A control mechanical arm for grabbing actuator of a forklift crane for port containers

Abstract

The present invention belongs to the field of mechanical arm technology, and in particular, relates to a control mechanical arm of a stacker grabbing actuator for a port container, wherein the control mechanical arm of the stacker grabbing actuator for a port container comprises: a bottom plate; and an angle adjustment assembly arranged on one side above the bottom plate, used to increase the container stacking angle of the device; a mechanical arm assembly fixedly connected above the angle adjustment assembly; an actuator, fixedly connected to one side of the mechanical arm assembly; the mechanical arm assembly comprises: a fixed block, fixedly connected to the angle adjustment assembly; and a bottom rod fixedly connected to one side of the fixed block, the bottom rod being fixedly connected to the angle adjustment assembly; a main rod is rotatably connected to one side of the bottom rod away from the fixed block. The present invention provides a fixed clamping assembly, so that the device can fix the port container to prevent the port container from moving, and further improves the stacking efficiency of the device for the port container.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical arms, and in particular relates to a control mechanical arm for grabbing an actuator of a forklift crane for a port container. Background Art

[0002] The grab actuator of the port container forklift is the key equipment for container transportation. It is widely used in the stacking and transshipment of containers in ports, docks, railway and highway transfer stations and yards. It has the characteristics of high stacking layers, fast stacking and handling speed, high operating efficiency, flexibility and space saving. The container forklift is flexible and has reliable performance. It can be used for multiple purposes. It can be used for horizontal transportation, yard stacking, loading and unloading, handling, and disassembly and assembly. It has low cost and is easy to use and maintain.

[0003] Controlling a robotic arm refers to a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection and other fields. Controlling a robotic arm is a complex system with uncertainties such as parameter perturbations, external interference, and unmodeled dynamics. Therefore, the modeling model of the robotic arm also has uncertainties. For different tasks, it is necessary to plan the motion trajectory of the robotic arm joint space, so as to cascade and form the end posture.

[0004] The control robot arm of the existing port container forklift grabbing actuator has limited angle adjustment capability during the process of stacking port containers. It has great limitations in use in complex port environments and is difficult to stack multiple complex stacked containers.

[0005] As can be seen from the above, the control mechanical arm of the existing port container stacker grabbing actuator has limited angle adjustment capability and cannot meet the increasingly complex port container stacking requirements. Summary of the invention

[0006] Based on the above background technology, the object of the present invention is to provide a control mechanical arm for grabbing an actuator of a forklift crane for port containers.

[0007] To achieve the above objectives, the present invention adopts the following technical solutions:

[0008] A control mechanical arm for grabbing an actuator of a forklift of a port container, comprising:

[0009] A bottom plate; and an angle adjustment assembly disposed on one side above the bottom plate, for increasing the container stacking angle of the device;

[0010] A mechanical arm assembly fixedly connected above the angle adjustment assembly;

[0011] An actuator, fixedly connected to one side of the mechanical arm assembly;

[0012] The mechanical arm assembly comprises:

[0013] A fixed block fixedly connected to the angle adjustment assembly; and a bottom rod fixedly connected to one side of the fixed block, the bottom rod being fixedly connected to the angle adjustment assembly;

[0014] The main rod is rotatably connected to one side of the bottom rod away from the fixed block;

[0015] A first hydraulic rod, one side of which is rotatably connected to the fixed block, and the other side of which is rotatably connected to the main rod;

[0016] The auxiliary rod is rotatably connected to a side of the main rod away from the bottom rod, and one side of the auxiliary rod is rotatably connected to the actuator.

[0017] The size and shape of the bottom plate are not limited. The size of the bottom plate can be determined according to the size of the angle adjustment component above it, and can also be determined according to the size of the clamping and fixing component. The bottom plate can be a box body or a cabinet. Its specific shape can be determined according to actual usage requirements. At the same time, the actuator is arranged on one side above the bottom plate, and a grabbing component should be provided on one side of the actuator, wherein the grabbing component can grab the container, and the grabbing component can be used in conjunction with the actuator.

[0018] The fixed block is fixedly connected to the bottom plate, and is used to support the bottom rod and the first hydraulic rod. In actual use, when the first hydraulic rod is started, the main rod can be rotated, thereby changing the actuator angle through the auxiliary rod.

[0019] By starting the first hydraulic rod, the main rod can be rotated, thereby changing the actuator angle through the auxiliary rod. Starting the second hydraulic rod can rotate the auxiliary rod to further adjust the actuator angle. Starting the third hydraulic rod can rotate the actuator to complete the actuator angle adjustment.

[0020] Furthermore, one side of the auxiliary rod is rotatably connected to a second hydraulic rod, and the other side of the second hydraulic rod is rotatably connected to the main rod.

[0021] One side of the second hydraulic rod is rotatably connected to the auxiliary rod. In actual use, when the second hydraulic rod is started, the auxiliary rod can be rotated, thereby changing the angle of the actuator.

[0022] Furthermore, a third hydraulic rod is rotatably connected to one side of the main rod, and the other side of the third hydraulic rod is rotatably connected to the actuator.

[0023] Furthermore, the angle adjustment component includes:

[0024] A slideway fixedly connected to the bottom plate; and a fourth hydraulic rod fixedly connected to the inside of the slideway;

[0025] A sliding block is fixedly connected to one side of the fourth hydraulic rod, and the sliding block is slidably connected inside the sliding groove;

[0026] The side of the sliding block away from the fourth hydraulic rod is also rotatably connected to the first connecting rod;

[0027] An adjusting column is rotatably connected to the first connecting rod.

[0028] The chute is fixedly connected to the bottom plate, a slider is slidably connected inside the chute, the fourth hydraulic rod is fixedly connected inside the chute, and the first connecting rod can support the adjustment column, so that the position of the adjustment column can be changed. When the fourth hydraulic rod is activated, the slider can move inside the chute, and when the chute moves, the position of the adjustment column can be changed through the first connecting rod.

[0029] Furthermore, the angle adjustment component also includes:

[0030] A support block, fixedly connected to the bottom plate;

[0031] The second connecting rod has one side rotatably connected to the supporting block and the other side fixedly connected to the adjusting column.

[0032] In actual use, the support block is fixedly connected to both sides of the base plate, and the support block can support the rotation of the second connecting rod. At the same time, the second connecting rod can support the rotation of the adjusting column, so that the mechanical arm assembly on the second connecting rod is more stable during the stacking process.

[0033] In one embodiment of the present invention, please refer to the figure, the number of the support blocks and the second connecting rods are both two, two identical support blocks and second connecting rods are symmetrically distributed on both sides above the bottom plate, and two identical second connecting rods are fixedly connected to both ends of the adjustment column.

[0034] Furthermore, the number of the support blocks and the number of the second connecting rods are both two, and two identical support blocks and second connecting rods are symmetrically distributed on both sides above the bottom plate, and two identical second connecting rods are fixedly connected to both ends of the adjusting column.

[0035] Furthermore, the control mechanical arm of the forklift grabbing actuator of the port container also includes:

[0036] The fixed clamping assembly is connected to the slide slot and is used to fix and clamp the port container during the stacking process.

[0037] Furthermore, the fixing and clamping assembly comprises:

[0038] a fifth hydraulic rod fixedly connected to the slideway; and a moving block fixedly connected to one side of the fifth hydraulic rod;

[0039] The moving block is rotatably connected with a clamping block;

[0040] The connecting block is rotatably connected to the clamping block on one side and rotatably connected to the sliding groove on the other side.

[0041] During the stacking process of the port container, the fifth hydraulic rod is started to move the moving block. When the moving block moves, it drives the clamping block to rotate, thereby completing the fixed clamping of the port container. The connecting block can support and limit the rotation of the clamping block.

[0042] Furthermore, the number of the connecting blocks and the number of the clamping blocks are both two, and the two identical clamping blocks are rotatably connected to the two sides of the moving block.

[0043] Furthermore, universal wheels are fixedly connected to the bottom of the base plate, and the number of the universal wheels is four. The four identical universal wheels are distributed at the four bottom corners of the base plate.

[0044] The present invention mainly has the following beneficial effects:

[0045] 1. By starting the first hydraulic rod, the main rod can be rotated, thereby changing the actuator angle through the auxiliary rod. Starting the second hydraulic rod can rotate the auxiliary rod to further adjust the actuator angle. Starting the third hydraulic rod can rotate the actuator to complete the actuator angle adjustment. Starting the fourth hydraulic rod can move the slider inside the slide slot. When the slide slot moves, the position of the adjusting column can be changed through the first connecting rod. At the same time, the second connecting rod supports the rotation of the adjusting column, and the second connecting rod also rotates, so that the position and angle of the upper mechanical arm assembly can be adjusted, which greatly improves the multi-angle adjustment capability of the control mechanical arm.

[0046] 2. When the fourth hydraulic rod is started, the position of the adjusting column can be changed through the first connecting rod; the support blocks are fixedly connected to both sides of the bottom plate, and the support blocks can support the rotation of the second connecting rod, and the second connecting rod can support the rotation of the adjusting column, so that the mechanical arm assembly on the second connecting rod is more stable during the stacking process; in the process of stacking the port container, the fifth hydraulic rod is started to move the moving block, and when the moving block moves, it drives the clamping block to rotate, thereby completing the fixed clamping of the port container, and the connecting block can support and limit the rotation of the clamping block.

[0047] 3. The movement of the slider on the slide groove will cause the slider to cooperate with the first connecting rod, thereby lifting the entire robotic arm assembly and completing the adjustment of the robotic arm assembly. The position of the actuator in the robotic arm assembly can be preliminarily adjusted, making the adjustment ability of the robotic arm assembly stronger.

[0048] 4. A mechanical arm assembly and an angle adjustment assembly are provided so that the device can adjust the angle of the actuator, which greatly improves the angle adjustment capability of the device. By providing a fixed clamping assembly, the device can fix the port container to prevent the port container from moving, further improving the stacking efficiency of the device for the port container. In actual use, when the fifth hydraulic rod is started, the movable block can be moved, and the connecting block can support and limit the rotation of the clamping block.

[0049] 5. When the moving block moves, the two clamping blocks can rotate, thereby clamping the container to prevent the container from moving during the stacking process, so that the robotic arm can stack the container more stably and the stacking capacity is also stronger. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic structural diagram of a control mechanical arm of a grabbing actuator for a forklift crane of a port container provided by an embodiment of the present invention;

[0051] Figure 2 A top view of a fixed clamping assembly in a control mechanical arm of a grabbing actuator of a forklift for a port container provided by an embodiment of the present invention;

[0052] Figure 3 A schematic diagram of the structure of an angle adjustment component in a control mechanical arm of a grabbing actuator of a forklift crane for a port container provided in an embodiment of the present invention;

[0053] Figure 4 A schematic diagram of the connection between a control mechanical arm slider and a first connecting rod of a grabbing actuator of a forklift crane for a port container provided in an embodiment of the present invention;

[0054] Figure 5 A schematic diagram of the structure of a mechanical arm assembly in a control mechanical arm of a grabbing actuator for a forklift crane of a port container provided by an embodiment of the present invention;

[0055] Figure 6 A schematic diagram of the connection between a fixed block and a main rod in a control mechanical arm of a grabbing actuator of a forklift for a port container provided by an embodiment of the present invention;

[0056] Figure 7 A schematic diagram of the structure of a control mechanical arm fixing clamping assembly of a port container stacker grabbing actuator provided in an embodiment of the present invention.

[0057] In the accompanying drawings: 1. base plate; 2. angle adjustment assembly; 201. slide groove; 202. fourth hydraulic rod; 203. slider; 204. first connecting rod; 205. adjustment column; 206. support block; 207. second connecting rod; 3. mechanical arm assembly; 301. fixed block; 302. bottom rod; 303. main rod; 304. first hydraulic rod; 305. auxiliary rod; 306. second hydraulic rod; 307. third hydraulic rod; 4. actuator; 5. fixed clamping assembly; 501. fifth hydraulic rod; 502. moving block; 503. clamping block; 504. connecting block; 6. universal wheel. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0059] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0060] See also Figure 1 and Figure 2 , an embodiment of the present invention provides a control mechanical arm for a forklift grabbing actuator of a port container, the control mechanical arm for the forklift grabbing actuator of the port container comprises:

[0061] A bottom plate 1; and an angle adjustment assembly 2 disposed on one side above the bottom plate 1, for increasing the container stacking angle of the device;

[0062] A mechanical arm assembly 3 fixedly connected above the angle adjustment assembly 2;

[0063] An actuator 4 is fixedly connected to one side of the mechanical arm assembly 3;

[0064] The mechanical arm assembly 3 comprises:

[0065] A fixed block 301, fixedly connected to the angle adjustment component 2; and a bottom rod 302 fixedly connected to one side of the fixed block 301, the bottom rod 302 being fixedly connected to the angle adjustment component 2;

[0066] The main rod 303 is rotatably connected to one side of the bottom rod 302 away from the fixed block 301;

[0067] A first hydraulic rod 304, one side of which is rotatably connected to the fixed block 301, and the other side of which is rotatably connected to the main rod 303;

[0068] The auxiliary rod 305 is rotatably connected to a side of the main rod 303 away from the bottom rod 302 , and one side of the auxiliary rod 305 is rotatably connected to the actuator 4 .

[0069] In the embodiment of the present invention, the size and shape of the base plate 1 are not limited. The size of the base plate 1 can be determined according to the size of the angle adjustment component 2 above it, and can also be determined according to the size of the clamping and fixing component. The base plate 1 can be a box body or a cabinet. Its specific shape can be determined according to actual use requirements. At the same time, the actuator 4 is arranged on one side above the base plate 1, and a grabbing component should be provided on one side of the actuator 4, wherein the grabbing component can grab the container, and the grabbing component can be used in conjunction with the actuator 4.

[0070] In this embodiment, the angle adjustment component 2 can adjust the actuator 4 in the horizontal and vertical directions, wherein the first hydraulic rod 304 can perform preliminary adjustment on the angle of the actuator 4, and the first hydraulic rod 304 can cooperate with more other components in the angle adjustment component 2 to complete the adjustment of more angles of the actuator 4.

[0071] In this embodiment, the fixed block 301 is fixedly connected to the base plate 1 , and the fixed block 301 is used to support the bottom rod 302 and the first hydraulic rod 304 . In actual use, when the first hydraulic rod 304 is started, the main rod 303 can be rotated, thereby changing the angle of the actuator 4 through the auxiliary rod 305 .

[0072] In one embodiment of the present invention, see Figure 5 and Figure 6 One side of the auxiliary rod 305 is rotatably connected to the second hydraulic rod 306 , and the other side of the second hydraulic rod 306 is rotatably connected to the main rod 303 .

[0073] In this embodiment, one side of the second hydraulic rod 306 is rotatably connected to the auxiliary rod 305. In actual use, when the second hydraulic rod 306 is started, the auxiliary rod 305 can be rotated, so that the angle of the actuator 4 can be changed.

[0074] In one embodiment of the present invention, see Figure 5 A third hydraulic rod 307 is also rotatably connected to one side of the main rod 303 , and the other side of the third hydraulic rod 307 is rotatably connected to the actuator 4 .

[0075] In this embodiment, one side of the third hydraulic rod 307 is rotatably connected to the actuator 4, and the other side is rotatably connected to the main rod 303. In actual use, when the third hydraulic rod 307 is started, the actuator 4 can be rotated.

[0076] In one embodiment of the present invention, see Figure 3 and Figure 4 , the angle adjustment component 2 comprises:

[0077] A slide groove 201, fixedly connected to the bottom plate 1; and a fourth hydraulic rod 202 fixedly connected to the inside of the slide groove 201;

[0078] A slider 203 is fixedly connected to one side of the fourth hydraulic rod 202, and the slider 203 is slidably connected inside the slide groove 201;

[0079] The side of the slider 203 away from the fourth hydraulic rod 202 is also rotatably connected to the first connecting rod 204;

[0080] The adjusting column 205 is rotatably connected to the first connecting rod 204 .

[0081] In the embodiment of the present invention, the slide groove 201 is fixedly connected to the base plate 1, the slide groove 201 is slidably connected to the slider 203, the fourth hydraulic rod 202 is fixedly connected to the inside of the slide groove 201, and the first connecting rod 204 can support the adjusting column 205, so that the position of the adjusting column 205 can be changed.

[0082] In actual use, when the fourth hydraulic rod 202 is started, the slider 203 can be moved inside the slide groove 201 . When the slide groove 201 moves, the position of the adjustment column 205 can be changed through the first connecting rod 204 .

[0083] In this embodiment, the movement of the slider 203 on the slide groove 201 causes the slider 203 to cooperate with the first connecting rod 204, thereby lifting the entire robotic arm assembly, completing the adjustment of the robotic arm assembly, and the position of the actuator 4 in the robotic arm assembly is preliminarily adjusted.

[0084] In one embodiment of the present invention, see Figure 3 , the angle adjustment component 2 also includes:

[0085] A support block 206, fixedly connected to the base plate 1;

[0086] The second connecting rod 207 has one side rotatably connected to the supporting block 206 and the other side fixedly connected to the adjusting column 205 .

[0087] In actual use, the support block 206 is fixedly connected to both sides of the base plate 1. The support block 206 can support the rotation of the second connecting rod 207. At the same time, the second connecting rod 207 can support the rotation of the adjusting column 205, so that the mechanical arm assembly 3 on the second connecting rod 207 is more stable during the stacking process.

[0088] In one embodiment of the present invention, see Figure 3The number of the support blocks 206 and the number of the second connecting rods 207 are both two, and the two identical support blocks 206 and the second connecting rods 207 are symmetrically distributed on both sides above the base plate 1 , and the two identical second connecting rods 207 are fixedly connected to the two ends of the adjusting column 205 .

[0089] In this embodiment, two identical second connecting rods 207 are connected to two identical support blocks 206 on one side and to the adjustment column 205 on the other side. At the same time, a fixing plate should be provided on the two second connecting rods 207 to achieve the support of the second connecting rods 207 for the robotic arm assembly 3.

[0090] In this embodiment, the angle of the main rod can be adjusted by the first hydraulic rod, thereby completing the preliminary position adjustment of the actuator 4. The horizontal position of the actuator 4 can be adjusted by the setting of the second hydraulic rod 306, and the angle of the actuator 4 can be adjusted by the setting of the third hydraulic rod 307 on the main rod. Through the cooperation of the first hydraulic rod, the second hydraulic rod 306 and the third hydraulic rod 307, the working range and working angle of the actuator 4 are greatly improved, thereby greatly improving the angle adjustment capability of the control robot arm.

[0091] In one embodiment of the present invention, see Figure 1 and Figure 7 , the control mechanical arm of the forklift grabbing actuator of the port container also includes:

[0092] The fixed clamping assembly 5 is connected to the slide slot 201 and is used to fix and clamp the port container during the stacking process.

[0093] In this embodiment, the provision of the fixed clamping assembly 5 enables the device to fixedly clamp the port container during the port stacking process, thereby preventing the container from moving during the stacking process and affecting the stacking efficiency of the device.

[0094] In one embodiment of the present invention, see Figure 7 , the fixed clamping assembly 5 comprises:

[0095] A fifth hydraulic rod 501, fixedly connected to the slide slot 201; and a moving block 502 fixedly connected to one side of the fifth hydraulic rod 501;

[0096] The moving block 502 is rotatably connected with a clamping block 503;

[0097] The connecting block 504 is rotatably connected to the clamping block 503 on one side, and is rotatably connected to the sliding groove 201 on the other side.

[0098] In this embodiment, the fifth hydraulic rod 501 is fixedly connected to the slide groove 201, the moving block 502 is fixedly connected to one side of the fifth hydraulic rod 501, the middle part of the clamping block 503 is rotatably connected to the moving block 502, and one side of the clamping block 503 is rotatably connected to the slide groove 201 through the connecting block 504.

[0099] In actual use, when the fifth hydraulic rod 501 is started, the movable block 502 can be moved. When the movable block 502 moves, it drives the clamping block 503 to rotate, thereby completing the fixed clamping of the port container. The connecting block 504 can support and limit the rotation of the clamping block 503.

[0100] In one embodiment of the present invention, see Figure 7 The number of the connecting block 504 and the number of the clamping block 503 are both two, and the two identical clamping blocks 503 are rotatably connected to the two sides of the moving block 502.

[0101] In this embodiment, two identical clamping blocks 503 and connecting blocks 504 are respectively arranged on both sides of the moving block 502, which can fix and clamp both sides of the container to avoid the movement of the container to the greatest extent.

[0102] In this embodiment, when the moving block 502 moves, the two clamping blocks 503 can rotate, thereby clamping the container to prevent the container from moving during the stacking process, so that the robotic arm can stack the container more stably and the stacking capacity is also stronger.

[0103] In one embodiment of the present invention, see Figure 1 A universal wheel 6 is also fixedly connected to the bottom of the base plate 1 . There are four universal wheels 6 . The four identical universal wheels 6 are distributed at the four corners of the bottom of the base plate 1 .

[0104] In this embodiment, the provision of the universal wheels 6 enables the device to be mobile, so that it can be used in a wider area, thereby increasing the scope of use of the device.

[0105] In actual use, the universal wheel 6 is moved to make the device reach the working area, and the fourth hydraulic rod 202 is started to move the slider 203 inside the slide groove 201. When the slide groove 201 moves, the position of the adjusting column 205 can be changed through the first connecting rod 204. At the same time, the second connecting rod 207 supports the rotation of the adjusting column 205, and the second connecting rod 207 also rotates, so that the position and angle of the upper mechanical arm assembly 3 can be preliminarily adjusted.

[0106] Then, by starting the first hydraulic rod 304, the main rod 303 can be rotated, thereby changing the angle of the actuator 4 through the auxiliary rod 305. Starting the second hydraulic rod 306 can rotate the auxiliary rod 305 to further adjust the angle of the actuator 4. Starting the third hydraulic rod 307 can rotate the actuator 4 to complete the angle adjustment of the actuator 4.

[0107] During the stacking process of the port container, the fifth hydraulic rod 501 is started to move the moving block 502. When the moving block 502 moves, it drives the clamping block 503 to rotate, thereby completing the fixed clamping of the port container. The connecting block 504 can support and limit the rotation of the clamping block 503.

[0108] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A control mechanical arm for grabbing an actuator of a forklift for a port container, characterized in that: The control mechanical arm of the forklift grabbing actuator of the port container includes: A bottom plate; and an angle adjustment assembly disposed on one side above the bottom plate, for increasing the container stacking angle of the device; A mechanical arm assembly fixedly connected to the upper part of the angle adjustment assembly; an actuator fixedly connected to one side of the mechanical arm assembly; The mechanical arm assembly comprises: a fixed block, fixedly connected to the angle adjustment assembly; and a bottom rod fixedly connected to one side of the fixed block, the bottom rod being fixedly connected to the angle adjustment assembly; a main rod being rotatably connected to one side of the bottom rod away from the fixed block; a first hydraulic rod, one side of which is rotatably connected to the fixed block and the other side of which is rotatably connected to the main rod; a secondary rod, rotatably connected to one side of the main rod away from the bottom rod, one side of which is rotatably connected to the actuator; The angle adjustment component comprises: A slideway fixedly connected to the bottom plate; and a fourth hydraulic rod fixedly connected to the inside of the slideway; A sliding block is fixedly connected to one side of the fourth hydraulic rod, and the sliding block is slidably connected inside the sliding groove; The side of the sliding block away from the fourth hydraulic rod is also rotatably connected to the first connecting rod; An adjusting column, rotatably connected to the first connecting rod; The control mechanical arm of the forklift grabbing actuator of the port container also includes: A fixed clamping assembly connected to the slideway and used for fixedly clamping the port container during stacking; The fixed clamping assembly comprises: a fifth hydraulic rod fixedly connected to the slideway; and a moving block fixedly connected to one side of the fifth hydraulic rod; The moving block is rotatably connected with a clamping block; A connecting block, one side of which is rotatably connected to the clamping block, and the other side of which is rotatably connected to the slide slot; Universal wheels are also fixedly connected below the bottom plate, and the number of the universal wheels is four. The four identical universal wheels are distributed at the four bottom corners of the bottom plate.

2. The control mechanical arm of the grabbing actuator of the port container stacker according to claim 1, characterized in that: One side of the auxiliary rod is rotatably connected to a second hydraulic rod, and the other side of the second hydraulic rod is rotatably connected to the main rod.

3. The control mechanical arm of the grabbing actuator of the port container stacker according to claim 1, characterized in that: A third hydraulic rod is also rotatably connected to one side of the main rod, and the other side of the third hydraulic rod is rotatably connected to the actuator.

4. The control mechanical arm of the grabbing actuator of the port container stacker according to claim 1, characterized in that: The angle adjustment component also includes: A support block, fixedly connected to the bottom plate; The second connecting rod has one side rotatably connected to the supporting block and the other side fixedly connected to the adjusting column.

5. The control mechanical arm of the grabbing actuator of the port container stacker according to claim 4, characterized in that: The number of the supporting blocks and the second connecting rods are both two, and two identical supporting blocks and second connecting rods are symmetrically distributed on both sides above the bottom plate, and two identical second connecting rods are fixedly connected to both ends of the adjusting column.

6. The control mechanical arm of the grabbing actuator of the port container stacker according to claim 1, characterized in that: The number of the connecting blocks and the number of the clamping blocks are both two, and the two identical clamping blocks are rotatably connected to the two sides of the moving block.

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