Full-automatic general dismounting and mounting clamp for twist lock of container and method for dismounting and mounting twist lock

Abstract

The application discloses a full-automatic general dismounting clamp for a container twist lock, which adopts a three-layer structure, i.e., an upper layer, a middle layer and a lower layer.The middle layer assembly comprises a mounting plate and a visual identification mechanism, and is used for connecting an executing mechanism and identifying a lockset; the upper layer assembly comprises a clamping mechanism and an unlocking mechanism which are rotatably connected to the middle layer, the clamping mechanism is adapted to different lock shoulders through independently driven clamping blocks, and the unlocking mechanism automatically lowers a slide pin of an automatic lock through a lever cooperating with a pull rope cylinder; and the lower layer assembly comprises a lifting platform and a pushing block which are rotatably connected to the middle layer, and is used for lifting up and pushing a twist lock cylinder handle.The application realizes compatible dismounting of various locksets, such as automatic locks, handle type twist locks and stacking cones, through the cooperative matching of the three-layer structure.The application has the advantages of compact structure, strong universality, high automation degree and the like, and effectively improves the efficiency and safety of automatic operation of locksets at a container terminal.

Description

Technical Field

[0001] This invention relates to the fields of port automation and container loading and unloading technology, specifically to a fully automatic universal jig for disassembling and assembling container twist locks and its disassembly and assembly method. Background Technology

[0002] In the process of automation construction and transformation in the container shipping industry, the automated design and implementation of container twistlock assembly and disassembly has undergone more than ten years of development. However, in the automated operation of twistlock assembly and disassembly, the design of jigs for different types of locks such as twistlocks and cones at both lashed and unlashed locations has always been a technical challenge. Because there are numerous types of twistlocks involved in container transportation (dozens to hundreds of types each for lashed and unlashed locations), existing technical solutions mainly suffer from the following shortcomings: 1. The "fixture replacement" technical solution: This involves replacing different end effectors for different types of locks. This solution has two main problems: First, changing the fixture at the end face of the six-axis robotic arm during work breaks significantly increases the cycle time and reduces efficiency; second, controlling the reliability of the interface during frequent fixture changes is a major technical challenge.

[0003] 2. The technical solution of "adding a transition fixture": This involves using the transition fixture to contact the end face of the twist lock and the cone to achieve assembly and disassembly. This solution also has two problems: First, the positioning and rotation control of the transition fixture on the fixture components are complex, and although it reduces the number of fixture replacements, it does not directly eliminate the impact on the work cycle efficiency; Second, the reliability of the transition fixture during the replacement process still faces technical bottlenecks.

[0004] To date, there is no technical solution in the industry that can solve the disassembly and assembly of all twist locks (including both tied and untied positions) with a single set of clamps. Summary of the Invention

[0005] The purpose of this invention is to solve the above-mentioned problems by providing a fully automatic universal container twist lock disassembly and assembly fixture and its disassembly and assembly method. Based on a single fixture, the disassembly and assembly of twist locks and cones at both lashing and non-lashing positions can be solved. During operation, there is no need to change fixtures or add transition fixtures, thereby significantly improving operation efficiency and system reliability.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A fully automatic universal container twist lock disassembly and assembly fixture, the fixture comprising: A middle-layer component includes a mounting plate and a vision recognition mechanism mounted on the mounting plate, the mounting plate being used to connect to the end of an actuator; An upper component is rotatably connected to the middle component via a first driving device. The upper component includes a clamping mechanism and an unlocking mechanism for assisting unlocking. The clamping mechanism is used to clamp the lock, and the unlocking mechanism is used to perform a partial unlocking function of the lock. The unlocking mechanism includes an unlocking lever mounted on the clamping mechanism and a transmission mechanism for driving the unlocking lever to move. The lower component is rotatably connected to the middle component via a second drive device. The lower component includes a lifting platform and a lever disposed on the lifting platform. The clamping mechanism, the unlocking lever, and the toggle block are adapted to different types of twist locks.

[0007] The visual recognition mechanism in the aforementioned fully automatic universal container twist lock assembly and disassembly fixture is a 3D camera, which has a built-in AI module or is built into the background controller, and is used to visually recognize the container corner fittings, lock types and positions.

[0008] The middle layer component of the aforementioned fully automatic universal container twist lock assembly and disassembly fixture includes a base and a drive layer; The base includes a vertically placed central cylinder, and the mounting plate is horizontally arranged around the central cylinder. An upper bearing and a lower bearing are respectively provided on the upper and lower parts of the central cylinder. The upper component and the lower component are rotatably connected to the base through the upper bearing and the lower bearing, respectively.

[0009] In the aforementioned fully automatic universal container twist lock assembly and disassembly fixture, a reinforcing plate is installed at the bottom of the mounting plate and around the periphery of the middle cylinder; and / or A buffer component for buffering mechanical stress is installed between the mounting plate and the actuator.

[0010] In the aforementioned fully automatic universal container twist lock disassembly and assembly fixture, the first drive device and the second drive device are respectively a first drive motor and a second drive motor; the lower component and the upper component are respectively provided with a lower driven gear and an upper driven gear, and the output shafts of the first and second drive motors are respectively provided with corresponding drive gears; the drive gears drive the lower component and the upper component to rotate independently relative to the middle component through their respective transition gears meshing with the corresponding driven gears.

[0011] The clamping mechanism in the aforementioned fully automatic universal container twist lock assembly and disassembly fixture includes a first clamping block and a second clamping block; One end of the first clamping block is engaged with the first lead screw through the first lead screw nut and driven by the first lead screw, and the other end is inserted through the first optical axis and slidably connected by the linear bearing. The first lead screw is driven to rotate by a third motor to move the first clamping block. One end of the second clamping block is engaged with the second lead screw through the second lead screw nut and driven by the second lead screw, and the other end is passed through the second optical shaft and slidably connected by the linear bearing. The second lead screw is driven by a fourth motor to rotate the second lead screw so as to move the second clamping block. The third and fourth drive motors are configured to independently control the displacement of the first and second clamping blocks.

[0012] In the above-mentioned fully automatic universal disassembly and assembly fixture for container twist locks, the ends of the first clamping block and the second clamping block are designed as segmented finger-like structures, and are provided with concave and convex steps adapted to the surface of the twist lock.

[0013] The unlocking mechanism in the aforementioned fully automatic universal container twist lock disassembly and assembly fixture includes a support, a tension spring, and a pull rope cylinder; the support is fixed on the first clamping block, and the unlocking lever is hinged to the support; the tension spring is connected between the support and the unlocking lever; the pull rope cylinder is connected to one end of the unlocking lever via a pull rope, and the pull rope cylinder is configured to pull the unlocking lever to rotate around the support when it contracts, causing the other end of the unlocking lever to press down.

[0014] The lower component of the aforementioned fully automatic universal container twist lock assembly / disassembly fixture is equipped with a lifting platform driven by a lifting cylinder. The lifting platform includes an upper movable part and a lower fixed part. The lower fixed part is fixed to the lower driven gear and is equipped with a linear bearing. The upper movable part is equipped with a guide shaft that cooperates with the linear bearing. The lifting cylinder is installed on the lower fixed part and drives the upper movable part to move up and down relative to the lower fixed part in the vertical direction. The lever is fixedly disposed on the upper movable part and is configured to rise with the upper movable part to insert the twist lock cylinder.

[0015] The present invention also provides a method for disassembling a twist lock using a clamp, comprising the following steps: S1: Identify the type of twist lock using the visual recognition mechanism; S2: The control system adjusts the posture and structure of the clamp to the initial position to match the type of the torsion lock; S3: The actuator moves the fixture to the working position; S4: The control system drives the clamping mechanism to clamp the twist lock, and controls the lifting platform to rise and fall, the upper and lower components to rotate relative to each other, and the unlocking mechanism to move according to the type of twist lock, so as to unlock the twist lock; S5: The actuator drives the clamp to carry the twist lock away from the container.

[0016] The present invention also provides a method for installing a twist lock using a clamp, comprising the following steps: S1: Identify the type and location of the twist locks that need to be installed on the container using the visual recognition mechanism; S2: The control system drives the clamp to grab the corresponding twist lock; S3: The actuator drives the clamp to move to the installation position carrying the torsion lock; S4: The control system controls the lifting platform to rise and fall, the upper and lower components to rotate relative to each other, and the unlocking mechanism to operate according to the type of twist lock, thereby locking the twist lock to the container; S5: The clamp releases the torsion lock, and the actuator drives the clamp to reset.

[0017] Furthermore, it also includes S6: the visual recognition mechanism identifies the installation status of the twist lock to confirm whether it meets the installation standards.

[0018] The beneficial effects of this invention are as follows: Compared with the prior art, the present invention has the following significant advantages: High versatility and adaptability: Through a multi-layer decoupling design of upper clamping, middle identification, and lower twist lock, the clamp is compatible with automatic locks (with or without sliding pins), handle-type twist locks (single / double braid locks) and various stacking cones, solving the problem of frequent equipment replacement caused by the chaotic types of locks in port operations.

[0019] Precise and independent operation: Both the upper and lower components can rotate independently relative to the middle layer. With the first and second clamping blocks that can be independently controlled for displacement, the clamping force and angle can be precisely adjusted according to the visual recognition results, which greatly improves the success rate of disassembly and assembly.

[0020] Compact and collision-resistant structure: The nested structure of the middle cylinder and bearings achieves a compact physical layout; at the same time, combined with the buffer component at the bottom of the mounting plate, it effectively reduces the mechanical stress caused by collisions during operation of the actuator, thus extending the equipment life.

[0021] Fully automated operation cycle: It integrates 3D vision recognition and AI analysis modules to realize full automation from lock identification, positioning, clamping, unlocking to removal / installation, and has a post-installation quality inspection function, which significantly improves the safety and efficiency of operation. Attached Figure Description

[0022] Figure 1 This is a front view of the fully automatic universal container twist lock assembly and disassembly fixture of the present invention; Figure 2 This is a top view of the fully automatic universal container twist lock assembly and disassembly fixture of the present invention; Figure 3 yes Figure 1 A sectional view; Figure 4 yes Figure 1The right view. Detailed Implementation

[0023] The invention will now be further described with reference to the accompanying drawings.

[0024] like Figures 1 to 4 As shown, this invention provides a fully automatic universal container twist lock assembly and disassembly fixture. The fixture consists of a three-layer structure: an upper component, a middle component, and a lower component. The specific structure is as follows: The middle layer components include a base 1 and a driving layer 2. Base 1: includes a vertically placed middle cylinder 11, a horizontally placed mounting plate 12 fixedly connected to the outer edge of the middle cylinder 11, and a reinforcing plate 13 installed at the bottom of the mounting plate 12 and simultaneously connected to the outer edge of the middle cylinder 11. A buffer component 14 is installed below the mounting plate 12. The buffer component 14 (in this embodiment, it is a spring buffer structure with three-dimensional buffer function) is connected to the end of the actuator 100 (in this embodiment, it is a six-axis robotic arm), so that the actuator 100 can drive the entire fixture to move up, down, left, right or rotate.

[0025] An upper bearing 15 and a lower bearing 16 are respectively installed on the upper and lower parts of the middle cylinder 11. The upper and lower components are rotatably connected to the base 1 through the corresponding bearings.

[0026] The lower bearing 16 also includes an outer bearing housing 16a and an inner bearing housing 16b.

[0027] The base 1 may also be provided with an upper component housing 17 to provide physical protection for the clamp.

[0028] A visual recognition mechanism 200 (a 3D camera in this embodiment) is mounted on the top of the mounting plate 12. It has a built-in AI module for image processing or is connected to a back-end controller to identify the position of the container corner fittings, the type of torsion lock, and the real-time spatial pose.

[0029] Drive layer 2: first drive motor 21 (for driving the lower layer) and second drive motor 22 (for driving the upper layer); The lower component is equipped with a driven gear 31, and the shaft of the first drive motor 21 is equipped with a driving gear 21a. The driven gear 31 is driven by a transition gear 21b, thereby enabling the lower component to rotate independently relative to the middle component.

[0030] An upper driven gear 51 is installed on the upper component, and a driving gear 22a is installed on the shaft of the second drive motor 22. The upper driven gear 51 is driven through the transition gear 22b, thereby realizing the independent rotation of the upper component relative to the middle component.

[0031] The upper components include a clamping mechanism 3 and an unlocking mechanism 4, which are responsible for clamping the lock and partially unlocking it, respectively.

[0032] The clamping mechanism includes two independently movable first clamping blocks 32 and second clamping blocks 33; One end of the first clamping block 32 and the second clamping block 33 are respectively inserted through the first lead screw 34 and the second lead screw 35 and driven by the lead screw nut, and the other end is respectively inserted through the first optical axis 36 and the second optical axis 37 and slidably cooperates with the linear bearing.

[0033] The second clamping block 33 is driven by the third drive motor 38 and connected to one end of the second lead screw 35 through a coupling 38a; The first clamping block 32 is connected to a driven wheel mounted on the motor shaft of the fourth drive motor 39 and via a belt 39a to a driven wheel mounted on one end of the first lead screw 34. The third drive motor 38 and the fourth drive motor 39 can control the displacement and speed according to different lock types to achieve precise clamping.

[0034] The ends of the first clamping block 32 and the second clamping block 33 are designed with segmented finger-like structures and have concave and convex stepped shapes, which can fully adapt to the lock shoulder or cone contact surface of different types of torsion locks to achieve precise clamping.

[0035] The unlocking mechanism 4 includes a lever 41 and a support 42 mounted on the first clamping block 32 for automatic lock unlocking.

[0036] A pull rope cylinder 43 is fixed on the upper component. One end of the pull rope 44 is connected to the cylinder 43, and the other end is connected to the lever 41.

[0037] The support 42 and the lever 41 are connected by a tension spring 45. When an automatic lock with a sliding pin is detected, the pull rope cylinder 43 retracts, pulling the lever 41 to rotate via the pull rope 44, causing the end of the lever to press down on the twist lock sliding pin to unlock. After unlocking, the cylinder resets, and the lever returns to its original position under the action of the tension spring 45, making room for other types of locks.

[0038] The lower-level components are a rotary lock 5 and a clearance layer 6, which include: A lifting platform driven by a lifting cylinder 52, the lifting platform being divided into an upper movable part 53 and a lower fixed part 54; The lower fixed part consists of a first layer plate 54b and a lower layer plate 54c (fixed to the lower driven gear 31) fixed by four support columns 54a. Four linear bearings 54d are mounted on the first layer plate 54b.

[0039] The upper movable part 53 of the lifting platform includes a second layer plate 53a and four guide shafts 53b mounted thereon. The guide shafts 53b cooperate with linear bearings 54d to provide vertical guidance.

[0040] The lifting cylinder 52 is fixed on the first layer plate 54b and drives the upper movable part 53 to move up and down.

[0041] The upper movable part 53 is equipped with two levers 55 that match the handle-type twist lock (commonly known as a braid lock); Handle lock mode: When disassembling or assembling a handle-type twist lock, the lifting cylinder 52 drives the upper movable part 53 to rise, causing the toggle block 55 to insert and lock the lock cylinder handle. The overall rotation of the lower component drives the lock cylinder to rotate and unlock.

[0042] Automatic locking mode: When installing or removing the automatic lock or cone lock, the lifting platform retracts to a low position, providing necessary clearance for the twist lock to enter the center of the clamp.

[0043] The workflow and control logic of the fully automatic universal container twist lock disassembly and assembly fixture described in this invention are as follows: The entire operation process is uniformly scheduled by the background control system (not shown). Combined with the feedback data of the visual recognition mechanism 200 (a 3D camera in this embodiment) and the image processing module, the fully automatic disassembly and assembly operation is realized by controlling the execution mechanism 1 (a robotic arm in this embodiment) and the various driving components inside the fixture.

[0044] 1. Remove the automatic lock (standard long / short lock cylinder automatic lock). This type of twist lock relies on rotating the lock body to unlock.

[0045] S1 Recognition: The visual recognition mechanism 200 scans the lock to identify the lock type as an automatic lock and its spatial posture.

[0046] S2 Avoidance: The control system commands the lifting cylinder 52 to be in the retracted state, so that the lifting platform and the lever 55 of the lower component are in the low position to avoid interference with the lock.

[0047] S3 Positioning: Actuator 1 moves the clamp to the target position, causing the clamp to engage with the twist lock.

[0048] S4 Clamping: The third drive motor 38 and the fourth drive motor 39 drive the first clamping block 32 and the second clamping block 33 to move synchronously toward the center, clamping the front and rear sides (or shoulders) of the lock body.

[0049] S5 Rotary Lock: The first drive motor 21 drives the upper component to rotate relative to the middle component, causing the clamped lock body to rotate relative to the container corner fitting to the unlocking angle (usually rotated 90 degrees so that the long side of the lock cylinder is parallel to the corner fitting hole).

[0050] S6 Lock Removal: Actuator 1 performs a downward or tilting action (determined according to the lock type and the opening direction of the corner fitting) to remove the unlocked automatic lock from the corner fitting.

[0051] 2. Remove the automatic lock with a sliding pin. This type of twist lock requires pulling down the sliding pin (unlocking lever) to unlock it.

[0052] S1 Recognition: The visual recognition mechanism 200 identifies the lock type as an automatic lock with a sliding pin.

[0053] S2 Avoidance: Lifting cylinder 52 remains in the retracted state, and the lifting platform is in the low position.

[0054] S3 Clamping: The actuator 1 drives the clamp to position, and the first clamping block 32 and the second clamping block 33 clamp the lock body.

[0055] S4 Unlock: The pull rope cylinder 43 retracts, pulling the lever 41 to rotate around the support. The end of the lever 41 presses down on the sliding pin of the twist lock, releasing the sliding pin from the lock body.

[0056] S5 Lock Removal: With the sliding pin pressed down, actuator 1 performs tilting, lateral movement, and downward movement to remove the twist lock from the container corner fitting.

[0057] 3. Remove the handle-type twist lock (commonly known as a braided lock). This type of twist lock has a fixed lock body and needs to be unlocked by turning the lock cylinder handle.

[0058] S1 Recognition: The visual recognition mechanism 200 identifies the lock type as a handle-type twist lock (single or double twist).

[0059] S2 Clamping: The actuator 1 drives the clamp to position, and the first clamping block 32 and the second clamping block 33 clamp the lock body shell. At this time, the clamp plays the role of fixing the reference.

[0060] S3 Lifting: The lifting cylinder 52 drives the lifting platform (upper movable part) to rise along the guide shaft, so that the toggle block 55 installed on it is inserted into the handle rotation path or contacts the lock cylinder handle.

[0061] S4 Twist Lock: The second drive motor (corresponding to the lower drive in the claims) drives the lower component to rotate, and the toggle block 55 rotates the twist lock handle (lock cylinder) to the unlock position (usually the lock cylinder is parallel to the corner hole).

[0062] S5 Lock Removal: After the lock cylinder is unlocked, the actuator 1 moves the clamp downward to remove the twist lock.

[0063] 4. Remove stacking cones (cone locks). These types of locks are usually secured by gravity or simple snap-fit ​​mechanisms.

[0064] S1 Recognition: The visual recognition mechanism 200 identifies the lock type as a stacking cone.

[0065] S2 Clamping: The actuator 1 drives the clamp to position, and the first clamping block 32 and the second clamping block 33 use the concave and convex step structure at the end to engage in the matching groove of the cone to achieve stable clamping.

[0066] S3 Unlock and Unlock: Scenario A (cone lock with spring torsion bar): Actuator 1 first performs a pull-down action to overcome the tension of the spring torsion bar; then the first drive motor drives the upper component to rotate, so that the upper lock head of the cone lock is aligned with the corner fitting hole; finally, the cone lock is moved out.

[0067] Scenario B (Ordinary cone lock): The upper component is directly driven to rotate by the first drive motor, the lock head angle is adjusted to align with the corner hole, and then the actuator 1 is moved down to remove it.

[0068] 5. Twist lock installation process and testing: The installation process of a twist lock is, in principle, the reverse of the removal process described above. S1 Grip: The vision recognition mechanism identifies the position of the twist lock to be installed, and the clamp grips the twist lock.

[0069] S2 Conveying: Actuator 1 conveys the twist lock to the corner fitting hole of the container.

[0070] S3 Locking: Execute the corresponding reverse action (such as rotating the upper lock body in the reverse direction or turning the lower handle in the reverse direction) according to the type of twist lock to complete the locking.

[0071] S4 Quality Inspection (New): After the installation is completed, the clamp is moved a certain distance away, and the visual recognition mechanism 200 will collect and analyze images of the installation area again to confirm whether the lock head is fully turned to the locked position and whether the handle is in place. If the installation standard is not met (such as excessive deviation of the position of the main feature points), the system will output an alarm signal or execute a reinstallation command.

[0072] Compared with the prior art, the clamp structure of the present invention has strong versatility and can handle various types of twist locks and conical locks without the need to replace the clamp or add transition devices, thereby improving the cycle efficiency of disassembly and assembly operations and reducing the complexity of the device structure. At the same time, since the clamp can stably hold and coordinate the rotation of each component, the risk of twist lock falling off during disassembly and assembly is reduced, and the stability and reliability of automated operations are improved.

[0073] The above embodiments are for illustrative purposes only and are not intended to limit the invention. Those skilled in the art can make various changes or modifications without departing from the spirit and scope of the invention. Therefore, all equivalent technical solutions should also fall within the scope of the invention and should be defined by the claims.

Claims

1. A fully automatic universal disassembly and assembly fixture for container twist locks, characterized in that, The clamp includes: A middle-layer component includes a mounting plate and a vision recognition mechanism mounted on the mounting plate, the mounting plate being used to connect to the end of an actuator; An upper component is rotatably connected to the middle component via a first driving device. The upper component includes a clamping mechanism and an unlocking mechanism for assisting unlocking. The clamping mechanism is used to clamp the lock, and the unlocking mechanism is used to perform a partial unlocking function of the lock. The unlocking mechanism includes an unlocking lever mounted on the clamping mechanism and a transmission mechanism for driving the unlocking lever to move. The lower component is rotatably connected to the middle component via a second drive device. The lower component includes a lifting platform and a lever disposed on the lifting platform. The clamping mechanism, the unlocking lever, and the toggle block are adapted to different types of twist locks.

2. The fully automatic universal disassembly and assembly fixture for container twist locks as described in claim 1, characterized in that, The visual recognition mechanism is a 3D camera, which has a built-in AI module or is built into the background controller, and is used to visually recognize the type and location of container corner fittings and locks.

3. The fully automatic universal disassembly and assembly fixture for container twist locks as described in claim 1, characterized in that, The middle layer component includes a base and a driving layer; The base includes a vertically placed central cylinder, and the mounting plate is horizontally arranged around the central cylinder. An upper bearing and a lower bearing are respectively provided on the upper and lower parts of the central cylinder. The upper component and the lower component are rotatably connected to the base through the upper bearing and the lower bearing, respectively.

4. The fully automatic universal container twist lock disassembly and assembly fixture as described in claim 3, characterized in that, A reinforcing plate is installed at the bottom of the mounting plate and around the periphery of the middle cylinder; and / or A buffer component for buffering mechanical stress is installed between the mounting plate and the actuator.

5. The fully automatic universal disassembly and assembly fixture for container twist locks as described in claim 1, characterized in that, The first driving device and the second driving device are respectively a first driving motor and a second driving motor; the lower component and the upper component are respectively provided with a lower driven gear and an upper driven gear, and the output shafts of the first and second driving motors are respectively provided with corresponding driving gears; the driving gears drive the lower component and the upper component to rotate independently relative to the middle component through their respective transition gears meshing with the corresponding driven gears.

6. The fully automatic universal container twist lock disassembly and assembly fixture as described in claim 5, characterized in that, The lower assembly includes a lifting platform driven by a lifting cylinder. The lifting platform includes an upper movable part and a lower fixed part. The lower fixed part is fixed to the lower driven gear and is equipped with a linear bearing. The upper movable part is equipped with a guide shaft that cooperates with the linear bearing. The lifting cylinder is installed on the lower fixed part and drives the upper movable part to move up and down relative to the lower fixed part in the vertical direction. The lever is fixedly disposed on the upper movable part and is configured to rise with the upper movable part to insert the torsion lock cylinder.

7. The fully automatic universal disassembly and assembly fixture for container twist locks as described in claim 1, characterized in that, The clamping mechanism includes a first clamping block and a second clamping block; One end of the first clamping block is engaged with the first lead screw through the first lead screw nut and driven by the first lead screw, and the other end is inserted through the first optical axis and slidably connected by the linear bearing. The first lead screw is driven to rotate by a third motor to move the first clamping block. One end of the second clamping block is engaged with the second lead screw through the second lead screw nut and driven by the second lead screw, and the other end is passed through the second optical shaft and slidably connected by the linear bearing. The second lead screw is driven by a fourth motor to rotate the second lead screw so as to move the second clamping block. The third and fourth drive motors are configured to independently control the displacement of the first and second clamping blocks.

8. The fully automatic universal disassembly and assembly fixture for container twist locks as described in claim 7, characterized in that, The ends of the first clamping block and the second clamping block are designed as segmented finger-like structures and are provided with concave and convex steps adapted to the surface of the torsion lock.

9. The fully automatic universal disassembly and assembly fixture for container twist locks as described in claim 7, characterized in that, The unlocking mechanism includes a support, a tension spring, and a pull-rope cylinder; the support is fixed to the first clamping block, and the unlocking lever is hinged to the support; the tension spring is connected between the support and the unlocking lever; the pull-rope cylinder is connected to one end of the unlocking lever via a pull rope, and the pull-rope cylinder is configured to pull the unlocking lever to rotate around the support when it contracts, causing the other end of the unlocking lever to press down.

10. A method for disassembling a twist lock using a clamp as described in any one of claims 1-9, characterized in that, Includes the following steps: S1: Identify the type of twist lock using the visual recognition mechanism; S2: The control system adjusts the posture and structure of the clamp to the initial position to match the type of the torsion lock; S3: The actuator moves the fixture to the working position; S4: The control system drives the clamping mechanism to clamp the twist lock, and controls the lifting platform to rise and fall, the upper and lower components to rotate relative to each other, and the unlocking mechanism to move according to the type of twist lock, so as to unlock the twist lock; S5: The actuator drives the clamp to carry the twist lock away from the container.

11. A method for installing a twist lock using a clamp as described in any one of claims 1-9, characterized in that, Includes the following steps: S1: Identify the type and location of the twist locks that need to be installed on the container using the visual recognition mechanism; S2: The control system drives the clamp to grab the corresponding twist lock; S3: The actuator drives the clamp to move to the installation position carrying the torsion lock; S4: The control system controls the lifting platform to rise and fall, the upper and lower components to rotate relative to each other, and the unlocking mechanism to operate according to the type of twist lock, thereby locking the twist lock to the container; S5: The clamp releases the torsion lock, and the actuator drives the clamp to reset.

12. The method for installing and disassembling twist locks using the fully automatic universal container twist lock assembly and disassembly fixture as described in claim 11, characterized in that, It also includes S6: The visual recognition mechanism identifies the installation status of the twist lock to confirm whether it meets the installation standards.

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