Locking method of a multifunctional robot for locking container floor nails

Abstract

The application discloses a locking method of a multifunctional robot for container bottom plate locking screws, which detects the position deviation of the locking hole position of the container bottom plate relative to the locking screw module through a visual detection mechanism, and transmits image information to an image processing program for analysis and processing to determine whether the locking screw module and the corresponding locking hole are aligned, so as to control the first driving mechanism, the inclination adjusting mechanism and the second driving mechanism to adjust the position of the locking screw module, so that each locking screw module is aligned with the corresponding locking hole of the container bottom plate, and the locking screw module accurately performs the locking action on the corresponding locking hole, thereby ensuring the locking accuracy and realizing high-precision working operation.

Description

[Technical Field]

[0001] This invention relates to the field of container manufacturing equipment technology, and in particular to a locking method for a multi-functional robot for locking the bottom plate of a container. [Background Technology]

[0002] In the container manufacturing process, the connection between the wooden floor and the container's bottom crossbeams is a crucial step. To ensure the container's stability, maintainability, and durability, screw connections are typically used. Currently, the method involves integrating drilling and nailing onto the same machine. After the drilling module drills holes, a servo-driven high-precision system swaps the positions of the drilling and nailing modules, and then the nailing module performs the nailing. However, this integration results in a larger, more cumbersome machine with increased instability, as the drilling module inevitably experiences drill bit wear and breakage, leading to a higher failure rate.

[0003] Separating the drilling and nailing functions onto two independent machines, with the drilling machine responsible for drilling and the nailing machine responsible for nailing, simplifies the mechanical structure and improves the reliability of the equipment. However, after the drilling machine finishes drilling, the nailing machine needs to reposition the drilled hole with high precision and flexibly lock the nail. Therefore, this invention is specifically designed for flexible nail locking that achieves high-precision repositioning. [Summary of the Invention]

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a locking method for a multifunctional robot for locking the bottom plate of a container. A vision inspection mechanism detects and determines whether each locking module is aligned with the locking hole in the container bottom plate. This allows the first drive mechanism, tilt adjustment mechanism, and second drive mechanism to adjust the position of the locking modules accordingly, ensuring that each locking module is aligned with the corresponding locking hole in the container bottom plate. This guarantees that the locking modules accurately perform the locking action on the corresponding locking hole, ensuring precise locking and achieving high-precision processing.

[0005] This invention is achieved through the following technical solution:

[0006] A locking method for a multi-functional robot for locking container floor plates, the multi-functional robot including a frame 1 and a crossbeam slide rail 10 disposed on the frame 1 along the Y-axis direction, a crossbeam 11 slidably connected between two of the crossbeam slide rails 10, a first drive mechanism 2 for driving the crossbeam 11 to slide along the Y-axis direction of the frame 1 between the crossbeam 11 and the frame 1, an angle adjustment mechanism 3 for finely adjusting the tilt and sway of the crossbeam 11 in the XY-axis plane between the crossbeam slide rail 10 and the end of the crossbeam 11 or between the crossbeam 11 and the frame 1, and a sliding mechanism along the length direction of the crossbeam 11. The sub-beam 12 is provided with a second driving mechanism 4 between the sub-beam 12 and the crossbeam 11 for driving the sub-beam 12 to slide along the length direction of the crossbeam 11; the sub-beam 12 is provided with a number of locking pin modules 5 for locking pins into the lock holes of the container floor; the multi-functional robot is provided with a vision inspection mechanism 6 for detecting the lock holes of the container floor; the container floor is pre-processed with a number of rows of lock holes; the center distance between two adjacent lock holes in the same row is equal to the center distance between two adjacent locking pin modules 5; the center point of the lower end of the locking rod of each locking pin module 5 is on a straight line L1; and the line connecting the centers of the lock hole openings in the same row is a straight line L2.

[0007] The locking method includes the following steps:

[0008] S1. Move the multi-functional robot onto the container floor;

[0009] S2, Visual inspection unit 6 photographs the lock holes on the container floor;

[0010] S3. Determine the relative position of each locking pin module 5 and the corresponding keyhole;

[0011] S4. If step S3 determines that each locking module 5 is misaligned with the corresponding locking hole, the crossbeam 11 and / or the sub-beam 12 move relative to the container floor, so that each locking module 5 is aligned with the corresponding locking hole. Then, each locking module 5 performs a locking action towards the corresponding locking hole. After that, the multi-functional robot and / or the crossbeam 11 move relative to the container floor along the Y-axis.

[0012] S5. If it is determined in step S3 that there is no misalignment or offset between each locking pin module 5 and the corresponding lock hole, then each locking pin module 5 shall perform a locking action towards the corresponding lock hole; after that, the multi-functional robot and / or the crossbeam 11 shall move relative to the container floor along the Y-axis.

[0013] As described above, the locking method for a multi-functional robot of container floor locking pins includes the following steps in step S3:

[0014] S31. The visual inspection mechanism 6 first takes pictures of at least two keyholes in the same row, and determines whether there is an angle between the line L2 connecting the centers of the two keyholes and the straight line L1 at the lower center of each lock pin module 5 in the XY plane, so as to determine the relative position of each lock pin module 5 and the corresponding keyhole.

[0015] As described above, the locking method for a multi-functional robot of container floor locking pins includes the following steps in step S4:

[0016] S41. Determine whether L2 and L1 are parallel;

[0017] S42. If L2 is parallel to L1, further determine whether each locking pin module 5 is located directly above the corresponding lock hole;

[0018] S43. If step S42 determines that each locking module 5 is located directly above the corresponding lock hole, each locking module 5 performs a locking action towards the corresponding lock hole, and then the multi-functional robot and / or the crossbeam 11 moves relative to the container floor along the Y-axis.

[0019] S44. If step S42 determines that each locking module 5 is misaligned with the corresponding lock hole along the Y-axis and not misaligned with the corresponding lock hole along the X-axis, the multi-functional robot and / or the crossbeam 11 moves relative to the container floor along the Y-axis, so that each locking module 5 is directly above the corresponding lock hole. Then, each locking module 5 performs a locking action towards the corresponding lock hole. After that, the multi-functional robot and / or the crossbeam 11 moves relative to the container floor along the Y-axis.

[0020] S45. If step S42 determines that each locking module 5 is misaligned with the corresponding lock hole along the X-axis and not misaligned with the corresponding lock hole along the Y-axis, the second drive mechanism 4 drives the sub-beam 12 to move the locking module 5 along the length of the crossbeam 11, so that each locking module 5 is directly above the corresponding lock hole. Then, each locking module 5 performs a locking action towards the corresponding lock hole. After that, the multi-functional robot and / or the crossbeam 11 move relative to the container floor along the Y-axis.

[0021] S46. If step S41 determines that L2 and L1 are not parallel, the tilt adjustment mechanism 3 adjusts the crossbeam 11 to swing accordingly in the XY plane so that L2 and L1 are parallel to each other. Then, it is further determined whether each locking pin module 5 is located directly above the corresponding lock hole. Then, steps S43-45 are repeated.

[0022] As described above, in the locking method of a multifunctional robot for locking container floor plates, the two ends of the crossbeam 11 are connected to a vision inspection mechanism 6.

[0023] As described above, in the locking method of a multifunctional robot for locking container floor plates, the visual inspection mechanism 6 is a camera that is dynamically installed on the end of the crossbeam 11 or the sub-beam 12.

[0024] As described above, in the locking method of a multifunctional robot for locking container floor plates, the tilt adjustment mechanism 3 is disposed between the crossbeam slide rail 10 and the end of the crossbeam 11.

[0025] Compared with the prior art, the present invention has the following advantages:

[0026] 1. This invention uses a vision inspection mechanism to detect the position deviation of the lock hole position on the container floor relative to the lock pin module, and transmits the image information to an image processing program for analysis and processing to determine whether the lock pin module and the corresponding lock hole are aligned. This allows the first drive mechanism, tilt adjustment mechanism, and second drive mechanism to adjust the position of the lock pin module accordingly, ensuring that each lock pin module is aligned with the corresponding lock hole on the container floor. This ensures that the lock pin module accurately performs the locking action on the corresponding lock hole, guaranteeing lock pin accuracy and achieving high-precision processing.

[0027] 2. This invention, through the combined use of a visual inspection mechanism and a tilt adjustment mechanism, can adjust the tilt angle of the crossbeam in the XY-axis plane according to actual production needs. Furthermore, by configuring the first and second driving devices to operate independently, when their actions are asynchronous, a slight misalignment occurs in the Y-axis direction between the first and second adjusting connecting components, causing the crossbeam to deflect in the XY-axis plane. When the actions of the first and second driving devices are synchronized, the crossbeam can translate along the Y-axis direction of the frame. Therefore, by utilizing the independent operation of the first and second driving devices, this invention easily achieves the forward and backward translation of the crossbeam and the adjustment of its tilt angle in the XY-axis plane, featuring a simple structure, convenient control, and low cost. [Attached Image Description]

[0028] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, wherein:

[0029] Figure 1 This is one of the three-dimensional structural schematic diagrams of the multi-functional robot for locking container floor plates in this invention.

[0030] Figure 2 This is the second three-dimensional structural schematic diagram of the multi-functional robot for locking container floor plates in this invention.

[0031] Figure 3 This is the third three-dimensional structural schematic diagram of the multi-functional robot for locking container floor plates in this invention.

[0032] Figure 4This is a front view schematic diagram of the multi-functional robot for locking container floor plates in this invention.

[0033] Figure 5 This is one of the exploded structural diagrams of the multi-functional robot for locking the container floor in this invention.

[0034] Figure 6 This is the second exploded structural diagram of the multi-functional robot for locking the container floor in this invention.

[0035] Figure 7 This is one of the schematic diagrams illustrating the locking process of the multi-functional robot for locking the container floor in this invention.

[0036] Figure 8 This is the second schematic diagram of the multi-functional robot locking process for container floor locking in this invention.

[0037] Figure 9 This is the third schematic diagram of the multi-functional robot locking process for container floor locking in this invention.

[0038] Figure 10 This is one of the schematic diagrams illustrating the working principle of the multi-functional robot for locking container floor plates in this invention.

[0039] Figure 11 This is the second schematic diagram illustrating the working principle of the multi-functional robot for locking container floor plates in this invention.

[0040] Figure 12 This is the third schematic diagram illustrating the working principle of the multi-functional robot for locking container floor plates in this invention.

Detailed Implementation Methods

[0041] The following is in conjunction with the appendix Figure 1-12 The embodiments of the present invention will be described in detail.

[0042] like Figure 1-11As shown, this invention discloses a locking method for a multi-functional robot used for locking container floor plates. The multi-functional robot includes a frame 1 and a crossbeam slide rail 10 mounted on the frame 1 along the Y-axis. A crossbeam 11 is slidably connected between two of the crossbeam slide rails 10. A first drive mechanism 2 is provided between the crossbeam 11 and the frame 1 to drive the crossbeam 11 to slide along the Y-axis of the frame 1. An angle adjustment mechanism 3 is provided between the crossbeam slide rail 10 and the end of the crossbeam 11, or between the crossbeam 11 and the frame 1, to finely adjust the tilt and sway of the crossbeam 11 in the XY-axis plane. The crossbeam 11 is provided with a slidable length along the crossbeam 11. A sliding sub-beam 12 is provided, and a second driving mechanism 4 is provided between the sub-beam 12 and the crossbeam 11 to drive the sub-beam 12 to slide along the length direction of the crossbeam 11; the sub-beam 12 is provided with a number of locking pin modules 5 for locking pins into the lock holes of the container floor; the multi-functional robot is provided with a vision inspection mechanism 6 for detecting the lock holes of the container floor; the container floor has several rows of lock holes pre-processed; the center distance between two adjacent lock holes in the same row is equal to the center distance between two adjacent locking pin modules 5; the center point of the lower end of the locking rod of each locking pin module 5 is on a straight line L1; and the line connecting the centers of the lock hole openings in the same row is a straight line L2.

[0043] The locking method includes the following steps:

[0044] S1. Move the multi-functional robot onto the container floor;

[0045] S2, Visual inspection unit 6 photographs the lock holes on the container floor;

[0046] S3. Determine the relative position of each locking pin module 5 and the corresponding keyhole;

[0047] S4. If step S3 determines that each locking module 5 is misaligned with the corresponding locking hole, the crossbeam 11 and / or the sub-beam 12 move relative to the container floor, so that each locking module 5 is aligned with the corresponding locking hole. Then, each locking module 5 performs a locking action towards the corresponding locking hole. After that, the multi-functional robot and / or the crossbeam 11 move relative to the container floor along the Y-axis.

[0048] S5. If step S3 determines that each locking pin module 5 is not misaligned with its corresponding lock hole, then each locking pin module 5 performs a locking action towards the corresponding lock hole; subsequently, the multi-functional robot and / or the crossbeam 11 move relative to the container floor along the Y-axis. This invention uses a vision inspection mechanism to detect the positional deviation of the lock hole on the container floor relative to the locking pin module, and transmits the image information to an image processing program for analysis and processing. It determines whether the locking pin module and the corresponding lock hole are aligned, thereby controlling the first drive mechanism, the tilt adjustment mechanism, and the second drive mechanism to adjust the position of the locking pin module accordingly, ensuring that each locking pin module is aligned with the corresponding lock hole on the container floor. This ensures that the locking pin module accurately performs the locking action towards the corresponding lock hole, guaranteeing accurate locking and achieving high-precision processing.

[0049] In this invention, the multi-functional robot can be driven to move relative to the container floor along the Y-axis, or the crossbeam 11 can be driven to move relative to the container floor along the Y-axis.

[0050] like Figure 7-11 As shown, step S3 includes the following steps:

[0051] S31. The visual inspection mechanism 6 first takes pictures of at least two keyholes in the same row, and determines whether there is an angle between the line L2 connecting the centers of the two keyholes and the straight line L1 at the lower center of each lock pin module 5 in the XY plane, so as to determine the relative position of each lock pin module 5 and the corresponding keyhole.

[0052] like Figure 7-11 As shown, step S4 includes the following steps:

[0053] S41. Determine whether L2 and L1 are parallel;

[0054] S42. If L2 is parallel to L1, further determine whether each locking pin module 5 is located directly above the corresponding lock hole;

[0055] S43. If step S42 determines that each locking module 5 is located directly above the corresponding lock hole, each locking module 5 performs a locking action towards the corresponding lock hole, and then the multi-functional robot and / or the crossbeam 11 moves relative to the container floor along the Y-axis.

[0056] S44. If step S42 determines that each locking module 5 is misaligned with the corresponding lock hole along the Y-axis and not misaligned with the corresponding lock hole along the X-axis, the multi-functional robot and / or the crossbeam 11 moves relative to the container floor along the Y-axis, so that each locking module 5 is directly above the corresponding lock hole. Then, each locking module 5 performs a locking action towards the corresponding lock hole. After that, the multi-functional robot and / or the crossbeam 11 moves relative to the container floor along the Y-axis.

[0057] S45. If step S42 determines that each locking pin module 5 is misaligned with the corresponding lock hole along the X-axis and not misaligned with the corresponding lock hole along the Y-axis, the second drive mechanism 4 drives the sub-beam 12 to move the locking pin module 5 along the length of the crossbeam 11, so that each locking pin module 5 is directly above the corresponding lock hole. Then, each locking pin module 5 performs a locking action towards the corresponding lock hole. Afterward, the multi-functional robot and / or the crossbeam 11 move relative to the container floor along the Y-axis. In this implementation step, "along the X-axis" can be interpreted as "along the length of the crossbeam 11", or in other words, "along the length of the crossbeam 11" can be interpreted as "unlocking along the X-axis".

[0058] S46. If step S41 determines that L2 and L1 are not parallel, the tilt adjustment mechanism 3 adjusts the crossbeam 11 to swing accordingly in the XY plane so that L2 and L1 are parallel to each other. Then, it is further determined whether each locking pin module 5 is located directly above the corresponding lock hole. Then, steps S43-45 are repeated.

[0059] Preferably, a visual inspection mechanism 6 is connected to both ends of the crossbeam 11 in a synchronous manner. For accurate detection, the visual inspection mechanism 6 is a camera that is synchronously mounted on the end of the crossbeam 11 or the sub-beam 12.

[0060] Preferably, for convenient, efficient and accurate adjustment, the tilt adjustment mechanism 3 is located between the crossbeam slide rail 10 and the end of the crossbeam 11.

[0061] The algorithm of this invention, such as Figure 12 As shown:

[0062] (1) Adjust the position of the two adjacent locking pin modules until they are aligned with the corresponding two locking holes on the bottom plate of the container, and record the position a of the first drive mechanism 2, the tilt adjustment mechanism 3, and the second drive mechanism 4 relative to the frame 1.

[0063] (2) By using the visual inspection mechanism 1 and visual inspection mechanism 2 respectively set on both sides of the frame or crossbeam or sub-beam, record the image coordinates O1(O1x,O1y) of the same row of keyholes 1 in the field of view of the visual inspection mechanism 1 at position a in step (1), and the image coordinates O2(O2x,O2y) of the same row of keyholes 2 in the field of view of the visual inspection mechanism 2.

[0064] (3) Through calibration transformation, the image coordinate system of visual inspection mechanism 1 and visual inspection mechanism 2 is unified into the same coordinate system. O1 is defined as the origin of the coordinate system. The X-axis is established between O1 and O2, and the Y-axis passes through point O1 and is perpendicular to the X-axis. The XY coordinate system based on O1 is constructed.

[0065] (4) During actual lock sampling, visual inspection mechanism 1 and visual inspection mechanism 2 take pictures at the same time to obtain the coordinates (C1x, C1y) of the lock hole C1 in the same row and the coordinates (C2x, C2y) of the lock hole C2 in the same row under the O1 coordinate system. Based on plane analytical geometry, the angle between the line L2 connecting points C1 and C2 and the X-axis can be calculated.

[0066] (5) The relative movement of the first drive mechanism 2, the tilt adjustment mechanism 3, and the second drive mechanism 4 relative to the frame 1 is finally calculated.

[0067] (6) Based on the calculated relative movement position, drive the first drive mechanism 2, the tilt adjustment mechanism 3, and the second drive mechanism 4 to move accordingly, thereby aligning the lock pin module with the lock hole.

[0068] like Figure 1-6 As shown, the tilt adjustment mechanism 3 includes a first adjustment connection assembly 31 rotatably connected to one end of the crossbeam 11 and a second adjustment connection assembly 32 rotatably and slidably connected to the other end of the crossbeam 11. The first adjustment connection assembly 31 and the second adjustment connection assembly 32 are slidably connected to the corresponding crossbeam slide rail 10 along the Y-axis direction of the frame 1. The first drive mechanism 2 includes a first drive device 21 disposed between the first adjustment connection assembly 31 and the frame 1 and used to drive the first adjustment connection assembly 31 to slide along the Y-axis direction of the frame 1, and a second drive device 22 disposed between the second adjustment connection assembly 32 and the frame 1 and used to drive the second adjustment connection assembly 32 to slide along the Y-axis direction of the frame 1. The first drive device 21 and the second drive device 22 are configured to work independently to finely adjust the tilt angle of the crossbeam 11. This invention, through the combined use of a visual inspection mechanism and a tilt adjustment mechanism, can adjust the tilt angle of the crossbeam in the XY-axis plane according to actual production needs. Furthermore, by configuring the first and second driving devices to operate independently—that is, when the actions of the first and second driving devices are not synchronized—a slight misalignment will occur in the Y-axis direction between the first and second adjusting connecting components, causing the crossbeam to deflect in the XY-axis plane. When the actions of the first and second driving devices are synchronized, the crossbeam can translate along the Y-axis direction of the frame. Therefore, by utilizing the independent operation of the first and second driving devices, this invention easily achieves the forward and backward translation of the crossbeam and the adjustment of the tilt angle in the XY-axis plane, featuring a simple structure, convenient control, and low cost.

[0069] like Figure 5 , 6As shown, in order to facilitate fine-tuning of the tilt angle of the crossbeam on the XY axis plane, the first adjustment connection assembly 31 includes a first sliding seat 311 slidably connected to the corresponding crossbeam slide rail 10 and a first pivot rod 312 provided on the first sliding seat 311 and pivotally connected to one end of the crossbeam 11.

[0070] like Figure 1-6 As shown, in order to improve transmission stability and reliability, the first drive device 21 includes a first drive motor 211 mounted on a first sliding seat 311. A first gear 212 is mounted on the motor shaft of the first drive motor 211. A first rack 213 is mounted on the frame 1, extending along the Y-axis of the frame 1 and engaging with the first gear 212.

[0071] like Figure 5 , 6 As shown, in order to facilitate fine adjustment of the tilt angle of the crossbeam on the XY axis plane, the second adjustment connection assembly 32 includes a second sliding seat 321 that is slidably connected to the corresponding crossbeam slide rail 10. The second sliding seat 321 is provided with a second connecting seat 322 that can slide along the X-axis direction of the frame 1. The second connecting seat 322 is provided with a second pivot rod 323 that is pivotally connected to the other end of the crossbeam 11.

[0072] like Figure 1-6 As shown, in order to improve transmission stability and reliability, the tilt adjustment mechanism 3 includes a second drive motor 221 mounted on a second sliding seat 321. A second gear 222 is mounted on the motor shaft of the second drive motor 221. A second rack 223 is mounted on the frame 1, extending along the Y-axis of the frame 1 and engaging with the second gear 222 in a transmission manner.

[0073] like Figure 1-6 As shown, in order to adjust efficiently and accurately, the second drive mechanism 4 includes a second drive motor 41 mounted on the crossbeam 11. The motor shaft of the second drive motor 41 is rotatably connected to a second transmission screw 42 mounted on the crossbeam 11. A second transmission nut 43 that can be driven by the second transmission screw 42 is sleeved on the second transmission screw 42. The second transmission nut 43 is fixedly connected to the sub-beam 12.

Claims

1. A locking method for a multi-functional robot using locking studs on the bottom of a container, characterized in that... The multifunctional robot includes a frame (1) and a crossbeam slide rail (10) arranged on the frame (1) along the Y-axis. A crossbeam (11) is slidably connected between the two crossbeam slide rails (10). A first drive mechanism (2) is provided between the crossbeam (11) and the frame (1) to drive the crossbeam (11) to slide along the Y-axis of the frame (1). An angle adjustment mechanism (3) is provided between the crossbeam slide rail (10) and the end of the crossbeam (11) or between the crossbeam (11) and the frame (1) for fine-tuning the tilt and sway of the crossbeam (11) in the XY-axis plane. A sub-beam (11) is provided on the crossbeam (11) that can slide along the length of the crossbeam (11). 12), a second driving mechanism (4) is provided between the sub-beam (12) and the crossbeam (11) for driving the sub-beam (12) to slide along the length direction of the crossbeam (11); the sub-beam (12) is provided with a number of locking pin modules (5) for locking pins into the lock holes of the container floor; the multi-functional robot is provided with a vision inspection mechanism (6) for detecting the lock holes of the container floor; the container floor is pre-processed with a number of rows of lock holes; the center distance between two adjacent lock holes in the same row is equal to the center distance between two adjacent locking pin modules (5); the center point of the lower end of the locking rod of each locking pin module (5) is on a straight line L1; the line connecting the centers of the lock holes in the same row is a straight line L2. The locking method includes the following steps: S1. Move the multi-functional robot onto the container floor; S2, Visual inspection agency (6) photographs the lock holes on the container floor; S3. Determine the relative position of each locking pin module (5) and the corresponding lock hole; S4. If step S3 determines that each locking module (5) is misaligned with the corresponding lock hole, the crossbeam (11) and / or the sub-beam (12) move relative to the container floor, so that each locking module (5) is aligned with the corresponding lock hole. Then, each locking module (5) performs a locking action towards the corresponding lock hole. After that, the multi-functional robot and / or the crossbeam (11) move relative to the container floor along the Y-axis. S5. If it is determined in step S3 that there is no misalignment or offset between each locking pin module (5) and the corresponding lock hole, then each locking pin module (5) performs a locking action towards the corresponding lock hole; after that, the multi-functional robot and / or the crossbeam (11) moves relative to the container floor along the Y-axis. Step S3 includes the following steps: S31. The visual inspection mechanism (6) first takes pictures of at least two lock holes in the same row and determines whether there is an angle between the line L2 connecting the centers of the two lock holes and the straight line L1 at the lower center of each lock pin module (5) in the XY plane, so as to determine the relative position of each lock pin module (5) and the corresponding lock hole. Step S4 includes the following steps: S41. Determine whether L2 and L1 are parallel; S42. If L2 is parallel to L1, further determine whether each lock pin module (5) is located directly above the corresponding lock hole; S43. If step S42 determines that each locking module (5) is located directly above the corresponding lock hole, each locking module (5) performs a locking action towards the corresponding lock hole, and then the multi-functional robot and / or beam (11) moves relative to the container floor along the Y-axis. S44. If step S42 determines that each locking module (5) is misaligned with the corresponding lock hole along the Y-axis and not misaligned with the corresponding lock hole along the X-axis, the multi-functional robot and / or the crossbeam (11) moves relative to the container floor along the Y-axis, so that each locking module (5) is directly above the corresponding lock hole. Then, each locking module (5) performs a locking action towards the corresponding lock hole. After that, the multi-functional robot and / or the crossbeam (11) moves relative to the container floor along the Y-axis. S45. If step S42 determines that each locking module (5) is misaligned with the corresponding lock hole along the X-axis and not misaligned with the corresponding lock hole along the Y-axis, the second drive mechanism (4) drives the sub-beam (12) to move the locking module (5) along the length of the crossbeam (11) so that each locking module (5) is directly above the corresponding lock hole. Then, each locking module (5) performs a locking action towards the corresponding lock hole. After that, the multi-functional robot and / or the crossbeam (11) move relative to the container floor along the Y-axis. S46. If step S41 determines that L2 and L1 are not parallel, the tilt adjustment mechanism (3) adjusts the crossbeam (11) to swing accordingly in the XY plane so that L2 and L1 are parallel to each other. Then, it is further determined whether each locking pin module (5) is located directly above the corresponding lock hole. Then, steps S43-45 are repeated.

2. The locking method of a multi-functional robot for locking container floor plates according to claim 1, characterized in that... The two ends of the crossbeam (11) are connected to a visual inspection mechanism (6).

3. The locking method of a multi-functional robot for locking container floor plates according to claim 2, characterized in that... The visual inspection mechanism (6) is a camera that is dynamically installed on the end of the crossbeam (11) or the sub-beam (12).

4. The locking method of a multi-functional robot for locking container floor plates according to any one of claims 1-3, characterized in that... The tilt adjustment mechanism (3) is located between the crossbeam slide rail (10) and the end of the crossbeam (11).

Images