Container self-positioning mechanism and positioning method thereof

Abstract

The invention relates to the technical field of container transfer, and discloses a container self-positioning mechanism and a positioning method.The container self-positioning mechanism comprises a tray frame body, a plurality of side positioning assemblies are symmetrically arranged on the two sides of the tray frame body, each side positioning assembly comprises a first positioning arm, and the first positioning arms are hinged to the tray frame body; the first positioning arm is connected with a driving device, the driving device drives the first positioning arm to be in a folded state or an unfolded state, end positioning assemblies are symmetrically installed at the two ends of the tray frame body, each end positioning assembly comprises a second winch and a second positioning arm, and the second positioning arms are hinged to the tray frame body; a second side chuck is hinged to the upper end of the second positioning arm through a spherical pair, a second bottom tray is hinged to the lower end of the second positioning arm through a spherical pair, the second winch is located on the outer side of the second positioning arm, and a rope of the second winch is connected with the second positioning arm. Containers are pushed from the periphery to move towards the center position of the tray frame body, so that the containers are accurately placed on the tray frame body, and the transfer efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of container transshipment, and in particular to a container self-positioning mechanism and a positioning method thereof. Background Art

[0002] At present, containers are widely used in multi-level transport by sea, land and air. Among them, cranes are generally used in port terminals to grab containers in ships and transfer them to the pallets of trucks to achieve transshipment of containers. In the process of placing containers on the pallets of container trucks, the containers often shake in the air due to factors such as container inertia or wind force, which makes it difficult to accurately place the containers on the truck pallets, affecting the efficiency of container transshipment. In the prior art, the container is positioned by installing rotatable positioning clamps on both sides of the pallet. Since the positioning clamps are hinged to the pallet, the positioning clamps are prone to shaking or rotating, which not only occupies a large space and is prone to interference with other containers, but also often requires manual adjustment of the direction of the positioning clamps, affecting the transshipment efficiency of the containers. Summary of the invention

[0003] The present invention aims at solving the existing technical problems and provides a container self-positioning mechanism and a positioning method thereof.

[0004] The technical solution of the present invention for solving the above-mentioned technical problems is as follows: a container self-positioning mechanism comprises a pallet frame, and a plurality of side positioning assemblies are symmetrically arranged on both sides of the pallet frame, the side positioning assembly comprises a first positioning arm, the first positioning arm is hinged to the pallet frame, the first positioning arm is connected to a driving device, and the driving device drives the first positioning arm to be in a retracted state or an unfolded state; end positioning assemblies are symmetrically installed at both ends of the pallet frame, and the end positioning assemblies comprise a second winch and a second positioning arm, the second positioning arm is hinged to the pallet frame, the upper end of the second positioning arm is hinged to a second side chuck through a spherical pair, and the lower end is hinged to a second bottom pallet through a spherical pair, the second winch is located on the outside of the second positioning arm, and the rope of the second winch is connected to the second positioning arm.

[0005] On the basis of the above technical solution, the present invention can also be improved as follows: Preferably, the driving device comprises a counterweight and a first driving source, wherein the counterweight is installed on the inner side of the first positioning arm, and the first driving source is located on the outer side of the first positioning arm and drives the first positioning arm to rotate.

[0006] Preferably, the first driving source is a hydraulic cylinder, and an output end of the hydraulic cylinder is connected to the first positioning arm; or, the first driving source is a first winch, and a rope of the first winch is connected to the outer side of the first positioning arm.

[0007] Preferably, the outer sides of the first positioning arm and the second positioning arm are both provided with limiting plates, and the limiting plates are mounted on the tray frame.

[0008] Preferably, a second driving source and a connecting rod assembly, the second driving source drives the first positioning arm to rotate, the two ends of the connecting rod assembly are respectively hinged to the side positioning assemblies on both sides, the connecting rod assembly includes two connecting rods and two telescopic rods, the two telescopic rods are hinged by a pin shaft, the other end of the telescopic rod is hinged to the connecting rod, and the connecting rod is hinged to the inner side of the first positioning arm.

[0009] Preferably, the second driving source is a first hoist, and the first hoist is connected to the outer side of the first positioning arm through a rope.

[0010] Preferably, the second driving source is a second hydraulic cylinder, which is installed at the lower end of the pallet frame, and the output end of the second hydraulic cylinder is hinged to the pin shaft between the two telescopic rods. A distance sensor is installed on the pallet frame, and the height of the distance sensor is lower than the upper plane of the pallet frame. The distance sensor is communicatively connected with the second hydraulic cylinder.

[0011] Preferably, a vertical guide rail is provided at the lower end of the tray frame, and a pin shaft between the two telescopic rods is slidably installed in the vertical guide rail.

[0012] Preferably, the upper end of the first positioning arm is hinged to the first side clamping plate through a spherical pair, and the lower end of the first positioning arm is hinged to the first bottom tray through a spherical pair.

[0013] The beneficial effects of the present invention are as follows: when placing a container, the driving device drives the first positioning arm to be in an extended state, and the second winch drives the second positioning arm to be in an extended state. When the bottom of the container contacts the second bottom tray or the inner side of the first positioning arm, the container continues to fall, which can drive the first positioning arm and the second positioning arm to rotate. The upper ends of the first positioning arm and the second positioning arm contact the side wall of the container, so that the container is pushed from all sides to move to the center position of the pallet frame while the container falls, so that the container is accurately placed on the pallet frame, the difficulty of operation is reduced, and the transportation efficiency of the container is improved. When the container is not placed, the driving device drives the first positioning arm to rotate in the opposite direction to put it in a retracted state, reducing the space occupied by the first positioning arm and avoiding interference with other containers.

[0014] The present invention also discloses a container positioning method, which adopts the container self-positioning mechanism as described above, and comprises the following steps: When no container is placed, the side positioning assembly and the end positioning assembly are in a retracted state: the orthographic projections of the side positioning assembly and the end positioning assembly on the horizontal plane are located within the area of ​​the orthographic projection of the pallet frame on the horizontal plane; When preparing to place the container, the side positioning assembly and the end positioning assembly are respectively rotated outward to an unfolded state: the inner arm of the first positioning arm of the side positioning assembly and the inner arm of the second positioning arm of the end positioning assembly both protrude upward from the pallet frame, and the orthographic projections of the outer arms of the first positioning arm and the outer arms of the second positioning arm on the horizontal plane are located outside the area of ​​the orthographic projection of the pallet frame on the horizontal plane; When placing a container, the container descends and presses the first positioning arm and the second positioning arm to rotate inward in opposite directions. At the same time, the first positioning arms push the container from both sides to move toward the center of the pallet frame, and the second positioning arms push the container from both ends to move toward the center of the pallet frame. The container is placed on the pallet frame, and the side positioning assembly and the end positioning assembly clamp the side wall of the container.

[0015] The beneficial effects of the present invention are as follows: in a natural state, the side positioning assembly and the end positioning assembly are in a retracted state, thereby reducing the occupied space of the vehicle when not in operation and ensuring driving safety; when it is necessary to place a container, the side positioning assembly and the end positioning assembly are rotated toward the outside of the pallet frame to avoid interference with the container, and by protruding the inner arms of the first positioning arm and the second positioning arm out of the pallet frame, when the container is lowered, the first positioning arm and the second positioning arm are pushed to rotate inward by the inner arms, and the container is pushed to move toward the center of the pallet frame, thereby realizing automatic positioning in the process of container placement, and when the container is completely placed on the pallet frame, the end positioning assembly and the side positioning assembly clamp the container from all sides to ensure the stability of the container and further improve driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a stereogram of embodiment 1 of the present invention; Figure 2 is a schematic diagram of a first positioning arm in a retracted state in Embodiment 1 of the present invention; Figure 3 is a schematic diagram of a first positioning arm in an extended state in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the use of Example 1 of the present invention; Figure 5 is a schematic diagram of Embodiment 2 of the present invention; Figure 6 A schematic diagram of another angle of Embodiment 2 of the present invention; Figure 7 For the present invention Figure 6 The enlarged schematic diagram of point A in the middle; Figure 8 is a schematic diagram of a connecting rod assembly in Example 2 of the present invention; Fig. 9 is a schematic diagram of embodiment 3 of the present invention; Fig.10 is a schematic diagram of a second hydraulic cylinder and a connecting rod assembly in Embodiment 3 of the present invention; Fig.11 This is a schematic diagram of Example 3 of the present invention when in use.

[0017] The accompanying drawings are marked as follows: 1. pallet frame; 2. positioning pin; 3. first positioning arm; 301. inner arm; 302. support arm; 303. outer arm; 4. lug one; 5. first bottom pallet; 6. first side chuck; 7. counterweight; 8. limit plate; 9. first winch; 10. distance sensor; 11. second winch; 12. second positioning arm; 13. second side chuck; 14. second bottom pallet; 15. connecting rod; 16. telescopic rod; 17. second hydraulic cylinder; 18. vertical guide rail; 19. positioning block; 20. container. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0019] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. The orientations or positional relationships indicated by the terms "vertical", "upper", "lower", "horizontal", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0020] Example 1 Reference Figures 1 to 4As shown, the present invention discloses a container self-positioning mechanism, including a pallet frame 1, the pallet frame 1 is connected by a plurality of transverse and longitudinal I-beams, the pallet frame 1 is installed on a tractor trailer (not shown in the figure) when in use, a plurality of side positioning assemblies are symmetrically arranged on both sides of the pallet frame 1, in this embodiment, two groups of side positioning assemblies are symmetrically arranged, the side positioning assemblies include a first positioning arm 3, the first positioning arm 3 is hinged to the pallet frame 1 through a pin shaft, the first positioning arm 3 is connected to a driving device, the driving device drives the first positioning arm 3 to be in a retracted position state or unfolded state; end positioning components are symmetrically installed at both ends of the pallet frame 1, and the end positioning components include a second winch 11, a second positioning arm 12, a second side chuck 13 and a second bottom tray 14. The second positioning arm 12 is hinged to the pallet frame 1, and the upper end of the second positioning arm 12 is hinged to the second side chuck 13 through a spherical pair, and the lower end is hinged to the second bottom tray 14 through a spherical pair. The second winch 11 is located on the outside of the second positioning arm 12, and the rope of the second winch 11 is connected to the second positioning arm 12. Specifically, a plurality of positioning slots are provided in the circumference of the pallet frame 1, and an opening is provided on the outside of the positioning slots. The first positioning arm 3 and the second positioning arm 12 are installed in the positioning slots, which has a simple structure and is easy to install.

[0021] The first positioning arm 3 includes an inner arm 301, a support arm 302 and an outer arm 303 connected in sequence. The support arm 302 is rotatably mounted on the tray frame 1 through a pin shaft. The second positioning arm 12 has the same structure as the first positioning arm 3 and will not be described in detail.

[0022] In this embodiment, the driving device includes a counterweight 7 and a first driving source. The counterweight 7 is installed on the inner arm 301 of the first positioning arm 3. The first driving source is located on the outer side of the first positioning arm 3 and drives the first positioning arm 3 to rotate. Specifically, the first driving source is a first hoist 9, and the rope of the first hoist 9 is connected to the outer side of the first positioning arm 3. The counterweight 7 is also installed on the inner side of the second positioning arm 12. Before placing the container 20, the first positioning arm 3 and the second positioning arm 12 are in a retracted state under the action of the counterweight 7. Figure 1 and Figure 2 As shown, the occupied space is reduced, the shaking of the first positioning arm 3 and the second positioning arm 12 is reduced, and the service life is increased.

[0023] The present invention also discloses a container positioning method, which adopts the container self-positioning mechanism as described above, and comprises the following steps: When the container 20 is not placed, the side positioning assembly and the end positioning assembly are in a retracted state: the orthographic projections of the side positioning assembly and the end positioning assembly on the horizontal plane are located within the area of ​​the orthographic projection of the pallet frame 1 on the horizontal plane; in this embodiment, the first positioning arm 3 and the second positioning arm 12 are in a retracted state under the action of the counterweight block 7, thereby reducing the occupied space and improving the safety during driving; When preparing to place the container 20, the side positioning assembly and the end positioning assembly are respectively rotated outward to the deployed state: the inner arm 301 of the first positioning arm 3 of the side positioning assembly and the inner arm of the second positioning arm 12 of the end positioning assembly both protrude upward from the pallet frame 1. In this embodiment, the orthographic projections of the outer arm 303 of the first positioning arm 3 and the outer arm of the second positioning arm 12 in the horizontal plane are located outside the area of ​​the orthographic projection of the pallet frame 1 in the horizontal plane. Specifically, the first winch 9 retracts the rope to rotate the first positioning arm 3 outward to the deployed state, and the second winch 11 retracts the rope to rotate the second positioning arm 12 outward to the deployed state. Figure 3 That is, the support arm 302 is in a horizontal state, the inner arm 301 protrudes out of the pallet frame 1 to the maximum extent, and the outer arm 303 rotates outward to the maximum angle, so as to avoid interference between the container 20 and the outer arm 303 during the lowering process, and ensure that the container 20 has a sufficient height during the lowering process to adjust the position of the container 20, straighten the container 20 during the lowering process, and accurately place the container 20 on the pallet frame 1; When placing the container 20, the container 20 descends and presses the first positioning arm 3 and the second positioning arm 12 to rotate inwardly in the opposite direction. At the same time, multiple first positioning arms 3 push the container 20 to move toward the center of the pallet frame 1 from both sides, and the second positioning arms 12 push the container 20 to move toward the center of the pallet frame 1 from both ends. Specifically, when placing the container 20, the bottom of the container 20 contacts and presses down with the inner side of the first positioning arm 3 and the second bottom pallet 14, driving the first positioning arm 3 and the second positioning arm 12 to rotate, and the first winch 9 and the second winch 11 passively release the rope, so that the outer arm 303 of the first positioning arm 3 and the second side clamp 13 are respectively in contact with the outer wall of the container 20, and the container 20 is pushed toward the center of the pallet frame 1 during the lowering process of the container 20, so that the container 20 can be accurately and quickly placed on the pallet frame 1, thereby improving the transfer efficiency of the container 20.

[0024] The container 20 is placed on the pallet frame 1, and the side positioning assembly and the end positioning assembly clamp the side wall of the container 20. Specifically, the outer arm 303 of the first positioning arm 3 and the second side clamp 13 of the second positioning arm 12 clamp the container 20 to ensure the stability and firmness of the container 20 and ensure driving safety.

[0025] In an optional embodiment, when the size of the container 20 is small or the wind force in the environment is small, so that the displacement of the container 20 is small, lowering the inner arm 301 of the first positioning arm 3 and the protruding height of the second bottom tray 14 can also achieve the purpose of positioning the container 20 and improve the transfer efficiency.

[0026] Furthermore, four positioning pins 2 are provided on the pallet frame 1. When the container 20 is placed on the pallet frame 1, the positioning pins 2 are inserted into the positioning holes at the bottom of the container 20 to further limit the position of the container 20, improve the positioning effect of the container 20, and reduce the force on the end positioning components and the side positioning components.

[0027] In an optional embodiment, the first driving source may be a hydraulic cylinder, and the output end of the hydraulic cylinder is connected to the first positioning arm 3 , which can also realize the function of driving the first positioning arm 3 to rotate.

[0028] Furthermore, the upper end of the first positioning arm 3 is hinged to the first side clamping plate 6 through a spherical pair, and the lower end is hinged to the first bottom tray 5 through a spherical pair, so as to increase the contact area with the container 20 and improve the flexibility of use, so that the first bottom tray 5 and the first side clamping plate 6 can better fit the side wall of the container 20, and meet the positioning requirements of the container 20 in different states. Among them, the size of the positioning slot is larger than the size of the first bottom tray 5 and the second bottom tray 14, so that the first bottom tray 5 and the second bottom tray 14 can rotate normally.

[0029] Furthermore, the outer sides of the first positioning arm 3 and the second positioning arm 12 are both provided with a limit plate 8, and the limit plate 8 is installed on the pallet frame 1. The limit plate 8 limits the stowed state and the unfolded state of the first positioning arm 3 and the second positioning arm 12, which facilitates the control of the positions of the first positioning arm 3 and the second positioning arm 12 and reduces the control difficulty. Specifically, the limit plate 8 limits the maximum unfolded state and the maximum stowed state of the first positioning arm 3 by limiting the horizontal position and the vertical position of the support arm 302.

[0030] Example 2 Reference Figure 1 , Figures 5 to 8As shown, in this embodiment, the driving device includes a second driving source and a connecting rod assembly, and the second driving source drives the first positioning arm 3 to rotate. Specifically, the second driving source is a first hoist 9, and the first hoist 9 is connected to the outer lug 4 of the first positioning arm 3 through a rope. The two ends of the connecting rod assembly are respectively hinged to the side positioning assembly, and the connecting rod assembly includes two connecting rods 15 and two telescopic rods 16. The two telescopic rods 16 are hinged through a pin shaft, and the other end of the telescopic rod 16 is hinged to the connecting rod 15, and the connecting rod 15 is hinged to the inner side of the first positioning arm 3. Improve the flexibility during use and avoid jamming. The telescopic rod 16 can be telescoped according to the state of the first positioning arm 3. By combining the telescopic rod 16 with the connecting rod 15, the flexibility of use is improved to meet the use requirements under different states. The two side positioning assemblies are connected by a connecting rod assembly to achieve synchronous movement of the two side positioning assemblies. Even if the container 20 is only in contact with the first positioning arm 3 on one side, the connecting rod assembly can also drive the first positioning arm 3 on the other side to rotate synchronously to avoid interference with the container 20, thereby meeting the positioning requirements of the container 20 in various states and improving the self-positioning effect of the container 20.

[0031] In this embodiment, when the container 20 is ready to be placed, the first hoist 9 starts to collect the rope, driving the first positioning arm 3 to rotate, so that the first positioning arm 3 is in an unfolded state. Figure 5 As shown, when the first positioning arm 3 is unfolded to the maximum state, that is, the support arm 302 of the first positioning arm 3 is in a horizontal state, at this time, the limit plate 8 contacts with the bottom of the support arm 302, thereby limiting the unfolded state of the first positioning arm 3 and improving the stability of the first positioning arm 3; when placing the container 20, the first winch 9 is unpowered, and the bottom wall of the container 20 contacts the first bottom pallet 5 on the first positioning arm 3, pushing the first positioning arm 3 to rotate in the opposite direction, and the first positioning arm 3 pushes the container 20 to move toward the center of the pallet frame 1, so that the container 20 falls and is self-centered. During the process of the container 20 falling and self-centering, the first winch 9 passively releases the rope until the container 20 is self-positioned and placed on the pallet frame 1, and the positioning pin 2 is inserted into the positioning hole of the bottom wall of the container 20, and the first side clamp 6 clamps and positions the container 20, so as to realize the rapid positioning of the container 20 and improve the transportation efficiency of the container 20. When the container 20 is offset and only the first bottom tray 5 of the first positioning arm 3 on one side is pressed down, the first positioning arm 3 rotates, and the first positioning arm 3 on the other side is driven to rotate synchronously through the connecting rod assembly, thereby achieving synchronous movement of the first positioning arms 3 on both sides, meeting the placement requirements of the container 20 in the case of a large offset and improving the scope of use.

[0032] The working process of the end positioning assembly is the same as that of Example 1 and will not be repeated here.

[0033] Furthermore, a vertical guide rail 18 is provided at the lower end of the tray frame 1, and the pin shaft between the two telescopic rods 16 is slidably installed in the vertical guide rail 18. Specifically, a slide groove with a cross-shaped cross section is provided on the vertical guide rail 18, and the slide groove extends along the height direction of the vertical guide rail 18. A support plate is provided at the bottom of the slide groove, and the pin shaft and the two telescopic rods 16 are slidably installed in the cross-shaped slide groove respectively. The vertical guide rail 18 guides and positions the telescopic rod 16, reduces shaking or jamming, and ensures the linkage effect of the two side positioning components.

[0034] Furthermore, a positioning block 19 is provided at the lower end of the tray frame 1, and the telescopic rod 16 is hinged to the positioning block 19. The positioning block 19 acts as a lever, so that the first positioning arm 3 can be pushed to rotate with a relatively small force, thereby improving efficiency.

[0035] Example 3 Reference Figures 9 to 11 As shown, in this embodiment, the second driving source is a second hydraulic cylinder 17, which is installed at the lower end of the pallet frame 1, and the second hydraulic cylinder 17 is located between the two side positioning assemblies. The output end of the second hydraulic cylinder 17 is hinged with the pin shaft between the two telescopic rods 16. In this embodiment, when preparing to place the container 20, the output end of the second hydraulic cylinder 17 retracts upward, driving the first positioning arm 3 to rotate, and the first side clamping plate 6 moves to the outside of the pallet frame 1, so that the first positioning arm 3 is in an unfolded state; when placing the container 20, no matter whether the container 20 contacts the first bottom tray 5 on one side or both sides, under the drive of the connecting rod assembly, the first positioning arms 3 on both sides can be reversely rotated, driving the output end of the second hydraulic cylinder 17 to passively extend, realizing the synchronous action of the first positioning arms 3 on both sides, and moving the first side clamping plate 6 to the inside of the pallet frame 1, pushing the container 20 to move to the middle of the pallet frame 1, realizing the self-positioning and clamping of the container 20, improving the efficiency of the container 20 transfer operation, and reducing the difficulty of operation.

[0036] If the operation is finished, the second hydraulic cylinder 17 stops moving, so that the first positioning arm 3 maintains the clamped state to reduce the occupied space; if the operation is continued, the second hydraulic cylinder 17 repeats the above action to drive the first positioning arm 3 to the expanded state again.

[0037] Furthermore, a distance sensor 10 is installed on the pallet frame 1. The height of the distance sensor 10 is lower than the upper plane of the pallet frame 1 to avoid interference between the container 20 and the distance sensor 10 and ensure the service life of the distance sensor 10. The distance sensor 10 adopts a laser distance sensor, and the distance sensor 10 is in communication connection with the second hydraulic cylinder 17. When the container 20 is placed on the pallet frame 1, the distance sensor 10 detects the position of the container 20 and transmits the signal to the second hydraulic cylinder 17. The second hydraulic cylinder 17 drives the first positioning arm 3 to rotate toward the outside of the pallet frame 1 until it is in the unfolded state, so as to facilitate the smooth lowering of the container 20. During the falling process of the container 20, the second hydraulic cylinder 17 drives the first positioning arm 3 to continuously rotate inward actively, and pushes the container 20 toward the middle of the pallet frame 1 and gradually clamps the container 20, so that the container 20 continuously adjusts its position during the falling process, positions the container 20, and ensures the accuracy of the position of the container 20. According to the lowering position of the container 20 , the second hydraulic cylinder 17 continuously adjusts the state of the first positioning arm 3 to avoid interference between the first positioning arm 3 and the container 20 , thereby ensuring the accuracy of positioning the container 20 and improving the transfer efficiency of the container 20 . The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A container self-positioning mechanism, comprising a pallet frame (1), characterized in that: A plurality of side positioning assemblies are symmetrically arranged on both sides of the pallet frame (1), the side positioning assemblies comprising a first positioning arm (3), the first positioning arm (3) being hinged to the pallet frame (1), the first positioning arm (3) being connected to a driving device, the driving device driving the first positioning arm (3) to be in a retracted state or an unfolded state; end positioning assemblies are symmetrically installed at both ends of the pallet frame (1), the end positioning assemblies comprising a second hoist (11) and a second positioning arm (12), the second positioning arm (12) being hinged to the pallet frame (1), the upper end of the second positioning arm (12) being hinged to a second side chuck (13) via a spherical pair, the lower end of the second positioning arm (12) being hinged to a second bottom pallet (14) via a spherical pair, the second hoist (11) being located on the outside of the second positioning arm (12), the rope of the second hoist (11) being connected to the second positioning arm (12).

2. The container self-positioning mechanism according to claim 1, characterized in that: The driving device comprises a counterweight (7) and a first driving source, wherein the counterweight (7) is mounted on the inner side of the first positioning arm (3), and the driving source is located on the outer side of the first positioning arm (3) and drives the first positioning arm (3) to rotate.

3. The container self-positioning mechanism according to claim 2, characterized in that: The first driving source is a hydraulic cylinder, the output end of which is connected to the first positioning arm (3); or the first driving source is a first hoist (9), the rope of which is connected to the outer side of the first positioning arm (3).

4. The container self-positioning mechanism according to claim 1, characterized in that: The outer sides of the first positioning arm (3) and the second positioning arm (12) are both provided with limiting plates (8), and the limiting plates (8) are mounted on the tray frame (1).

5. The container self-positioning mechanism according to claim 1, characterized in that: The driving device comprises a second driving source and a connecting rod assembly, wherein the second driving source drives the first positioning arm (3) to rotate, and the two ends of the connecting rod assembly are respectively hinged to the side positioning assemblies on both sides, and the connecting rod assembly comprises two connecting rods (15) and two telescopic rods (16), wherein the two telescopic rods (16) are hinged via a pin, and the other end of the telescopic rod (16) is hinged to the connecting rod (15), and the connecting rod (15) is hinged to the inner side of the first positioning arm (3).

6. The container self-positioning mechanism according to claim 5, characterized in that: The second driving source is a first hoist (9), and the first hoist (9) is connected to the outer side of the first positioning arm (3) via a rope.

7. The container self-positioning mechanism according to claim 5, characterized in that: The second driving source is a second hydraulic cylinder (17), the second hydraulic cylinder (17) is mounted at the lower end of the pallet frame (1), the output end of the second hydraulic cylinder (17) is hinged to the pin shaft between the two telescopic rods (16), a distance sensor (10) is mounted on the pallet frame (1), the height of the distance sensor (10) is lower than the upper plane of the pallet frame (1), and the distance sensor (10) is communicatively connected to the second hydraulic cylinder (17).

8. The container self-positioning mechanism according to claim 5, characterized in that: A vertical guide rail (18) is provided at the lower end of the tray frame (1), and a pin shaft between the two telescopic rods (16) is slidably mounted in the vertical guide rail (18).

9. The container self-positioning mechanism according to claim 1, characterized in that: The upper end of the first positioning arm (3) is hinged to a first side clamping plate (6) via a spherical pair, and the lower end is hinged to a first bottom tray (5) via a spherical pair.

10. A container positioning method, using the container self-positioning mechanism according to any one of claims 1 to 9, characterized in that: The following steps are involved: When no container (20) is placed, the side positioning assembly and the end positioning assembly are in a retracted state: the orthographic projections of the side positioning assembly and the end positioning assembly on a horizontal plane are located within the area of ​​the orthographic projection of the pallet frame (1) on the horizontal plane; When preparing to place the container (20), the side positioning assembly and the end positioning assembly are respectively rotated outward to an unfolded state: the inner arm (301) of the first positioning arm (3) of the side positioning assembly and the inner arm of the second positioning arm (12) of the end positioning assembly both protrude upward from the pallet frame (1), and the orthographic projections of the outer arm (303) of the first positioning arm (3) and the outer arm of the second positioning arm (12) on the horizontal plane are located outside the area of ​​the orthographic projection of the pallet frame (1) on the horizontal plane; When placing a container (20), the container (20) descends and presses the first positioning arm (3) and the second positioning arm (12) to rotate inward in opposite directions, and at the same time, a plurality of the first positioning arms (3) push the container (20) from both sides to move toward the center of the pallet frame (1), and the second positioning arms (12) push the container (20) from both ends to move toward the center of the pallet frame (1); The container (20) is placed on the pallet frame (1), and the side positioning assembly and the end positioning assembly clamp the side wall of the container (20).

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