Container automatic loading system and control method thereof

Abstract

The present application relates to a kind of container automatic loading system and its control method, comprising: truss mechanism;Horizontal transfer platform assembly, be set on the truss mechanism;Lifting assembly;Hoisting assembly, be set on the lifting assembly, the lifting assembly drives the hoisting assembly moves in up and down direction, the hoisting assembly includes connecting seat, locking assembly, clamping assembly, the locking assembly is flexibly connected on the lower side of the connecting seat, the locking assembly includes several guide blocks and locking piece, when the hoisting assembly is lowered, several the guide blocks cooperate with the top of container to make the locking piece be opposite the locking hole of the container, the clamping assembly is rigidly connected on the lower end of the connecting seat, after the hoisting assembly is lifted, the clamping assembly is clamped in the two sides of the container;Feeding mechanism, be set on the side below the truss mechanism;Vehicle straightening mechanism, be set on the other side below the truss mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic loading system, and particularly relates to a container automatic loading system and a control method thereof. BACKGROUND

[0002] In the automatic loading and unloading transportation of materials, the materials are loaded from a supply site into a transport vehicle and unloaded from the transport vehicle to a destination, and basic functions such as carrying 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 required to realize rapid loading and transfer of materials.

[0003] For a container with a large capacity and a locking hole, the container needs to be lifted from the input end by a lifting device during loading, and then transferred to the corresponding vehicle body. For a container with a locking hole at the top, the positioning of the lifting device and the locking hole, and the lifting of the container to the corresponding position and other actions still rely on manual operation. For a large-capacity container, the space of the vehicle body is limited, and the accuracy of the lifting and placing position is high. Moreover, the large-capacity container is more likely to shake and tilt during lifting, so that after the container is lifted to the corresponding position and lowered, the container deviates from the predetermined position, resulting in that the container cannot be placed in the vehicle body.

[0004] In view of the problems existing in the prior art, the present application provides a container automatic loading system and a control method thereof, which can effectively solve at least one problem existing in the prior art. SUMMARY

[0005] In view of the problems existing in the prior art, the present application provides a container automatic loading system and a control method thereof, which can effectively solve at least one problem existing in the prior art.

[0006] The technical scheme of the present application is as follows:

[0007] A container automatic loading system comprises:

[0008] A truss mechanism;

[0009] A horizontal moving platform assembly arranged on the truss mechanism;

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

[0011] The lifting assembly is arranged on the lifting assembly, the lifting assembly drives the lifting assembly to move in the up-down direction, the lifting assembly comprises 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 comprises a plurality of guide blocks and a locking piece, when the lifting assembly is lowered, the plurality of guide blocks cooperate with the top end of the container to make the locking piece face the locking hole of the container, the clamping assembly is rigidly connected to the lower end of the connecting seat, after the lifting assembly is lifted, the clamping assembly is clamped on both sides of the container;

[0012] The feeding mechanism is arranged on one side below the truss mechanism;

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

[0014] Further, the locking assembly comprises a connecting plate, the shape of the connecting plate is matched with the top surface of the container, the connecting plate and the connecting seat are flexibly connected through hooks or chains, so that the connecting plate can be transversely moved relative to the connecting seat;

[0015] The guide blocks are arranged on the edges of the connecting plate, the guide blocks extend below the connecting plate, the inner side of the guide block is provided as an inclined surface, and the guide blocks are used to adjust the connecting plate to face the top surface of the container.

[0016] Further, the locking piece comprises a first track arranged transversely on the connecting plate, the first track is provided with a movable seat, the inner side of the movable seat is provided with a plug rod, the position and shape of the plug rod are matched with 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 lock lug matched with the latch.

[0017] Further, 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 below the guide blocks.

[0018] Further, the connecting plate is provided with a first distance sensor, 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, the second distance sensor is used to obtain the state of the plug rod inserted into or withdrawn from the locking hole; and / or,

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

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

[0022] The force sensors are arranged between the corners of the locking assembly and the connecting seat, and the plurality of force sensors acquire the component force of the container on the corners of the locking assembly after the lifting assembly is lifted.

[0023] Further, the vehicle straightening mechanism comprises a mounting frame and a carrier plate, the carrier plate is transversely arranged on the mounting frame, and the carrier plate is driven by a driving cylinder to transversely move the vehicle tail on the carrier plate.

[0024] Further, a three-dimensional scanning sensor is arranged above the side of the vehicle straightening mechanism, for scanning the profile of the vehicle parked on the vehicle straightening mechanism, and the driving amount of the driving cylinder is set according to the scanning data of the three-dimensional scanning sensor.

[0025] Further, the locking assembly and the clamping assembly are spaced apart, the locking assembly is first aligned with the top of the container through the guide block during the lowering process of the lifting assembly, and the locking assembly is connected to the top end of the container through its own weight, when the lifting assembly is continuously lowered, the clamping assembly is pressed against the top end of the locking assembly, and the locking piece is aligned with the locking hole of the container by pressing the locking assembly through the clamping assembly.

[0026] Further, a control method of a container automatic loading system is provided, based on the container automatic loading system, comprising the following steps:

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

[0028] S2, the transverse moving platform assembly is controlled to move the lifting assembly above the feeding mechanism;

[0029] S3, the lifting assembly is controlled to lower the lifting assembly so that the locking assembly contacts the upper end surface of the container, the lifting assembly is controlled to continue to lower so that the locking assembly is aligned with the top surface of the container through the cooperation of the guide block and the container, and the lifting assembly is controlled to continue to lower so that the locking piece is aligned with the locking hole of the container;

[0030] S4, make the locking piece insert into the locking hole, control the lifting assembly to lift the hoisting assembly to lift the container, control the clamping assembly to clamp the container after the container is stable, control the transverse moving platform assembly to drive the lifting assembly to carry the container to the corresponding position on the vehicle;

[0031] S5, control the lifting assembly to lower the container, make the locking piece exit the locking hole, control the clamping assembly to release the container.

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

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

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

[0035] The present application can realize automatic loading of the container through the cooperation of the truss mechanism, the transverse moving 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 hoisting 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 hoisting assembly is lowered, the locking assembly can move laterally to adjust the relative position between the locking assembly and the container through the action of the guide block, and finally accurately fit into the top end of the container, and then the locking assembly is completely fitted into the top end of the container through the pushing of the clamping assembly, and the container is clamped by the clamping assembly to prevent the container from shaking during hoisting.

[0037] In the present application, a plurality of sensors are arranged, and the plurality of sensors cooperate with the hoisting assembly, the lifting assembly and the like to accurately implement each action during hoisting.

[0038] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application will be realized and achieved by the structures particularly pointed out in the description and the accompanying drawings.

[0039] It should be understood that the foregoing overview and the following detailed description of the application are exemplary and explanatory only and are intended to provide further explanation of the application as claimed. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 Structure schematic diagram of the embodiment of the application.

[0041] Figure 2 Structure schematic diagram of the hoisting assembly.

[0042] Figure 3 Structure schematic diagram of the hoisting assembly hoisting the container.

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

[0044] Figure 5 Structure schematic diagram of the locking assembly.

[0045] Figure 6 Positioning schematic diagram of a part of sensors.

[0046] Figure 7 Positioning schematic diagram of another part of sensors.

[0047] Figure 8 Structure sectional view of the hoisting assembly, used to show the spacing arrangement between the clamping assembly and the locking assembly.

[0048] Figure 9 Structure schematic diagram of the vehicle straightening mechanism. DETAILED DESCRIPTION

[0049] In order to facilitate the understanding of those skilled in the art, the structure of the application will be further described in combination with the drawings:

[0050] REFERENCE Figures 1-9 A container automatic loading system, comprising:

[0051] A truss mechanism 1;

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

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

[0054] In the embodiment, the truss mechanism 1, the transverse platform assembly 2 and the lifting assembly 3 are directly used in the prior art, and no specific explanation is given here.

[0055] The lifting assembly 4 is arranged on the lifting assembly 3, and the lifting assembly 3 drives the lifting assembly 4 to move in the up-down direction. The lifting assembly 4 comprises 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 comprises a plurality of guide blocks 421 and a locking piece 422. When the lifting assembly 4 is lowered, the plurality of guide blocks 421 cooperate with the top end of the container to make the locking piece 422 face 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 lifting 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. Because the locking assembly 42 and the connecting seat 41 are flexibly connected, such as a chain or a hook, under this structure, the locking assembly 42 can move up and down or horizontally 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 the prior art cannot accurately align the lifting assembly 4 with the top end of the container 7. Therefore, based on the structure of the flexible connection between the locking assembly 42 and the connecting seat 41, and in cooperation with the guiding effect of the guide blocks 421, the locking assembly 42 can automatically align with the top end of the container 7 under the cooperation of the guide blocks 421 during the lowering of the locking assembly 42. Under the action of the lifting assembly 3, the locking assembly 42 can be fitted into the top end of the container, realizing the locking state as shown. Figure 3

[0057] At this time, the locking assembly 42 may have a certain offset relative to the connecting seat 41. After the lifting assembly 4 is lifted, the container 7 is suspended, and the container 7 drives the locking assembly 42 to face the connecting seat 41 under the action of its own weight. Then, the clamping assembly 42 is clamped on both sides of the container 7, 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 lifting.

[0058] The feeding mechanism 5 is arranged on one side below the truss mechanism 1.

[0059] In this embodiment, the feeding mechanism 5 can be a conveying line, etc., which is used to convey the container 7 to one end of the corresponding conveying line.

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

[0061] ​In the embodiment, the rear wheels of the vehicle can be driven to the vehicle straightening mechanism 6, and the vehicle straightening mechanism 6 is transversely moved to adjust the direction of the tail 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 tray, the placing frame or other structures on the vehicle is small, and the container 7 needs to be hoisted to the corresponding position on the vehicle before it can be lowered. Adjusting the position and direction of the tail end of the vehicle can make the accurate lowering of the container 7 easier.

[0062] Further, the locking assembly 42 comprises a connecting plate 423, which is shaped to match the top surface of the container 7. The connecting plate 423 is flexibly connected to the connecting seat 41 through a hook 424 or a chain connection, so that the connecting plate 423 can be transversely moved relative to the connecting seat 41.

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

[0064] In the embodiment, referring to Figure 5 , the top end 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 below the connecting plate 423. Therefore, during the lowering of the locking assembly 42, the bottom end of the guide block 421 first contacts the top end of the container 7, and under the action of the guide block 421, the connecting plate 423 is driven to be opposite to the top end of the container 7. At the same time, the flexible connection of the hook 424 or the chain connection facilitates the transverse movement or the up-and-down movement of the connecting plate 423 relative to the connecting seat 41, thereby facilitating the transverse movement or the up-and-down movement of the connecting plate 423 caused by the guiding action of the guide block 421.

[0065] Further, the locking assembly 42 comprises a connecting plate 423, which is shaped to match the top surface of the container 7. The connecting plate 423 is flexibly connected to the connecting seat 41 through a hook 424 or a chain connection, so that the connecting plate 423 can be transversely moved relative to the connecting seat 41.

[0066] In the embodiment, referring to Figure 5The movable seat 4222 can move laterally via the first track 4221. After it moves inward, it can drive the insertion rod 4223 to be inserted into the locking hole of the container. At the same time, in order to prevent the insertion rod 4223 from moving, the locking lug 4225 provided on the connecting plate 423 in this embodiment can cooperate with the pin 4224. After the handle drives the pin 4224 to be inserted into the locking lug 4225, the movable seat 4222 cannot move laterally, thereby restricting the insertion rod 4223 from disengaging from the locking hole.

[0067] Furthermore, the clamping assembly 43 includes a second track 431, which is disposed on the lower end face of the connecting seat 41. The second track 431 is provided with a pair of clamping arms 432, which extend below the guide block 421.

[0068] In this embodiment, reference Figure 4 The clamping arm 432 can be a horizontally oriented, open shape, with its width adapted to the width of the container. Simultaneously, the second track 431 can be equipped with a drive motor, thereby driving the second track 431 to move laterally and causing the clamping arm 432 to open or close. The clamping arm 432 extends below the guide block 421 to avoid contact with the guide block 421 during its approach, preventing the clamping arm 432 from colliding with the guide block 421.

[0069] Further, refer to Figures 6-7 The connecting plate 423 is provided with a first distance sensor 425, which 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 shines downward through the connecting plate 423 to obtain the distance between the connecting plate 423 and the top surface of the container 7. This distance can be used to determine the position of the lifting assembly 3 as it descends to the top of the container 7, and whether the connecting plate 423 is close to / approaches / fits into the top of the container 7, thereby precisely controlling the descent depth of the lifting assembly 3.

[0071] And / or, the connecting plate 423 is provided with a second distance sensor 426, which 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, which 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, which is used to obtain the distance between the connecting plate 423 and the ground;

[0074] The distance acquired by the fourth distance sensor 411 can be used to determine the height of the lifting assembly 3, in combination with the value of the first distance sensor 425, the two values together can obtain the height of the top of the container 7 relative to the ground, so as to accurately control the lifting assembly 3 to move the connecting plate 423 towards the top of the container 7.

[0075] And / or, a force sensor 427 is arranged between the corner of the locking assembly 42 and the connecting seat 41, after the lifting assembly 3 is lifted, the plurality of force sensors 427 obtain the component force of the container 7 on the corner of the locking assembly 42.

[0076] In the 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 locking lug 4225, after lifting the container 7, each force sensor 427 should distribute the same or similar component of the gravity generated by each container 7, if the value of one or more force sensors 427 deviates greatly, it can be deduced that the insertion rod 4223 or the latch 4224 is not locked or other conditions occur, at this time, during the lifting of the container 7, it is easy to produce violent shaking or the container 7 appears to be tilted and other conditions. Or, after lifting the container 7, the container 7 may appear to be shaking left and right and other conditions, which will also cause the value of one or more force sensors 427 to deviate greatly. Therefore, it is necessary to set the force sensor 427 for judgment.

[0077] Further, the vehicle straightening mechanism 6 comprises a mounting frame 61 and a carrier plate 62, the carrier plate 62 is transversely arranged on the mounting frame 61, and the carrier plate is driven by a driving cylinder (not shown) to transversely move the vehicle tail on the carrier plate 62.

[0078] In the embodiment, referring to Figure 9 The vehicle straightening mechanism 6 is directly used in the prior art, and can refer to the prior patents with publication numbers CN220182183U or CN220182184U.

[0079] Further, a three-dimensional scanning sensor 11 is arranged above the side of the vehicle straightening mechanism 6, for scanning the profile of the vehicle parked on the vehicle straightening mechanism 6, and 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 above the side of the vehicle straightening mechanism 6 towards the vehicle straightening mechanism 6, so as to obtain the profile data of the vehicle, and then the length direction of the vehicle is obtained from the profile data of the vehicle, and then it is judged whether the vehicle is parallel or perpendicular to the truss mechanism 1 after parking, if not, the vehicle straightening mechanism 6 adjusts the tail of the vehicle, adjusts the position of the tail of the vehicle to adjust the parking direction of the vehicle, and finally makes the vehicle parallel or perpendicular to the truss mechanism 1, which can facilitate the horizontal moving platform assembly 2 to move to the corresponding position above the vehicle.

[0081] Further, the locking assembly 42 and the clamping assembly 43 are spaced apart, and during the lowering process of the lifting assembly 3, the locking assembly 42 is first aligned with the top of the container 7 through the guide block 421, and is connected to the top end of the container 7 through the self-weight of the locking assembly 42. When the lifting assembly 3 is continuously lowered, the clamping assembly 43 is pressed against the top end of the locking assembly 42, and the locking assembly 42 is pressed by the clamping assembly 43 to align with the locking hole of the container 7.

[0082] In this embodiment, referring to Figure 8 , the first track 4221 and the second track 431 are spaced apart, so that when the locking assembly 42 is flexibly connected to the connecting seat 41, the lifting assembly 3 continues to descend a small distance when the locking assembly 42 reaches the upper end of the container 7, and the first track 4221 and the second track 431 are spaced apart, so that the locking assembly 42 is lowered and sleeved into the upper end of the container 7 by its own gravity. Next, the lifting assembly 3 continues to descend, so that the first track 4221 starts to contact the second track 431, and the first track 4221 starts to press the second track 431 under the drive of the lifting assembly 3, so as to press the locking assembly 42 and completely sleeve it into the upper end of the container 7.

[0083] Further provided is a control method of a container automatic loading system, based on the container automatic loading system, comprising the following steps:

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

[0085] S2, controlling the horizontal moving platform assembly 2 to drive the lifting assembly 3 to move above the feeding mechanism 5;

[0086] S3, controlling the lifting assembly 3 to drive the hoisting assembly 4 to lower the locking assembly 42 to contact the upper end surface of the container 7, controlling the hoisting assembly 4 to continue lowering the locking assembly 42 to be opposite to the top surface of the container 7 through the cooperation of the guide block 421 and the container 7, and controlling the hoisting assembly 4 to continue lowering the locking piece 422 to be opposite to the locking hole of the container 7;

[0087] S4, inserting the locking piece 422 into the locking hole, controlling the lifting assembly 3 to drive the hoisting assembly 4 to lift the container 7, controlling the clamping assembly 43 to clamp the container 7 after the container 7 is stable, and controlling the horizontal moving platform assembly 2 to drive the lifting assembly 3 to carry the container 7 to the corresponding position on the vehicle;

[0088] S5, controlling the lifting assembly 3 to lower the container 7, 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 assembly 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 assembly 42 and the clamping assembly 43, and the data of the fourth distance sensor 411 is the distance between the top end of the container 7 and the ground, the locking piece 422 is opposite to the locking hole of the container 7.

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

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

[0092] It should be noted that in the claims the reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude other parts not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claim enumerating several means, several of these means can be embodied by one and the same item of hardware. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. The word "comprise", "comprising", "comprises" and "comprised of" and the like does not exclude the presence of elements or steps other than those listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The word "first", "second" and the like can merely intend to specify different stages or categories and do not require the presence of one or more preceding elements.

[0093] Although preferred embodiments of the application have been described herein, additional changes and modifications can be made by those skilled in the art once armed with the information provided herein. Accordingly, the appended claims are intended to embrace all such changes and modifications within the scope of the present application.

[0094] In the present application, unless specifically defined otherwise, the terms "mounting", "connected", "connecting", "fixed", and the like are used broadly and exemplify various interconnections such as fixedly connected, detachably connected, or integrated, mechanically and / or electrically connected, and direct and / or indirect connection by intermediate media, and inner and / or external interconnection. Those of ordinary skill in the art will comprehend the various modi operandi based on the disclosure herein.

[0095] In the description of the present application, the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" are intended to indicate that the described implementation, implementation, example, specific example, or some examples are included in at least one embodiment of the present application. In the description of the present application, the illustrative 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 can be combined in any suitable manner in one or more embodiments or examples. Furthermore, those skilled in the art can combine and combine different embodiments or examples described in the present application and the features of different embodiments or examples without contradiction, if possible.

Claims

1. A container auto-loading system, characterized by: The container automatic loading system comprises a truss mechanism, a horizontal moving platform assembly arranged on the truss mechanism, a lifting assembly arranged on the horizontal moving platform assembly, the horizontal moving platform assembly driving the lifting assembly to move in the front-back and left-right directions, a hoisting assembly arranged on the lifting assembly, the lifting assembly driving the hoisting assembly to move in the up-down direction, the hoisting assembly comprising a connecting seat, a locking assembly and a clamping assembly, the locking assembly being flexibly connected to the lower side of the connecting seat, the locking assembly comprising a plurality of guide blocks and a locking piece, the guide blocks cooperating with the top end of the container when the hoisting assembly is lowered, so that the locking piece is opposite the locking hole of the container, the clamping assembly being rigidly connected to the lower end of the connecting seat, the clamping assembly clamping the two sides of the container after the hoisting assembly is lifted. The locking assembly comprises a connecting plate, the shape of the connecting plate being adapted to the top surface of the container, the connecting plate being flexibly connected to the connecting seat through hooks or chains, so that the connecting plate can move horizontally relative to the connecting seat; the locking piece comprises a first track arranged horizontally on the connecting plate, the first track being provided with a movable seat, the inner side of the movable seat being provided with a plug rod, the position and shape of the plug rod being adapted to the locking hole of the container, the top end of the movable seat being provided with a latch, the connecting plate being fixedly provided with a locking lug matched with the latch; the locking assembly and the clamping assembly are arranged at a distance, the locking assembly being first opposite the top of the container through the guide blocks during the lowering of the hoisting assembly, and being connected to the top end of the container through the self-weight of the locking assembly, the clamping assembly being pressed against the top end of the locking assembly when the hoisting assembly is continuously lowered, the locking assembly being pressed by the clamping assembly, so that the locking piece is opposite the locking hole of the container. The guide blocks are arranged at the edges of the connecting plate and extend below the connecting plate, the inner side of the guide blocks being provided with inclined surfaces, the guide blocks being used to adjust the connecting plate to be opposite the top surface of the container. A feeding mechanism is arranged on one side below the truss mechanism. A vehicle straightening mechanism is arranged on the other side below the truss mechanism. The clamping assembly comprises a second track arranged at the lower end surface of the connecting seat, the second track being provided with a pair of clamping arms extending below the guide blocks.

3. The container automatic loading system according to claim 2, wherein: the connecting plate is provided with a first distance sensor for acquiring 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 for acquiring the state of the plug rod being inserted into or withdrawn from the locking hole; and / or 2. An automatic container loading system according to claim 1, wherein: the second track is provided with a third distance sensor for acquiring the opening and closing state of the clamping arms; and / or ​ ​ ​ ​ The connecting plate is provided with a fourth distance sensor for acquiring the distance between the connecting plate and the ground; and / or, The force sensors are arranged between the corners of the locking assembly and the connecting seat, and the lifting assembly is lifted, and the force sensors acquire the force of the container on the corners of the locking assembly.

4. The automatic container loading system of claim 1, wherein: The vehicle straightening mechanism comprises a mounting frame and a carrier plate, the carrier plate is transversely arranged on the mounting frame, and the carrier plate is driven by a driving cylinder to transversely move the vehicle tail on the carrier plate.

5. An automatic container loading system according to claim 4, wherein: A three-dimensional scanning sensor is arranged above the side of the vehicle straightening mechanism, and is used to scan the profile of the vehicle parked on the vehicle straightening mechanism, and the vehicle straightening mechanism sets the driving amount of the driving cylinder according to the scanning data of the three-dimensional scanning sensor.

6. A control method of a container automatic loading system, characterized by: The container automatic loading system based on claim 3 comprises the following steps: S1, in response to the vehicle being parked on the vehicle straightening mechanism, the vehicle straightening structure is controlled to transversely move the vehicle, so that the length direction of the vehicle is parallel or perpendicular to the truss mechanism; S2, control the transverse platform assembly to drive the lifting assembly to move above the feeding mechanism; S3, control the lifting assembly to lower the lifting assembly to make the locking assembly contact the upper end surface of the container, control the lifting assembly to continue to lower to make the locking assembly pass through the cooperation of the guide block and the container to make the locking assembly opposite to the top surface of the container, control the lifting assembly to continue to lower to make the locking piece opposite to the locking hole of the container; S4, make the locking piece inserted into the locking hole, control the lifting assembly to lift the container, and after the container is stable, control the clamping assembly to clamp the container, control the transverse platform assembly to drive the lifting assembly to carry the container to the corresponding position on the vehicle; S5, control the lifting assembly to lower the container, so that the locking piece exits the locking hole, and control the clamping assembly to release the container.

7. The method of claim 6, wherein: In step S3, the lowering amount of the lifting 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 lifting 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 end of the container and the ground, the locking piece is opposite to the locking hole of the container; In step S4, when the data of all force sensors are similar or the same, it is determined that the container is stable.

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