A fully automatic rail-mounted container gantry crane with built-in visual recognition

Abstract

The present invention discloses a fully automatic rail-mounted container gantry crane with built-in visual recognition, which relates to the technical field of gantry cranes, and includes: a base, wherein the top of the base is fixed with guide rails near the edges on both sides, and a survey component, wherein the survey component includes a load-bearing plate. When the rail-mounted gantry crane is needed to lift the container, the camera is first turned on, and the position of the container to be extracted is captured by the camera, and the two second forward and reverse motors are started to drive the gantry to move to a position corresponding to the external container, and the servo motor is started. When the operating table moves to the top of the container, the third forward and reverse motor is started to drive four lifting ropes to move downward to the two sides of the container, and the negative pressure pump and the drive motor are turned on to drive the infrared thermal imager and the laser scanner to survey the surface of the container.

Description

Technical Field

[0001] The present invention relates to the technical field of gantry cranes, and in particular to a fully automatic rail-type container gantry crane with built-in visual recognition. Background Art

[0002] The rail-mounted container gantry crane is a crane specially used for container loading and unloading operations. It is often used in places such as seaports and container freight stations for fast and efficient loading and unloading of containers. This crane combines the characteristics of gantry cranes and container cranes. It can move along the track, which is convenient for operation in narrow spaces such as docks, and can hang slings to load and unload containers. The fully automatic rail-mounted container gantry crane with built-in visual recognition technology is a lifting equipment that integrates advanced technologies. It is used to realize automatic loading and unloading operations in places such as container terminals. This crane combines automation technology and visual recognition technology.

[0003] Existing rail-mounted gantry cranes are often used for loading and unloading containers. Since containers are mainly used for the transportation of various goods, they are subject to long-term erosion by wind and rain or corrosion by objects inside the containers during operation, which can easily cause damage to the surface of the containers. Due to the large size of the containers and the large number of containers during the loading and unloading process, it is difficult for workers to find out whether the surface of the containers is damaged. As a result, when the rail-mounted gantry crane lifts the container into the air, the severely damaged parts of the container surface are prone to dents during clamping or leakage of goods inside the container, which may eventually cause safety accidents.

[0004] Therefore, we proposed a fully automatic rail-mounted container gantry crane with built-in visual recognition to solve the problems raised above. Summary of the invention

[0005] The purpose of the present invention is to provide a fully automatic rail-mounted container gantry crane with built-in visual recognition, so as to solve the problem proposed in the above background technology that the gantry crane cannot obtain the damage status of the container when lifting the container, which may easily cause safety accidents.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a fully automatic rail-type container gantry crane with built-in visual recognition, comprising: a base, a guide rail is fixed to the top of the base near the edges on both sides, a survey component, the survey component comprises a load-bearing plate, a support frame is fixed to the top of the load-bearing plate, a first forward and reverse motor is arranged on the inner top surface of the support frame, the output shaft of the first forward and reverse motor is fixedly connected to a rotating tube, a rotating plate is fixed to the bottom end of the output shaft of the rotating tube, the opposite outer surfaces of the rotating plate are provided with mounting grooves, the inner walls of the two mounting grooves are provided with first electric push rods, and the two first electric push rods A sliding rod is fixedly installed at one end of the rod, a negative pressure pump is arranged on the inner walls of the two sliding rods, a processing chamber is fixed between the opposite inner walls of the two sliding rods, the outer surfaces of the two processing chambers are fixedly connected with bellows, the opposite inner walls of the two sliding rods are slidably connected with mounting frames, wherein the inner walls of the two mounting frames are provided with driving motors, the output shafts of the two driving motors are fixedly connected with rotating shafts, the outer surfaces of the two rotating shafts are provided with connecting ropes, and one end of the two connecting ropes is fixed with reinforcing blocks, the outer surface of one of the reinforcing blocks is provided with an infrared thermal imager, and the outer surface of the other reinforcing block is provided with a laser scanner.

[0007] Preferably, an alarm is arranged on the top of the support frame, two telescopic long rods are fixed to the inner walls of the two mounting grooves, baffles are fixed between the relative inner walls of the two processing chambers, valves are arranged on the outer surfaces of the air inlet pipes and air suction pipes of the two negative pressure pumps, and a weight marker is arranged at the bottom of the rotating plate.

[0008] Preferably, the four telescopic rods are grouped into two, one end of each group of telescopic rods is fixedly connected to the outer surfaces of the two sliding rods, one end of the air inlet pipe and the air suction pipe of the two negative pressure pumps pass through the interior of the processing chamber, and one end of the two rotating shafts are movably embedded in the other two mounting frames.

[0009] Preferably, the outer surfaces of one side of the two guide rails are fixedly connected with mounting blocks, the tops of the two mounting blocks are provided with second forward and reverse motors, the output shafts of the two second forward and reverse motors are fixedly connected with screw rods, one ends of the two screw rods are respectively movable and penetrate the outside of the two guide rails, the outer surfaces of the two screw rods are threaded with two sliding blocks, and a gantry is fixed between the tops of the four sliding blocks.

[0010] Preferably, a moving component is arranged inside the gantry, and the moving component includes a load-bearing block, a servo motor is arranged on the top of the load-bearing block, the output shaft of the servo motor is fixedly connected with a threaded rod, one end of the threaded rod is movably penetrated to the outside of the gantry, two limiting tubes are fixed between the opposite inner walls of the gantry, an operating table is threadedly sleeved on the outer surface of the threaded rod, and both ends of the two limiting tubes are movably penetrated to the opposite outsides of the operating table.

[0011] Preferably, a carrier plate is fixed to the outer surface of one side of the operating table, and a third forward and reverse motor is arranged on the outer surface of the carrier plate. Two collecting rollers are movably embedded between the opposite inner walls of the operating table, and the two ends of the two collecting rollers are respectively movably penetrated to the opposite outsides of the operating table, one end of one of the collecting rollers is fixedly connected to the output shaft of the third forward and reverse motor, and hanging ropes are arranged on the outer surfaces of the two collecting rollers, and a first gear is fixed to the other end of one of the collecting rollers, and the outer surface of the first gear is meshingly connected with the second gear.

[0012] Preferably, a limiting groove is provided on the outer surface of the second gear, a connecting shaft is fixed to the other outer surface of the operating table, the outer surface of the connecting shaft is movably connected to the inside of the limiting groove, the outer surface of the second gear is meshingly connected to the third gear, the outer surface of the third gear is fixedly connected to one end of another collecting roller, and a camera is arranged at the bottom of the operating table.

[0013] Preferably, protective components are provided on the opposite inner parts of the rotating plate, and the two protective components include a second electric push rod, and the outer surfaces of the two second electric push rods are fixedly connected to the opposite inner walls of the rotating plate by screws, and one end of the two second electric push rods is fixedly installed with a clamping plate, and the outer surfaces of the two clamping plates are respectively slidably connected to the relative inner walls of the rotating plate.

[0014] Preferably, a multi-stage electric telescopic rod is provided on the top of the two card plates, a lifting plate is fixed to the top of the two multi-stage electric telescopic rods, and connecting rods are fixedly connected to the bottom of the two lifting plates near the edges on both sides, one end of the four connecting rods are movably penetrated to the outside of the card plates, and lifting blocks are fixed to the bottom ends of the four card plates, and limiting rods are fixedly installed on the relative inner walls of the four lifting blocks.

[0015] Preferably, the outer surfaces of the four limit rods are rotatably sleeved with stoppers, fixed tubes are fixed between the relative inner walls of the four stoppers, hydraulic rods are arranged on the inner walls of the four lifting blocks, hollow blocks are fixed at one end of the four hydraulic rods, the interiors of the four hollow blocks are rotatably connected to the outer surfaces of the four fixed tubes respectively, and support blocks are fixed to the outer surfaces of the four stoppers.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. When it is necessary to use a rail-mounted gantry crane to lift a container, first turn on the camera, capture the position of the container to be picked up through the camera, start the two second forward and reverse motors, drive the gantry to move to the position corresponding to the external container, start the servo motor, and when the operating table moves to the top of the container, start the third forward and reverse motor to drive the four lifting ropes to move downward to both sides of the container, turn on the negative pressure pump and the drive motor, and drive the infrared thermal imager and laser scanner to survey the surface of the container, which solves the problem in the prior art that the gantry crane cannot obtain the damage condition of the container when lifting the container, which is easy to cause safety accidents.

[0018] 2. When the infrared thermal imager scans the data of the maximum load-bearing information on the container surface, start the two second electric push rods and the third forward and reverse motor. When the card slots in the two card plates move to the upper part of the container, start the two second electric push rods again to clamp the outer surface of the container, and then start the third forward and reverse motor to drive the container to move upward. The weight of the container is measured by the weight marker, and the control system is used to analyze whether the container is overweight to prevent the weight of the container from exceeding its own load-bearing mass and causing safety hazards.

[0019] 3. When the infrared thermal imager detects minor damage on the surface of the container and the two pallets grab the container, the third forward and reverse motor is started first to drive the rotating plate to move upward, and then the two multi-stage electric telescopic rods are started to drive the four lifting blocks to descend to the bottom of the container, and the four hydraulic rods are started to drive the block to rotate. When the outer surface of the support block is in full contact with the bottom of the container, the container is lifted, making the container structure more stable during lifting and transshipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a front perspective view of a fully automatic rail-mounted container gantry crane with built-in visual recognition according to the present invention;

[0021] Figure 2 It is a three-dimensional diagram of the operating platform of a fully automatic rail-mounted container gantry crane with built-in visual recognition according to the present invention;

[0022] Figure 3 It is a perspective view of the expanded cross-section of the second gear structure of a fully automatic rail-mounted container gantry crane with self-contained visual recognition according to the present invention;

[0023] Figure 4 It is a partial three-dimensional diagram of the survey component of a fully automatic rail-mounted container gantry crane with built-in visual recognition according to the present invention;

[0024] Figure 5It is a three-dimensional diagram of the rotating plate part of a fully automatic rail-mounted container gantry crane with self-contained visual recognition according to the present invention;

[0025] Figure 6 It is a three-dimensional diagram of the telescopic long pole part of a fully automatic rail-mounted container gantry crane with self-contained visual recognition according to the present invention;

[0026] Figure 7 For the present invention Figure 6 Enlarged view of point A in the middle;

[0027] Figure 8 For the present invention Figure 6 Enlarged view of point B in the middle;

[0028] Fig. 9 It is a partial three-dimensional diagram of the protective components of a fully automatic rail-mounted container gantry crane with built-in visual recognition according to the present invention;

[0029] Fig.10 It is a partially cutaway stereoscopic view of a lifting block of a fully automatic rail-mounted container gantry crane with built-in visual recognition according to the present invention;

[0030] Fig.11 It is a three-dimensional diagram of the pallet part of a fully automatic rail-mounted container gantry crane with built-in visual recognition according to the present invention.

[0031] In the figure:

[0032] 1. Base; 2. Guide rail; 3. Mounting block; 4. Second forward and reverse motor; 5. Screw rod; 6. Slider; 7. Gantry; 8. Moving assembly; 801. Load-bearing block; 802. Servo motor; 803. Threaded rod; 804. Limiting tube; 805. Operating table; 806. Carrying plate; 807. Third forward and reverse motor; 808. Collecting roller; 809. Lifting rope; 810. First gear; 811. Second gear; 812. Limiting groove; 813. Connecting shaft; 814. Third gear; 9. Camera; 10. Survey assembly; 1001. Load-bearing plate; 1002. Support frame; 1003. First forward and reverse motor; 1004. Alarm; 1005. Rotating tube; 1006. Rotating plate; 1007. Mounting groove; 1008. First electric push rod; 1009, telescopic long rod; 1010, sliding rod; 1011, negative pressure pump; 1012, valve; 1013, processing chamber; 1014, baffle; 1015, bellows; 1016, mounting frame; 1017, driving motor; 1018, rotating shaft; 1019, connecting rope; 1020, reinforcing block; 1021, infrared thermal imager; 1222, laser scanner; 11, weight marker; 12, protective component; 1201, second electric push rod; 1202, card board; 1203, multi-stage electric telescopic rod; 1204, lifting plate; 1205, connecting rod; 1206, lifting block; 1207, limit rod; 1208, block; 1209, fixed pipe; 1210, hydraulic rod; 1211, hollow block; 1212, support block. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] See also Figure 1-11The present invention provides a technical solution: a fully automatic rail-type container gantry crane with built-in visual recognition, comprising: a base 1, a guide rail 2 is fixed to the top of the base 1 near the edges of both sides, a survey component 10, the survey component 10 comprises a load-bearing plate 1001, a support frame 1002 is fixed to the top of the load-bearing plate 1001, a first forward and reverse motor 1003 is arranged on the inner top surface of the support frame 1002, an output shaft of the first forward and reverse motor 1003 is fixedly connected to a rotating tube 1005, a rotating plate 1006 is fixed to the bottom end of the output shaft of the rotating tube 1005, mounting grooves 1007 are provided on the opposite outer surfaces of the rotating plate 1006, first electric push rods 1008 are arranged on the inner walls of the two mounting grooves 1007, and a sliding rod 1008 is fixedly installed on one end of the two first electric push rods 1008 10. Negative pressure pumps 1011 are provided on the inner walls of the two slide bars 1010, a processing chamber 1013 is fixed between the opposite inner walls of the two slide bars 1010, the outer surfaces of the two processing chambers 1013 are fixedly connected with bellows 1015, the opposite inner walls of the two slide bars 1010 are slidably connected with mounting frames 1016, wherein drive motors 1017 are provided on the inner walls of the two mounting frames 1016, the output shafts of the two drive motors 1017 are fixedly connected with rotating shafts 1018, connecting ropes 1019 are provided on the outer surfaces of the two rotating shafts 1018, and reinforcing blocks 1020 are fixed on one end of the two connecting ropes 1019, an infrared thermal imager 1021 is provided on the outer surface of one of the reinforcing blocks 1020, and a laser scanner 1222 is provided on the outer surface of the other reinforcing block 1020.

[0035] like Figure 4-7 As shown, an alarm 1004 is arranged on the top of the support frame 1002, two telescopic long rods 1009 are fixed to the inner walls of the two installation grooves 1007, baffles 1014 are fixed between the opposite inner walls of the two processing chambers 1013, valves 1012 are arranged on the outer surfaces of the air inlet pipes and the air suction pipes of the two negative pressure pumps 1011, and a weight marker 11 is arranged at the bottom of the rotating plate 1006. When the surface of the container is seriously damaged, a signal can be sent out through the alarm 1004. The two telescopic long rods 1009 support the sliding rod 1010 to make it more stable during the movement. Figure 7 As shown, the center hole of the baffle 1014 is located at the center of the processing chamber 1013, the purpose of which is to make the gas volume entering the two bellows 1015 consistent. Through the setting of the weight marker 11, the weight of the container can be easily detected.

[0036] like Figure 4-8 and Fig.11As shown, four telescopic long rods 1009 are grouped in pairs, and one end of each group of telescopic long rods 1009 is fixedly connected to the outer surface of two sliding rods 1010, and one end of the air inlet pipe and the air suction pipe of the two negative pressure pumps 1011 are both inserted into the interior of the processing chamber 1013. One end of the two rotating shafts 1018 are movably embedded in the interior of the other two mounting frames 1016, and the sliding rods 1010 are supported by the fixation between the telescopic long rods 1009 and the sliding rods 1010. The negative pressure pump 1011 is started, and the valve 1012 on the surface of the air inlet pipe is opened to allow gas to enter the interior of the processing chamber 1013. The stability of the rotating shaft 1018 is ensured by embedding the rotating shaft 1018 in the interior of the other two mounting frames 1016.

[0037] like Figure 1 As shown, the outer surface of one side of the two guide rails 2 is fixedly connected with a mounting block 3, the top of the two mounting blocks 3 is provided with a second forward and reverse motor 4, the output shafts of the two second forward and reverse motors 4 are fixedly connected with a screw rod 5, one end of the two screw rods 5 are respectively movable to penetrate the outside of the two guide rails 2, and the outer surfaces of the two screw rods 5 are threadedly sleeved with two sliders 6, and a gantry 7 is fixed between the tops of the four sliders 6. When the two second forward and reverse motors 4 are started, the four sliders 6 are respectively driven to move along the direction of the guide rails 2, thereby driving the gantry 7 to move, wherein the two guide rails 2 play a role in limiting the movement of the gantry 7, and the arrangement of the mounting block 3 facilitates the installation of the second forward and reverse motor 4.

[0038] like Figure 1-3 As shown, a moving assembly 8 is arranged inside the gantry 7, and the moving assembly 8 includes a load-bearing block 801. A servo motor 802 is arranged on the top of the load-bearing block 801. The output shaft of the servo motor 802 is fixedly connected with a threaded rod 803. One end of the threaded rod 803 is movably penetrated to the outside of the gantry 7. Two limiting tubes 804 are fixed between the opposite inner walls of the gantry 7. An operating table 805 is threadedly sleeved on the outer surface of the threaded rod 803. The two ends of the two limiting tubes 804 are movably penetrated to the opposite outsides of the operating table 805. The servo motor 802 is started to drive the threaded rod 803 to rotate, thereby driving the operating table 805 to move along the direction of the limiting tube 804, wherein the limiting tube 804 limits the operating table 805 to prevent the operating table 805 from rotating under the rotation of the threaded rod 803.

[0039] like Figure 1-3As shown, a carrier plate 806 is fixed to the outer surface of one side of the operating platform 805, and a third forward and reverse motor 807 is arranged on the outer surface of the carrier plate 806. Two collecting rollers 808 are movably embedded between the opposite inner walls of the operating platform 805, and the two ends of the two collecting rollers 808 are movably penetrated to the opposite outer sides of the operating platform 805, one end of one of the collecting rollers 808 is fixedly connected to the output shaft of the third forward and reverse motor 807, and a suspension rope 809 is arranged on the outer surfaces of the two collecting rollers 808, and a first gear 810 is fixed to the other end of one of the collecting rollers 808, and the outer surface of the first gear 810 is meshedly connected with the second gear 811. When the operating platform 805 moves to the top of the container, the third forward and reverse motor 807 is started to drive the collecting roller 808 connected thereto to rotate, so that the two suspension ropes 809 wound on the surface of the collecting roller 808 move downward under the rotation of the collecting roller 808, and at the same time, the rotation of the collecting roller 808 drives the first gear 810 to rotate, thereby driving the second gear 811 to rotate.

[0040] like Figure 1-3 and Figure 5 As shown, a limiting groove 812 is provided on the outer surface of the second gear 811, and a connecting shaft 813 is fixed on the other outer surface of the operating platform 805. The outer surface of the connecting shaft 813 is movably connected to the inner part of the limiting groove 812. The outer surface of the second gear 811 is meshedly connected to the third gear 814. The outer surface of the third gear 814 is fixedly connected to one end of another collecting roller 808. A camera 9 is arranged at the bottom of the operating platform 805. The limiting tube 804 limits the operating platform 805 to prevent the operating platform 805 from rotating under the rotation of the threaded rod 803. When the operating platform 805 moves to the top of the container, the third forward and reverse motor 807 is started to drive the collecting roller 808 connected thereto to rotate, thereby causing the two hanging ropes 809 wound on the surface of the collecting roller 808 to move downward under the rotation of the collecting roller 808. At the same time, the rotation of the collecting roller 808 drives the first gear 810 to rotate, thereby driving the second gear 811 to rotate. Figure 3 As shown, the cross section of the limit groove 812 matches the cross section of the connecting shaft 813, which is intended to support the second gear 811 and facilitate its rotation. The camera 9 is provided to facilitate the gantry crane to automatically identify the container to be picked up.

[0041] like Figure 4-5 and Fig.11As shown, protective components 12 are provided on the opposite inner parts of the rotating plate 1006, and the two protective components 12 both include second electric push rods 1201. The outer surfaces of the two second electric push rods 1201 are fixedly connected to the opposite inner walls of the rotating plate 1006 by screws, and one end of the two second electric push rods 1201 is fixedly installed with a clamping plate 1202. The outer surfaces of the two clamping plates 1202 are respectively slidably connected to the relative inner walls of the rotating plate 1006. When the slot parts in the two clamping plates 1202 move to the upper part of the container, the two second electric push rods 1201 are started again to shorten them until the slot parts of the two clamping plates 1202 clamp the outer surface of the container.

[0042] like Figure 9-11 As shown, a multi-stage electric telescopic rod 1203 is arranged on the top of the two pallets 1202, and a lifting plate 1204 is fixed on the top of the two multi-stage electric telescopic rods 1203. The bottoms of the two lifting plates 1204 are fixedly connected with connecting rods 1205 near the edges on both sides, and one end of the four connecting rods 1205 is movable and penetrates to the outside of the pallet 1202, and a lifting block 1206 is fixed on the bottom of the four pallet 1202. The relative inner walls of the four lifting blocks 1206 are fixedly installed with limiting rods 1207. When the two pallets 1202 grab the container, the third forward and reverse motor 807 is first started to drive the rotating plate 1006 to move upward, and then the two multi-stage electric telescopic rods 1203 are started to shorten them, driving the lifting plate 1204 to move downward, and then driving the connecting rod 1205 to move downward. The movement of the connecting rod 1205 drives the lifting block 1206 to move downward.

[0043] like Figure 9-10 As shown, the outer surfaces of the four limit rods 1207 are rotatably sleeved with stoppers 1208, and fixed tubes 1209 are fixed between the opposite inner walls of the four stoppers 1208. The inner walls of the four lifting blocks 1206 are provided with hydraulic rods 1210, and one end of the four hydraulic rods 1210 is fixed with hollow blocks 1211. The interiors of the four hollow blocks 1211 are rotatably connected to the outer surfaces of the four fixed tubes 1209, respectively. The outer surfaces of the four stoppers 1208 are fixed with support blocks 1212. When the four lifting blocks 1206 are all lowered to the bottom of the container, the four hydraulic rods 1210 are started to extend, driving the hollow blocks 1211 to move forward, thereby driving the fixed tubes 1209 to move forward. Fig.10 As shown, the inner diameter of the hollow circle in the hollow block 1211 is larger than the outer diameter of the fixed tube 1209. The purpose is to facilitate the rotation of the stopper 1208. The hollow block 1211 drives the fixed tube 1209 to move forward, thereby driving the stopper 1208 to rotate, and then the support block 1212 rotates upward.

[0044] The use method and working principle of the device are as follows: when it is necessary to use a rail-mounted gantry crane to lift a container, first turn on the camera 9, capture the position of the container to be extracted through the camera 9, transmit the signal to the external control system, and then start the two second forward and reverse motors 4 to drive the four sliders 6 to move along the direction of the guide rail 2 respectively. When the gantry 7 moves to the position corresponding to the external container, start the servo motor 802 to drive the threaded rod 803 to rotate, thereby driving the operating platform 805 to move along the direction of the limiting tube 804, wherein the limiting tube 804 limits the operating platform 805 to prevent the operating platform 805 from rotating under the rotation of the threaded rod 803. When the operating platform 805 moves to the top of the container, start the third forward and reverse motor 807 to drive the collection roller 808 connected thereto to rotate, thereby causing the two lifting ropes 809 wrapped around the surface of the collection roller 808 to move downward under the rotation of the collection roller 808. At the same time, the rotation of the collection roller 808 drives the first gear 810 to rotate, thereby driving the second gear 811 to rotate. Figure 3 As shown, the cross section of the limit groove 812 matches the cross section size of the connecting shaft 813, the purpose of which is to support the second gear 811 while facilitating its rotation. The second gear 811 drives the third gear 814 to rotate, thereby driving the collecting roller 808 connected thereto to rotate, so that the two hanging ropes 809 on the surface of the collecting roller 808 move downward, thereby driving the load-bearing plate 1001 to move downward stably, and at the same time starting the two first electric push rods 1008 to drive the sliding rod 1010 to move forward, wherein the two telescopic long rods 1009 both support the sliding rod 1010, making it more stable during the movement. When the two sliding rods 1010 move to both sides of the container, continue to start the third forward and reverse motor 807 to drive the two sliding rods 1010 to continue to move downward, and at the same time turn on the negative pressure pump 1011, and open the valve 1012 on the surface of the air inlet pipe, so that the gas enters the interior of the processing bin 1013, wherein, as shown in FIG. Figure 7As shown, the center hole of the baffle 1014 is located at the center of the processing chamber 1013, and its purpose is to make the gas volume entering the two bellows 1015 consistent. Driven by the gas, the bellows 1015 are stretched under the pressure of the gas, thereby driving the four mounting frames 1016 to move along the two slide bars 1010 at the same time. The infrared thermal imager 1021 is turned on to detect whether there is any damage on the outer surface of the container. The infrared thermal imager 1021 can detect the temperature difference on the surface of the container, thereby helping to determine the damage or holes in the container. At the same time, the laser scanner 1222 is turned on to find the three-dimensional data of the surface of the container. The laser scanner 122 2 can quickly and accurately obtain the three-dimensional data of the container surface. By scanning the entire container with the laser scanner 1222, the label on the container surface can be obtained, and the information of the maximum load-bearing indication can be extracted. At the same time, the two driving motors 1017 are respectively started to drive the two rotating shafts 1018 to rotate clockwise or counterclockwise, thereby driving the two connecting ropes 1019 to move upward or downward. By moving the two reinforcing blocks 1020 in parallel and up and down, the damage and load-bearing information of the container surface can be quickly checked. After the inspection of one side of the container relative to the two sides is completed, the first forward and reverse motor 1003 is started to drive the rotating tube 1005 to rotate. Thereby, the two reinforcing blocks 1020 are driven to rotate. When the two reinforcing blocks 1020 rotate to the other two sides of the container, the two negative pressure pumps 1011 are started again, and the valve 1012 on the surface of the suction pipe is opened to extract the gas in the bellows 1015, so that the two bellows 1015 are shortened under the drive of the gas, thereby driving the two reinforcing blocks 1020 to move, and at the same time, the two driving motors 1017 are started again to drive the two connecting ropes 1019 to move upward or downward to detect the other two sides of the container. When the infrared thermal imager 1021 detects that a certain part of the container is seriously damaged, it transmits a signal to the external control system, and the alarm 1004 is activated through the control system to remind the workers The container has safety problems and cannot be lifted. The survey component 10 improves the safety of the gantry crane lifting the container, and solves the problem in the prior art that the fully automatic rail-type container gantry crane cannot obtain information on whether the container surface is complete when lifting the container, which may easily cause safety accidents. When the infrared thermal imager 1021 scans the data of the maximum load-bearing information on the container surface, the data is transmitted to the external control system, and the two second electric push rods 1201 are started by the control system to extend them, and the two pallets 1202 are rotated to the two opposite outer surfaces of the shorter sides of the container, and then the third forward and reverse motor 807 is started to drive the two pallets 1202 to move upward, such as Fig. 9As shown, when the slots in the two card plates 1202 move to the upper part of the container, the two second electric push rods 1201 are started again to shorten them until the slots in the two card plates 1202 clamp the outer surface of the container, and then the third forward and reverse motor 807 is started to drive the two card plates 1202 to move upward, thereby driving the container to move upward, and the weight of the container is measured by the weight marker 11, wherein the weight marker 11 is also called a weighing marker, which is a device for weighing and marking the weight of an object. It realizes accurate weight detection operation by applying weighing principles and automation technology. The weight marker 11 transmits the weight signal of the container to an external control system, and the control system analyzes whether the container is overweight to prevent the container from being overweight. The weight of the container exceeds its own bearing mass, which brings safety hazards. When the infrared thermal imager 1021 detects that there are minor damages on the surface of the container, but it will not cause a safety accident, when the two pallets 1202 grab the container, first start the third forward and reverse motor 807 to drive the rotating plate 1006 to move upward, and then start the two multi-stage electric telescopic rods 1203 to shorten them, drive the lifting plate 1204 to move downward, and then drive the connecting rod 1205 to move downward. The movement of the connecting rod 1205 drives the lifting block 1206 to move downward. When the four lifting blocks 1206 all drop to the bottom of the container, start the four hydraulic rods 1210 to extend them, drive the hollow block 1211 to move forward, thereby driving the fixed pipe 1209 to move forward, where, as Fig.10 As shown, the inner diameter of the hollow circle in the hollow block 1211 is larger than the outer diameter of the fixed tube 1209, the purpose of which is to facilitate the rotation of the stopper 1208. The hollow block 1211 drives the fixed tube 1209 to move forward, thereby driving the stopper 1208 to rotate, and then the support block 1212 rotates upward. When the outer surface of the support block 1212 is completely in contact with the bottom of the container, the lifting of the container is completed, thereby making the container structure more stable during the lifting and transshipment process. Among them, the external control system is electrically connected to the second forward and reverse motor 4, the servo motor 802, the third forward and reverse motor 807, the camera 9, the first forward and reverse motor 1003, the alarm 1004, the first electric push rod 1008, the negative pressure pump 1011, the drive motor 1017, the infrared thermal imager 1021, the laser scanner 1222, the weight marker 11, the second electric push rod 1201, the multi-stage electric telescopic rod 1203 and the hydraulic rod 1210.

[0045] The wiring diagram of the second forward and reverse motor 4, the servo motor 802, the third forward and reverse motor 807, the camera 9, the first forward and reverse motor 1003, the alarm 1004, the first electric push rod 1008, the negative pressure pump 1011, the drive motor 1017, the infrared thermal imager 1021, the laser scanner 1222, the weight marker 11, the second electric push rod 1201, the multi-stage electric telescopic rod 1203 and the hydraulic rod 1210 in the present invention belongs to the common knowledge in the art, and its working principle is a well-known technology. The model is selected according to the actual use, so the control method and wiring arrangement of the second forward and reverse motor 4, servo motor 802, third forward and reverse motor 807, camera 9, first forward and reverse motor 1003, alarm 1004, first electric push rod 1008, negative pressure pump 1011, drive motor 1017, infrared thermal imager 1021, laser scanner 1222, weight marker 11, second electric push rod 1201, multi-stage electric telescopic rod 1203 and hydraulic rod 1210 will not be explained in detail.

[0046] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A fully automatic rail-mounted container gantry crane with built-in visual recognition, characterized in that: include: A base (1), wherein guide rails (2) are fixed to the top of the base (1) near the edges on both sides; A surveying assembly (10), the surveying assembly (10) comprising a load-bearing plate (1001), a support frame (1002) being fixed on the top of the load-bearing plate (1001), a first forward and reverse motor (1003) being arranged on the inner top surface of the support frame (1002), an output shaft of the first forward and reverse motor (1003) being fixedly connected to a rotating tube (1005), a rotating plate (1006) being fixed at the bottom end of the output shaft of the rotating tube (1005), mounting grooves (1007) being provided on opposite outer surfaces of the rotating plate (1006), first electric push rods (1008) being arranged on the inner walls of two mounting grooves (1007), sliding rods (1010) being fixedly arranged on one end of the two first electric push rods (1008), negative pressure pumps (1011) being arranged on the inner walls of the two sliding rods (1010), and the two sliding rods (1010) being provided with a plurality of negative pressure pumps (1011). A processing chamber (1013) is fixed between the relative inner walls of the two processing chambers (1013), the outer surfaces of the two processing chambers (1013) are fixedly connected to a bellows (1015), the relative inner walls of the two sliding bars (1010) are slidably connected to a mounting frame (1016), wherein the inner walls of the two mounting frames (1016) are provided with a driving motor (1017), the output shafts of the two driving motors (1017) are fixedly connected to a rotating shaft (1018), the outer surfaces of the two rotating shafts (1018) are provided with a connecting rope (1019), and one end of the two connecting ropes (1019) is fixed with a reinforcing block (1020), the outer surface of one of the reinforcing blocks (1020) is provided with an infrared thermal imager (1021), and the outer surface of the other reinforcing block (1020) is provided with a laser scanner (1222); An alarm (1004) is arranged on the top of the support frame (1002), two telescopic long rods (1009) are fixed to the inner walls of the two installation grooves (1007), baffles (1014) are fixed between the opposite inner walls of the two processing chambers (1013), valves (1012) are arranged on the outer surfaces of the air inlet pipes and the air suction pipes of the two negative pressure pumps (1011), and a weight marker (11) is arranged at the bottom of the rotating plate (1006); The four telescopic long rods (1009) are grouped in pairs, one end of each group of telescopic long rods (1009) is fixedly connected to the outer surfaces of the two sliding rods (1010), one end of the air inlet pipe and the air suction pipe of the two negative pressure pumps (1011) are inserted into the processing chamber (1013), and one end of the two rotating shafts (1018) is movably embedded in the other two mounting frames (1016); The outer surfaces of one side of the two guide rails (2) are fixedly connected to a mounting block (3), the tops of the two mounting blocks (3) are provided with a second forward and reverse motor (4), the output shafts of the two second forward and reverse motors (4) are fixedly connected to a screw rod (5), one end of the two screw rods (5) are respectively movable and penetrate the outside of the two guide rails (2), the outer surfaces of the two screw rods (5) are threadedly sleeved with two sliders (6), and a gantry (7) is fixed between the tops of the four sliders (6); A moving assembly (8) is arranged inside the gantry (7), the moving assembly (8) comprising a load-bearing block (801), a servo motor (802) being arranged on the top of the load-bearing block (801), an output shaft of the servo motor (802) being fixedly connected to a threaded rod (803), one end of the threaded rod (803) being movably penetrated to the outside of the gantry (7), two limiting tubes (804) being fixed between opposite inner walls of the gantry (7), an operating table (805) being threadedly sleeved on the outer surface of the threaded rod (803), and two ends of the two limiting tubes (804) being movably penetrated to opposite exteriors of the operating table (805); A carrier plate (806) is fixed to the outer surface of one side of the operating table (805), a third forward and reverse motor (807) is arranged on the outer surface of the carrier plate (806), two collecting rollers (808) are movably embedded between the opposite inner walls of the operating table (805), the two ends of the two collecting rollers (808) are movably penetrated to the opposite outsides of the operating table (805), one end of one of the collecting rollers (808) is fixedly connected to the output shaft of the third forward and reverse motor (807), a suspension rope (809) is arranged on the outer surfaces of the two collecting rollers (808), a first gear (810) is fixed to the other end of one of the collecting rollers (808), and the outer surface of the first gear (810) is meshingly connected to the second gear (811); A limiting groove (812) is provided on the outer surface of the second gear (811); a connecting shaft (813) is fixed to the other outer surface of the operating platform (805); the outer surface of the connecting shaft (813) is movably connected to the inside of the limiting groove (812); the outer surface of the second gear (811) is meshedly connected to a third gear (814); the outer surface of the third gear (814) is fixedly connected to one end of another collecting roller (808); and a camera (9) is provided at the bottom of the operating platform (805); The opposing inner parts of the rotating plate (1006) are each provided with a protective component (12), and the two protective components (12) each include a second electric push rod (1201), and the outer surfaces of the two second electric push rods (1201) are fixedly connected to the opposing inner walls of the rotating plate (1006) via screws, and a clamping plate (1202) is fixedly installed at one end of the two second electric push rods (1201), and the outer surfaces of the two clamping plates (1202) are respectively slidably connected to the opposing inner walls of the rotating plate (1006).

2. The fully automatic rail-mounted container gantry crane with built-in visual recognition according to claim 1, characterized in that: A multi-stage electric telescopic rod (1203) is disposed on the top of the two card plates (1202), a lifting plate (1204) is fixed to the top of the two multi-stage electric telescopic rods (1203), connecting rods (1205) are fixedly connected to the bottom of the two lifting plates (1204) near the edges on both sides, one end of the four connecting rods (1205) is movably extended to the outside of the card plates (1202), a lifting block (1206) is fixed to the bottom of the four card plates (1202), and limiting rods (1207) are fixedly installed on the relative inner walls of the four lifting blocks (1206).

3. The fully automatic rail-mounted container gantry crane with built-in visual recognition according to claim 2 is characterized in that: The outer surfaces of the four limit rods (1207) are rotatably sleeved with stoppers (1208), and fixed tubes (1209) are fixed between the opposite inner walls of the four stoppers (1208). The inner walls of the four lifting blocks (1206) are provided with hydraulic rods (1210), and one end of the four hydraulic rods (1210) is fixed with a hollow block (1211), and the interiors of the four hollow blocks (1211) are rotatably connected to the outer surfaces of the four fixed tubes (1209), and the outer surfaces of the four stoppers (1208) are fixed with support blocks (1212).

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