Manipulator device for opening or closing container door

Abstract

A mechanical arm device used for opening or closing a container door comprises a rotating disc installed at the end of a mechanical arm, a shell is installed below the rotating disc, and a locking plate rotating mechanism and a handle clamping mechanism are installed on the shell. The locking plate rotating mechanism can push the locking plate to rotate, so that the handle is locked and unlocked by the locking plate; the handle clamping mechanism comprises two clamping blocks capable of clamping the outer end of a handle, hinge arms are installed at the rear ends of the clamping blocks, the two hinge arms are symmetrically installed on a hinge frame, a power mechanism is installed on the rear side of the hinge frame, the power mechanism can drive the two hinge arms to rotate synchronously, and clamping and loosening of the two clamping blocks are achieved. By means of video acquisition, when the container door is opened, the lock plate rotating mechanism unlocks the lock plate firstly, then the handle clamping mechanism rotates to unlock the lock, the whole container door is opened by pulling the handle, reverse operation is executed when the container door is closed, the container door of the container is automatically opened or closed, and the container door has the advantages of being simple in structure, convenient to operate, high in practicability and the like. And the automation degree is high.

Description

Technical Field

[0001] The invention relates to a design of a manipulator, in particular to a manipulator device for opening or closing a container door. Background Art

[0002] like Figure 1 As shown, the rear side of the container is provided with double doors, each door is provided with two locking rods, and locking grooves are provided at the upper and lower corresponding positions of the door frame. The locking rod is provided with a handle that can drive the locking rod to rotate. When the handle is rotated to fit the door, the locking rod can extend out of the locking groove and lock the door. When the handle is rotated to be perpendicular to the door, the locking rod leaves the locking groove and the door can be opened.

[0003] like Figure 2 As shown, the middle of the handle is recessed relative to the container door, and a locking plate is provided on the container door. When the locking plate is rotated to the front side of the recess, the handle is locked. At this time, the locking hole on the locking plate is aligned with the locking hole on the handle, and the two can be locked by the lead seal. When unlocking, after breaking the lead seal, the locking plate can be rotated 270 degrees to release the lock on the handle. At this time, the handle can be rotated to open the container door. There are many steps to open the container door, so there is no device on the market that can open or close the container door.

[0004] The patent number 202011580181.1 of the automatic container opening and closing lock device published by the China Patent Office on May 4, 2021 includes an opening and closing lock mechanism and a locking mechanism. The opening and closing lock mechanism includes a mounting frame, an arc track, a crank arm, a driving mechanism and a rotating frame. The arc track is fixed on the mounting frame, one end of the crank arm is hinged on the mounting frame, and the other end is adapted to slide on the arc track. One end of the driving mechanism is hinged on the mounting frame, and the other end is rotatably connected to the middle part of the crank arm. The driving mechanism is telescopic to drive the crank arm to rotate and drive the rotating frame to move in an arc; the locking mechanism is installed on the rotating frame and can lock the locking rod on the container door or release the above locking. The structure of this device is very complicated and can only be used to open and close the lock, but cannot open the door. Summary of the invention

[0005] The purpose of the present invention is to provide a manipulator device for opening or closing a container door in view of the defects and shortcomings of the above-mentioned prior art.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: the manipulator device for opening or closing the container door comprises a turntable installed at the end of the manipulator arm, a shell is installed below the turntable, and a lock plate rotating mechanism and a handle clamping mechanism are installed on the shell; the lock plate rotating mechanism can push the lock plate to rotate, so as to realize the locking and unlocking of the handle by the lock plate; the handle clamping mechanism comprises two clamping blocks that can clamp the outer end of the handle, and the rear ends of the clamping blocks are both installed with articulated arms, and the two articulated arms are symmetrically installed on the articulated frame, and a power mechanism is installed on the rear side of the articulated frame, and a slider is installed at the output end of the power mechanism, and a slide groove is opened on the rear side of the articulated arm, and the guide columns on both sides of the slider are movably embedded in the slide groove. When the slider moves, it can drive the two articulated arms to rotate synchronously, so as to realize the clamping and release of the two clamping blocks.

[0007] The power mechanism is a motor, an oil cylinder or a gas cylinder.

[0008] The power mechanism and the articulated frame are connected via two outer side plates, and a space is left between the power mechanism and the articulated frame for the slider to move forward and backward.

[0009] The slide slot is arranged obliquely on the articulated arm.

[0010] A bent clamping portion is provided between the recess and the outer end of the handle, and the clamping block is provided with a bent clamping groove, which can be fitted into the bent clamping portion of the handle. After clamping, the handle is pulled and the handle will not move relative to the clamping groove.

[0011] The locking plate rotating mechanism comprises an electric telescopic rod installed below the handle clamping mechanism. The front end of the electric telescopic rod can extend forward and abut against the side of the locking plate. The mechanical arm is moved to push the locking plate to rotate.

[0012] A video acquisition device is arranged on the shell.

[0013] The present invention can collect video data. When opening the door, the lock plate rotating mechanism first rotates the lock plate 270 degrees to release the lock of the handle, and then rotates the handle clamping mechanism to unlock it. The entire door is opened by pulling the handle, and the reverse operation is performed when closing, thereby realizing automatic opening or closing of the container door. The container has the advantages of simple structure, convenient operation and high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the structure of the container's rear door.

[0015] Figure 2 This is a schematic diagram of the handle and lock plate structure on the container door.

[0016] Figure 3 It is a structural schematic diagram of the present invention.

[0017] Figure 4 It is a structural schematic diagram of the handle clamping mechanism of the present invention.

[0018] Figure 5 It is a structural schematic diagram of the articulated arm of the present invention.

[0019] Figure 6 It is a schematic diagram of the clamping handle of the clamping block of the present invention. DETAILED DESCRIPTION

[0020] like Figure 1 As shown, the rear side of the container 10 is provided with a double-opening door 11, and two locking rods 12 are provided on each door 11. Locking slots 14 are provided at corresponding upper and lower positions of the door frame, and a handle 13 that can drive the locking rod 12 to rotate is provided on the locking rod 12. When the handle 13 is rotated to fit the door 11, the locking rod 12 can extend out of the locking slot 14 and lock the door 11. When the handle 13 is rotated to be perpendicular to the door 11, the locking rod 12 leaves the locking slot 14, and the door 11 can be opened.

[0021] like Figure 2 As shown, the middle of the handle 13 is recessed relative to the door 11, and a locking plate 15 is provided on the door 11. When the locking plate 15 is rotated to the front side of the recess, the handle 13 is locked. At this time, the locking hole on the locking plate 15 is aligned with the locking hole on the handle 13, and the two can be locked by the lead seal. When unlocking, after breaking the lead seal, the locking plate 15 can be rotated 270 degrees to release the lock on the handle 13. At this time, the handle 13 can be rotated to open the door 11 of the container 10.

[0022] like Figure 3 As shown, the present invention is a manipulator device for opening or closing the door 11 of a container 10, which includes a turntable 20 installed at the end of a manipulator arm, a housing 21 installed below the turntable 20, and a lock plate rotating mechanism and a handle clamping mechanism 40 installed on the housing 21. The lock plate rotating mechanism can push the lock plate 15 to rotate, so as to lock and unlock the handle 13 by the lock plate 15. The lock plate rotating mechanism includes an electric telescopic rod 50 installed below the handle clamping mechanism 40, the electric telescopic rod 50 is installed on a rod bracket 51, and a telescopic driving mechanism is arranged in the rod bracket 51, and the telescopic driving mechanism can drive the extension and contraction of the electric telescopic rod 50. The front end of the electric telescopic rod 50 extends forward and abuts against the side of the lock plate 15, and the mechanical arm is moved to push the lock plate 15 to rotate. The handle clamping mechanism 40 can clamp the handle 13, so as to rotate the handle 13, and pull the handle 13 to open the door 11 of the container 10. The housing 21 is provided with a video acquisition device 30 , which is mounted on a device fixing frame 31 above the handle clamping mechanism 40 , and is used to identify information of the container 10 , the position of the locking piece 15 , and the position of the handle 13 .

[0023] like Figure 4 , Figure 5 As shown, the handle clamping mechanism 40 comprises two clamping blocks 44 capable of clamping the outer end of the handle 13. The rear ends of the clamping blocks 44 are both equipped with articulated arms 43. The two articulated arms 43 are symmetrically mounted on an articulated frame 45. A power mechanism 41 is mounted on the rear side of the articulated frame 45. The power mechanism 41 is a motor, a cylinder or a gas cylinder. A slider 46 is mounted on the output end of the power mechanism 41. The power mechanism 41 and the articulated frame 45 are connected by two outer plates 42. A space is left between the power mechanism 41 and the articulated frame 45 for the slider 46 to move forward and backward. A slide groove 431 is provided on the rear side of the articulated arm 43. The slide groove 431 is tiltedly arranged on the articulated arm 43. The guide posts 47 on both sides of the slider 46 are movably embedded in the slide groove 431. When the slider 46 moves, it can drive the two articulated arms 43 to rotate synchronously, thereby achieving the clamping and loosening of the two clamping blocks 44.

[0024] like Figure 6 As shown, the middle of the handle 13 is recessed relative to the door 11, and a bent clamping portion 131 is provided between the recessed portion and the outer end of the handle 13, so a plurality of clamping teeth 442 are provided on the clamping block 44, and a bent clamping groove 441 is formed in the middle of the clamping teeth 442, and the clamping groove 441 can be fitted on the bent clamping portion 131 at the outer end of the handle 13, and the bent clamping portion 131 of the handle 13 is clamped by the clamping teeth 442, and the handle 13 is pulled after clamping, and the handle 13 will not move relative to the clamping groove 441. Therefore, after the lock rod 12 of the door 11 of the container 10 is opened, the door 11 of the container 10 is opened by pulling the handle 13, and there is no need to worry that the handle 13 will slip out of the clamping groove 441 of the clamping block 44 when pulling.

[0025] The present invention can collect video data and, when opening the door, allow the lock plate rotating mechanism to first rotate the lock plate 15 270 degrees to release the lock of the handle 13, and then rotate the handle clamping mechanism 40 to unlock it, and pull the handle 13 to open the entire door 11. When closing, perform the reverse operation to automatically open or close the door 11 of the container 10. The invention has the advantages of simple structure, convenient operation, and high degree of automation.

Claims

1. A manipulator device for opening or closing a container door, comprising a turntable mounted at the end of a manipulator arm, a housing mounted below the turntable, characterized in that A locking plate rotating mechanism and a handle clamping mechanism are installed on the shell; the locking plate rotating mechanism can push the locking plate to rotate, so as to realize locking and unlocking of the handle by the locking plate; the handle clamping mechanism includes two clamping blocks that can clamp the outer end of the handle, and hinged arms are installed at the rear ends of the clamping blocks, and the two hinged arms are symmetrically installed on the hinged frame, and a power mechanism is installed on the rear side of the hinged frame, and a slider is installed on the output end of the power mechanism, and a slide groove is opened on the rear side of the hinged arm, and the guide columns on both sides of the slider are movably embedded in the slide groove. When the slider moves, it can drive the two hinged arms to rotate synchronously, so as to realize the clamping and release of the two clamping blocks.

2. The manipulator device for opening or closing a container door according to claim 1, characterized in that The power mechanism is a motor, an oil cylinder or a gas cylinder.

3. The manipulator device for opening or closing a container door according to claim 1, characterized in that The power mechanism and the articulated frame are connected via two outer side plates, and a space is left between the power mechanism and the articulated frame for the slider to move forward and backward.

4. The manipulator device for opening or closing a container door according to claim 1, characterized in that The slide slot is arranged obliquely on the articulated arm.

5. The manipulator device for opening or closing a container door according to claim 1, characterized in that A bent clamping portion is provided between the recess and the outer end of the handle, and the clamping block is provided with a bent clamping groove, which can be fitted into the bent clamping portion of the handle. After clamping, the handle is pulled and the handle will not move relative to the clamping groove.

6. The manipulator device for opening or closing a container door according to any one of claims 1 to 5, characterized in that The locking plate rotating mechanism comprises an electric telescopic rod installed below the handle clamping mechanism. The front end of the electric telescopic rod can extend forward and abut against the side of the locking plate. The mechanical arm is moved to push the locking plate to rotate.

7. The manipulator device for opening or closing a container door according to any one of claims 1 to 5, characterized in that A video acquisition device is arranged on the shell.

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