Container loading and unloading grabbing equipment

Abstract

The invention relates to the technical field of suspension loading and unloading, in particular to loading and unloading container grabbing equipment which comprises a carrying frame and an R-axis driving unit arranged at the top of the carrying frame and used for rotating a container, a displacement assembly used for driving the container to move on the X axis and the Y axis is arranged below the R-axis driving unit, and the displacement assembly comprises two vertical frames; a mounting opening is formed in the bottom of the vertical frame, a supporting assembly is arranged in the mounting opening and comprises two telescopic columns and two supporting columns, the two telescopic columns are symmetrically and fixedly mounted at the bottom of the vertical frame, and the supporting columns are fixedly connected to the bottom ends of the telescopic columns; a bottom support assembly is arranged in the middle of the vertical frame, an adjusting assembly is arranged between the supporting assembly and the rotating shaft, and the adjusting assembly is used for adjusting rotation of the rotating shaft. The lifting action is directly linked with unfolding and folding of the bottom support assembly, and the cooperative effect of self-adaptive linkage is achieved.

Description

Technical Field

[0001] This invention relates to the field of suspended loading and unloading technology, and more particularly to a container grabbing device for loading and unloading. Background Technology

[0002] During the transfer of containers, large gripping equipment is usually required to fix and move the large containers.

[0003] Patent CN121425949A discloses a gripping structure for a container stacking device, including a connecting rod with connecting seats rotatably connected to both sides of the connecting rod. The connecting seats are U-shaped, with a connecting cylinder connected to the upper center of the connecting seat. A rotary motor is connected to the upper center of the inner wall of the connecting cylinder. The output end of the rotary motor passes through the connecting cylinder and the connecting seat and extends below the connecting seat. A connecting block is connected to the output end of the rotary motor, and fixing plates are connected to both sides of the connecting block. This invention achieves initial fixation by applying lateral clamping force to the sides of the container through a clamping mechanism. An adjustment mechanism forms a double locking mechanism of fitting and insertion from the four corners of the container to enhance gripping stability. A limiting mechanism buffers and protects the container body and calibrates the levelness of the upper and lower layers, ultimately achieving the effect of precise and stable gripping and orderly stacking of containers.

[0004] However, most existing container handling equipment still has shortcomings: First, the handling method is mostly top lifting, which makes the container prone to swaying during lifting and moving, posing a risk of falling and causing significant safety hazards; Second, the lifting equipment is bulky, has stringent requirements for installation sites, and is inconvenient to move, making it difficult to deploy flexibly in warehouse environments with limited space or narrow work areas; Third, the positioning accuracy of pure lifting methods is poor, making it difficult to achieve fine-tuning of the alignment between the container and the transport vehicle or stacking position, affecting operational efficiency. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a container loading and unloading grabbing device.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A container handling and unloading device includes: a transport frame and an R-axis drive unit disposed on top of the transport frame for rotating the container. Below the R-axis drive unit is a displacement assembly for moving the container on the X-axis and Y-axis. The displacement assembly includes two vertical frames, which are rectangular frames and are vertically symmetrically arranged inside the transport frame. The vertical frame has an installation opening at the bottom, and a support assembly is provided inside the installation opening. The support assembly includes two telescopic columns and two support columns. The two telescopic columns are symmetrically and fixedly installed at the bottom of the vertical frame, and the support columns are fixedly connected to the bottom end of the telescopic columns. A bottom support assembly is provided in the middle of the vertical frame. The bottom support assembly is used to support the bottom of the container. The bottom support assembly includes a rotating shaft. An adjustment assembly is provided between the support assembly and the rotating shaft. The adjustment assembly is used to adjust the rotation of the rotating shaft. The adjustment assembly includes a connecting frame, a pressing block, and an adjusting plate. The connecting frame is fixedly connected between two support columns, the pressing block is fixedly connected to the bottom of the connecting frame, and the adjusting plate is fixedly connected to the side of the rotating shaft. The pressing block is used to press the adjusting plate to a certain position, thereby driving the rotating shaft to rotate.

[0007] Preferably, the displacement assembly further includes a Y-axis drive unit, two sliding shafts, and two sliding clamps. The Y-axis drive unit is horizontally fixedly connected below the R-axis drive unit. The two vertical frames are symmetrically slidably arranged below the Y-axis drive unit. The two sliding shafts are vertically fixedly connected to the middle of the two vertical frames. The two sliding clamps are slidably arranged on the two vertical frames. The sliding shafts pass through the sliding clamps.

[0008] Preferably, the base assembly further includes a support plate, two liquid bladders, and a connecting tube. The support plate is fixedly connected to the side of the rotating shaft. The support plate is U-shaped and its opening is located away from the rotating shaft. The two liquid bladders are fixedly connected to both sides of the support plate, and the connecting tube is fixedly connected between the two liquid bladders.

[0009] Preferably, two anti-fall components are symmetrically arranged on both sides of the Y-axis drive unit, and the anti-fall components are used to connect to the base support assembly.

[0010] Preferably, the fall arrestor assembly includes a winding block, a cable, and a hook. The winding block is fixedly installed below the Y-axis drive unit, the cable is disposed inside the winding block, and the hook is fixedly connected to the bottom end of the cable.

[0011] Preferably, an offset component is provided between the two liquid bladders, the offset component being used to cause the position of the hook to move horizontally.

[0012] Preferably, the offset assembly includes a fixed tube, two piston rods, a mounting rod, and a sleeve. The fixed tube is fixedly connected between the two liquid bladders. The two piston rods are respectively sealed and slidably disposed at both ends of the fixed tube. The mounting rod is fixedly connected between the two piston rods. The sleeve is fixedly connected to the mounting rod through a connecting block and slidably sleeved on the fixed tube.

[0013] Preferably, the bottom end of the extrusion block is triangular, and the horizontal side is positioned away from the rotation axis, forming an acute angle between the adjusting plate and the support plate.

[0014] Preferably, a locking component is provided between the rotating shaft and the connecting frame, the locking component being used to lock and restrict the rotation of the rotating shaft.

[0015] Preferably, the locking assembly includes a locking plate and a plurality of racks. The locking plate is fixedly connected to the connecting frame, and the plurality of racks are fixedly connected in a ring shape to the rotating shaft. A plurality of toothed grooves are provided below the locking plate for engaging the locking racks.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. After the telescopic column extends, the support column contacts the ground or base, providing a stable support foundation for the entire equipment and preventing the equipment from shaking and tilting during transportation. At the same time, the support component, as the driving source of the adjustment component, directly links the unfolding and retraction of the base support component with its lifting action, realizing the adaptive linkage synergistic effect. 2. The displacement assembly achieves high-precision positioning of the container in the X and Y directions in the horizontal plane, solving the problems of poor positioning accuracy and large sway of traditional hoisting equipment, enabling the equipment to operate flexibly in confined spaces; 3. The U-shaped pallet provides wrapping support to the bottom side beams of the container, increasing the contact area and improving lifting stability. The two liquid bladders are connected by a pipe to form a closed hydraulic connector. When the container is lifted, the liquid bladders are deformed by pressure, and the liquid flows automatically and evenly between the two liquid bladders, so that the pallet fits evenly with the bottom surface of the container. This adaptively eliminates the impact of uneven bottom, achieves flexible support, and avoids local stress concentration. 4. The offset component and the fall protection component form a passive self-adaptation. During operation, no sensors, controllers or additional power sources are required. The dynamic adjustment of the fall protection point is achieved entirely by the hydraulic connection principle. The system has high reliability and fast response speed. 5. The anti-fall device provides dynamic protection, ensuring that the tension direction of the device is always aligned with the actual center of gravity of the container. This provides the most effective restraint protection regardless of acceleration, deceleration, turning, or complex road conditions. Because of its dynamic protection, the anti-fall device prevents lateral forces that might arise from traditional fixed anti-fall points under off-center loading, thus avoiding exacerbating the tilting tendency. 6. Without adding any power source, sensors, or control logic, the inherent lifting action of the equipment is used to achieve automatic locking and unlocking of the pallet, while the reverse torque generated by the container's own weight is used to enhance the locking effect. Attached Figure Description

[0017] Figure 1 This is a front structural diagram of a container loading and unloading grabbing device proposed in this invention; Figure 2 This is a schematic diagram of the internal structure of a container loading and unloading grabbing device proposed in this invention; Figure 3 This is a schematic diagram of the R-axis drive unit structure of a container loading and unloading gripping device proposed in this invention; Figure 4 This is a schematic diagram of the vertical frame structure of a container handling and unloading device proposed in this invention; Figure 5 This is a schematic diagram of the support component structure of a container handling and unloading device proposed in this invention; Figure 6 This is a schematic diagram of the connection status of the anti-fall component of a container handling grabbing device proposed in this invention; Figure 7 This is a schematic diagram of the anti-fall component structure of a container handling grabbing device proposed in this invention; Figure 8 This is a schematic diagram of the front structure of the bottom support assembly of a container loading and unloading grabbing device proposed in this invention; Figure 9 This is a schematic diagram of the cross-sectional structure of the bottom support assembly of a container handling device proposed in this invention; Figure 10 This is a schematic diagram of the offset component structure of a container handling and unloading device proposed in this invention; Figure 11 This is a schematic diagram of the locking plate structure of a container handling grabbing device proposed in this invention.

[0018] In the diagram: 1. Transport frame; 2. R-axis drive unit; 3. Displacement assembly; 31. Vertical frame; 32. Y-axis drive unit; 33. Sliding shaft; 34. Sliding clamp; 4. Support assembly; 41. Telescopic column; 42. Support column; 5. Base support assembly; 51. Rotating shaft; 52. Pallet; 53. Liquid bladder; 54. Through pipe; 6. Adjustment assembly; 61. Connecting frame; 62. Squeezing block; 63. Adjusting plate; 7. Fall protection assembly; 71. Rewinding block; 72. Cable; 73. Hook; 8. Offset assembly; 81. Fixing pipe; 82. Piston rod; 83. Mounting rod; 84. Sleeve; 9. Locking assembly; 91. Locking plate; 92. Rack. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] The terms used in this invention, such as "upper," "lower," "left," "right," "middle," and "one," are merely for clarity of description and are not intended to limit the scope of the invention. Any changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0021] Reference Figures 1-11 A container handling and unloading device includes: a transport frame 1 and an R-axis drive unit 2 disposed on the top of the transport frame 1 for rotating the container. Below the R-axis drive unit 2 is a displacement component 3 for moving the container on the X-axis and Y-axis. The displacement component 3 includes two vertical frames 31, which are rectangular frames and are vertically symmetrically arranged inside the transport frame 1. The vertical frame 31 has an installation opening at the bottom, and a support component 4 is provided inside the installation opening. The support component 4 includes two telescopic columns 41 and two support columns 42. The two telescopic columns 41 are symmetrically fixedly installed at the bottom of the vertical frame 31, and the support columns 42 are fixedly connected to the bottom end of the telescopic columns 41. A bottom support assembly 5 is provided in the middle of the vertical frame 31. The bottom support assembly 5 is used to support the bottom of the container. The bottom support assembly 5 includes a rotating shaft 51. An adjustment assembly 6 is provided between the support assembly 4 and the rotating shaft 51. The adjustment assembly 6 is used to adjust the rotation of the rotating shaft 51. The adjustment assembly 6 includes a connecting frame 61, a pressing block 62, and an adjustment plate 63. The connecting frame 61 is fixedly connected between two support columns 42. The pressing block 62 is fixedly connected to the bottom of the connecting frame 61. The adjustment plate 63 is fixedly connected to the side of the rotating shaft 51. The pressing block 62 is used to press the position of the adjustment plate 63, thereby driving the rotating shaft 51 to rotate.

[0022] In the embodiments of the above technical solution, containers may be placed in different positions on the site. Traditional gripping equipment can only grip containers, and the overall position of the equipment needs to be adjusted repeatedly, resulting in low operating efficiency and poor adaptability. The R-axis drive unit 2 uses a servo motor and gear transmission mechanism to drive the transport frame 1 to rotate around the vertical axis, enabling the gripping device to adapt to containers in any orientation without moving the entire machine. The high-precision rotation control of the R-axis ensures accurate matching between the gripping angle and the container's orientation, improving operational flexibility and efficiency.

[0023] Traditional lifting equipment relies on booms or ropes for support when lifting containers, lacking a stable ground reaction foundation, which may cause the equipment to sway or tilt during the lifting process, affecting safety; After the telescopic column 41 extends, the support column 42 contacts the ground or base, providing a stable support foundation for the entire equipment and preventing the equipment from shaking and tilting during transportation. At the same time, the support component 4, as the driving source of the adjustment component 6, directly links the unfolding and retraction of the base support component 5 with its lifting action, realizing the adaptive linkage synergistic effect.

[0024] The preferred technical solution in this embodiment is: Reference Figures 1-3 The displacement assembly 3 further includes a Y-axis drive unit 32, two sliding shafts 33, and two sliding clamps 34. The Y-axis drive unit 32 is horizontally fixedly connected below the R-axis drive unit 2. The two vertical frames 31 are symmetrically slidably arranged below the Y-axis drive unit 32. The two sliding shafts 33 are vertically fixedly connected to the middle of the two vertical frames 31 respectively. The two sliding clamps 34 are slidably arranged on the two vertical frames 31 respectively. The sliding shafts 33 pass through the sliding clamps 34.

[0025] Existing container lifting equipment can usually only move as a whole and cannot make precise Y-axis and longitudinal X-axis fine adjustments to the container in the horizontal plane, which makes it difficult to align with the transport vehicle or stacking position, and is especially unsuitable for sites with limited space. The Y-axis drive unit 32 consists of dual servo motors, ball screws, and linear guides, which enables precise adjustment of the distance between the two vertical frames 31, can adapt to containers of different widths, and ensures smooth and error-free operation on both sides through synchronous control technology. The vertical frame 31, two sliding shafts 33 and two sliding clamps 34 form a Z-axis drive unit. The vertical position of the sliding clamps 34 is controlled by the sliding shafts 33, thus achieving precise control of the lifting height. The displacement component 3 achieves high-precision positioning of the container in the X and Y directions in the horizontal plane, solving the problems of poor positioning accuracy and large sway of traditional hoisting equipment, and enabling the equipment to operate flexibly in confined spaces.

[0026] Reference Figure 5 and Figure 8 The base support assembly 5 also includes a support plate 52, two liquid bladders 53 and a connecting tube 54. The support plate 52 is fixedly connected to the side of the rotating shaft 51. The support plate 52 is U-shaped and the opening is located away from the rotating shaft 51. The two liquid bladders 53 are fixedly connected to the two sides of the support plate 52 respectively. The connecting tube 54 is fixedly connected between the two liquid bladders 53. Traditional gripping equipment uses lateral clamping or top lifting, which may damage the container surface due to the clamping force, and the lifting process carries the risk of swaying. Additionally, there may be slight unevenness at the bottom of the container, which the rigid pallet 52 cannot adaptively conform to, leading to localized stress concentration or unstable lifting. The U-shaped pallet 52 provides wrapping support to the bottom side beams of the container, increasing the contact area and improving lifting stability. The two liquid bladders 53 are connected by a pipe 54 to form a closed hydraulic connector. When the container is lifted, the liquid bladders 53 are deformed under pressure, and the liquid flows automatically and evenly between the two liquid bladders 53, so that the pallet 52 fits evenly with the bottom surface of the container, adaptively eliminating the influence of uneven bottom, achieving flexible support, and avoiding local stress concentration.

[0027] Reference Figures 6-7 Two anti-fall components 7 are symmetrically arranged on both sides of the Y-axis drive unit 32, and the anti-fall components 7 are used to connect to the base support component 5; The fall arrestor assembly 7 includes a winding block 71, a cable 72, and a hook 73. The winding block 71 is fixedly installed below the Y-axis drive unit 32, the cable 72 is disposed inside the winding block 71, and the hook 73 is fixedly connected to the bottom end of the cable 72. Even when the main support structure of the bottom support assembly 5 is working normally, extreme working conditions, such as unexpected failure of transmission components, overload or severe impact, may still cause the lifting to fail, posing a potential risk of the container falling. Traditional equipment lacks effective secondary protection measures.

[0028] As an independent safety protection system, the anti-fall component 7 is connected to the container or bottom support component 5 through the cable 72 and the hook 73. It provides additional tensile protection in the event of failure of the main support structure to prevent the container from falling. The winding block 71 has a built-in constant tension mechanism to ensure that the cable 72 always maintains appropriate tension, which can effectively bear the force without interfering with the normal lifting operation.

[0029] Reference Figure 8 and Figure 10 An offset component 8 is provided between the two liquid bladders 53, and the offset component 8 is used to drive the position of the hook 73 to move horizontally; The offset assembly 8 includes a fixed tube 81, two piston rods 82, a mounting rod 83, and a sleeve 84. The fixed tube 81 is fixedly connected between two liquid bladders 53. The two piston rods 82 are respectively sealed and slidably disposed at both ends of the fixed tube 81. The mounting rod 83 is fixedly connected between the two piston rods 82. The sleeve 84 is fixedly connected to the mounting rod 83 through a connecting block and slidably sleeved on the fixed tube 81. The cable 72 connection point of the fall arrestor 7 is usually fixed, which keeps the position of the hook 73 fixed relative to the equipment. However, during equipment movement, such as acceleration, deceleration, or turning, the container's center of gravity will shift due to inertia. This shift will cause the container's center of gravity to no longer be directly below the equipment's centerline. The tension direction of the fixed cable 72 is inconsistent with the actual center of gravity direction of the container, and the tension cannot effectively restrain the container's sway. Under extreme off-center loading conditions, the fixed fall arrestor point may even exacerbate the container's tilting tendency instead of providing protection. Therefore, the traditional fixed fall arrestor 7 cannot adapt to changes in the center of gravity under dynamic working conditions, and its protective effect is reduced.

[0030] When the suspended hoisting is in a stable working condition, the center of gravity of the container is located at the center of the equipment, the pressure on the two liquid bladders 53 is equal, the liquid in the fixed tube 81 is in a balanced state, the piston rods 82 on both sides extend to the same length, the mounting rod 83 and the sleeve 84 are located in the middle of the fixed tube 81, the hook 73 is in the center, and the tension of the cable 72 is vertically upward and aligned with the center of gravity of the container.

[0031] When the center of gravity shifts due to the transfer, the container shifts to one side due to inertia. The pressure on the liquid bladder 53 on that side increases. Since the two liquid bladders 53 are connected to each other through the through pipe 54 and the fixed pipe 81, the pressure difference drives the liquid to flow from the high-pressure side to the low-pressure side. The liquid flow pushes the piston rod 82 in the fixed pipe 81 to move. The piston rod 82 on the high-pressure side retracts into the fixed pipe 81, and the piston rod 82 on the low-pressure side extends outward. The relative movement of the two piston rods 82 causes the mounting rod 83 to move horizontally to the low-pressure side (i.e., the opposite side of the center of gravity shift). The mounting rod 83 drives the sleeve 84 to slide synchronously along the fixed pipe 81 through the connecting block. The hook 73 connected to the sleeve 84 is horizontally displaced, causing the suspension point of the cable 72 to move in the direction of the center of gravity shift.

[0032] The offset component 8 and the fall protection component 7 form a passive adaptive relationship. During operation, no sensors, controllers or additional power sources are required. The dynamic adjustment of the fall protection point is achieved entirely by the hydraulic connection principle. The system has high reliability and fast response speed.

[0033] Furthermore, the fall arrestor 7 provides adaptive protection, ensuring that the direction of its tension is always aligned with the actual center of gravity of the container. This provides the most effective restraint protection regardless of acceleration, deceleration, turning, or complex road conditions. Because of the adaptive protection of the fall arrestor 7, the problem of lateral forces generated by traditional fixed fall arrestors under off-center loading, which could exacerbate the tilting trend, is avoided.

[0034] The offset component 8 is integrated between the liquid bladder 53 and the support plate 52 without adding extra space, forming an integrated design with the base support component 5.

[0035] By combining the hydraulic sensing function of the liquid bladder 53 with the displacement adjustment function of the anti-fall component 7, dynamic adaptive adjustment of the anti-fall point as the center of gravity shifts is achieved. The hydraulic changes generated by the container's own weight are used as the driving signal, eliminating the need for sensors and controllers.

[0036] Reference Figure 8 , Figure 9 and Figure 11 The bottom end of the extrusion block 62 is triangular, and the horizontal side is set away from the rotation axis 51. An acute angle is formed between the adjustment plate 63 and the support plate 52. A locking component 9 is provided between the rotating shaft 51 and the connecting frame 61. The locking component 9 is used to lock and restrict the rotation of the rotating shaft 51. The locking assembly 9 includes a locking plate 91 and a plurality of racks 92. The locking plate 91 is fixedly connected to the connecting frame 61, and the plurality of racks 92 are fixedly connected in a ring shape to the rotating shaft 51. A plurality of toothed grooves are provided below the locking plate 91, and the toothed grooves are used to engage the locking racks 92.

[0037] The lifting mechanism usually requires a separate power source to control the unfolding and retraction of the pallet 52, which increases equipment cost, control complexity and failure rate. At the same time, the pallet 52 may unexpectedly retract due to vibration or off-center loading after bearing weight, which poses a safety hazard.

[0038] By utilizing the downward movement of the support assembly 4, the triangular inclined surface of the compression block 62 pushes the adjusting plate 63, causing the rotating shaft 51 to rotate, automatically switching the pallet 52 from a vertically retracted state to a horizontally lifted state. This requires no additional power source, resulting in a compact structure and reliable operation. When the support assembly 4 rises, the compression block 62 disengages from the adjusting plate 63, and the pallet 52 automatically droops and retracts under gravity, avoiding interference with the ground or container.

[0039] When pallet 52 is flipped to a horizontal position, the rack 92 on the rotating shaft 51 engages with the locking plate 91 on the connecting frame 61, locking pallet 52 in the supporting position and preventing accidental retraction due to vibration or uneven loading, thus ensuring stable lifting. Furthermore, when the container is placed on pallet 52, the reverse torque generated by its own weight acts on the rotating shaft 51, making the engagement between the rack 92 and the tooth groove even tighter. Because the rack 92 is annularly distributed on the rotating shaft 51, regardless of any slight deviation in the rotation angle of the rotating shaft 51 during unfolding, there will always be rack 92 effectively engaging with the tooth groove, reducing the requirements for processing and assembly precision.

[0040] Without adding any power source, sensors, or control logic, the automatic locking and unlocking of pallet 52 is achieved by utilizing the inherent lifting action of the equipment, while the locking effect is enhanced by the reverse torque generated by the container's own weight.

[0041] The locking component 9 and the fall arrestor 7 form a dual safety guarantee, with the locking component 9 preventing the support plate 52 from retracting and the fall arrestor 7 preventing the entire structure from falling. The working principles of the two are complementary, which improves the safety protection.

[0042] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A container handling and loading device, comprising: The transport frame and the R-axis drive unit disposed on the top of the transport frame for rotating the container are characterized in that a displacement assembly for moving the container on the X-axis and Y-axis is disposed below the R-axis drive unit. The displacement assembly includes two vertical frames, which are rectangular frames and are arranged vertically and symmetrically inside the transport frame. The vertical frame has an installation opening at the bottom, and a support assembly is provided inside the installation opening. The support assembly includes two telescopic columns and two support columns. The two telescopic columns are symmetrically and fixedly installed at the bottom of the vertical frame, and the support columns are fixedly connected to the bottom end of the telescopic columns. A bottom support assembly is provided in the middle of the vertical frame. The bottom support assembly is used to support the bottom of the container. The bottom support assembly includes a rotating shaft. An adjustment assembly is provided between the support assembly and the rotating shaft. The adjustment assembly is used to adjust the rotation of the rotating shaft. The adjustment assembly includes a connecting frame, a pressing block, and an adjusting plate. The connecting frame is fixedly connected between two support columns, the pressing block is fixedly connected to the bottom of the connecting frame, and the adjusting plate is fixedly connected to the side of the rotating shaft. The pressing block is used to press the adjusting plate to a certain position, thereby driving the rotating shaft to rotate.

2. The container handling and unloading device according to claim 1, characterized in that, The displacement assembly also includes a Y-axis drive unit, two sliding shafts, and two sliding clamps. The Y-axis drive unit is horizontally fixedly connected below the R-axis drive unit. The two vertical frames are symmetrically slidably arranged below the Y-axis drive unit. The two sliding shafts are vertically fixedly connected to the middle of the two vertical frames. The two sliding clamps are slidably arranged on the two vertical frames. The sliding shafts pass through the sliding clamps.

3. The container handling and unloading device according to claim 2, characterized in that, The base assembly also includes a support plate, two liquid bladders, and a connecting tube. The support plate is fixedly connected to the side of the rotating shaft. The support plate is U-shaped and its opening is located away from the rotating shaft. The two liquid bladders are fixedly connected to both sides of the support plate, and the connecting tube is fixedly connected between the two liquid bladders.

4. A container handling and unloading device according to claim 3, characterized in that, Two anti-fall components are symmetrically arranged on both sides of the Y-axis drive unit, and the anti-fall components are used to connect to the base support assembly.

5. A container handling and unloading device according to claim 4, characterized in that, The fall arrestor assembly includes a winding block, a cable, and a hook. The winding block is fixedly installed below the Y-axis drive unit, the cable is disposed inside the winding block, and the hook is fixedly connected to the bottom end of the cable.

6. A container handling and unloading device according to claim 5, characterized in that, An offset component is provided between the two liquid bladders, which is used to cause the position of the hook to move horizontally.

7. A container handling and unloading device according to claim 6, characterized in that, The offset assembly includes a fixed tube, two piston rods, a mounting rod, and a sleeve. The fixed tube is fixedly connected between the two liquid bladders. The two piston rods are respectively sealed and slidably disposed at both ends of the fixed tube. The mounting rod is fixedly connected between the two piston rods. The sleeve is fixedly connected to the mounting rod through a connecting block and slidably sleeved on the fixed tube.

8. A container handling and unloading device according to claim 1, characterized in that, The bottom of the extrusion block is triangular, and the horizontal side is set away from the rotation axis. An acute angle is formed between the adjustment plate and the support plate.

9. A container handling and unloading device according to claim 1, characterized in that, A locking component is provided between the rotating shaft and the connecting frame, and the locking component is used to lock and restrict the rotation of the rotating shaft.

10. A container handling and unloading device according to claim 9, characterized in that, The locking assembly includes a locking plate and multiple racks. The locking plate is fixedly connected to the connecting frame, and the multiple racks are fixedly connected in a ring shape to the rotating shaft. Multiple toothed grooves are provided below the locking plate for engaging the locking racks.

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