Telescopic container spreader and control method thereof

Abstract

The invention provides a telescopic container lifting appliance. The telescopic container lifting appliance comprises an upper frame cross beam, a lower frame cross beam, a lower frame telescopic beam, a middle framework, an upper frame pulley block device, an upper frame and lower frame connecting oil cylinder, a middle connecting oil cylinder, a telescopic beam oil cylinder and a clamping jaw device. Wherein the upper frame cross beam is connected with the upper frame pulley block device. The upper frame cross beam is connected with the lower frame cross beam through an upper and lower frame connecting oil cylinder; the upper and lower frame connecting oil cylinder can telescopically move; the upper frame cross beam and the middle framework are welded together, and the middle framework and the lower frame cross beam are connected through a middle framework connecting oil cylinder. The lower frame telescopic beam is connected with the lower frame cross beam through a telescopic beam oil cylinder, and the telescopic beam oil cylinder controls the lower frame telescopic beam to move. And the clamping jaw device is arranged on the lower frame telescopic beam for lifting and placing the container. The telescopic container lifting appliance further comprises a hydraulic control device, and accurate movement of the container lifting appliance is achieved through hydraulic control. The container lifting appliance has the beneficial effect that accurate control over the container lifting appliance is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of container spreaders and relates to a telescopic container spreader and a control method thereof. Background Art

[0002] As a modern loading and unloading equipment, telescopic container spreaders have a rich application background and important significance. With the continuous growth of global trade and the increase in logistics demand, the cargo handling volume of ports is increasing. As a key loading and unloading equipment, telescopic container spreaders can meet the needs of efficient and fast loading and unloading of containers and improve logistics and transportation efficiency.

[0003] The modern logistics industry pursues automation and intelligent development. Telescopic container spreaders, as an important part of automated loading and unloading equipment, can realize rapid loading and unloading of containers and reduce manual operations. In today's global trade environment, there are many types of goods with different specifications. Telescopic container spreaders have a flexible and adjustable boom design that can adapt to containers of different sizes and weights to meet the diverse cargo loading and unloading needs.

[0004] Telescopic container spreaders use advanced hydraulic control systems and are energy-saving and environmentally friendly. Optimized design and efficient operation modes reduce energy consumption and meet the requirements of modern society for environmental protection and sustainable development. By introducing advanced loading and unloading equipment such as telescopic container spreaders, ports and logistics companies can improve their loading and unloading capabilities and service quality, thereby enhancing market competitiveness and promoting the healthy development of the industry.

[0005] The research of the present invention is conducive to realizing accurate control of container spreaders, improving operation safety and work efficiency, and has important scientific significance and good application prospects. Summary of the invention

[0006] The purpose of the present invention is to provide a telescopic container spreader and a control method thereof in view of the above-mentioned problems existing in the prior art. The technical problem to be solved by the present invention is how to achieve accurate control.

[0007] The purpose of the present invention can be achieved through the following technical solutions: it includes an upper crossbeam, a lower crossbeam, a telescopic beam, a middle frame, an upper pulley block device, an upper and lower beam connecting hydraulic cylinder, a middle frame connecting hydraulic cylinder, a telescopic beam connecting hydraulic cylinder, and a claw device. Among them, the upper crossbeam is connected to the upper pulley block device, and the upper pulley block device controls the lifting and movement of the container spreader through a wire rope. The upper crossbeam is connected to the lower crossbeam through an upper and lower beam connecting hydraulic cylinder, and the upper and lower beam connecting hydraulic cylinder can be telescopically moved. The upper crossbeam is welded to the middle frame, and the middle frame is connected to the lower crossbeam through a middle frame connecting hydraulic cylinder. The telescopic beam is connected to the lower crossbeam through a telescopic beam connecting hydraulic cylinder, and the telescopic beam connecting hydraulic cylinder controls the movement of the telescopic beam. The claw device is installed on the telescopic beam to lift and place the container. The novel telescopic container spreader also includes a hydraulic control device, which realizes the precise movement of the container spreader through hydraulic control.

[0008] According to the above scheme, the hydraulic control device includes a hydraulic pump, a safety valve, an electric motor, a hydraulically controlled one-way valve connecting the upper and lower beams, a hydraulically controlled one-way valve connecting the middle frame, a hydraulically controlled one-way valve for the telescopic beam, a hydraulically controlled adjustable one-way throttle valve connected to the upper and lower beams, a hydraulically controlled adjustable one-way throttle valve connected to the middle frame, a hydraulically controlled adjustable one-way throttle valve for the telescopic beam, a hydraulically controlled electromagnetic proportional reversing valve connected to the upper and lower beams, a hydraulically controlled electromagnetic proportional reversing valve connected to the middle frame, a hydraulically controlled electromagnetic proportional reversing valve for the telescopic beam, a hydraulic cylinder connected to the upper and lower beams, a hydraulic cylinder connected to the middle frame and a hydraulic cylinder connected to the telescopic beam.

[0009] The hydraulic pump is driven to rotate by the electric motor, and the hydraulic oil in the oil tank returns to the oil tank through the safety valve; the upper and lower beams are connected to the rod cavity of the hydraulic cylinder and are hinged to the lower frame crossbeam, and the upper and lower beams are connected to the rod cavity of the hydraulic cylinder in turn connected to the upper and lower beams connected to the hydraulically controlled one-way valve, and the upper and lower beams are connected to the hydraulically controlled adjustable one-way throttle valve; the middle frame is connected to the rod cavity of the hydraulic cylinder and is hinged to the middle frame, and the middle frame is connected to the rod cavity of the hydraulic cylinder and is connected to the hydraulically controlled one-way valve, and the middle frame is connected to the adjustable one-way throttle valve in turn; the telescopic The rod cavity of the beam-connected hydraulic cylinder is hinged with the telescopic beam, and the rod cavity of the telescopic beam-connected hydraulic cylinder is connected with the telescopic beam-connected hydraulic-controlled one-way valve and the telescopic beam-connected adjustable one-way throttle valve in sequence; the upper and lower beams are connected with the hydraulic-controlled electromagnetic proportional reversing valve, the middle frame is connected with the hydraulic-controlled electromagnetic proportional reversing valve and the telescopic beam hydraulic-controlled electromagnetic proportional reversing valve are connected with the hydraulic pump; the upper and lower beams are connected with the hydraulic cylinder, the middle frame is connected with the hydraulic cylinder and the telescopic beam is connected with the hydraulic cylinder to move and displace, thereby driving the container spreader to move, so that the container spreader is opened and lowered and prevents tilting movement.

[0010] According to the above scheme, there are two hydraulic cylinders connecting the upper and lower beams, one end of the two cylinders is hinged to the upper frame cross beam respectively; the other end of the cylinder is hinged to the lower frame cross beam.

[0011] According to the above scheme, the telescopic beam is connected to two hydraulic cylinders, one end of which is connected to the lower frame crossbeam; the other end of the cylinder is connected to the telescopic beam.

[0012] According to the above scheme, the middle frame is connected to a hydraulic cylinder, one end of which is connected to the middle frame; the other end of the cylinder is connected to the lower frame crossbeam.

[0013] According to the above scheme, a guide locking device is provided below the clamping claw device.

[0014] According to the above scheme, the upper and lower beam connecting hydraulic cylinders, the telescopic beam connecting hydraulic cylinders and the middle frame connecting hydraulic cylinders are made of high-strength alloy steel.

[0015] The control method of the novel telescopic container spreader is characterized in that it comprises the following steps:

[0016] When the A1 telescopic container spreader is lifting a container, the hydraulic cylinder connected to the telescopic beam moves outward through hydraulic control, driving the telescopic beam to move horizontally. At the same time, the hydraulic cylinders connected to the upper and lower beams and the hydraulic cylinders connected to the middle frame move synchronously to prevent the spreader from tilting when lifting the container. The algorithm corresponding to the hydraulic cylinder controls the compound movement of the hydraulic cylinders connected to the telescopic beam, the hydraulic cylinders connected to the upper and lower beams, and the hydraulic cylinders connected to the middle frame, so as to achieve accurate positioning of the telescopic container spreader and rapid lifting of the container.

[0017] When the A2 telescopic container spreader lowers the container cargo, the lifting height of the container spreader can be changed due to the action of the hydraulic cylinders connecting the upper and lower beams and the hydraulic cylinders connecting the middle frame, which can meet the operating requirements of different working conditions.

[0018] The A1 is specifically:

[0019] The B1 hydraulic pump is driven by an AC motor. When the electromagnetic proportional reversing valve is not energized, the hydraulic oil returns to the oil tank automatically after passing through the one-way valve and the safety valve.

[0020] B2 When the hydraulically controlled electromagnetic proportional reversing valves connected to the upper and lower beams, the hydraulically controlled electromagnetic proportional reversing valves connected to the middle frame, and the hydraulically controlled electromagnetic proportional reversing valves connected to the telescopic beams move to the right, the pressure oil enters the rod chambers of the corresponding oil cylinders through the hydraulically controlled one-way valves connected to the upper and lower beams, the hydraulically controlled one-way valves connected to the middle frame, the hydraulically controlled one-way valves connected to the telescopic beams, the hydraulically controlled adjustable one-way throttle valves connected to the upper and lower beams, the hydraulically controlled adjustable one-way throttle valves connected to the middle frame, and the hydraulically controlled adjustable one-way throttle valves connected to the telescopic beams. The hydraulic cylinder connected to the telescopic beams moves outwards and the hydraulic cylinders connected to the upper and lower beams and the middle frame move downwards, achieving the purpose of lifting the container.

[0021] The beneficial effects of the present invention are as follows: 1. Compared with the traditional telescopic container spreader, it is easy to operate and realize automatic operation. 2. The traditional telescopic container spreader is easy to tilt during the process of lifting the container. The new telescopic container spreader is controlled by the hydraulic cylinder connected by the upper and lower beams and the hydraulic cylinder connected by the middle frame, which can prevent tilting. 3. The proportional reversing valve and the hydraulically controlled one-way valve are used to accurately control the operation of the container spreader and ensure the correctness of the operation. 4. The span and height of the container spreader can be easily changed to meet the operation needs of different working conditions, and the application value is great. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the main structure of the telescopic container spreader.

[0023] Figure 2 A top view of a telescopic container spreader

[0024] Figure 3 It is a schematic diagram of the hydraulic control device of the telescopic container spreader.

[0025] Figure 4 It is a motion diagram of the telescopic container spreader control method.

[0026] In the figure: 1—upper crossbeam; 2—lower crossbeam; 3—telescopic beam; 4—middle frame; 5—upper pulley assembly; 6—upper and lower beams connected to hydraulic cylinder; 7—middle frame connected to hydraulic cylinder; 8—telescopic beam connected to hydraulic cylinder; 9—claw assembly; 10—hydraulic pump; 11—safety valve; 12—electric motor; 13—upper and lower beams connected to hydraulically controlled one-way valves; 14—middle frame connected to hydraulically controlled one-way valves; 15—telescopic beam hydraulically controlled one-way valves; 16—upper and lower beams connected to hydraulically controlled adjustable one-way throttle valves; 17—middle frame connected to hydraulically controlled adjustable one-way throttle valves; 18—telescopic beam hydraulically controlled adjustable one-way throttle valves; 19—upper and lower beams connected to hydraulically controlled electromagnetic proportional reversing valves; 20—middle frame connected to hydraulically controlled electromagnetic proportional reversing valves; 21—telescopic beam hydraulically controlled electromagnetic proportional reversing valves. DETAILED DESCRIPTION

[0027] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0028] like Figures 1 to 3As shown, a new type of telescopic container spreader includes an upper crossbeam 1, a lower crossbeam 2, a telescopic beam 3, a middle frame 4, an upper pulley block device 5, an upper and lower beam connecting hydraulic cylinder 6, a middle frame connecting hydraulic cylinder 7, a telescopic beam connecting hydraulic cylinder 8, and a claw device 9. Among them, the upper crossbeam 1 is connected to the upper pulley block device 5, and the upper pulley block device 5 controls the lifting and movement of the container spreader through a wire rope. The upper crossbeam 1 is connected to the lower crossbeam 2 through the upper and lower beam connecting hydraulic cylinder 5, and the upper and lower beam connecting hydraulic cylinder 5 can move telescopically. The upper crossbeam 1 is welded to the middle frame 4, and the middle frame 4 is connected to the lower crossbeam 2 through the middle frame connecting hydraulic cylinder 7. The telescopic beam 3 is connected to the lower crossbeam 2 through the telescopic beam connecting hydraulic cylinder 8, and the telescopic beam connecting hydraulic cylinder 8 controls the movement of the telescopic beam 3. The claw device 9 is installed on the telescopic beam 3 to lift and place the container.

[0029] The hydraulic control device includes a hydraulic pump 10, a safety valve 11, an electric motor 12, a hydraulically controlled one-way valve 13 connecting the upper and lower beams, a hydraulically controlled one-way valve 14 connecting the middle frame, a hydraulically controlled one-way valve 15 connecting the telescopic beam, a hydraulically controlled adjustable one-way throttle valve 16 connecting the upper and lower beams, a hydraulically controlled adjustable one-way throttle valve 17 connecting the middle frame, a hydraulically controlled adjustable one-way throttle valve 18 connecting the telescopic beam, a hydraulically controlled electromagnetic proportional reversing valve 19 connecting the upper and lower beams, a hydraulically controlled electromagnetic proportional reversing valve 20 connecting the middle frame, a hydraulically controlled electromagnetic proportional reversing valve 21 connecting the telescopic beam, a hydraulic cylinder 6 connecting the upper and lower beams, a hydraulic cylinder 7 connecting the middle frame and a hydraulic cylinder 8 connecting the telescopic beam. The hydraulic pump 10 is driven to rotate by the motor 12, and the hydraulic oil in the oil tank returns to the oil tank through the safety valve 11; the upper and lower beams are connected to the rod cavity of the hydraulic cylinder 6 and are hinged to the lower frame crossbeam 2, and the upper and lower beams are connected to the rod cavity of the hydraulic cylinder 6 and are connected to the hydraulic control one-way valve 13 and the upper and lower beams in turn, and the upper and lower beams are connected to the hydraulic control adjustable one-way throttle valve 16; the middle frame is connected to the rod cavity of the hydraulic cylinder 7 and is hinged to the middle frame 4, and the middle frame is connected to the rod cavity of the hydraulic cylinder 7 and is connected to the middle frame in turn. The lower frame is connected to the hydraulically controlled one-way valve 14, and the middle frame is connected to the adjustable one-way throttle valve 17; the telescopic beam is connected to the rod chamber of the hydraulic cylinder 8 and is hinged to the telescopic beam 3, and the rod chamber of the hydraulic cylinder 8 is connected to the telescopic beam in turn with the hydraulically controlled one-way valve 15 connected to the telescopic beam and the adjustable one-way throttle valve 18 connected to the telescopic beam; the upper and lower beams are connected to the hydraulically controlled electromagnetic proportional reversing valve 19, the middle frame is connected to the hydraulically controlled electromagnetic proportional reversing valve 20 and the telescopic beam hydraulically controlled electromagnetic proportional reversing valve 21 is connected to the hydraulic pump 10.

[0030] In this embodiment, the telescopic beam 3 and the claw device 9 are bilaterally symmetrical structures. The hydraulic pump 10, the safety valve 11, the motor 12, the hydraulically controlled one-way valve 13 for connecting the upper and lower beams, the hydraulically controlled one-way valve 14 for connecting the middle frame, the hydraulically controlled one-way valve 15 for the telescopic beam, the hydraulically controlled adjustable one-way throttle valve 16 for connecting the upper and lower beams, the hydraulically controlled adjustable one-way throttle valve 17 for connecting the middle frame, the hydraulically controlled adjustable one-way throttle valve 18 for the telescopic beam, the hydraulically controlled electromagnetic proportional reversing valve 19 for connecting the upper and lower beams, the hydraulically controlled electromagnetic proportional reversing valve 20 for connecting the middle frame, and the hydraulically controlled electromagnetic proportional reversing valve 21 for the telescopic beam should have good sealing performance. The hydraulic cylinder 6 for connecting the upper and lower beams, the hydraulic cylinder 7 for connecting the middle frame, and the hydraulic cylinder 8 for connecting the telescopic beam are made of high-strength alloy steel with good sealing performance.

[0031] The working principle of the present invention is as follows: when the new telescopic container spreader is in operation, during the operation of the telescopic beam connection hydraulic cylinder 8, the upper and lower beam connection hydraulic cylinder 6 and the middle frame connection hydraulic cylinder 7 operate simultaneously, pushing the telescopic beam 3 to move outward and the lower frame crossbeam 2 to move downward. The main functions of the upper and lower beam connection hydraulic-controlled electromagnetic proportional reversing valve 19, the middle frame connection hydraulic-controlled electromagnetic proportional reversing valve 20, and the telescopic beam hydraulic-controlled electromagnetic proportional reversing valve 21 are to simultaneously control the movement of the telescopic beam connection hydraulic cylinder 8, the upper and lower beam connection hydraulic cylinder 6, and the middle frame connection hydraulic cylinder 7, and the movement connection between them is controlled by a corresponding algorithm. When the driving motor 12 is working, it drives the hydraulic pump 10 to run, driving the high-pressure oil through the telescopic beam hydraulic-controlled electromagnetic proportional reversing valve 21, the telescopic beam hydraulic-controlled non-return valve 15, and the telescopic beam hydraulic-controlled adjustable non-return throttle valve 18, and enters the telescopic beam connecting hydraulic cylinder 8; driving the high-pressure oil through the upper and lower beam connecting hydraulic-controlled electromagnetic proportional reversing valve 19, the upper and lower beam connecting hydraulic-controlled non-return valve 13, and the upper and lower beam connecting hydraulic-controlled adjustable non-return throttle valve 16, and enters the upper and lower beam connecting hydraulic cylinder 6; at the same time, driving the high-pressure oil through the middle frame connecting hydraulic-controlled electromagnetic proportional reversing valve 20, the middle frame connecting hydraulic-controlled non-return valve 14, and the middle frame connecting hydraulic-controlled adjustable non-return throttle valve 17, and enters the middle frame connecting hydraulic cylinder 7. The telescopic beam connecting hydraulic cylinder 8, the upper and lower beam connecting hydraulic cylinder 6, and the middle frame connecting hydraulic cylinder 7 are controlled to perform compound motion operation.

[0032] The control method of the novel telescopic container spreader is characterized in that it comprises the following steps:

[0033] When the A1 telescopic container spreader is lifting a container, the telescopic beam connecting hydraulic cylinder 8 moves outward through hydraulic control, driving the telescopic beam 3 to move horizontally. At the same time, the upper and lower beams connecting hydraulic cylinder 6 and the middle frame connecting hydraulic cylinder 7 move synchronously to prevent the spreader from tilting when lifting the container. The corresponding algorithm controls the compound movement of the telescopic beam connecting hydraulic cylinder 8, the upper and lower beams connecting hydraulic cylinder 6 and the middle frame connecting hydraulic cylinder 7 to achieve accurate positioning of the telescopic container spreader and rapid lifting of the container.

[0034] When the A2 telescopic container spreader lowers the container cargo, the lifting height of the container spreader can be changed due to the action of the hydraulic cylinder 6 connecting the upper and lower beams and the hydraulic cylinder 7 connecting the middle frame, which can meet the operation requirements of different working conditions.

[0035] like Figure 4 As shown, taking the new telescopic container spreader as an example, the center of the upper beam 1 is set as point B, and the two end points of the upper beam 1 are respectively points A and F; the center point of the lower beam 2 is point C; the left and right hinge points of the telescopic beam 3 are respectively points D and G. The distance between the center of the upper beam 1 and the center point of the lower beam 2 is y, the distance between the end point A of the upper beam 1 and the left hinge point D of the telescopic beam 3 is z, the distance between the left hinge point D of the telescopic beam 3 and the projection point E of the end point A is x, and ∠ADC is set as angle α.

[0036] After derivation and solution of the theoretical formula, it can be obtained that during the operation of the new telescopic container spreader, the distance between the center of the upper beam 1 and the center of the lower beam 2 is y, the distance between the end point A of the upper beam 1 and the left hinge point D of the telescopic beam 3 is z, and the distance between the left hinge point D of the telescopic beam 3 and the projection point E of the end point A is x. The functional relationship is as follows:

[0037]

[0038] Among them, l AD is the distance between the end point A of the upper crossbeam 1 and the left hinge point D of the telescopic beam 3 at the initial position, l DE is the projection point E of the left hinge point D and the end point A of the telescopic beam 3 at the initial position, l BC It is the distance between the center of the upper beam 1 and the center of the lower beam 2 at the initial position. Angle α is a variable and is related to the length of the telescopic arm.

[0039] As long as we control the movement of the telescopic beam connecting hydraulic cylinder 8, the upper and lower beam connecting hydraulic cylinder 6 and the middle frame connecting hydraulic cylinder 7 by adjusting the electromagnetic proportional reversing valves 19, 20 and 21, we can implement precise operation of the container spreader.

[0040] The present invention uses the upper and lower beams to connect the hydraulic cylinder 6 and the middle frame to connect the hydraulic cylinder 7, which can prevent the container spreader from tilting and meet the operating requirements of different working conditions. The core of the present invention lies in the setting of the upper and lower beams to connect the hydraulic cylinder 6 and the middle frame to connect the hydraulic cylinder 7, and the corresponding hydraulic control method.

[0041] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A telescopic container spreader, comprising an upper crossbeam (1), a lower crossbeam (2), a telescopic beam (3), a middle frame (4), an upper pulley block device (5), an upper and lower beam connecting hydraulic cylinder (6), a middle frame connecting hydraulic cylinder (7), a telescopic beam connecting hydraulic cylinder (8), and a claw device (9); wherein: The upper frame crossbeam (1) is connected to the upper frame pulley block device (5), the upper frame crossbeam (1) is connected to the lower frame crossbeam (2) through the upper and lower beam connecting hydraulic cylinder (6), the upper frame crossbeam (1) is welded to the middle frame (4), the middle frame (4) is connected to the lower frame crossbeam (2) through the middle frame connecting hydraulic cylinder (7); the telescopic beam (3) is connected to the lower frame crossbeam (2) through the telescopic beam connecting hydraulic cylinder (8), and the claw device (9) is installed on the telescopic beam (3); the telescopic container spreader also includes a hydraulic control device, including a hydraulic pump (10), a safety valve (11), and an electric motor (1 2), the upper and lower beams are connected to a hydraulically controlled one-way valve (13), the middle frame is connected to a hydraulically controlled one-way valve (14), the telescopic beam is connected to a hydraulically controlled one-way valve (15), the upper and lower beams are connected to a hydraulically controlled adjustable one-way throttle valve (16), the middle frame is connected to a hydraulically controlled adjustable one-way throttle valve (17), the telescopic beam is connected to a hydraulically controlled adjustable one-way throttle valve (18), the upper and lower beams are connected to a hydraulically controlled electromagnetic proportional reversing valve (19), the middle frame is connected to a hydraulically controlled electromagnetic proportional reversing valve (20), the telescopic beam is connected to a hydraulically controlled electromagnetic proportional reversing valve (21), the upper and lower beams are connected to a hydraulic cylinder (6), the middle frame is connected to a hydraulic cylinder (7), and the telescopic beam is connected to a hydraulic cylinder (8); The rod cavity of the upper and lower beams connected to the hydraulic cylinder (6) is hinged to the lower frame cross beam (2), and the rod cavity of the upper and lower beams connected to the hydraulic cylinder (6) is connected to the upper and lower beams connected to the hydraulically controlled one-way valve (13), and the upper and lower beams connected to the hydraulically controlled adjustable one-way throttle valve (16); the rod cavity of the middle frame connected to the hydraulic cylinder (7) is hinged to the middle frame (4), and the rod cavity of the middle frame connected to the hydraulic cylinder (7) is connected to the hydraulically controlled one-way valve (14) and the adjustable one-way throttle valve connected to the middle frame (4); the rod cavity of the telescopic beam connected to the hydraulic cylinder (8) is hinged to the telescopic beam (3) The telescopic beam is connected to the hydraulic cylinder (8), and the rod cavity is connected to the telescopic beam (3) and the hydraulically controlled one-way valve, and the telescopic beam (3) is connected to the adjustable one-way throttle valve in sequence; the upper and lower beams are connected to the hydraulically controlled electromagnetic proportional reversing valve (19), the middle frame is connected to the hydraulically controlled electromagnetic proportional reversing valve (20), and the telescopic beam hydraulically controlled electromagnetic proportional reversing valve (21) is connected to the hydraulic pump (10); the upper and lower beams are connected to the hydraulic cylinder (6), the middle frame is connected to the hydraulic cylinder (7), and the telescopic beam is connected to the hydraulic cylinder (8) to move and displace, thereby driving the container spreader to move, so that the container spreader is opened and lowered and prevented from tilting.

2. A telescopic container spreader, wherein the control method is as follows: A1 When the telescopic container spreader lifts a container, the telescopic beam connected to the hydraulic cylinder (8) moves outward through hydraulic control, driving the telescopic beam (3) to move laterally; at the same time, the upper and lower beams connected to the hydraulic cylinder (6) and the middle frame connected to the hydraulic cylinder (7) move synchronously to prevent the spreader from tilting when lifting the container; the composite movement of the telescopic beam connected to the hydraulic cylinder (8), the upper and lower beams connected to the hydraulic cylinder (6) and the middle frame connected to the hydraulic cylinder (7) is controlled by an algorithm corresponding to the hydraulic cylinder, so as to achieve accurate positioning of the telescopic container spreader and rapid lifting of the container; A2 The telescopic container spreader is connected to the hydraulic cylinder (8), the upper and lower beams connected to the hydraulic cylinder (6) and the middle frame connected to the hydraulic cylinder (7), and the telescopic container spreader is controlled to move horizontally; A3 The telescopic container spreader is connected to the hydraulic cylinder (8), the upper and lower beams connected to the hydraulic cylinder (6) and the middle frame connected to the hydraulic cylinder (7), and the telescopic container spreader is controlled to move horizontally; A4 The telescopic container spreader is connected to the hydraulic cylinder (6), the upper and lower beams connected to the hydraulic cylinder (6), and the middle frame connected to the hydraulic cylinder (7), so as to achieve accurate positioning of the telescopic container spreader and rapid lifting of the container; A5 When the container spreader lowers the container cargo, due to the action of the hydraulic cylinder (6) connecting the upper and lower beams and the hydraulic cylinder (7) connecting the middle frame, the lifting height of the container spreader can be changed, which can meet the operation requirements of different working conditions; after the derivation and solution of the theoretical formula, the corresponding algorithm of the hydraulic control is calculated according to the following formula: the distance between the center of the upper frame crossbeam (1) and the center point of the lower frame crossbeam (2) is y, the distance between the end point A of the upper frame crossbeam (1) and the left hinge point D of the telescopic beam (3) is z, and the distance between the left hinge point D of the telescopic beam (3) and the projection point E of the end point A is x. The functional relationship is as follows: in, l AD is the distance between the end point A of the upper crossbeam (1) and the left hinge point D of the telescopic beam (3) at the initial position, l DE is the projection point E of the left hinge point D and the end point A of the telescopic beam (3) at the initial position, l BC is the distance between the center of the upper beam (1) and the center of the lower beam (2) at the initial position; angle α is a variable.

3. The telescopic container spreader according to claim 1, characterized in that There are two hydraulic cylinders (6) for connecting the upper and lower beams. One end of the two cylinders is hinged to the upper crossbeam (1) respectively; the other end of the cylinder is hinged to the lower crossbeam (2).

4. The telescopic container spreader according to claim 1, characterized in that: The telescopic beam is connected to two hydraulic cylinders (8), one end of which is connected to the lower frame crossbeam (2); and the other end of the cylinder is connected to the telescopic beam (3).

5. The telescopic container spreader according to claim 1, characterized in that: The middle frame is connected to a hydraulic cylinder (7), one end of which is connected to the middle frame (4); the other end of the cylinder is connected to the lower frame crossbeam (2).

6. The telescopic container spreader according to claim 1, characterized in that: A guide locking device is provided below the clamping claw device (9).

7. The telescopic container spreader according to claim 1, characterized in that: The hydraulic cylinder (6) for connecting the upper and lower beams, the hydraulic cylinder (8) for connecting the telescopic beams and the hydraulic cylinder (7) for connecting the middle frame are made of high-strength alloy steel; the hydraulic pump (10), the safety valve (11), the motor (12), the hydraulically controlled one-way valve (13) for connecting the upper and lower beams, the hydraulically controlled one-way valve (14) for connecting the middle frame, the hydraulically controlled one-way valve (15) for connecting the telescopic beams, the hydraulically controlled adjustable one-way throttle valve (16) for connecting the upper and lower beams, the hydraulically controlled adjustable one-way throttle valve (17) for connecting the middle frame, the hydraulically controlled adjustable one-way throttle valve (18) for connecting the telescopic beams, the hydraulically controlled electromagnetic proportional reversing valve (19) for connecting the upper and lower beams, the hydraulically controlled electromagnetic proportional reversing valve (20) for connecting the middle frame and the hydraulically controlled electromagnetic proportional reversing valve (21) for connecting the telescopic beams should have good sealing performance.

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