; then the displacement plate 34 moves along the first direction, the hook block 36 drives the handle to swing, so that the handle is stuck in the handle bracket, and at the same time the hook block 36 gradually separates from the handle, thereby completing the locking of the door;

[0046] In this way, the automatic opening and closing of the container door can be realized, especially for the container door whose handles are at the same height, the structure is simple and the fault tolerance rate is higher.

[0047] In this embodiment, the hook block 36 has a hook opening for hooking the handle, and the displacement plate 34 is provided with a coil spring 37, which is connected to the hook block 36 so that the hook opening tends to be opposite to the box door;

[0048] In the initial state of opening the door, the hook mouth is opposite to the box door. When the hook block 36 hooks the handle away from the box door, the hook block 36 will rotate to adapt to the posture of the handle, and at this time it is pulling the coil spring 37; when the hook block 36 hooks the handle and approaches the box door, since the handle still has a certain rotation margin in the hook mouth, relying on the push of the hook block 36, the handle may not be aligned with the handle support, but the coil spring 37 will have a tendency to recover, allowing the hook block 36 to rotate autonomously, allowing the handle to adjust its posture as soon as possible, until the hook mouth tends to be opposite to the box door, and the handle can be accurately aligned with the handle support.

[0049] Specifically, the hook block 36 includes a body 361 , an end of the body 361 close to the displacement plate 34 is provided with a hook portion 362 , and an end of the body 361 away from the displacement plate 34 is provided with a blocking portion 363 ;

[0050] When the hook block 36 is not rotated, that is, in the initial state of opening the door, the hook opening is opposite to the box door, the hook portion 362 and the blocking portion 363 are both located on the side of the body 361 facing the box door, and the hook opening is surrounded by the side of the hook portion 362 facing away from the displacement plate 34, the side of the blocking portion 363 facing the displacement plate 34, and the side of the body 361 facing the box door;

[0051] When in use, based on the movement of the sliding plate 33, the handle enters the gap between the hook portion 362 and the blocking portion 363, and then as the displacement plate 34 moves in a direction away from the sliding plate 33, the handle enters the hook portion 362, and under the push of the hook portion 362, the handle can be swung out of the handle bracket; as the displacement plate 34 moves in a direction close to the sliding plate 33, the handle gradually leaves the hook portion 362 until it touches the blocking portion 363, and under the push of the blocking portion 363, the handle gradually gets stuck in the handle bracket; finally, the handle will return to the gap between the hook portion 362 and the blocking portion 363, and the movement of the sliding plate 33 can allow the handle to completely leave the handle.

[0052] Preferably, a first guiding slope 364 is provided on the side of the hook portion 362 facing away from the displacement plate 34. When the hook block 36 moves in a direction away from the sliding plate 33, the first guiding slope 364 can touch the handle. The first guiding slope 364 guides the handle into the hook opening and reaches between the hook portion 362 and the body 361, ensuring that the hook block 36 can hook the handle.

[0053] A second guiding slope 365 is provided on one side of the blocking portion 363 facing the displacement plate 34 . When the hook block 36 moves in a direction close to the sliding plate 33 , the second guiding slope 365 touches the handle, and the second guiding slope 365 guides the handle to leave the hook opening.

[0054] In this embodiment, the platform 31 is provided with a first limiting portion 311 and a second limiting portion 312, and a guide groove 313 is formed between the first limiting portion 311 and the second limiting portion 312. The sliding plate 33 is located in the guide groove 313 and can move along the guide groove 313; the guide groove 313 is an arc track. Since the hook block 36 can rotate, and the handle and the hook block 36 can slide relative to each other, the guide groove 313 does not need to be precisely consistent with the rotation track of the handle, and the sliding plate 33 can be moved obliquely. Based on this structure, there is no need to make two arc tracks 24 for the two handles, and the two handles can rotate synchronously, and the structure is simplified;

[0055] The second driving module 32 includes a hydraulic cylinder, one end of which is hinged to the platform 31 and the other end of which is hinged to the sliding plate 33 ; the hydraulic cylinder is extended and retracted to drive the sliding plate 33 to move, so that the sliding plate 33 can move along the guide groove 313 .

[0056] In this embodiment, a first slot 314 is provided on a side of the first limiting portion 311 close to the sliding plate 33, and a second slot 315 is provided on a side of the second limiting portion 312 close to the sliding plate 33; the side of the sliding plate 33 close to the first limiting portion 311 can be inserted into the first slot 314, and the side of the sliding plate 33 close to the second limiting portion 312 can be inserted into the second slot 315; the first slot 314 and the second slot 315 are used to prevent the sliding plate 33 from moving in the first direction while allowing the sliding plate 33 to move along the guide slot 313.

[0057] In this embodiment, at least two guide pillars are fixed on the sliding plate 33, and a guide sleeve matching the guide pillars is provided on the displacement plate 34, so that the displacement plate 34 can slide along the first direction. The third driving module 35 is a hydraulic cylinder, and the output end of the hydraulic cylinder is connected to the displacement plate 34, thereby driving the displacement plate 34 to move.

[0058] In this embodiment, when the displacement plate 34 moves along the first direction with the hook block 36, the moving distance needs to be controlled, thereby controlling the swing angle of the handle in the first direction. If the swing angle of the handle in the first direction is too large, the handle may be separated from the hook block 36;

[0059] Therefore, a positioning rod 38 is provided on the sliding plate 33, and the positioning rod 38 passes through the displacement plate 34. A baffle 39 is provided at the end of the positioning rod 38, and the baffle 39 is located on the side of the displacement plate 34 facing away from the sliding plate 33. When the displacement plate 34 moves along the first direction, the positioning rod 38 can remain stationary, thereby keeping the baffle 39 stationary until the handle touches the baffle 39, and it is determined that the swing angle of the handle in the first direction reaches the limit angle at this time, and the handle will not continue to swing in the first direction, ensuring that the handle will not fall off the hook block 36.

[0060] In this embodiment, the pole holding module 23 includes a fourth driving module 231 and two hooks 232. The fourth driving module 231 is disposed on the frame 21. The two hooks 232 move in opposite directions under the drive of the fourth driving module 231.

[0061] During use, after the container is connected to the base frame 1, the two hooks 232 will be located between the two locking rods of the door, and the fourth driving module 231 drives the two hooks 232 to move backwards so that the hooks 232 hook the locking rods. When the frame 21 rotates subsequently, the locking rods can move with it, thereby driving the door to rotate; after the door is opened and closed, the fourth driving module 231 drives the two hooks 232 to move toward each other, so that the locking rods are separated from the hooks 232, and the frame 21 is convenient for separating the door, and the container can be removed subsequently.

[0062] Moreover, due to processing errors and loading and unloading errors, the position of the container will not be particularly accurate when it is connected to the base frame 1. The container will be offset in its width direction, which may cause the hook 232 and the lock rod to be poorly connected. Based on this, the fourth driving module 231 is made into a movable connection in this embodiment. A track 24 parallel to the moving direction of the hook 232 is provided on the frame 21. The fourth driving module 231 is connected to the track 24 so that the fourth driving module 231 can slide on the track 24, and then the position of the fourth driving module 231 can be automatically adjusted so that the two hooks 232 are accurately hooked on the lock rod.

[0063] Specifically, the fourth driving module 231 is a double-piston-rod hydraulic cylinder, and the two hooks 232 are respectively fixed on the two piston rods of the double-piston-rod hydraulic cylinder, and the cylinder body is connected to the track 24; after the container is offset in its width direction, when the holding rod module 23 is aligned with the box door, one hook 232 will be closer to the corresponding locking rod, and the other hook 232 will be farther away from the corresponding locking rod. At this time, the double-piston-rod hydraulic cylinder is actuated, and the two piston rods are extended at the same time. The closer hook 232 will touch the locking rod first. As the piston rod continues to extend, the hook 232 that has touched the locking rod will push the cylinder body to move, so that the farther hook 232 is closer to the locking rod, until both hooks 232 are hooked to the locking rod. In this way, the position of the cylinder body can be adjusted, thereby compensating for the position error and size error of the container in the width direction.

[0064] In this embodiment, there are two door opening and closing units 2 and they are symmetrically arranged. The two door opening and closing units 2 correspond to the two doors of the container and can automatically open and close the two doors at the same time.

[0065] Specifically, the rotation axis of the frame 21 will be close to the rotation axis of the corresponding box door. The first driving module 22 is a hydraulic cylinder, one end of the hydraulic cylinder is hinged to the base frame 1, and the other end of the hydraulic cylinder is hinged to the frame 21. The extension and retraction of the hydraulic cylinder drives the frame 21 to rotate. When the container is connected to the base frame 1, there will be position errors and size errors in the length direction. Therefore, the relative distance between the frame 21 and the box door can be controlled by adjusting the stroke of the hydraulic cylinder to compensate for the position error and size error of the container in the length direction.

[0066] It should be noted that there is also a buckle corresponding to the handle holder on the container door, and the buckle fixes the handle in the handle holder. Before using the door opening and closing device of the present application, the buckle needs to be manually turned out and fixed so that the buckle will not affect the swing and rotation of the handle; that is, after the container is fixed to the base frame 1, the worker turns out and fixes the buckle, unlocks the buckle in advance, and the subsequent container door opening and closing device can operate fully automatically.

[0067] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A container door opening and closing device, characterized in that: It includes a base frame, a door opening and closing unit and a handle operating unit, and the length direction of the lock rod is a first direction; The door opening and closing unit comprises a frame and a first driving module, the frame is provided with a holding rod module for hooking a locking rod, the frame is rotatably connected to the base frame, and the first driving module drives the frame to rotate so as to drive the door to rotate; The handle operating unit includes a platform and a second driving module, the platform is perpendicular to the first direction, a sliding plate is slidably fitted on the platform, and the second driving module drives the sliding plate to move away from or close to the box door; a displacement plate and a third driving module are provided on the sliding plate, and two hook blocks are rotatably provided on the displacement plate, and the two hook blocks correspond to the two handles on the box door, and the rotation axis of the hook block is parallel to the first direction, and the third driving module drives the displacement plate to move along the first direction so that the hook block pushes the handle to swing.

2. The container door opening and closing device according to claim 1, characterized in that: The hook block is provided with a hook opening for hooking the handle, and the displacement plate is provided with a coil spring, which is connected to the hook block so that the hook opening tends to be opposite to the box door.

3. The container door opening and closing device according to claim 2, characterized in that: The hook block comprises a body, an end of the body close to the displacement plate is provided with a hook portion, and an end of the body away from the displacement plate is provided with a blocking portion; When the hook block is not rotated, the hook mouth is opposite to the box door, the bent hook portion and the blocking portion are both located on the side of the main body facing the box door, and the hook mouth is surrounded by the side of the bent hook portion facing away from the displacement plate, the side of the blocking portion facing the displacement plate, and the side of the main body facing the box door.

4. The container door opening and closing device according to claim 3, characterized in that: A first guiding slope is provided on the side of the hook portion facing away from the displacement plate, and the first guiding slope guides the handle to enter the hook opening; A second guiding slope is provided on one side of the blocking portion facing the displacement plate, and the second guiding slope guides the handle to leave the hook opening.

5. The container door opening and closing device according to claim 1, characterized in that: The platform is provided with a first limiting portion and a second limiting portion, a guide groove is formed between the first limiting portion and the second limiting portion, and the sliding plate is located in the guide groove and can move along the guide groove; The second driving module comprises a hydraulic cylinder, one end of which is hinged to the platform, and the other end of which is hinged to the sliding plate.

6. The container door opening and closing device according to claim 5, characterized in that: A first slot is provided on a side of the first limiting portion close to the sliding plate, and a second slot is provided on a side of the second limiting portion close to the sliding plate. The side of the sliding plate close to the first limiting portion can be inserted into the first slot, and the side of the sliding plate close to the second limiting portion can be inserted into the second slot.

7. The container door opening and closing device according to claim 1, characterized in that: The sliding plate is provided with a positioning rod, the positioning rod passes through the displacement plate, and a blocking piece is provided at the end of the positioning rod. The blocking piece is located on a side of the displacement plate facing away from the sliding plate to limit the swing angle of the handle in the first direction.

8. The container door opening and closing device according to claim 1, characterized in that: The pole holding module includes a fourth driving module and two hooks. The fourth driving module is arranged on the frame. The two hooks move in opposite directions under the drive of the fourth driving module.

9. The container door opening and closing device according to claim 8, characterized in that: The frame is provided with a track parallel to the moving direction of the hook, and the fourth driving module is connected to the track so that the fourth driving module can slide on the track.

10. The container door opening and closing device according to claim 1, characterized in that: There are two door opening and closing units which are symmetrically arranged, and the two door opening and closing units correspond to the two doors of the container.

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