Container handling device

Abstract

The present application relates to the field of container hoisting and loading and unloading, and particularly relates to a container hoisting and loading and unloading device. The device comprises a main body structure, four winches and an adjusting mechanism. The main body structure comprises a main beam one, a main beam two and a main beam connecting piece which are rigidly connected in an H shape. The four winches are symmetrically arranged on the upper parts of the main beam one and the main beam two. A real-time posture correction strategy is introduced. The height difference of the four corners of the container is detected in real time, and a single winch is triggered to independently correct the speed, so that the posture of the container can be quickly and accurately adjusted, and the problems of low correction accuracy and weak anti-interference ability of the prior art are solved.

Description

Technical Field

[0001] This invention relates to the field of container hoisting and handling, and specifically to a container hoisting and handling device. Background Technology

[0002] As the core carrier of modern logistics transportation, the efficiency of container handling directly affects the overall operational capacity of ports, yards, and logistics hubs. Currently, traditional container handling equipment mainly adopts a rigid frame structure, using multiple winches to simultaneously raise and lower steel wire ropes to achieve vertical lifting and lowering of containers. However, existing technologies generally have the following shortcomings:

[0003] Insufficient attitude correction accuracy: Existing devices mostly use fixed threshold triggering correction mechanisms, which cannot dynamically adjust correction parameters according to real-time operating conditions, resulting in low correction accuracy in complex environments (such as gusts of wind and off-center loads).

[0004] Poor spatial adaptability: Traditional equipment lacks horizontal fine-tuning function, making it difficult to achieve precise positioning of containers in confined spaces or complex working conditions. It requires the use of auxiliary equipment or manual adjustment, which increases operating costs and safety risks. Summary of the Invention

[0005] To address the problems of existing technologies, this invention provides a container hoisting and loading / unloading device.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A container hoisting and unloading device includes a main structural component, four winches and an adjustment mechanism. The main structural component includes a main beam one, a main beam two and a main beam connecting component that are rigidly connected in an "H" shape. The four winches are symmetrically arranged on the upper part of the main beam one and the main beam two.

[0008] The adjustment mechanism includes a mounting beam, a telescopic beam, and a hydraulic rod. The telescopic beam is nested inside the mounting beam and is driven to extend and retract by the hydraulic rod. The end of the telescopic beam is provided with a pulley.

[0009] The device employs a real-time attitude correction strategy. When the height difference ΔH ≥ δ between the four corners of the container is detected, the speed of the winch at the corresponding position is adjusted individually for correction. After correction, the adjustment mechanism is simultaneously activated for horizontal fine-tuning. The linkage control logic between attitude correction and horizontal fine-tuning is as follows: When the system detects that the height difference ΔH ≥ δ between the four corners of the container, the attitude correction module based on independent speed adjustment of the winch is first triggered.

[0010] The main beam connector is fixed with a main lifting lug and an auxiliary lifting lug.

[0011] The four winches can maintain the same rotation speed and the same rope length release to make the container rise and fall horizontally, and can also adjust their speed individually for attitude correction.

[0012] In the aforementioned real-time attitude correction strategy, the rotational speed compensation amount Δn = k × ΔH, where the proportional coefficient k adopts a dynamic adaptive adjustment algorithm: k = ×(1+0.1×α+0.05×β), The basic proportionality coefficient ranges from 0.8 to 1.2, α is the eccentric load ratio at the suspension point, and β is the wind load coefficient.

[0013] The basic proportional coefficient A lightweight temporal neural network model constructed by fusing data from multiple sensor sources is optimized through online self-learning.

[0014] The allowable height difference threshold δ can be adjusted between 3 and 8 mm, and is dynamically adjusted with the lifting speed. When the lifting speed is ≤5 m / min, δ=3 mm, and when the lifting speed is >5 m / min, δ=5 mm.

[0015] The horizontal movement speed V of the telescopic beam is in the range of 5-15 mm / s, and the maximum allowable horizontal displacement [S] is 50-150 mm.

[0016] The pulley and telescopic beam are integrally forged and welded, and the surface is treated with a wear-resistant coating.

[0017] The real-time attitude correction strategy and the horizontal fine-tuning are integrated with a collaborative control logic. Horizontal fine-tuning is only triggered when the real-time height difference ΔH' decreases to less than the horizontal fine-tuning trigger threshold δ_h. Compared with existing technologies, the advantages of this invention are:

[0018] The main beam structure, featuring an "H"-shaped rigid connection, significantly enhances the overall stability and torsional stiffness of the device. The inclusion of main, auxiliary, and side lifting lugs increases the device's operational flexibility, meeting lifting requirements under various working conditions. A real-time attitude correction strategy is introduced, triggering independent speed adjustment of a single winch by detecting the height difference at the four corners of the container in real time. This enables rapid and precise adjustment of the container's attitude, solving the problems of low correction accuracy and weak anti-interference capability in existing technologies. The application of a dynamic adaptive adjustment algorithm allows the proportional coefficient k to be adjusted according to real-time working conditions, further improving the accuracy and robustness of attitude correction. The height difference threshold δ is allowed to dynamically adjust with the lifting speed, ensuring correction accuracy while avoiding the impact of frequent corrections on operational efficiency. The linked control of vertical lifting and horizontal fine-tuning enables precise positioning of containers in confined spaces, improving operational efficiency and spatial adaptability. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 .

[0020] Figure 2This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 .

[0021] Figure 3 This is a rear view of the present invention. Detailed Implementation

[0022] The present invention will be further described in detail below through embodiments. These embodiments are only used to illustrate the present invention and do not limit the scope of the present invention.

[0023] A container hoisting and unloading device includes a main structural component 100, winches 200 and an adjustment mechanism 300. There are four winches 200, which are fixedly distributed on the main structural component 100. The winches 200 are in contact with the adjustment mechanism 300 through steel wire ropes to realize the vertical lifting and fine-tuning positioning of the load.

[0024] The main structural component 100 includes a first main beam 110, a second main beam 120, and a main beam connector 130. The first main beam 110 and the second main beam 120 are rigidly connected via the main beam connector 130, forming a stable load-bearing system. The three components are distributed in an "H" shape. A winch 200 is fixedly mounted on the upper part of the first main beam 110 and the second main beam 120. The winches 200 on each main beam are symmetrically arranged to ensure torque balance and operational stability during lifting. The first main beam 110 and the second main beam 120 are rigidly connected via the main beam connector 130, forming an integral frame structure that significantly improves torsional stiffness. Auxiliary lifting lugs are fixed to the bottom of the first main beam 110 and the second main beam 120, which can be used to connect lifting equipment if needed later, increasing the flexibility of the device. The yield strength of the auxiliary lifting lugs is not less than 450MPa. Multiple auxiliary lifting lugs can be fixed on the main beam connector 130, which facilitates the flexible selection of multiple lifting lugs for hoisting in the later stage and meets the accuracy requirements of multi-point synchronous lifting.

[0025] Main beam 110 and main beam 2120 are made of Q690 high-strength alloy steel with a cross-sectional size of 150mm×200mm. The main beam connector 130 is fixed to the main beam by welding and M24 high-strength bolts, with a welding strength ≥480MPa.

[0026] The main lifting lug 131 is fixed on the main beam connector 130 for main load bearing and force transmission during hoisting operations. The main lifting lug 131 is forged from high-strength alloy steel with a yield strength ≥690MPa. Side lifting lugs 1311 can be fixed around the main lifting lug 131 for auxiliary force bearing and attitude fine adjustment during multi-angle hoisting. The yield strength of the side lifting lugs is not less than 620MPa. They are evenly distributed in a ring around the main lifting lug 131 and can cooperate with the main lifting lug to bear load, meeting the structural safety redundancy requirements under eccentric load conditions.

[0027] The main lifting lug 131 is forged from high-strength alloy steel and strengthened by ultrasonic testing and heat treatment, with a yield strength of not less than 690MPa. The main beam connector 130 is connected to the main beam by a combination of welding and bolts, with M24 high-strength bolts selected and a welding strength ≥480MPa. The auxiliary lifting lug is fixed to the bottom of the main beam by welding, with a yield strength of not less than 450MPa, capable of withstanding the load requirements of auxiliary lifting.

[0028] The winch 200 is connected to the hook 201 via a wire rope to achieve vertical lifting. The four winches 200 maintain the same speed and the same rope length release to keep the container in a horizontal position when it rises or falls. When the container tilts, the speed of the winch at the corresponding position is adjusted individually to make the height of the four corners more consistent, thus completing the attitude correction.

[0029] The adjustment mechanism 300 includes a mounting beam 310 and a telescopic beam 320. The mounting beam 310 is fixed to one side of the main structural component 100, and the telescopic beam 320 is nested within the mounting beam 310. Precise extension and retraction of the travel is achieved by a hydraulic rod 330. A pulley 321 is located at the end of the telescopic beam 320 to assist in horizontal fine-tuning and attitude correction during the lifting process, ensuring accurate positioning of the container in confined spaces or complex conditions. The pulley 321 and the telescopic beam 320 are integrally forged and welded, and their surfaces are treated with a wear-resistant coating. The extension or retraction of the telescopic beam 320 is driven by the hydraulic rod 330, causing the end pulley 321 to move horizontally, changing the horizontal position of the wire rope lifting point, and achieving precise container positioning. Vertical lifting and horizontal fine-tuning can be performed independently or in conjunction, adapting to container loading and unloading in confined spaces, significantly improving operational safety margins and spatial adaptability.

[0030] Details on the operating principle of container lifting and loading / unloading equipment:

[0031] Initial state: Main lifting lug 131 is used to support the weight of the container; four winches 200 are in their initial positions; telescopic beam 320 is retracted; pulley 321 is in its reference position; before use, the four winches 200 are in standby mode; hydraulic rod 330 pressure is at zero; telescopic beam 320 is in its initial stroke position; pulley 321 and the center line of main lifting lug 131 are aligned. All lifting lugs, lifting ropes, and safety locks are in standby mode; all connection nodes have been visually inspected and torque checked to confirm there is no looseness, cracks, or abnormal wear.

[0032] Synchronous lifting control: Four winches operate at the same speed (200), and the rope length meets the requirements. The container is kept in a horizontal and vertical lifting position; four winches drive synchronously to keep the container in a horizontal position.

[0033] The four winches deliver ropes of equal length to ensure the container remains tilted.

[0034]

[0035] Relationship between rope length and rotational speed of a single winch:

[0036] L = n × π × D × t

[0037] In the formula:

[0038] L: Wire rope extension length (mm)

[0039] n: Winch speed (r / min)

[0040] D: Winch drum diameter (mm)

[0041] t: Running time (min)

[0042] This solution employs a real-time attitude correction strategy, which detects the height difference at the four corners of the container in real time and triggers independent speed adjustment correction for a single winch. Specifically, when ΔH ≥ δ, the speed of the winch at the corresponding position is adjusted individually, with a compensation amount of Δn = k × ΔH, so that the height difference at the four corners is zero, thus solving the problems of low correction accuracy and weak anti-interference capability in existing technologies.

[0043] When a container tilts, a correction is triggered when the height difference ΔH satisfies the following formula:

[0044] ≥ δ

[0045] Speed ​​compensation for a single winch:

[0046] Δn = k × ΔH

[0047] In the formula:

[0048] ΔH: Corner height difference (mm), representing the maximum actual height deviation of the container's four corners relative to the reference horizontal plane. It is an absolute value that directly reflects the degree of tilt of the container's attitude.

[0049] Real-time height of a single hanging point (mm)

[0050] Reference height (mm)

[0051] δ: Allowable height difference threshold (mm, can be 5mm)

[0052] Δn: Speed ​​compensation (r / min)

[0053] K: Proportional coefficient (dimensionless, adjusted according to operating conditions)

[0054] The specific measurement method employs a fusion measurement of a high-precision laser ranging array and an tilt sensor, with a set of dual-mode redundant ranging units arranged at each of the four corners for real-time data acquisition. Values ​​and synchronously calibrate to a unified coordinate system; reference height The result is obtained from the system self-calibration before the initial hoisting. The calibration process automatically compensates for the effects of installation tolerances and temperature drift, ensuring that the ΔH calculation error is ≤ ±0.3mm.

[0055] The proportionality coefficient k is not simply determined by the container weight, but rather uses a dynamic adaptive adjustment algorithm that combines real-time wind load and eccentricity rate at the lifting point. (in The basic proportional coefficient (α is the off-center load ratio of the lifting point, β is the wind load coefficient) can be adjusted in real time according to the working environment, effectively improving the accuracy of attitude correction; The basic proportional coefficient, ranging from 0.8 to 1.2, is optimized by the system through self-learning based on historical operation data and current operating conditions. This dynamic tuning mechanism reduces the attitude correction response time by 37% (compared to the conventional response time of 0.8s in existing technologies, this solution reduces it to within 0.5s), and reduces the overshoot to within ±1.2mm (compared to overshoots of ±3mm or more in existing technologies, improving accuracy by more than 60%). The self-learning optimization method involves fusing multi-source sensor data (tilt angle, wind speed, load, displacement) to construct a lightweight temporal neural network model, performing online incremental training on historical operation data, and updating it online. Parameter matrix; After each hoisting operation, the system automatically extracts key features such as tilt angle abrupt change characteristics, load change rate at the moment of tilt angle abrupt change, and wind speed jump amplitude, and constructs a feature-compensation quantity mapping relationship to enable... It converges to the optimal value under different working conditions, thereby significantly improving attitude robustness and repetitive positioning accuracy under complex working conditions.

[0056] The height difference threshold δ can be adjusted between 3-8mm, with 5mm used under normal operating conditions to ensure posture correction accuracy. Simultaneously, δ is dynamically adjusted with the lifting speed; the faster the lifting speed, the smaller the value of δ (δ=3mm when speed ≤ 5m / min, δ=5mm when speed > 5m / min), ensuring correction accuracy while avoiding frequent corrections that could affect work efficiency. Compared to existing technologies with a fixed δ=5mm design, this solution improves positioning accuracy by 40% at high-speed lifting (>5m / min) and work efficiency by 25% at low-speed lifting, achieving a dynamic balance between accuracy and efficiency. This is a creative optimization of existing fixed-parameter designs, effectively solving the pain point of existing technologies being unable to balance accuracy and efficiency.

[0057] This threshold dynamic adjustment mechanism forms a collaborative control closed loop with the aforementioned height difference dynamic compensation strategy. Its working principle is as follows: When the lifting speed is high, the equipment inertia is large. If the threshold is set too high, it can easily lead to excessive leveling deviation, affecting the correction accuracy. Reducing the value of δ allows for more timely detection of height difference changes, achieving precise leveling and ensuring correction accuracy. When the lifting speed is slow, the equipment inertia is small. Even if the value of δ is slightly larger, correction accuracy can still be guaranteed. At the same time, it can reduce the correction frequency, avoiding frequent corrections that slow down work efficiency, further confirming the optimization rationale of this solution.

[0058] In summary, in the dynamic adaptive algorithm of this scheme, the proportional coefficient k is no longer a fixed value or determined solely by weight. Instead, it introduces the off-center load rate α at the lifting point and the wind load coefficient β as real-time variables, thereby effectively adapting to the usage requirements of complex dynamic environments (such as gusts and uneven loading). Simultaneously, by constructing a lightweight temporal neural network model, it learns from historical operation data online and dynamically optimizes the base coefficient. It requires no manual intervention and offers significantly greater operational flexibility and adaptability than existing technologies. Furthermore, the dynamic threshold adjustment strategy allows the height difference threshold δ to change dynamically with the lifting speed, reflecting a consideration of dynamically balancing control precision and operational efficiency.

[0059] Position fine-tuning: The hydraulic rod drives the telescopic beam and pulley to move horizontally, achieving fine-tuning of the lifting point position; specifically, the horizontal fine-tuning control of hydraulic rod 330 drives telescopic beam 320 to move horizontally, and the displacement meets the following requirements. The pulley 321 drives the wire rope to change the horizontal position of the suspension point.

[0060] The horizontal displacement of the telescopic beam is consistent with the horizontal displacement of the lifting point:

[0061] S = ΔS + S0

[0062] In the formula:

[0063] S: Real-time position of the telescopic beam (mm)

[0064] ΔS: Horizontal fine-tuning displacement (mm)

[0065] S0: Initial position of the telescopic beam (mm)

[0066] The formula for calculating the horizontal fine-tuning displacement ΔS is as follows: , where k is the proportionality coefficient, with a value ranging from 0.8 to 1.2.

[0067] Lifting and fine-tuning linkage: Vertical lifting and horizontal fine-tuning are executed in linkage to satisfy the constraint V×t≤[S], so as to achieve precise positioning of containers in narrow spaces.

[0068] When vertical lifting and horizontal fine-tuning are coordinated, motion constraints are satisfied:

[0069] V × t ≤ [S]

[0070] In the formula:

[0071] V: Horizontal movement speed of the telescopic beam (mm / s)

[0072] t: Running time (s)

[0073] [S]: Maximum permissible horizontal displacement (mm)

[0074] The horizontal movement speed V of the telescopic beam ranges from 5-15 mm / s, and the maximum allowable horizontal displacement [S] is 50-150 mm, making it suitable for working in confined spaces of varying widths. When detected... At that time, the control system automatically reduces the horizontal movement speed V of the telescopic beam until the constraint conditions are met.

[0075] When ΔH exceeds δ to trigger speed compensation, the system immediately starts the position fine-tuning module, synchronously triggering the coordinated response of the hydraulic rod driving the telescopic beam.

[0076] The linkage control logic of attitude correction and horizontal fine-tuning is as follows: When the system detects that the height difference △H at the four corners of the container is ≥δ, the attitude correction module based on the independent speed regulation of the winch is first triggered. The condition for the completion of attitude correction is that the real-time height difference △H' remains stable within the horizontal fine-tuning trigger threshold δ_h (δ_h < δ, preferably δ_h = 0.3δ-0.5δ) for a time t1 (e.g., t1 = 0.3-0.5 seconds). Once this condition is met, the control system automatically generates a horizontal fine-tuning trigger command and starts the hydraulic rod to drive the telescopic beam for horizontal displacement compensation. Here, △H' is the height difference at the four corners of the container continuously monitored by the system after the attitude correction process is triggered. It is the "instantaneous height difference during the correction process". It serves as the basis for judging whether the attitude correction is completed and whether the next stage (horizontal fine-tuning) can be started. During the process of the system performing winch speed compensation (△n) for leveling, the system continuously monitors △H'. The introduction of △H' and the setting of a more stringent δ_h are intended to establish a stable buffer and a clear switching condition between the two actions of attitude correction and level fine-tuning.

[0077] The entire control process follows the timing principle of "attitude priority, fine-tuning subsequent" and the priority principle of "vertical error weighting higher than horizontal error". The specific steps are as follows:

[0078] Step 1, Detection and Judgment: Monitor ΔH in real time. If ΔH ≥ δ, immediately enter the attitude correction mode, and the horizontal fine-tuning command is temporarily suspended or prohibited.

[0079] Step 2, Attitude correction execution: Calculate and output the speed compensation amount according to the formula △n = k × △H, and control the corresponding winch action.

[0080] Step 3, Secondary Judgment and Switching: During the attitude correction process, ΔH' is continuously judged. When ΔH' ≤ δ_h and remains stable for t1 time, the system determines that the container has returned to the "quasi-level" state, then releases the blockade on the level fine-tuning module, and starts level fine-tuning according to the horizontal deviation ΔS between the current lifting point and the target position.

[0081] Step 4, Horizontal fine-tuning execution: The hydraulic rod drives the telescopic beam at a predetermined speed V, while the system continuously monitors △H'.

[0082] Step 5, Monitoring and Interruption: During the horizontal fine-tuning process, if external interference causes ΔH' to exceed δ again, the system immediately interrupts the current horizontal fine-tuning process, prioritizes returning to Step 2 to perform attitude correction, and resumes horizontal fine-tuning only after the conditions are met again. This mechanism ensures that the system always prioritizes ensuring the stability of the container's attitude.

[0083] A method for handling and loading / unloading containers includes the following steps:

[0084] Equipment inspection and preparation: Before operation, start the self-test program of the control system to check the operating status of the mechanical structure, hydraulic system, electrical control system and safety protection devices, and calibrate the relevant sensors to ensure accurate data acquisition;

[0085] After completing the above calibration and initialization, the system enters standby mode.

[0086] After confirming that the device is in good working order, initialize the hoisting parameters, including hoisting weight, target position, and allowable error; clear the work area to ensure that the site is flat and free of obstacles, and check that the hoisting path is unobstructed.

[0087] Container grabbing: Move the lifting device above the container to be lifted, and use the vision positioning system to adjust the position of the device so that the spreader is precisely aligned with the lifting hole of the container; operate the spreader to lower it and insert the claw into the lifting hole of the container. The control system collects the locking pressure data of the claw through the pressure sensor. When the pressure reaches the preset threshold, it is determined that the claw is fully locked.

[0088] If the threshold is not reached, an abnormal alarm will be issued and the operator will be prompted to check. After confirming that it is fully locked, the spreader will be slowly raised so that the container is a certain height away from the bearing surface. The level of the container will be detected by the level sensor. If the level exceeds the allowable range, the spreader posture will be automatically adjusted to ensure stability.

[0089] Lifting and Moving: According to the preset lifting path, the control system plans the moving route, and the operating device moves the container smoothly. During the movement, the horizontal displacement and vertical height changes of the telescopic beam are monitored in real time, and the constraints V × t ≤ [S] and ΔH ≤ δ are dynamically verified. If any condition is critically triggered, the speed suppression and speed compensation mechanism is activated simultaneously, and the attitude and motion parameters of the spreader are adjusted synchronously to ensure that the container maintains a stable attitude under dynamic disturbances. When the constraints return to normal, the control system automatically releases the speed suppression and speed compensation mechanism, restores the preset motion parameters, and continues to smoothly advance the lifting task.

[0090] The real-time attitude correction strategy is primarily applied to the lifting and moving process. When a container tilts during movement due to lifting imbalance, wind, or uneven ground, the system automatically triggers attitude correction to keep the container level and prevent cargo damage or safety accidents. Simultaneously, during container gripping and precise positioning, the real-time attitude correction strategy also assists in achieving smooth lifting and accurate placement of the container.

[0091] Based on error data, the control system employs a PID control algorithm to drive the horizontal fine-tuning mechanism for precise fine-tuning, ensuring accurate alignment of the container with the target load-bearing device or site, with error controlled within acceptable limits. During fine-tuning, position data is collected in real time for closed-loop control to ensure alignment accuracy. The PID control algorithm is a closed-loop control strategy with the coordinated action of proportional (P), integral (I), and derivative (D) terms. The proportional term responds quickly to position deviations, the integral term eliminates steady-state errors, and the derivative term suppresses overshoot and oscillations. Parameter tuning is dynamically optimized based on the actual load, moment of inertia, and sensor sampling frequency to ensure rapid, stable, and reliable response during fine-tuning.

[0092] Safety Inspection and Maintenance: After the operation is completed, the control system automatically generates an operation report, recording information such as the operation process, hoisting parameters, and device status; a comprehensive inspection of the hoisting and unloading device is carried out, and debris and dust on the device are cleaned; key components are lubricated and maintained; the device operation data is analyzed through the fault diagnosis system to detect potential faults; if an abnormality is found, a fault warning is issued in a timely manner and the operator is prompted to report the fault; at the same time, sensors, actuators, etc. are regularly calibrated and maintained to ensure stable device performance.

[0093] In practical operations, the real-time attitude correction strategy is mainly applied to the lifting and moving process. When a container tilts during movement due to lifting imbalance, wind, or uneven ground, the system automatically triggers attitude correction to keep the container level and prevent cargo damage or safety accidents. Simultaneously, during container gripping and precise alignment, the real-time attitude correction strategy can also assist in achieving smooth lifting and accurate placement of the container.

Claims

1. A container hoisting and loading / unloading device, comprising a main structural component, four winches, and an adjusting mechanism, characterized in that: The main structural components include a main beam one, a main beam two, and a main beam connector that are rigidly connected in an "H" shape. The four winches are symmetrically arranged on the upper part of the main beam one and the main beam two. The adjustment mechanism includes a mounting beam, a telescopic beam, and a hydraulic rod. The telescopic beam is nested inside the mounting beam and is driven to extend and retract by the hydraulic rod. The end of the telescopic beam is provided with a pulley. The device employs a real-time attitude correction strategy. When the height difference ΔH between the four corners of the container is detected to be ≥δ, the speed of the winch at the corresponding position is adjusted individually for correction. After the correction is completed, the adjustment mechanism is simultaneously activated for horizontal fine-tuning.

2. The container hoisting and unloading device according to claim 1, characterized in that: The main beam connector is fixed with a main lifting lug and an auxiliary lifting lug.

3. The container hoisting and loading / unloading device according to claim 2, characterized in that: The four winches can maintain the same rotation speed and the same rope length release to make the container rise and fall horizontally, and can also adjust their speed individually for attitude correction.

4. The container hoisting and unloading device according to claim 3, characterized in that: In the aforementioned real-time attitude correction strategy, the rotational speed compensation amount Δn = k × ΔH, where the proportional coefficient k adopts a dynamic adaptive adjustment algorithm: k = ×(1+0.1×α+0.05×β), The base proportionality coefficient ranges from 0.8 to 1.2, α is the eccentric load ratio at the suspension point, and β is the wind load coefficient.

5. The container hoisting and unloading device according to claim 4, characterized in that: The basic proportional coefficient A lightweight temporal neural network model constructed by fusing data from multiple sensor sources is optimized through online self-learning.

6. The container hoisting and loading / unloading device according to claim 5, characterized in that: The allowable height difference threshold δ can be adjusted between 3 and 8 mm, and is dynamically adjusted with the lifting speed. When the lifting speed is ≤5 m / min, δ=3 mm, and when the lifting speed is >5 m / min, δ=5 mm.

7. The container hoisting and loading / unloading device according to claim 6, characterized in that: The horizontal movement speed V of the telescopic beam is in the range of 5-15 mm / s, and the maximum allowable horizontal displacement [S] is 50-150 mm.

8. The container lifting and unloading device according to any one of claims 1-7, characterized in that: The pulley and telescopic beam are integrally forged and welded, and the surface is treated with a wear-resistant coating.

9. The container hoisting and loading / unloading device according to claim 8, characterized in that: The attitude real-time correction strategy and the horizontal fine-tuning are coordinated by a control logic. The horizontal fine-tuning is triggered only when the real-time height difference ΔH' decreases to less than the horizontal fine-tuning trigger threshold δ_h.

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