A vehicle moving and straightening device for automatic loading and a control method thereof

Abstract

The present invention relates to a vehicle moving and straightening device for automatic loading and a control method thereof, comprising: a first vehicle direction sensor, arranged at the front side of a loading and unloading platform, for obtaining the direction of a container vehicle entering the side of the first vehicle direction sensor; a front wheel orientation mechanism, arranged at one side of the first vehicle direction sensor, the front wheel orientation mechanism being used to swing the steering of the front wheels of the container vehicle; a second vehicle direction sensor, arranged in front of the loading and unloading platform, for obtaining the direction of the container vehicle entering the side of the second vehicle direction sensor; and an alignment device, arranged at the front end of the loading and unloading platform, the alignment device being used to transversely move the rear wheels of the container vehicle.

Description

Technical Field

[0001] The invention relates to the field of vehicle moving and straightening equipment, and in particular to a vehicle moving and straightening equipment for automatic vehicle loading and a control method thereof. Background Art

[0002] Container transportation is an important mode of transportation in the process of multimodal transport of international trade goods. Container trucks are equipped with containers, which are transported by container trucks to corresponding locations for loading and unloading. During the loading and unloading process, the existing technology loads or unloads the goods by controlling the loading and unloading platform.

[0003] During the loading process, the container truck needs to be reversed and connected to the loading and unloading platform so that the container and the loading and unloading direction of the loading and unloading platform are aligned. Only then can the loading and unloading platform load or unload the goods. In the process of reversely connecting the container truck to the loading and unloading platform, since the container truck is operated by the driver, after the container is connected to the loading and unloading platform, there is a certain angle deviation between the container and the loading and unloading platform. At this time, the rear of the container truck needs to be shifted by the alignment system to align them. For example, the existing application with publication number CN220182184U or CN111170034B only performs translation alignment on the rear of the container truck. After the rear of the container truck is translated, although there may be an angle difference or misalignment between the container and the loading and unloading platform, the container truck needs to move forward and backward multiple times to be completely aligned.

[0004] In view of the above problems existing in the prior art, the purpose of the present invention is to design a vehicle moving and straightening device for automatic loading and a control method thereof. Summary of the invention

[0005] In view of the problems existing in the above-mentioned prior art, the present invention provides a vehicle moving and straightening device for automatic loading and a control method thereof, which can effectively solve at least one problem existing in the above-mentioned prior art.

[0006] The technical solution of the present invention is:

[0007] A vehicle moving and straightening device for automatic loading, comprising:

[0008] A first vehicle direction sensor is arranged at the front side of the loading and unloading platform, and is used to obtain the direction of the container vehicle driving into the side of the first vehicle direction sensor;

[0009] A front wheel orientation mechanism, disposed on one side of the first vehicle direction sensor, the front wheel orientation mechanism being used to swing the steering direction of the front wheels of the container vehicle;

[0010] A second vehicle direction sensor is arranged in front of the loading and unloading platform and is used to obtain the direction of the container vehicle driving into the side of the second vehicle direction sensor;

[0011] A positioning device is arranged at the front end of the loading and unloading vehicle platform, and the positioning device is used to move the rear wheels of the container vehicle horizontally.

[0012] Furthermore, the first vehicle direction sensor and the second vehicle direction sensor each include a plurality of distance measuring sensors, the distance measuring sensors are spaced apart and face the body of the container truck, and the first vehicle direction sensor and the second vehicle direction sensor calculate the direction of the container truck by the difference of the distance sensors.

[0013] Furthermore, the front wheel orientation mechanism includes a pair of platforms with fixed spacing, which are arranged on the ground, and the spacing of the fixed platforms is the same as the spacing of the front wheels of the container truck. A rotating ring is arranged on the outer circumference of the fixed platform, and the diameter of the rotating ring is smaller than the diameter of the front wheels of the container truck. The rotating ring is driven to rotate by a corresponding rotating member, and a driving cylinder is fixedly arranged on the bottom surface of the rotating ring. The telescopic end of the driving cylinder can pass through the rotating ring and extend to the top of the rotating ring. After the driving cylinder is extended, the rotating ring rotates to swing the steering of the front wheels of the container truck through the driving cylinder.

[0014] Furthermore, the rotating member drives the rotation amount of the rotating ring through the data of the first vehicle direction sensor and the length of the container truck, so that the telescopic end of the driving cylinder swings the steering of the front wheels of the container truck until the container truck maintains the steering of the front wheels and can align with the loading and unloading platform.

[0015] Furthermore, the alignment device includes a mounting frame and a carrier plate, the mounting frame is embedded and installed in the front end of the loading and unloading vehicle platform, rollers are provided at the four corners of the carrier plate, the carrier plate is rollingly connected to the top of the mounting frame through the rollers, and a telescopic cylinder for driving the carrier plate to move laterally is provided in the mounting frame, and the telescopic cylinder drives the carrier plate to move laterally according to the data of the second vehicle direction sensor, so that the container truck is aligned with the loading and unloading vehicle platform.

[0016] Furthermore, the installation frame is provided with a plurality of bearing blocks, the bearing blocks are arranged at equal intervals, and the bearing blocks are used to bear the carrier board.

[0017] Furthermore, an installation groove is dug at the front end of the loading and unloading platform, the installation frame is embedded and installed in the installation groove, a liquid level sensor and a drainage pump are arranged in the installation frame, the installation groove is opened with a drainage groove, and the water outlet of the drainage pump faces the drainage groove.

[0018] Furthermore, the installation frame is provided with a plurality of limiting grooves, and the bearing block is detachably sleeved in the limiting grooves.

[0019] A control method for a vehicle moving and straightening device for automatic vehicle loading is further provided, based on the vehicle moving and straightening device for automatic vehicle loading, comprising the following steps:

[0020] When the front wheels of the container vehicle enter the front wheel orientation mechanism, the direction of the container vehicle is collected by the first vehicle direction sensor;

[0021] According to the direction of the container vehicle and the length of the container vehicle, the steering direction of the front wheels of the container vehicle is calculated, the driving cylinder is controlled to extend, and the rotating member is controlled to rotate the rotating ring so that the driving cylinder swings the front wheels of the container vehicle;

[0022] The container truck keeps the steering direction of the front wheels unchanged and reverses to access the loading and unloading platform;

[0023] When the rear wheels of the container vehicle enter the alignment device, the direction of the container vehicle is collected by the second vehicle direction sensor;

[0024] The alignment device is controlled to transversely move the rear wheels of the container vehicle so that the container vehicle is aligned with the loading and unloading vehicle platform.

[0025] Therefore, the present invention provides the following effects and / or advantages:

[0026] The present application is provided with a front wheel orientation mechanism, which can swing the front wheels of the container truck. The front wheel orientation mechanism first swings the steering direction of the front wheels of the container truck to determine the initial direction of the container truck's reversing, so that the container truck can be aligned with the access to the loading and unloading platform when driving along a predetermined path. At this time, the container truck can initially and accurately access the loading and unloading platform, and then the rear of the container truck is moved horizontally through the alignment equipment, so that the container truck can accurately access the loading and unloading platform, without the need for the container truck to move forward and backward multiple times to access the loading and unloading platform.

[0027] The front wheel orientation mechanism of the present application includes a fixed platform, a rotating ring, and a drive cylinder. The rotating ring drives the drive cylinder to rotate, so that the drive cylinder in the extended state can be rotated past the side of the front wheel of the container truck, driving the front wheel of the container truck to swing and controlling the direction of the front wheel of the container truck.

[0028] The alignment device described in the present application includes a mounting frame and a carrier plate. The tail of the container truck can be driven by the left and right movement of the carrier plate. Rollers are provided at the four corners of the carrier plate. The carrier plate is connected to the top of the mounting frame through the rollers, thereby reducing the friction between the carrier plate and the mounting frame, so that the telescopic cylinder can drive the container truck loaded with goods.

[0029] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0030] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic structural diagram of an embodiment of the present invention.

[0032] Figure 2 Schematic diagram of the state of the front wheel directional mechanism swinging the front wheel.

[0033] Figure 3 It is a structural schematic diagram of the front wheel steering mechanism.

[0034] Figure 4 It is a structural schematic diagram of the alignment equipment and the installation slot.

[0035] Figure 5 It is a structural schematic diagram of the alignment equipment.

[0036] Figure 6 Schematic diagram of the trajectory of a container truck maintaining front wheel steering and reversing into the alignment equipment. DETAILED DESCRIPTION

[0037] In order to facilitate understanding by those skilled in the art, the structure of the present invention is further described in detail with reference to the embodiments in conjunction with the accompanying drawings:

[0038] refer to Figure 1-6 , a vehicle moving and straightening device for automatic loading, comprising:

[0039] A first vehicle direction sensor 1 is arranged at the front side of the loading and unloading platform, and is used to obtain the direction of the container vehicle entering the side of the first vehicle direction sensor 1;

[0040] In this embodiment, the front of the loading and unloading platform can be marked to form an L-shaped area, and the L-shaped area includes a transverse portion 100 and a longitudinal portion 200. One end of the longitudinal portion 200 is connected to the front of the loading and unloading platform, and the direction of the longitudinal portion 200 is consistent with the discharge direction of the loading and unloading platform. The transverse portion 100 is arranged at one end of the longitudinal portion 200, and the direction of the transverse portion 100 is perpendicular to the discharge direction of the loading and unloading platform. The first vehicle direction sensor 1 is arranged at the transverse portion 100. When the container truck enters the transverse portion 100, the first vehicle direction sensor 1 can collect the direction of the container truck at this position.

[0041] A front wheel orientation mechanism 2, which is arranged on one side of the first vehicle direction sensor 1, and is used to swing the steering direction of the front wheels of the container truck;

[0042] In this embodiment, the front wheel orientation mechanism 2 is arranged at the end of the transverse portion 100, so that after the container truck enters the transverse portion 100, the front wheel of the container truck naturally falls on the front wheel orientation mechanism 2. When the front wheel of the container truck is located on the front wheel orientation mechanism 2, the front wheel orientation mechanism 2 can swing the steering of the front wheel of the container truck, thereby controlling the starting direction of the container truck reversely entering the longitudinal portion 200 from the transverse portion 100, and after determining the starting direction of the container truck reversely entering the longitudinal portion 200 from the transverse portion 100, the container truck can align with the access loading and unloading platform as long as it maintains the starting direction. The front wheel orientation mechanism 2 can automatically adjust the steering of the front wheel of the container truck according to the data provided by the first vehicle direction sensor 1, ensuring that the container truck can align with the access loading and unloading platform when driving according to the predetermined path.

[0043] There are two front wheel directional mechanisms 2, which are respectively arranged under the two front wheels of the container truck.

[0044] A second vehicle direction sensor 3 is arranged in front of the loading and unloading platform and is used to obtain the direction of the container vehicle driving into the side of the second vehicle direction sensor 3;

[0045] In this embodiment, the second vehicle direction sensor 3 is disposed on the longitudinal portion 200 , so as to obtain the direction of the container truck when the container truck is connected to the loading and unloading platform.

[0046] The alignment device 4 is arranged at the front end of the loading and unloading vehicle platform, and the alignment device 4 is used to move the rear wheels of the container vehicle horizontally.

[0047] In this embodiment, after the container truck reverses and connects to the loading and unloading platform, the rear wheels of the container truck fall on the alignment device 4, and the alignment device 4 can move the rear wheels of the container truck horizontally, thereby moving the tail of the container truck horizontally, so that the tail of the container truck is accurately aligned with the loading and unloading platform.

[0048] The vehicle moving and straightening equipment for automatic loading provided in this embodiment first swings the steering direction of the front wheels of the container truck through the front wheel orientation mechanism 2 to determine the initial direction of the container truck's reversing, so that the container truck can be aligned and connected to the loading and unloading platform by driving along the predetermined path. At this time, the container truck can be initially and accurately connected to the loading and unloading platform, and then the rear of the container truck is horizontally moved through the alignment device 4 to make the container truck accurately connected to the loading and unloading platform, without the need for the container truck to move forward and backward multiple times to connect to the loading and unloading platform.

[0049] Furthermore, the first vehicle direction sensor 1 and the second vehicle direction sensor 3 each include a plurality of distance measuring sensors, the distance measuring sensors are spaced apart and face the body of the container truck, and the first vehicle direction sensor 1 and the second vehicle direction sensor 3 calculate the direction of the container truck by the difference between the distance sensors.

[0050] In this embodiment, the distance measuring sensor may be a laser distance measuring sensor, or an ultrasonic distance measuring sensor, etc. The first vehicle direction sensor 1 and the second vehicle direction sensor 3 each include two distance measuring sensors, and the two distance measuring sensors are arranged at a distance, so that the distance between them can be measured at two positions of the vehicle, and then the direction of the container vehicle when it is parked on the side of the first vehicle direction sensor 1 and the second vehicle direction sensor 3 can be calculated.

[0051] Furthermore, the front wheel orientation mechanism 2 includes a pair of spacing fixed platforms 201, the fixed platforms 201 are set on the ground, the spacing of the fixed platforms 201 is the same as the spacing of the front wheels of the container truck, a circle of rotating rings 202 is set on the outer periphery of the fixed platform 201, the diameter of the rotating ring 202 is smaller than the diameter of the front wheels of the container truck, the rotating ring 202 is driven to rotate by the corresponding rotating member 203, and a driving cylinder 204 is fixedly set on the bottom surface of the rotating ring 202, the telescopic end of the driving cylinder 204 can pass through the rotating ring 202 and extend to the top of the rotating ring 202, after the driving cylinder 204 is extended, the rotating ring 202 rotates to swing the steering of the front wheels of the container truck through the driving cylinder 204.

[0052] In this embodiment, the drive cylinder 204 is retracted and located below the rotating ring 202, so that it is convenient for the container truck to enter the fixed platform 201. After the container truck enters the fixed platform 201, its front wheels are located on the fixed platform 201. The drive cylinder 204 is extended and located above the rotating ring 202. During the rotation of the rotating ring 202, the drive cylinder 204 can touch the side of the front wheel of the container truck, thereby driving the front wheel of the container truck to swing left and right, and realizing the control of the direction of the front wheel of the container truck. In addition, the rotating ring 202 is rotatably mounted on the outer ring of the fixed platform 201, and a gear ring is provided at the bottom of the rotating ring 202. The rotating member 203 drives the rotating ring 202 to rotate through the cooperation of the gear and the gear ring.

[0053] Furthermore, the rotating member 203 drives the rotation of the rotating ring through the data of the first vehicle direction sensor 1 and the length of the container truck, so that the telescopic end of the driving cylinder 204 swings the steering of the front wheels of the container truck until the container truck maintains the steering of the front wheels and can align with the loading and unloading platform.

[0054] In this embodiment, when the front wheels of the container truck are located on the fixed platform 201, the front end position of the container truck has been basically determined. At this time, the direction of the container truck is uncertain. Therefore, after analyzing the parking direction of the container truck through the data of the first vehicle direction sensor 1, the front wheel steering required for the container truck to maintain the direction and reverse to connect to the loading and unloading platform is calculated based on the body length of the container truck, and then the front wheels of the container truck are driven by the front wheel directional mechanism 2.

[0055] Furthermore, the alignment device 4 includes a mounting frame 401 and a carrier plate 402. The mounting frame 401 is embedded and installed at the front end of the loading and unloading platform. Rollers 403 are provided at the four corners of the carrier plate 402. The carrier plate 402 is rollingly connected to the top of the mounting frame 401 through the rollers 403. A telescopic cylinder 404 is provided in the mounting frame 401 to drive the carrier plate 402 to move laterally. The telescopic cylinder 404 drives the carrier plate 402 to move laterally according to the data of the second vehicle direction sensor 3, so that the container truck is aligned with the loading and unloading platform.

[0056] In this embodiment, the mounting frame 401 is provided with a track 405 on its upper end surface, and the roller 403 moves along the track 405 and is limited in the track 405. The carrier plate 402 is mounted on the upper end surface of the mounting frame 401 through the roller 403, so that it can move left and right. When the rear wheels of the container truck are parked on the carrier plate 402, the lateral movement of the carrier plate 402 can drive the rear of the container truck to move laterally, thereby accurately adjusting the position of the rear of the container truck, so that the container truck is aligned with the loading and unloading platform. Specifically, during the process of adjusting the rear of the container truck by the telescopic cylinder 404, when the distance between the two distance sensors of the second vehicle direction sensor 3 and the container truck is the same, it is determined that the container truck is aligned with the loading and unloading platform.

[0057] Furthermore, the installation frame 401 is provided with a plurality of bearing blocks 406 , the bearing blocks 406 are arranged at equal intervals, and the bearing blocks 406 are used to bear the carrier board 402 .

[0058] In this embodiment, the bearing block 406 can be made of wear-resistant material with low friction, wear resistance and other characteristics. Multiple bearing blocks 406 form a bearing surface to support the carrier 402, so that the carrier 402 can move upward and bear the weight of the container truck.

[0059] Furthermore, an installation groove 5 is dug at the front end of the loading and unloading platform, and the installation frame 401 is embedded and installed in the installation groove 5. A liquid level sensor 407 and a drainage pump 502 are arranged in the installation frame 401. The installation groove 5 is provided with a drainage groove 501, and the water outlet of the drainage pump 502 faces the drainage groove 501.

[0060] Furthermore, the installation frame 401 is provided with a plurality of limiting grooves 408 , and the bearing block 406 is detachably sleeved in the limiting grooves 408 .

[0061] In this embodiment, the limiting groove 408 is used to limit the setting position of the bearing block 406. At the same time, the bearing block 406 can be detachably mounted in the limiting groove 408, so that when maintenance is required, the bearing block 406 can be removed to expose the bottom structure.

[0062] A control method for a vehicle moving and straightening device for automatic vehicle loading is further provided, based on the vehicle moving and straightening device for automatic vehicle loading, comprising the following steps:

[0063] When the front wheels of the container vehicle enter the front wheel orientation mechanism 2, the direction of the container vehicle is collected by the first vehicle direction sensor 1;

[0064] According to the direction of the container vehicle and the length of the container vehicle, the steering direction of the front wheels of the container vehicle is calculated, the driving cylinder 204 is controlled to extend, and the rotating member 203 is controlled to rotate the rotating ring 202 so that the driving cylinder 204 swings the front wheels of the container vehicle;

[0065] The container truck keeps the steering direction of the front wheels unchanged and reverses to access the loading and unloading platform;

[0066] When the rear wheels of the container vehicle enter the alignment device 4, the direction of the container vehicle is collected by the second vehicle direction sensor 3;

[0067] The alignment device 4 is controlled to transversely move the rear wheels of the container vehicle so that the container vehicle is aligned with the loading and unloading vehicle platform.

[0068] In the method provided in this embodiment, the container truck first enters the front wheel orientation mechanism 2. At this time, the direction and position of the container truck can be inaccurate, as long as the front wheels of the container truck enter the front wheel orientation mechanism 2. Then, by calculating the required steering required for the container truck to reverse and connect to the loading and unloading platform, the container truck is put into reverse gear and the steering wheel is kept unchanged, and the container truck can accurately connect to the loading and unloading platform by reversing. Finally, the alignment device 4 moves the rear wheels of the container truck horizontally to further improve the alignment between the container truck and the loading and unloading platform.

[0069] It should be noted that in the claims, any reference signs placed between brackets shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claim. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0070] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0071] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0072] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

Claims

1. A vehicle moving and straightening device for automatic loading, characterized in that: include: A first vehicle direction sensor is arranged at the front side of the loading and unloading platform, and is used to obtain the direction of the container vehicle driving into the side of the first vehicle direction sensor; A front wheel orientation mechanism, disposed on one side of the first vehicle direction sensor, the front wheel orientation mechanism being used to swing the steering direction of the front wheels of the container vehicle; A second vehicle direction sensor is arranged in front of the loading and unloading platform and is used to obtain the direction of the container vehicle driving into the side of the second vehicle direction sensor; A positioning device is arranged at the front end of the loading and unloading vehicle platform, and the positioning device is used to move the rear wheels of the container vehicle horizontally.

2. The vehicle moving and straightening device for automatic loading according to claim 1 is characterized in that: The first vehicle direction sensor and the second vehicle direction sensor each include a plurality of distance measuring sensors, the distance measuring sensors are spaced apart and face the body of the container truck, and the first vehicle direction sensor and the second vehicle direction sensor calculate the direction of the container truck through the difference between the distance sensors.

3. The vehicle moving and straightening device for automatic loading according to claim 1 is characterized in that: The front wheel orientation mechanism includes a pair of platforms with fixed spacing, which are arranged on the ground. The spacing of the fixed platforms is the same as the spacing of the front wheels of the container truck. A rotating ring is arranged on the outer circumference of the fixed platform. The diameter of the rotating ring is smaller than the diameter of the front wheels of the container truck. The rotating ring is driven to rotate by a corresponding rotating member. A driving cylinder is fixedly arranged on the bottom surface of the rotating ring. The telescopic end of the driving cylinder can pass through the rotating ring and extend to the top of the rotating ring. After the driving cylinder is extended, the rotating ring rotates to swing the steering of the front wheels of the container truck through the driving cylinder.

4. The vehicle moving and straightening device for automatic loading according to claim 3 is characterized in that: The rotating member drives the rotation of the rotating ring through the data of the first vehicle direction sensor and the length of the container truck, so that the telescopic end of the drive cylinder swings the steering of the front wheels of the container truck until the container truck maintains the steering of the front wheels and can align with the loading and unloading platform.

5. The vehicle moving and straightening device for automatic loading according to claim 1, characterized in that: The alignment device includes a mounting frame and a carrier plate. The mounting frame is embedded and installed at the front end of the loading and unloading vehicle platform. Rollers are provided at the four corners of the carrier plate. The carrier plate is rollingly connected to the top of the mounting frame through the rollers. A telescopic cylinder for driving the carrier plate to move laterally is provided in the mounting frame. The telescopic cylinder drives the carrier plate to move laterally according to the data of the second vehicle direction sensor, so that the container truck is aligned with the loading and unloading vehicle platform.

6. The vehicle moving and straightening device for automatic loading according to claim 5, characterized in that: The installation frame is provided with a plurality of bearing blocks, the bearing blocks are arranged at equal intervals, and the bearing blocks are used to bear the carrier board.

7. The vehicle moving and straightening device for automatic loading according to claim 5, characterized in that: A mounting groove is dug at the front end of the loading and unloading vehicle platform, the mounting frame is embedded and installed in the mounting groove, a liquid level sensor and a drainage pump are arranged in the mounting frame, a drainage groove is opened in the mounting groove, and the water outlet of the drainage pump faces the drainage groove.

8. The vehicle moving and straightening device for automatic loading according to claim 6, characterized in that: The installation frame is provided with a plurality of limiting grooves, and the bearing blocks are detachably sleeved in the limiting grooves.

9. A control method for a vehicle moving and straightening device for automatic loading, characterized in that: A vehicle moving and straightening device for automatic loading according to any one of claims 1 to 8 comprises the following steps: When the front wheels of the container vehicle enter the front wheel orientation mechanism, the direction of the container vehicle is collected by the first vehicle direction sensor; According to the direction of the container vehicle and the length of the container vehicle, the steering direction of the front wheels of the container vehicle is calculated, the driving cylinder is controlled to extend, and the rotating member is controlled to rotate the rotating ring so that the driving cylinder swings the front wheels of the container vehicle; The container truck keeps the steering direction of the front wheels unchanged and reverses to access the loading and unloading platform; When the rear wheels of the container vehicle enter the alignment device, the direction of the container vehicle is collected by the second vehicle direction sensor; The alignment device is controlled to transversely move the rear wheels of the container vehicle so that the container vehicle is aligned with the loading and unloading vehicle platform.

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