Container stacking apparatus for unmanned yards

Abstract

This invention provides a container stacking device for an unmanned container yard, relating to the field of container stacking technology. The unmanned container stacking device includes a control mechanism comprising an intelligent frame with a built-in control module. A robotic arm is mounted at the center of the upper end of the intelligent frame. Side frames are fixedly installed on the upper ends of both sides of the intelligent frame, and measuring probes are provided on the upper ends of both side frames. The measuring probes acquire the size and position information of the container to assist the robotic arm in adjusting the stacking mechanism to align with a corner of the container. The device also includes a stacking mechanism fixedly mounted at the front end of the robotic arm. The stacking mechanism includes a support frame, inside which a lifting clamp is slidably mounted vertically. Through the coordinated operation of four machines to distribute force, the robotic arm is only responsible for alignment, while the support base bears the load and facilitates transport. This results in precise positioning and strong adaptability, significantly improving operational safety and efficiency, and optimizing maintenance convenience.

Description

Technical Field

[0001] This invention relates to the field of container stacking technology, specifically to a container stacking device for an unmanned container yard. Background Technology

[0002] As a crucial vehicle for the intelligent upgrading of logistics and transportation, unmanned container yards focus on the efficient stacking and transfer of containers in their core operations. Existing unmanned stacking equipment mostly employs integrated gantry structures or single robotic arms. When adapting to containers of different sizes and specifications, frequent adjustments to the equipment's baseline positioning parameters are necessary. Furthermore, the clamping force points of a single device are relatively concentrated, easily leading to uneven stress on the container and subsequent deformation. Simultaneously, positioning accuracy is significantly affected by environmental debris, making it difficult to balance stacking efficiency and operational safety. Among these problems, the concentrated clamping force and poor positioning adaptability of a single device are the core contradictions that significantly hinder the large-scale advancement of unmanned container yard stacking operations, becoming a key pain point that urgently needs to be addressed in the industry. Summary of the Invention

[0003] Technical problems to be solved To address the shortcomings of existing technologies, this invention provides a container stacking device for unmanned yards, which solves the problem that existing stacking devices have limited specifications and cannot capture the on-site situation of unmanned yards.

[0004] Technical solution To achieve the above objectives, the present invention provides the following technical solution: a container stacking device for an unmanned container yard, comprising: The control mechanism includes an intelligent frame with a built-in control module. A robotic arm is mounted at the center of the upper end of the intelligent frame. Side frames are fixedly installed on the upper ends of both sides of the intelligent frame. Measuring probes are set on the upper ends of both side frames. The measuring probes acquire the size and position information of the container to assist the robotic arm in adjusting the stacking mechanism to align with one corner of the container. A stacking mechanism is fixedly installed at the front end of a robotic arm. The stacking mechanism includes a support frame. A lifting clamp is slidably arranged in the vertical direction inside the support frame. A positioning groove is opened inside the lifting clamp. A positioning block is fixedly arranged on the inner side wall of the positioning groove. The lifting clamp is fixed at one apex of the container by the cooperation of the positioning groove and the positioning block. The stacking equipment is configured with four units, which can automatically move to the four corners of the container and synchronously cooperate to clamp and fix the top four corners of the container, thereby realizing the lifting and stacking operation of the container.

[0005] Preferably, a support base is fixedly connected to the lower end of the support frame, a servo motor is fixedly installed on the upper end of the support base, a reducer is connected to the output end of the servo motor, a winding disc is fixedly mounted on the output end of the reducer, and a steel cable is wound on the winding disc.

[0006] Preferably, a pulley is rotatably mounted on the upper end of the support frame, and the end of the steel cable away from the winding reel passes through the pulley and is fixedly connected to the upper end of the lifting clamp. The servo motor drives the winding reel to wind and unwind the steel cable, thereby driving the lifting clamp to slide vertically along the support frame.

[0007] Preferably, obstacle avoidance modules are fixedly installed on both the front and rear sides of the upper end of the intelligent vehicle frame, and multiple detection probes are mounted on the upper end of the robotic arm.

[0008] Preferably, the intelligent vehicle frame is equipped with multiple tires on both sides, and the surface of the tires is integrally formed with anti-slip patterns.

[0009] Preferably, a connecting seat is fixedly provided at the lower end of the support frame near the control mechanism, and the stacking mechanism is detachably and fixedly connected to one end of the robotic arm through the connecting seat.

[0010] The four stacking devices establish a collaborative connection through a wireless communication module to achieve real-time interaction of location information and operation status, ensuring that the four devices synchronously complete the clamping, lifting and stacking actions of the containers, and adapt to containers of different sizes and specifications.

[0011] Beneficial effects This invention provides a container stacking device for unmanned container yards. It has the following advantages: 1. This invention provides a container stacking device for unmanned container yards. By using four devices to clamp the four corners of the container respectively, the local stress during the stacking process is dispersed, avoiding the risk of container deformation caused by a single stress point, significantly improving the structural stability of the stacking operation, promoting the universal adaptability of containers of different sizes, and eliminating the need for frequent adjustment of equipment positioning parameters.

[0012] 2. This invention provides a container stacking device for unmanned yards. By linking a measurement probe with an obstacle avoidance module, environmental and container position information is collected. The interlocking structure of the positioning slot and the positioning block, together with the elastic buffer pad, accurately calibrates the clamping position, reduces the interference of environmental debris on the operation, optimizes the automation level of unmanned yard stacking operations, and significantly reduces the accident rate. Attached Figure Description

[0013] Figure 1 This is an isometric view of the present invention; Figure 2 This is an isometric view of the control mechanism of the present invention; Figure 3This is an axonometric schematic diagram of the control mechanism of the present invention from another perspective; Figure 4 This is an isometric view of the lifting clamp and related structures of the present invention; Figure 5 This is an isometric view of the control mechanism of the present invention.

[0014] Among them, 1. Control mechanism; 2. Stacking mechanism; 101. Intelligent frame; 102. Side frame; 103. Measuring probe; 104. Tire; 105. Robotic arm; 106. Detection probe; 107. Obstacle avoidance module; 201. Connecting seat; 202. Support frame; 203. Steel cable; 204. Lifting clamp; 205. Pulley; 206. Winding disc; 207. Support base; 208. Servo motor; 209. Reducer; 210. Positioning groove; 211. Positioning block. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] like Figure 1-5 As shown, this embodiment of the invention provides a container stacking device for an unmanned container yard, including: a control mechanism 1, which includes an intelligent frame 101 with a built-in control module; a robotic arm 105 is mounted at the center of the upper end of the intelligent frame 101; side frames 102 are fixedly mounted on the upper ends of both sides of the intelligent frame 101; and measuring probes 103 are provided on the upper ends of both side frames 102. The measuring probes 103 are used to acquire the size and position information of the container to assist the robotic arm 105 in adjusting the stacking mechanism 2 to align with a corner of the container; obstacle avoidance modules 107 are fixedly mounted on the front and rear sides of the upper end of the intelligent frame 101; and multiple detection probes 106 are mounted on the upper end of the robotic arm 105. The obstacle avoidance modules 107 are used to identify obstacles on the device's travel path and work in conjunction with the measuring probes 103 to detect whether there are any debris around the container, thus avoiding interference accidents during the stacking operation. Specifically, in the above embodiments, the control module uses an embedded microprocessor as its core, integrating a position control unit, a data acquisition unit, and a communication adapter unit. It analyzes the distance signals and size data collected by the measuring probe 103 and the detection probe 106 using a preset algorithm, and outputs pulse control signals to drive the joint motors of the robotic arm 105, achieving positioning accuracy control within a range of ±0.5mm. The robotic arm 105 only undertakes the alignment adjustment function of the stacking mechanism 2 and does not bear the load of lifting the container; its joint torque parameters only need to be adapted to the alignment action requirements. The obstacle avoidance module 107 adopts a combination of lidar and ultrasonic sensors. The lidar is responsible for long-distance path detection, while the ultrasonic sensor enhances the identification of nearby debris. After the collected data is fused and processed by the control module, it triggers equipment start / stop or path fine-tuning commands, ensuring the safety of the operation path and the accuracy of positioning.

[0017] The intelligent frame 101 is equipped with multiple tires 104 on both sides. The surface of the tires 104 is integrally formed with anti-slip patterns. The anti-slip patterns are used to increase the friction between the tires and the ground, while reducing the pressure of the equipment on the ground and improving the stability of the equipment during operation. Specifically, in the above-described embodiment, the intelligent frame 101 is equipped with four tires 104 on each side, made of inflatable solid rubber, with an anti-slip tread design of a horizontally and vertically interlaced grid structure, and the tread depth controlled within the range of 3-5mm. This structure can increase the tire contact area by 15% compared to conventional tires, which not only optimizes the ground pressure distribution and avoids damage to the yard ground, but also enhances the equipment's grip in humid and dusty environments. Combined with the gravity balance block at the bottom of the frame, it ensures that there is no risk of tipping over when the equipment is holding containers.

[0018] Stacking mechanism 2 is fixedly installed at the front end of robotic arm 105. Stacking mechanism 2 includes support frame 202. Lifting clamp 204 is slidably arranged in the vertical direction inside support frame 202. Positioning clamp 204 has a positioning groove 210 inside. Positioning block 211 is fixedly arranged on the inner side wall of positioning groove 210. Lifting clamp 204 is fixed at one apex of container by the cooperation of positioning groove 210 and positioning block 211. Specifically, in the above-described embodiment, the positioning groove 210 adopts a right-angle structure adapted to the corner of the container, with a groove depth of 8-10cm. The positioning blocks 211 are made of high-strength alloy material and are symmetrically arranged along the inner wall of the positioning groove 210, with spacing adapted to the thickness specifications of the corner of a conventional container. The lifting clamp 204 and the support frame 202 slide together via a slider and guide rail. The guide rail is treated with a wear-resistant coating to reduce friction loss during sliding and improve the smoothness of the lifting action. The robotic arm 105 precisely adjusts the posture of the stacking mechanism 2 so that the positioning blocks 211 fit into the corner of the container. After fitting, the support base 207 is firmly attached to the ground to bear the weight, ensuring the force foundation for the lifting operation.

[0019] The stacking equipment is equipped with four units, which can automatically move to the four corners of the container and work together to clamp and fix the top four corners of the container, thus realizing the lifting and stacking operation of the container.

[0020] Specifically, in the above embodiment, the four stacking devices adopt a distributed arrangement, with each device corresponding to a corner of the container. The control module has a preset partition positioning program, which guides each device to move precisely to the preset coordinates through the position signal fed back by the site positioning base station, with the positioning deviation controlled within ±1cm. After each device is in place, the robotic arm 105 synchronously adjusts the stacking mechanism 2 to align with the corner of the container, and the support base 207 bears the weight on the ground. After all four devices are fitted and fixed, a symmetrical force-bearing structure is formed, and the container is lifted synchronously by the lifting clamps. It can adapt to different sizes of containers such as 20 feet, 40 feet, and 45 feet without the need for additional replacement of clamp components.

[0021] A support base 207 is fixedly connected to the lower end of the support frame 202. A servo motor 208 is fixedly installed on the upper end of the support base 207. A reducer 209 is connected to the output end of the servo motor 208. A winding disc 206 is fixedly mounted on the output end of the reducer 209. A steel cable 203 is wound on the winding disc 206. A pulley 205 is rotatably installed on the upper end of the support frame 202. The end of the steel cable 203 away from the winding disc 206 passes through the pulley 205 and is fixedly connected to the upper end of the lifting clamp 204. The servo motor 208 drives the winding disc 206 to wind and unwind the steel cable 203, thereby driving the lifting clamp 204 to slide vertically along the support frame 202.

[0022] Specifically, in the above-described embodiment, the servo motor 208 is a permanent magnet synchronous servo motor with a rated power of 3-5kW, paired with a planetary gear reducer 209. The reduction ratio is set to 1:50, enabling low-speed, high-torque output to meet the lifting load requirements of the lifting clamp 204 in lifting the container. The support base 207 has four sets of universal rollers embedded inside. The rollers are equipped with an electromagnetic locking mechanism, which locks the rollers during lifting operations to ensure the base remains firmly on the ground, preventing displacement from affecting the force balance. The steel cable 203 is made of galvanized steel wire rope with a diameter of 8-10mm and a breaking tensile strength of not less than 100kN. The pulley 205 is made of cast steel with wear-resistant bushings on the surface to reduce wear during cable winding and unwinding. The control module adjusts the motor speed in real time via a servo driver to achieve smooth lifting and lowering of the lifting clamp 204.

[0023] A connecting seat 201 is fixedly installed at the lower end of the support frame 202 near the control mechanism 1. The stacking mechanism 2 is detachably and fixedly connected to one end of the robotic arm 105 through the connecting seat 201, which facilitates the maintenance and replacement of the stacking mechanism 2. Specifically, in the above-described embodiment, the connecting seat 201 adopts a flange structure and is fixed to the connecting flange at the front end of the robotic arm 105 by four high-strength bolts. The bolts are designed to prevent loosening, and elastic washers are used to enhance the connection stability. The connecting seat 201 and the support frame 202 are manufactured using an integrated molding process, ensuring overall rigidity. The detachable structure allows for replacement without disassembling the entire robotic arm when the stacking mechanism 2 malfunctions, shortening maintenance time and optimizing equipment operation and maintenance efficiency.

[0024] An elastic buffer pad is provided at the end of the positioning block 211 away from the inner wall of the positioning groove 210. The elastic buffer pad is used to reduce the impact force when the lifting clamp 204 contacts the top of the container, to avoid wear on the surface of the container, and to improve the tightness of the fitting and fixing. Specifically, in the above-described embodiment, the elastic buffer pad is made of polyurethane with a thickness of 2-3 mm and has anti-slip particles on its surface. It is fixedly connected to the positioning block 211 through a vulcanization process, making it difficult to fall off. This buffer pad can absorb the impact force generated at the moment of fitting, controlling the contact pressure within the tolerance range of the container surface, avoiding paint wear or container deformation. At the same time, the anti-slip particles can increase the friction between the positioning block 211 and the container, strengthening the fixing effect after fitting and preventing relative sliding during stacking.

[0025] The four stacking devices establish a collaborative connection through a wireless communication module, enabling real-time interaction of location information and operation status. This ensures that the four devices can synchronously complete the clamping, lifting, and stacking of containers, adapting to containers of different sizes and specifications.

[0026] Specifically, in the above embodiments, the wireless communication module adopts industrial-grade WiFi and Bluetooth dual-mode communication, with a communication distance of up to 50 meters and data transmission latency controlled within 100ms, ensuring the synchronous operation of the four devices. The control module interacts with the communication module to exchange positioning data, clamping status, lifting height, and omnidirectional roller locking status information of each device, calibrating the consistency of actions based on a preset collaborative algorithm. After the container is lifted into position, the control module simultaneously unlocks the omnidirectional rollers of the four devices, drives the intelligent frame tires to move, and transports the container to the target position. Then, it locks the rollers and lowers the lifting clamp to complete the stacking. When a device malfunctions, it immediately feeds back to the other devices and triggers a stop command, significantly improving operational reliability and adapting to the stacking requirements of containers of different sizes.

[0027] Working Principle: This equipment completes the container stacking process through the collaborative operation of four stacking devices. The intelligent frame 101 of each device has a built-in control module that drives the tires 104 to move, accurately reaching the corresponding corner position of the container. The measuring probes 103 on both sides of the intelligent frame 101 acquire the container size and corner position information. The obstacle avoidance module 107 and the detection probe 106 work together to check the travel path and obstacles around the container, providing basic support for the positioning operation. The control module adjusts the posture of the robotic arm 105 based on the collected information, and is only responsible for accurately aligning the stacking mechanism 2 with the corner of the container. At this time, the support base 207 of the stacking mechanism 2 is in contact with the ground to bear the weight, and the universal rollers embedded in the support base 207 are in a locked state. The servo motor 208 inside the support frame 202 starts, driving the winding disc 206 to rotate via the reducer 209. The steel cable 203 transmits traction force along the pulley 205, causing the lifting clamp 204 to slide vertically along the support frame 202. The positioning groove 210 and the positioning block 211 engage with the corner apex of the container through their interlocking structure. The elastic buffer pad of the positioning block 211 enhances the tightness of the interlocking. The four devices synchronize their operation status through wireless communication. They synchronously drive the lifting clamp 204 to lift the container to the preset height, unlock the universal rollers of the support base 207, and are driven by the control mechanism 1 to move the entire device, transferring the container to the target stacking position. Then, the universal rollers are locked, the lifting clamp 204 is lowered to complete the stacking, and after the operation, each device resets and stands ready.

[0028] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A container stacking device for an unmanned container yard, characterized in that, include: The control mechanism (1) includes an intelligent frame (101), which has a built-in control module. A robotic arm (105) is mounted at the center of the upper end of the intelligent frame (101). Side frames (102) are fixedly installed on the upper ends of both sides of the intelligent frame (101). Measurement probes (103) are provided on the upper ends of both side frames (102). The measurement probes (103) acquire the size and position information of the container to assist the robotic arm (105) in adjusting the stacking mechanism (2) to align with one corner of the container. The stacking mechanism (2) is fixedly installed at the front end of the robotic arm (105). The stacking mechanism (2) includes a support frame (202). A lifting clamp (204) is slidably arranged inside the support frame (202) in the vertical direction. A positioning groove (210) is opened inside the lifting clamp (204). A positioning block (211) is fixedly arranged on the inner side wall of the positioning groove (210). The lifting clamp (204) is fixed at one apex of the container by the cooperation of the positioning groove (210) and the positioning block (211). The stacking equipment is configured with four units, which can automatically move to the four corners of the container and synchronously cooperate to clamp and fix the top four corners of the container, thereby realizing the lifting and stacking operation of the container.

2. The container stacking equipment for an unmanned yard according to claim 1, characterized in that: The lower end of the support frame (202) is fixedly connected to a support base (207), and the upper end of the support base (207) is fixedly installed with a servo motor (208). The output end of the servo motor (208) is connected to a reducer (209), and the output end of the reducer (209) is fixedly equipped with a winding disc (206). A steel cable (203) is wound on the winding disc (206).

3. The container stacking equipment for an unmanned yard according to claim 2, characterized in that: The upper end of the support frame (202) is rotatably mounted with a pulley (205). The end of the steel cable (203) away from the winding disc (206) passes through the pulley (205) and is fixedly connected to the upper end of the lifting clamp (204). The servo motor (208) drives the winding disc (206) to wind and unwind the steel cable (203), thereby driving the lifting clamp (204) to slide vertically along the support frame (202).

4. The container stacking equipment for an unmanned yard according to claim 1, characterized in that: The intelligent vehicle frame (101) is fixedly equipped with obstacle avoidance modules (107) on both the front and rear sides of the upper end, and the robotic arm (105) is equipped with multiple detection probes (106) on the upper end.

5. The container stacking equipment for an unmanned yard according to claim 1, characterized in that: The intelligent vehicle frame (101) is equipped with multiple tires (104) on both sides, and the surface of the tires (104) is integrally formed with anti-slip patterns.

6. The container stacking equipment for an unmanned yard according to claim 1, characterized in that: The support frame (202) has a connecting seat (201) fixedly installed at the lower end of the side near the control mechanism (1), and the stacking mechanism (2) is detachably and fixedly connected to one end of the robotic arm (105) through the connecting seat (201).

7. The container stacking equipment for an unmanned yard according to claim 1, characterized in that: The four stacking devices establish a collaborative connection through a wireless communication module to achieve real-time interaction of location information and operation status, ensuring that the four devices synchronously complete the clamping, lifting and stacking actions of the containers, and adapt to containers of different sizes and specifications.

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