Automatic container loading system and control method thereof

Abstract

The invention relates to an automatic container loading system and a control method thereof. The automatic container loading system comprises a truss mechanism; the transverse moving platform assembly is arranged on the truss mechanism; a lifting assembly; the hoisting assembly is arranged on the lifting assembly, the lifting assembly drives the hoisting assembly to move in the up-down direction, the hoisting assembly comprises a connecting base, a locking assembly and a clamping assembly, the locking assembly is flexibly connected to the lower side of the connecting base, the locking assembly comprises a plurality of guide blocks and a locking piece, and the locking piece is movably connected to the lower side of the connecting base. When the hoisting assembly is put down, the multiple guide blocks are matched with the top end of a container so that the locking piece can directly face a locking hole of the container, the clamping assembly is rigidly connected to the lower end of the connecting base, and after the hoisting assembly is lifted, the clamping assembly clamps the two sides of the container. The feeding mechanism is arranged on one side below the truss mechanism; the vehicle straightening mechanism is arranged on the other side of the lower portion of the truss mechanism.

Description

Technical Field

[0001] The invention relates to the field of automatic loading systems, and in particular to an automatic container loading system and a control method thereof. Background Art

[0002] In the automated loading and unloading of materials, materials are loaded into transport vehicles from the supply site and unloaded from the transport vehicle to the destination. The basic functions of handling and loading are required to achieve the transportation requirements. In the logistics process, loading and unloading are very important links. With the rapid development of modern cargo loading and transportation technology, more and more automatic loading systems are needed to achieve rapid loading and transportation of materials.

[0003] For large-capacity containers with locking holes, during the loading process, the containers need to be lifted from the input end by lifting equipment and then transferred to the corresponding vehicle body. For containers with locking holes on the top, the prior art still relies on manual work to position the lifting equipment and the locking holes, and to lift the containers to the corresponding positions. For large-capacity containers, due to the limited space on the vehicle body, high accuracy is required for the lifting and placement position, and large-capacity containers are more likely to shake, tilt, etc. during the lifting process. As a result, after the container is lifted to the corresponding position and lowered, the container deviates from the predetermined position, resulting in the container being unable to be placed in the vehicle body.

[0004] The purpose of the present invention is to design an automatic container loading system and a control method thereof in view of the above-mentioned problems in the prior art. Summary of the invention

[0005] In view of the problems existing in the above-mentioned prior art, the present invention provides a container automatic loading system 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 container automatic loading system, comprising:

[0008] Truss mechanism;

[0009] A transverse platform assembly is arranged on the truss mechanism;

[0010] A lifting assembly is arranged on the transverse moving platform assembly, and the transverse moving platform assembly drives the lifting assembly to move in the front-rear and left-right directions;

[0011] A hoisting assembly is arranged on the lifting assembly. The lifting assembly drives the hoisting assembly to move in the up and down directions. The hoisting assembly includes a connecting seat, a locking assembly, and a clamping assembly. The locking assembly is flexibly connected to the lower side of the connecting seat. The locking assembly includes a plurality of guide blocks and a locking member. When the hoisting assembly is lowered, a plurality of the guide blocks cooperate with the top end of the container so that the locking member faces the locking hole of the container. The clamping assembly is rigidly connected to the lower end of the connecting seat. After the hoisting assembly is lifted, the clamping assembly is clamped on both sides of the container.

[0012] A feeding mechanism, arranged on one side below the truss mechanism;

[0013] The vehicle straightening mechanism is arranged on the other side below the truss mechanism.

[0014] Furthermore, the locking assembly includes a connecting plate, the shape of which is adapted to the top surface of the container, and the connecting plate is connected to the connecting seat by a hook or a chain to form a flexible connection, so that the connecting plate can move laterally relative to the connecting seat;

[0015] The guide block is arranged at the edge of the connecting plate, the guide block extends to the bottom of the connecting plate, the inner side of the guide block is arranged as an inclined surface, and the guide block is used to adjust the connecting plate to face the top surface of the container.

[0016] Furthermore, the locking member includes a first track laterally arranged on the connecting plate, the first track is provided with a movable seat, the inner side of the movable seat is provided with an insertion rod, the position and shape of the insertion rod are adapted to the locking hole of the container, the top of the movable seat is provided with a latch, and the connecting plate is fixedly provided with a locking ear that cooperates with the latch.

[0017] Furthermore, the clamping assembly includes a second track, the second track is arranged on the lower end surface of the connecting seat, and the second track is provided with a pair of clamping arms, and the clamping arms extend to the bottom of the guide block.

[0018] Further, the connecting plate is provided with a first distance sensor, and the first distance sensor is used to obtain the distance between the connecting plate and the top surface of the container; and / or,

[0019] The connecting plate is provided with a second distance sensor, and the second distance sensor is used to obtain the state of the insertion rod being inserted into or withdrawn from the locking hole; and / or,

[0020] The second track is provided with a third distance sensor, and the third distance sensor is used to obtain the opening and closing state of the clamping arm; and / or,

[0021] The connecting plate is provided with a fourth distance sensor, and the fourth distance sensor is used to obtain the distance between the connecting plate and the ground; and / or,

[0022] Force sensors are arranged between the corners of the locking assembly and the connecting seat. After the hoisting assembly is lifted, the plurality of force sensors obtain the component force of the container on the corners of the locking assembly.

[0023] Furthermore, the vehicle straightening mechanism comprises a mounting frame and a carrier plate, the carrier plate is laterally movably arranged on the mounting frame, and the carrier plate is driven by a driving cylinder to laterally move the rear of the vehicle on the carrier plate.

[0024] Furthermore, it includes a three-dimensional scanning sensor, which is arranged on the upper side of the vehicle straightening mechanism and is used to scan the outline of the vehicle parked on the vehicle straightening mechanism. The vehicle straightening mechanism sets the driving amount of the driving cylinder according to the scanning data of the three-dimensional scanning sensor.

[0025] Furthermore, the locking assembly and the clamping assembly are arranged at a distance from each other. During the lowering of the lifting assembly, the locking assembly is firstly aligned with the top of the container through the guide block, and is connected to the top of the container through the deadweight of the locking assembly. When the lifting assembly continues to be lowered, the clamping assembly is pressed against the top of the locking assembly, and the locking assembly is pressed down by the clamping assembly so that the locking member is aligned with the locking hole of the container.

[0026] A control method for an automatic container loading system is further provided. Based on the automatic container loading system, the control method comprises the following steps:

[0027] S1, in response to a vehicle being parked on the vehicle straightening mechanism, controlling the vehicle straightening structure to move the vehicle laterally so that the length direction of the vehicle is parallel or perpendicular to the truss mechanism;

[0028] S2, controlling the transverse platform assembly to drive the hoisting assembly to move above the feeding mechanism;

[0029] S3, controlling the lifting assembly to drive the hoisting assembly to lower so that the locking assembly contacts the upper end surface of the container, controlling the hoisting assembly to continue to lower so that the locking assembly faces the top surface of the container through the cooperation between the guide block and the container, and controlling the hoisting assembly to continue to lower so that the locking member faces the locking hole of the container;

[0030] S4, inserting the locking member into the locking hole, controlling the lifting assembly to drive the hoisting assembly to lift the container, controlling the clamping assembly to clamp the container after the container is stable, and controlling the transverse platform assembly to drive the lifting assembly to move the container to a corresponding position on the vehicle;

[0031] S5, controlling the lifting assembly to lower the container so that the locking member exits the locking hole, and controlling the clamping assembly to release the container.

[0032] Further, in step S3, the lowering amount of the hoisting assembly is controlled according to the data of the fourth distance sensor, so that the locking assembly contacts the upper end surface of the container; the lowering amount of the hoisting assembly is controlled according to the data of the first distance sensor and the fourth distance sensor, when the data of the first distance sensor is the minimum distance between the locking assembly and the clamping assembly, and the data of the fourth distance sensor is the distance between the top of the container and the ground, the locking member is directly opposite to the locking hole of the container;

[0033] In step S4, when the data of all the force sensors are similar or identical, it is determined that the container is stable.

[0034] Therefore, the present invention provides the following effects and / or advantages:

[0035] The present application can realize automatic loading of containers by means of the mutual cooperation of the truss mechanism, the transverse platform assembly, the lifting assembly, the hoisting assembly, the feeding mechanism and the vehicle straightening mechanism.

[0036] In the present application, the locking assembly of the lifting assembly is flexibly connected to the lower side of the connecting seat, and the clamping assembly is rigidly connected to the lower end of the connecting seat, so that when the lifting assembly is lowered, the locking assembly can be laterally moved to adjust its relative position with the container through the action of the guide block, and finally accurately inserted into the top end of the container, and then the locking assembly is pushed to be completely inserted into the top end of the container through the clamping assembly, and the container is clamped by the clamping assembly to prevent the container from shaking during the lifting process.

[0037] The present application realizes precise implementation of each action during the lifting process by setting up multiple sensors, and the multiple sensors cooperate with the lifting assembly, lifting assembly, etc.

[0038] 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.

[0039] 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

[0040] Figure 1 It is a schematic structural diagram of an embodiment of the present invention.

[0041] Figure 2 It is a structural schematic diagram of the lifting assembly.

[0042] Figure 3 This is a schematic diagram of the state of the lifting assembly when lifting a container.

[0043] Figure 4 A schematic diagram of the structure of the clamping assembly.

[0044] Figure 5 It is a schematic diagram of the structure of the locking assembly.

[0045] Figure 6 This is a schematic diagram of the setting positions of some sensors.

[0046] Figure 7 This is a schematic diagram of the setting position of another part of the sensors.

[0047] Figure 8 It is a structural cross-sectional view of the lifting assembly, used to show the spacing setting of the clamping component and the locking component.

[0048] Fig. 9 It is a structural schematic diagram of the vehicle straightening mechanism. DETAILED DESCRIPTION

[0049] 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 accompanying drawings:

[0050] refer to Figure 1-9 , a container automatic loading system, comprising:

[0051] Truss mechanism 1;

[0052] A transverse platform assembly 2 is arranged on the truss mechanism 1;

[0053] The lifting assembly 3 is arranged on the transverse platform assembly 2, and the transverse platform assembly 2 drives the lifting assembly 3 to move in the front-back and left-right directions;

[0054] In this embodiment, the truss mechanism 1, the transverse platform assembly 2, and the lifting assembly 3 are directly adopted from the prior art and will not be explained in detail here.

[0055] The hoisting assembly 4 is arranged on the lifting assembly 3. The lifting assembly 3 drives the hoisting assembly 4 to move in the up and down directions. The hoisting assembly 4 includes a connecting seat 41, a locking assembly 42, and a clamping assembly 43. The locking assembly 42 is flexibly connected to the lower side of the connecting seat 41. The locking assembly 42 includes a plurality of guide blocks 421 and a locking member 422. When the hoisting assembly 4 is lowered, the plurality of guide blocks 421 cooperate with the top end of the container so that the locking member 422 faces the locking hole of the container 7. The clamping assembly 43 is rigidly connected to the lower end of the connecting seat 41. After the hoisting assembly 4 is lifted, the clamping assembly 42 is clamped on both sides of the container.

[0056] In this embodiment, the lifting assembly 4 is one of the core improvements. Since the locking assembly 42 and the connecting seat 41 are flexibly connected, such as a chain, a hook, etc., under this structure, the locking assembly 42 can move up and down or laterally within a certain range relative to the connecting seat 41. This is because the locking hole of the container 7 is small and fixed in position, and it is difficult for the prior art to align the lifting assembly 4 with the top of the container 7 very accurately. Therefore, through the structural basis that the locking assembly 42 and the connecting seat 41 are flexibly connected, and with the guiding effect of the guide block 421, in the process of lowering the locking assembly 42, the locking assembly 42 can automatically align with the top of the container 7 under the self-gravity of the guide block 421. Under the lowering action of the lifting assembly 3, the locking assembly 42 can be inserted into the top of the container to achieve the following. Figure 3 Locked state shown.

[0057] At this time, the locking component 42 may have a certain offset relative to the connecting seat 41. After the lifting assembly 4 is lifted, the container 7 is suspended in the air. Under the action of its own weight, the container 7 drives the locking component 42 to face the connecting seat 41, and then is clamped on both sides of the container 7 by the clamping component 42, so that the length direction of the container 7 is consistent with the lifting direction of the lifting assembly 3, thereby preventing the container 7 from shaking during the lifting process.

[0058] A feeding mechanism 5 is arranged on one side below the truss mechanism 1;

[0059] In this embodiment, the feeding mechanism 5 may be a conveyor line, etc., for conveying the container 7 to one end of the corresponding conveyor line.

[0060] The vehicle straightening mechanism 6 is disposed on the other side below the truss mechanism 1 .

[0061] In this embodiment, the rear wheels of the vehicle can travel onto the vehicle straightening structure 6, and the vehicle straightening mechanism 6 moves laterally, thereby adjusting the direction of the rear end of the vehicle. This is because the direction and position of the vehicle are uncertain, and the gap between the container 7 and the pallet, placement frame and other structures on the vehicle is small. The container 7 needs to be hoisted to the corresponding position on the vehicle before the container 7 can be lowered. Adjusting the position and direction of the rear end of the vehicle can make it easier to accurately lower the container 7.

[0062] Furthermore, the locking assembly 42 includes a connecting plate 423, the shape of which is adapted to the top surface of the container 7, and the connecting plate 423 is flexibly connected to the connecting seat 41 via a hook 424 or a chain, so that the connecting plate 423 can move laterally relative to the connecting seat 41;

[0063] The guide block 421 is arranged at the edge of the connecting plate 423, and the guide block 421 extends to the bottom of the connecting plate 423. The inner side of the guide block 421 is arranged as an inclined surface, and the guide block 421 is used to adjust the connecting plate 423 to face the top surface of the container.

[0064] In this embodiment, reference Figure 5 The top of the inclined surface of the guide block 421 is flush with the edge of the connecting plate 423, and the guide block 421 extends to the bottom of the connecting plate 423, so that when the locking assembly 42 is lowered, the bottom of the guide block 421 first contacts the top of the container 7, and under the action of the guide block 421, the connecting plate 423 is driven to face the upper end of the container 7. At the same time, the hook 424 or the chain connection forms a flexible connection to facilitate the lateral movement or up and down movement of the connecting plate 423 relative to the connecting seat 41, which is conducive to the lateral movement or up and down movement of the connecting plate 423 caused by the guiding action of the guide block 421.

[0065] Furthermore, the locking member 422 includes a first track 4221 laterally arranged on the connecting plate 423, the first track 4221 is provided with a movable seat 4222, the inner side surface of the movable seat 4222 is provided with an insertion rod 4223, the position and shape of the insertion rod 4223 are adapted to the locking hole of the container 7, the top of the movable seat 4222 is provided with a latch 4224, and the connecting plate 423 is fixedly provided with a locking ear 4225 that cooperates with the latch 4224.

[0066] In this embodiment, reference Figure 5The movable seat 4222 can move laterally through the first track 4221. After moving inward, it can drive the insertion rod 4223 to insert into the locking hole of the container. At the same time, in order to prevent the insertion rod 4223 from moving, the locking ear 4225 provided on the connecting plate 423 of this embodiment can cooperate with the latch 4224. After the latch 4224 is driven by the handle to insert into the locking ear 4225, the movable seat 4222 cannot move laterally, thereby limiting the insertion rod 4223 from being separated from the locking hole.

[0067] Furthermore, the clamping assembly 43 includes a second rail 431 , the second rail 431 is disposed on the lower end surface of the connecting seat 41 , and the second rail 431 is provided with a pair of clamping arms 432 , and the clamping arms 432 extend to the bottom of the guide block 421 .

[0068] In this embodiment, reference Figure 4 The clamping arm 432 may be in an open shape and arranged horizontally, and its width is adapted to the width of the container. At the same time, the second track 431 may be provided with a driving motor to drive the second track 431 to move horizontally and drive the clamping arm 432 to open or close. The clamping arm 432 extends below the guide block 421 to avoid the guide block 421, so as to prevent the clamping arm 432 from colliding with the guide block 421 during the approaching process.

[0069] Further, refer to Figure 6-7 , the connecting plate 423 is provided with a first distance sensor 425, and the first distance sensor 425 is used to obtain the distance between the connecting plate 423 and the top surface of the container 7;

[0070] The first distance sensor 425 irradiates downward through the connecting plate 423, thereby obtaining the distance between the connecting plate 423 and the top surface of the container 7. The distance between the connecting plate 423 and the top surface of the container 7 can be used to determine the position of the lifting assembly 3 descending to the top of the container 7, and whether the connecting plate 423 is close to / close to / inserted into the top of the container 7, thereby accurately controlling the descending depth of the lifting assembly 3.

[0071] And / or, the connecting plate 423 is provided with a second distance sensor 426, and the second distance sensor 426 is used to obtain the state of the insertion rod 4223 being inserted into or withdrawn from the locking hole;

[0072] And / or, the second track 431 is provided with a third distance sensor 433, and the third distance sensor 433 is used to obtain the opening and closing state of the clamping arm 432;

[0073] And / or, the connecting plate 423 is provided with a fourth distance sensor 411, and the fourth distance sensor 411 is used to obtain the distance between the connecting plate 423 and the ground;

[0074] The distance obtained by the fourth distance sensor 411 can be used to determine the height of the lifting assembly 3. Combined with the value of the first distance sensor 425, the two can be combined to obtain the height of the top of the container 7 relative to the ground, thereby accurately controlling the lifting assembly 3 to move the connecting plate 423 toward the top of the container 7.

[0075] And / or, force sensors 427 are provided between the corners of the locking assembly 42 and the connecting seat 41 , and after the hoisting assembly 3 is lifted, the multiple force sensors 427 obtain the component force of the container 7 on the corners of the locking assembly 42 .

[0076] In this embodiment, when the insertion rod 4223 is correctly inserted into the locking hole of the container 7, and the latch 4224 is inserted into the lock ear 4225, after lifting the container 7, each force sensor 427 should be allocated to the same or similar components of gravity generated by each container 7. If the value of one or more force sensors 427 has a large deviation, it can be inferred that the insertion rod 4223 or the latch 4224 is not locked or other situations occur. At this time, it is easy to cause violent shaking or tilting of the container 7 during the process of lifting the container 7. Alternatively, after lifting the container 7, the container 7 may shake left and right, etc., which will also cause a large deviation in the value of one or more force sensors 427. Therefore, it is necessary to set a force sensor 427 for judgment.

[0077] Furthermore, the vehicle straightening mechanism 6 includes a mounting frame 61 and a carrier plate 62 . The carrier plate 62 is laterally movably disposed on the mounting frame 61 . The carrier plate is driven by a driving cylinder (not shown) to laterally move the rear of the vehicle on the carrier plate 62 .

[0078] In this embodiment, reference Fig. 9 The vehicle straightening mechanism 6 is a direct adoption of the prior art, and reference may be made to the prior patents with announcement numbers CN220182183U or CN220182184U.

[0079] Furthermore, it includes a three-dimensional scanning sensor 11, which is arranged on the upper side of the vehicle straightening mechanism 6 and is used to scan the outline of the vehicle parked on the vehicle straightening mechanism 6. The vehicle straightening mechanism 6 sets the driving amount of the driving cylinder according to the scanning data of the three-dimensional scanning sensor 11.

[0080] In this embodiment, the three-dimensional scanning sensor 11 can be a laser or radar scanning sensor, etc., which is not limited here. The three-dimensional scanning sensor 11 scans from the upper side of the vehicle straightening mechanism 6 toward the vehicle straightening mechanism 6, so as to scan and obtain the contour data of the vehicle, obtain the length direction of the vehicle from the contour data of the vehicle, and then determine whether the vehicle is parallel or perpendicular to the truss mechanism 1 after parking according to the length direction of the vehicle. If not, the vehicle straightening mechanism 6 adjusts the rear of the vehicle, adjusts the position of the rear of the vehicle, and thus adjusts the parking direction of the vehicle, and finally makes the vehicle parallel or perpendicular to the truss mechanism 1. In this case, it is convenient to move the transverse platform assembly 2 to the corresponding position above the vehicle.

[0081] Furthermore, the locking assembly 42 and the clamping assembly 43 are arranged at a distance from each other. During the lowering of the hoisting assembly 3, the locking assembly 42 is firstly aligned with the top of the container 7 through the guide block 421, and is connected to the top of the container 7 through the deadweight of the locking assembly 42. When the hoisting assembly 3 is further lowered, the clamping assembly 43 is pressed against the top of the locking assembly 42, and the locking assembly 42 is pressed down by the clamping assembly 43 so that the locking member 42 is aligned with the locking hole of the container 7.

[0082] In this embodiment, reference Figure 8 , the first track 4221 and the second track 431 are arranged at a distance, so that when the locking assembly 42 reaches the upper end of the container 7 in a flexibly connected state with the connecting seat 41, the lifting assembly 3 continues to descend a short distance, and the first track 4221 and the second track 431 are arranged at a distance, so that the locking assembly 42 can descend by its own gravity and be inserted into the upper end of the container 7. Next, the lifting assembly 3 continues to descend, so that the first track 4221 begins to contact the second track 431, and the first track 4221 begins to press down the second track 431 under the drive of the lifting assembly 3, thereby pressing down the locking assembly 42 to make it completely inserted into the upper end of the container 7.

[0083] A control method for an automatic container loading system is further provided. Based on the automatic container loading system, the control method comprises the following steps:

[0084] S1, in response to a vehicle being parked on the vehicle straightening mechanism 6, controlling the vehicle straightening mechanism 6 to move the vehicle laterally so that the length direction of the vehicle is parallel or perpendicular to the truss mechanism 1;

[0085] S2, controlling the transverse platform assembly 2 to drive the hoisting assembly 3 to move to above the feeding mechanism 5;

[0086] S3, control the lifting assembly 3 to drive the hoisting assembly 4 to lower so that the locking component 4 contacts the upper end surface of the container 7, control the hoisting assembly 4 to continue to lower so that the locking component 42 is matched with the guide block 421 and the container 7 so that the locking component 42 faces the top surface of the container 7, and control the hoisting assembly 4 to continue to lower so that the locking member 422 faces the locking hole of the container 7;

[0087] S4, insert the locking member 422 into the locking hole, control the lifting assembly 3 to drive the hoisting assembly 4 to lift the container 7, control the clamping assembly 43 to clamp the container 7 after the container 7 is stable, and control the transverse platform assembly 2 to drive the lifting assembly 3 to move the container 7 to the corresponding position on the vehicle;

[0088] S5, controlling the lifting assembly 3 to lower the container 7, allowing the locking member 422 to withdraw from the locking hole, and controlling the clamping assembly 43 to release the container.

[0089] Further, in step S3, the lowering amount of the hoisting assembly 3 is controlled according to the data of the fourth distance sensor 411, so that the locking component 42 contacts the upper end surface of the container 7; the lowering amount of the hoisting assembly 3 is controlled according to the data of the first distance sensor 425 and the fourth distance sensor 411, when the data of the first distance sensor 425 is the minimum distance between the locking component 42 and the clamping component 43, and the data of the fourth distance sensor 411 is the distance between the top of the container 7 and the ground, the locking member 422 is directly opposite to the locking hole of the container 7;

[0090] In step S4, when the data of all force sensors 427 are similar or identical, it is determined that the container 7 is stable.

[0091] In this step, how the data of each sensor is coordinated with other mechanisms has been introduced above.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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 container automatic loading system, characterized in that: include: Truss mechanism; A transverse platform assembly is arranged on the truss mechanism; A lifting assembly is arranged on the transverse moving platform assembly, and the transverse moving platform assembly drives the lifting assembly to move in the front-rear and left-right directions; A hoisting assembly is arranged on the lifting assembly. The lifting assembly drives the hoisting assembly to move in the up and down directions. The hoisting assembly includes a connecting seat, a locking assembly, and a clamping assembly. The locking assembly is flexibly connected to the lower side of the connecting seat. The locking assembly includes a plurality of guide blocks and a locking member. When the hoisting assembly is lowered, a plurality of the guide blocks cooperate with the top end of the container so that the locking member faces the locking hole of the container. The clamping assembly is rigidly connected to the lower end of the connecting seat. After the hoisting assembly is lifted, the clamping assembly is clamped on both sides of the container. A feeding mechanism, arranged on one side below the truss mechanism; The vehicle straightening mechanism is arranged on the other side below the truss mechanism.

2. The automatic container loading system according to claim 1, characterized in that: The locking assembly includes a connecting plate, the shape of which is adapted to the top surface of the container, and the connecting plate is connected to the connecting seat via a hook or a chain to form a flexible connection, so that the connecting plate can move laterally relative to the connecting seat; The guide block is arranged at the edge of the connecting plate, the guide block extends to the bottom of the connecting plate, the inner side of the guide block is arranged as an inclined surface, and the guide block is used to adjust the connecting plate to face the top surface of the container.

3. The automatic container loading system according to claim 2, characterized in that: The locking member includes a first track laterally arranged on the connecting plate, the first track is provided with a movable seat, the inner side surface of the movable seat is provided with an insertion rod, the position and shape of the insertion rod are adapted to the locking hole of the container, the top end of the movable seat is provided with a latch, and the connecting plate is fixedly provided with a locking ear that cooperates with the latch.

4. The automatic container loading system according to claim 3, characterized in that: The clamping assembly comprises a second track, the second track is arranged on the lower end surface of the connecting seat, the second track is provided with a pair of clamping arms, and the clamping arms extend to the bottom of the guide block.

5. The automatic container loading system according to claim 4, characterized in that: The connecting plate is provided with a first distance sensor, and the first distance sensor is used to obtain the distance between the connecting plate and the top surface of the container; and / or, The connecting plate is provided with a second distance sensor, and the second distance sensor is used to obtain the state of the insertion rod being inserted into or withdrawn from the locking hole; and / or, The second track is provided with a third distance sensor, and the third distance sensor is used to obtain the opening and closing state of the clamping arm; and / or, The connecting plate is provided with a fourth distance sensor, and the fourth distance sensor is used to obtain the distance between the connecting plate and the ground; and / or, Force sensors are arranged between the corners of the locking assembly and the connecting seat. After the hoisting assembly is lifted, the plurality of force sensors obtain the component force of the container on the corners of the locking assembly.

6. The automatic container loading system according to claim 1, characterized in that: The vehicle straightening mechanism comprises a mounting frame and a carrier plate. The carrier plate is arranged on the mounting frame in a transversely movable manner. The carrier plate is driven by a driving cylinder to transversely move the rear of the vehicle on the carrier plate.

7. The automatic container loading system according to claim 6, characterized in that: It includes a three-dimensional scanning sensor, which is arranged on the upper side of the vehicle straightening mechanism and is used to scan the outline of the vehicle parked on the vehicle straightening mechanism. The vehicle straightening mechanism sets the driving amount of the driving cylinder according to the scanning data of the three-dimensional scanning sensor.

8. The automatic container loading system according to claim 1, characterized in that: The locking assembly and the clamping assembly are arranged at a distance. During the lowering of the hoisting assembly, the locking assembly is firstly aligned with the top of the container through the guide block, and is connected to the top of the container through the deadweight of the locking assembly. When the hoisting assembly is further lowered, the clamping assembly is pressed against the top of the locking assembly, and the locking assembly is pressed down by the clamping assembly so that the locking member is aligned with the locking hole of the container.

9. A control method for an automatic container loading system, characterized in that: The automatic container loading system according to claim 5 comprises the following steps: S1, in response to a vehicle being parked on the vehicle straightening mechanism, controlling the vehicle straightening structure to move the vehicle laterally so that the length direction of the vehicle is parallel or perpendicular to the truss mechanism; S2, controlling the transverse platform assembly to drive the hoisting assembly to move above the feeding mechanism; S3, controlling the lifting assembly to drive the hoisting assembly to lower so that the locking assembly contacts the upper end surface of the container, controlling the hoisting assembly to continue to lower so that the locking assembly faces the top surface of the container through the cooperation between the guide block and the container, and controlling the hoisting assembly to continue to lower so that the locking member faces the locking hole of the container; S4, inserting the locking member into the locking hole, controlling the lifting assembly to drive the hoisting assembly to lift the container, controlling the clamping assembly to clamp the container after the container is stable, and controlling the transverse platform assembly to drive the lifting assembly to move the container to a corresponding position on the vehicle; S5, controlling the lifting assembly to lower the container so that the locking member exits the locking hole, and controlling the clamping assembly to release the container.

10. The control method of the automatic container loading system according to claim 8, characterized in that: In step S3, the lowering amount of the hoisting assembly is controlled according to the data of the fourth distance sensor, so that the locking assembly contacts the upper end surface of the container; the lowering amount of the hoisting assembly is controlled according to the data of the first distance sensor and the fourth distance sensor, when the data of the first distance sensor is the minimum distance between the locking assembly and the clamping assembly, and the data of the fourth distance sensor is the distance between the top of the container and the ground, the locking member is directly opposite to the locking hole of the container; In step S4, when the data of all the force sensors are similar or identical, it is determined that the container is stable.

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