An intelligent stacking device for unmanned aerial equipment container yard

Abstract

The application discloses an intelligent stacking device for unmanned aerial equipment container yards and a control system thereof, a bearing seat is provided with a first connecting shaft seat and a second connecting shaft seat, the top and bottom of the first connecting shaft seat are movably sleeved with a first bearing arm and a second bearing arm respectively, and the top and bottom of the second connecting shaft seat are movably sleeved with a third bearing arm and a fourth bearing arm respectively, the application reduces the space occupied by a single container after stacking, improves the stacking efficiency of the device, the unmanned yard intelligent control system, a data processing module built in a crane console determines whether the bearing capacity of the stacking device reaches the upper limit by calculating the size of the torque value, and the crane console timely informs the situation of reaching the upper limit.

Description

Technical Field

[0001] This application relates to the field of container storage technology, and in particular to an intelligent stacking device for container yards of unmanned aerial equipment. Background Technology

[0002] Before some important goods are transported by air, they need to be stacked in advance so that they can be transferred to the inside of the transport aircraft in the shortest possible time. With the development of technology, container yards are also developing towards unmanned, intelligent and efficient operation. Using crane control consoles to lift containers and stacking devices, the whole process no longer requires human intervention, saving manpower and resources to the greatest extent.

[0003] Traditional stacking equipment consists of three main parts: a main frame, load-bearing crossbeams, and load-bearing longitudinal beams. The load-bearing crossbeams are installed inside the main frame, and the load-bearing longitudinal beams are installed on top of the main frame. The number of load-bearing longitudinal beams is adjusted according to the weight of the goods, and the container is placed on top of the load-bearing crossbeams. This type of stacking equipment has the advantages of simple structure, convenient use, and low cost.

[0004] While the aforementioned stacking devices have certain advantages, they still have limitations in use. These devices are difficult to assemble and require manual intervention to some extent. Furthermore, the spacing between two adjacent containers after stacking is fixed. If small-volume containers are used for transportation, a significant amount of space is wasted, affecting stacking and transportation efficiency. They also fail to provide adequate shock resistance, easily causing damage to the goods inside the containers. In response, this application proposes an intelligent stacking device for container yards of unmanned aerial vehicles, aiming to solve the aforementioned problems. Summary of the Invention

[0005] This application proposes an intelligent stacking device for container yards of unmanned aerial equipment, which has the advantages of excellent seismic resistance and automatic adjustment of the spacing between the load-bearing devices according to the size of the container, in order to solve the problems of poor seismic resistance and wasted stacking and transportation space of traditional devices.

[0006] To achieve the above objectives, this application adopts the following technical solution: an intelligent stacking device for container yards of unmanned aerial equipment, comprising a support base, a first coupling base and a second coupling base fixedly installed on the outer surface of the support base, a first support arm and a second support arm movably sleeved on the top and bottom of the first coupling base respectively, a third support arm and a fourth support arm movably sleeved on the top and bottom of the second coupling base respectively, a left rotating slide seat movably sleeved on one end of the first support arm, a left sliding device movably sleeved on the bottom of the second support arm, a right rotating slide seat movably sleeved on the top of the third support arm, and a right sliding device movably sleeved on the bottom of the fourth support arm, with a closed outer shell fixedly installed on the left side of the first coupling base and the right side of the second coupling base, and a return spring provided inside the closed outer shell. When the device is subjected to a downward pressing force, the second and fourth support arms unfold to both sides, and the first and third support arms unfold to both sides simultaneously.

[0007] Furthermore, the included angle between the first and second coupling seats is 90 degrees. Gears are provided at the positions where the first and second bearing arms are sleeved with the first coupling seat and mesh with each other. Gears are also provided at the positions where the third and fourth bearing arms are sleeved with the second coupling seat and mesh with each other. When the second, first, third, and fourth bearing arms rotate, the return spring deforms and stores elastic force.

[0008] Furthermore, a left sleeve is fixedly installed at one end of the left rotating slide, and an auxiliary device is movably fitted inside the left sleeve. An extension rod is fixedly installed at one end of the right rotating slide, and a right sleeve is fixedly installed at one end of the extension rod.

[0009] Furthermore, the left sliding device includes a left slider, which is movably sleeved with the second support arm. A left travel hole is provided at one end of the left slider near the bottom, and the left travel hole slides in cooperation with the support device. A left limiting piece is provided at the bottom of the left slider.

[0010] Specifically, the right sliding device includes a right slider, a right travel hole, and a right limiting piece. The structure of the right slider, the right travel hole, and the right limiting piece is the same as that of the left slider, the left travel hole, and the left limiting piece. An extension tube is provided at one end of the right slider, and the axis of the extension tube and the axis of the right travel hole are located on the same center line.

[0011] Furthermore, the supporting device includes an outer frame, on the inner wall of which a supporting beam is fixedly installed. A container is placed on top of the supporting beam. The supporting beams are distributed in a linear array. Mounting grooves are formed around the top of the outer frame. A partition plate is fixedly installed near the center inside the mounting groove. A first sliding rod and a second sliding rod are fixedly installed on both sides of the partition plate inside the mounting groove. The outer surfaces of the first and second sliding rods are formed with spiral grooves, and the spiral directions of the two spiral grooves are opposite. Sliding grooves are formed around the bottom of the outer frame.

[0012] Specifically, the left-hand rotating slide and the extension rod are both movably installed inside the slide groove by means of sliding fit, and the left stroke hole and the right stroke hole are respectively slidably fitted with the first slide rod and the second slide rod.

[0013] Furthermore, the auxiliary device includes an upper rotating shaft and a lower rotating shaft. Contact plates are fixedly installed at both ends of the upper and lower rotating shafts. An upper rotating arm is movably sleeved on the outer surface of the upper rotating shaft. There are two upper rotating arms, which are movably sleeved with the left and right sleeves located on both sides through shaft holes. A lower rotating arm is movably sleeved on the outer surface of the lower rotating shaft. There are two lower rotating arms, and the bottom of each of the two lower rotating arms is movably sleeved with a stroke bushing.

[0014] Specifically, both lower rotating arms are slidably engaged with the first and second slide rods via bottom travel bushings.

[0015] Furthermore, rotating devices are movably mounted on the outer surfaces of the first and second slide rods at positions between the stroke bushing and the left slider, and at positions between the stroke bushing and the extension tube.

[0016] Furthermore, the rotating device includes a rotating sleeve, the interior of which is provided with a helical protrusion, which cooperates with the helical groove provided on the outer surface of the first slide rod and the second slide rod. A torque sensor is provided on the outer surface of the rotating sleeve, and a transmission spring is provided on one side of the torque sensor. One end of the transmission spring is fixedly connected to the stroke bushing.

[0017] Furthermore, one side of the left sliding device and the extension tube are in contact with the rotating sleeve. When the left sliding device and the extension tube move toward the partition plate, the rotating sleeve rotates under the guidance of the spiral groove, drives the stroke sleeve to rotate under the action of the transmission spring, and drives the first slide rod and the second slide rod to move toward the container.

[0018] Furthermore, the torque sensor can monitor the torque output by the transmission spring at all times. The torque sensor sends the monitoring data to the crane control panel via a data connection, and the operator can observe the torque data of the transmission spring in real time.

[0019] An unmanned stacking yard intelligent control system includes a data acquisition module, a data transmission module, a data processing module, and a crane control console. The data acquisition module acquires the torque value sensed by the torque sensor. The data transmission module transmits the sensed torque value to the crane control console. The data processing module, built into the crane control console, calculates the magnitude of the torque value to determine whether the load capacity of the stacking device has reached the upper limit. If the upper limit is reached, the crane control console will promptly notify the user.

[0020] This application has the following beneficial effects.

[0021] 1. The device adopts a modular design, which can be quickly assembled by hoisting in an unmanned environment and can stack containers.

[0022] 2. The device has excellent shock resistance. During transportation, the first and second bearing arms are used to bear lateral forces, the third and fourth bearing arms are used to bear longitudinal forces, and the friction between the contact plate and the container contact surface can be used to bear vertical forces, thus protecting the goods inside the container to the greatest extent.

[0023] 3. This device can reserve a certain space between the container and the load-bearing device above it to avoid direct collision between the load-bearing device and the container during the stacking process and thus prevent damage to the goods. At the same time, the device can also automatically adjust the reserved space between the container and the load-bearing device according to the size of the container, so as to achieve the effect of stacking more containers in a fixed space.

[0024] 4. During transportation, the displacement generated by the container under inertia exerts a force on the contact plate, causing it to shift. This allows the upper and lower rotating arms to rotate and lift one side of the load-bearing device, causing the load-bearing device to tilt. This prevents the container from sliding further and further protects the container. Attached Figure Description

[0025] The accompanying drawings, which form part of this specification, illustrate embodiments disclosed in this application and, together with the specification, serve to explain the principles disclosed in this application.

[0026] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0027] Figure 1 This is a schematic diagram of the structure of the present invention after stacking;

[0028] Figure 2 This is a schematic diagram of the stacking unit of the present invention;

[0029] Figure 3 This is a schematic diagram of the structural support unit of the present invention;

[0030] Figure 4 This is an exploded view of the structural support unit of the present invention;

[0031] Figure 5 This is a diagram of the rotating device structure of the present invention;

[0032] Figure 6 This is a cross-sectional view of the rotating device of the present invention;

[0033] Figure 7 This is a diagram of the auxiliary device for the structure of the present invention;

[0034] Figure 8 This is a schematic diagram of the top surface of the structural support device of the present invention;

[0035] Figure 9 This is a schematic diagram of the bottom surface of the structural support device of the present invention;

[0036] Figure 10 This is a detailed view of the installation of the rotating device of the present invention;

[0037] Figure 11 This is a flowchart of the operation of the intelligent control system for unmanned storage yards.

[0038] In the diagram: 10. Bearing seat; 11. First coupling seat; 12. Second coupling seat; 13. First bearing arm; 14. Second bearing arm; 15. Third bearing arm; 16. Fourth bearing arm; 17. Left rotating slide; 18. Left sliding device; 181. Left slider; 182. Left travel hole; 183. Left limit plate; 19. Right rotating slide; 20. Right sliding device; 201. Right slider; 202. Right travel hole; 203. Right limit plate; 204. Extension tube; 21. Enclosed housing; 22. Return spring; 23. Left sleeve; 24. Extension rod; 25. Right sleeve; 26. Rotating device; 261. Rotating sleeve; 262. Torque sensor; 263. Transmission spring; 100. Auxiliary device; 101a. Upper rotating shaft; 101b. Lower rotating shaft; 102. Contact plate; 103. Upper rotating arm; 104. Lower rotating arm; 105. Stroke bushing; 300. Bearing device; 301. Outer frame; 302. Bearing beam; 303. Mounting groove; 304. Divider plate; 305a. First slide rod; 305b. Second slide rod; 306. Slide groove. Detailed Implementation

[0039] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0040] Please refer to the following: A smart stacking device for container yards of unmanned aerial equipment. Figures 1-4 The device includes a support base 10, on the outer surface of which a first coupling base 11 and a second coupling base 12 are fixedly mounted. The top and bottom of the first coupling base 11 are respectively movably fitted with a first support arm 13 and a second support arm 14. The top and bottom of the second coupling base 12 are respectively movably fitted with a third support arm 15 and a fourth support arm 16. One end of the first support arm 13 is movably fitted with a left rotating slide 17. The bottom of the second support arm 14 is movably fitted with a left sliding device 18. The top of the third support arm 15 is movably fitted with a right rotating slide 19. The bottom of the fourth support arm 16 is movably fitted with a right sliding device 20. A closed shell 21 is fixedly mounted on the left side of the first coupling base 11 and the right side of the second coupling base 12. A return spring 22 is provided inside the closed shell 21. When the device is subjected to a downward pressing force, the second support arm 14 and the fourth support arm 16 unfold to both sides, and at the same time, the first support arm 13 and the third support arm 15 unfold to both sides.

[0041] Please see Figures 3-4 The included angle between the first coupling seat 11 and the second coupling seat 12 is 90 degrees. Gears are provided at the positions where the first bearing arm 13 and the second bearing arm 14 are fitted with the first coupling seat 11 and mesh with each other. Gears are also provided at the positions where the third bearing arm 15 and the fourth bearing arm 16 are fitted with the second coupling seat 12 and mesh with each other. When the second bearing arm 14, the first bearing arm 13, the third bearing arm 15 and the fourth bearing arm 16 rotate, the return spring 22 deforms and stores elastic force.

[0042] Please see Figures 3-4 A left sleeve 23 is fixedly installed at one end of the left rotating slide 17, and an auxiliary device 100 is movably fitted inside the left sleeve 23. An extension rod 24 is fixedly installed at one end of the right rotating slide 19, and a right sleeve 25 is fixedly installed at one end of the extension rod 24.

[0043] When using this device to stack containers, such as Figure 1The containers are stacked in a manner that, under the weight of the containers, the left rotating slide 17 and the right rotating slide 19 are subjected to downward pressure, which in turn causes the first bearing arm 13 and the third bearing arm 15 to unfold to both sides. Since gears are provided at the positions where the first bearing arm 13 and the second bearing arm 14 are fitted with the first coupling seat 11 and mesh with each other, and gears are provided at the positions where the third bearing arm 15 and the fourth bearing arm 16 are fitted with the second coupling seat 12 and mesh with each other, the second bearing arm 14 and the fourth bearing arm 16 unfold simultaneously with the first bearing arm 13 and the third bearing arm 15. The vertical distance between the right rotating slide 19 and the right sliding device 20 is reduced, which reduces the distance between the bearing devices 300, thereby shortening the distance between the containers and the upper bearing devices 300, reducing the space occupied by a single container after stacking, and improving the stacking efficiency of the device.

[0044] Please see Figure 4 The left sliding device 18 includes a left slider 181, which is movably sleeved with the second bearing arm 14. A left stroke hole 182 is provided at one end of the left slider 181 near the bottom. The left stroke hole 182 is slidably engaged with the bearing device 300. A left limit piece 183 is provided at the bottom of the left slider 181.

[0045] Please see Figure 4 The right sliding device 20 includes a right slider 201, a right travel hole 202, and a right limiting piece 203. The structure of the right slider 201, the right travel hole 202, and the right limiting piece 203 is the same as that of the left slider 181, the left travel hole 182, and the left limiting piece 183. One end of the right slider 201 is provided with an extension tube 204. The axis of the extension tube 204 and the axis of the right travel hole 202 are located on the same center line.

[0046] Please see Figures 8-9 The supporting device 300 includes an outer frame 301. A supporting crossbeam 302 is fixedly installed on the inner wall of the outer frame 301. A container is placed on top of the supporting crossbeam 302. The supporting crossbeams 302 are distributed in a linear array. Mounting grooves 303 are provided around the top of the outer frame 301. A partition plate 304 is fixedly installed near the center inside the mounting groove 303. A first sliding rod 305a and a second sliding rod 305b are fixedly installed on both sides of the partition plate 304 inside the mounting groove 303. The outer surfaces of the first sliding rod 305a and the second sliding rod 305b are provided with spiral grooves, and the spiral directions of the two spiral grooves are opposite. Sliding grooves 306 are provided around the bottom of the outer frame 301.

[0047] Please see Figures 3-4 and Figures 8-9The left-hand rotating slide block 17 and the extension rod 24 are both movably installed inside the slide groove 306 by means of sliding fit. The left stroke hole 182 and the right stroke hole 202 are respectively slidably fitted with the first slide rod 305a and the second slide rod 305b.

[0048] The device adopts a modular design. Since the left-hand rotating slide 17 and the extension rod 24 are both movably installed inside the slide groove 306, the left-hand rotating slide 17 and the extension rod 24 can be separated from the slide groove 306 by lifting the bearing device 300 upwards. At the same time, the left-hand rotating slide 17 and the extension rod 24 can also be directly assembled with the slide groove 306 by hoisting. This means that no operator intervention is required during the assembly and disassembly process, avoiding personal injury accidents and improving the practicality of the device.

[0049] Please see Figure 4 and Figure 7 The auxiliary device 100 includes an upper rotating shaft 101a and a lower rotating shaft 101b. Contact plates 102 are fixedly installed at both ends of the upper rotating shaft 101a and the lower rotating shaft 101b. An upper rotating arm 103 is movably sleeved on the outer surface of the upper rotating shaft 101a. There are two upper rotating arms 103, which are movably sleeved with the left sleeve 23 and the right sleeve 25 located on both sides through shaft holes. A lower rotating arm 104 is movably sleeved on the outer surface of the lower rotating shaft 101b. There are two lower rotating arms 104, and the bottom of each of the two lower rotating arms 104 is movably sleeved with a stroke bushing 105.

[0050] Please see Figures 7-8 Both lower rotating arms 104 are slidably engaged with the first slide rod 305a and the second slide rod 305b through the bottom travel bushing 105.

[0051] Please see Figure 2 , Figure 8 and Figure 10 Rotating devices 26 are movably installed on the outer surfaces of the first slide rod 305a and the second slide rod 305b at the positions between the stroke bushing 105 and the left slider 181, and at the positions between the stroke bushing 105 and the extension tube 204.

[0052] When the contact plate 102 is in contact with the outer surface of the container, the travel sleeve 105 stops sliding, causing the rotating device 26, the left sliding device 18, and the right sliding device 20 to stop sliding as well. At the same time, the second and fourth support arms 14, the first and third support arms 13, and the third support arms 15 stop unfolding and provide support. In addition, since the travel sleeve 105 is in the stopped state, the upper rotating arm 103 and the lower rotating arm 104 are also in the stopped and stationary state. This causes the support device 300 above the container to stop moving downward and leaves a certain space between it and the top of the container, preventing the support device 300 from directly colliding with the top of the container and damaging the contents inside. Furthermore, depending on the size of the container, the path length of the contact plate 102 from the start of movement to the stopped state will also change, thus affecting the distance between the support device 300 and the container below. This allows the device to automatically adjust the distance between adjacent support devices 300 according to the size of the container, achieving the effect of stacking more containers in a limited space and improving the practicality of the device.

[0053] Since the contact plates 102 on all four sides are in contact with the outer surface of the container, the container can be effectively prevented from slipping. If the container slips forward due to inertia or vibration, the container will push the contact plates 102 in front to move forward, causing the lower rotating arm 104 and the upper rotating arm 103 in the auxiliary device 100 on the front to rotate, thereby lifting the front end of the bearing device 300, so that the bearing device 300 is in a state of front high and back low, thereby preventing the container from slipping, further protecting the container and improving the reliability of the device.

[0054] Please see Figures 7-8 The rotating device 26 includes a rotating sleeve 261. The interior of the rotating sleeve 261 is provided with a spiral protrusion, which cooperates with the spiral groove provided on the outer surface of the first slide rod 305a and the second slide rod 305b. A torque sensor 262 is provided on the outer surface of the rotating sleeve 261. A transmission spring 263 is provided on one side of the torque sensor 262. One end of the transmission spring 263 is fixedly connected to the stroke bushing 105.

[0055] When the third support arm 15 and the second support arm 14 are extended, the left slider 181 and the extension tube 204 slide along the first slide rod 305a and the second slide rod 305b, simultaneously pushing the rotating device 26 to move along the first slide rod 305a and the second slide rod 305b. Because the rotating sleeve 261 has a spiral protrusion inside, and this spiral protrusion cooperates with the spiral grooves on the outer surfaces of the first slide rod 305a and the second slide rod 305b, the rotating device 26 rotates around its own axis during movement. At this time, one end of the transmission spring 263 is fixedly connected to the stroke sleeve 105. The movement and rotation of the 6th component simultaneously drive the travel bushing 105 to rotate, thereby causing the lower rotating arm 104 and the upper rotating arm 103 to rotate synchronously. This causes the contact plate 102 to move closer to the container and press against the outer surface of the container. When the container experiences vertical shaking during transportation, the contact plate 102 in the auxiliary devices 100 located around the container, being in close contact with the outer surface of the container, uses friction to prevent the container from moving vertically. This ensures that the container does not experience significant vibration during transportation, thus protecting the items inside the container and improving the practicality of the device.

[0056] Please see Figures 4-6 and Figure 8 The left sliding device 18 and one side of the extension tube 204 are in contact with the rotating sleeve 261. When the left sliding device 18 and the extension tube 204 move toward the partition plate 304, the rotating sleeve 261 rotates under the guidance of the spiral groove, drives the stroke bushing 105 to rotate under the action of the transmission spring 263, and drives the first slide rod 305a and the second slide rod 305b to move toward the container.

[0057] Please see Figures 7-8 The torque sensor can monitor the torque output by the transmission spring at all times. The torque sensor sends the monitoring data to the crane control panel through a data connection, and the operator can observe the torque data of the transmission spring in real time.

[0058] As the stacking height increases, the downward pressure on the second and fourth support arms 14 and 16 at the bottom continuously increases. During the lateral movement of the rotating sleeve 261, the transmission spring 263 drives the travel sleeve 105 to rotate until the contact plate 102 contacts the container. At this point, the transmission spring 263 can no longer drive the travel sleeve 105 to continue rotating. The rotating sleeve 261 continues to rotate under the downward pressure of the second and fourth support arms 14 and 16, and this rotation is stored in the transmission spring 263 as elastic potential energy. Its torque is sensed by the torque sensor 262. At this time, the operator in charge of hoisting can observe the torque data detected by the torque sensor 262 in real time on the central control panel. Once the value approaches the upper limit, it means that the load-bearing capacity of the stacking device at the bottom has reached the upper limit. At this time, stacking can be stopped, which has the effect of intelligent alarm, thereby avoiding accidents and improving the safety performance of the device.

[0059] Please refer to an intelligent control system for unmanned storage yards. Figure 11 It includes a data acquisition module, a data transmission module, a data processing module, and a crane control console. The data acquisition module acquires the torque value sensed by the torque sensor. The data transmission module transmits the sensed torque value to the crane control console. The data processing module built into the crane control console calculates the magnitude of the torque value to determine whether the load capacity of the stacking device has reached the upper limit. If the upper limit is reached, it will promptly notify the crane control console.

[0060] The method of using this invention is as follows:

[0061] During use, the first carrier device 300 is moved to the stacking position by hoisting, and then the container is hoisted above the carrier device 300 and placed on top of the carrier beam 302. Then, the second carrier device 300 is hoisted above the first carrier device 300, and the left-hand rotating slide 17 and extension rod 24 located below are engaged with the slide groove 306 in the upper carrier device 300. Finally, the second container is hoisted above the second carrier device 300, and this cycle is repeated to achieve stacking.

[0062] Under the weight of the container, the left rotating slide 17 and the right rotating slide 19 are subjected to a downward pressure, which drives the first bearing arm 13 and the third bearing arm 15 to unfold to both sides. Since gears are provided at the positions where the first bearing arm 13 and the second bearing arm 14 are fitted with the first coupling seat 11 and mesh with each other, and gears are provided at the positions where the third bearing arm 15 and the fourth bearing arm 16 are fitted with the second coupling seat 12 and mesh with each other, the first bearing arm 13 and the third bearing arm 15 unfold simultaneously with the second bearing arm 14 and the fourth bearing arm 16. The vertical distance between the right rotating slide 19 and the right sliding device 20 decreases, thereby reducing the distance between the bearing devices 300 and shortening the distance between the container and the upper bearing. The spacing between the carrier devices 300 reduces the space occupied by a single container after stacking. When the third carrier arm 15 and the second carrier arm 14 are deployed, the left slider 181 and the extension tube 204 slide along the first slide rod 305a and the second slide rod 305b, simultaneously pushing the rotating device 26 to move along the first slide rod 305a and the second slide rod 305b. Since the rotating sleeve 261 has a spiral protrusion inside, and the spiral protrusion cooperates with the spiral groove on the outer surface of the first slide rod 305a and the second slide rod 305b, the rotating device 26 will rotate around its own axis as the center of rotation during the movement. At this time, one end of the transmission spring 263 is fixedly connected to the travel bushing 105. As the rotating device 26 moves and rotates, it will drive the travel bushing 105 to rotate. The travel sleeve 105 rotates, thereby driving the lower rotating arm 104 and the upper rotating arm 103 to rotate synchronously, causing the contact plate 102 to move closer to the container and fit tightly against the outer surface of the container. When the container experiences vertical shaking during transportation, the contact plate 102 in the auxiliary devices 100 located around it, being in close contact with the outer surface of the container, uses friction to prevent the container from moving vertically, thus preventing significant vibrations during transportation. When the contact plate 102 is in contact with the outer surface of the container, the travel sleeve 105 stops sliding, causing the rotating device 26, the left sliding device 18, and the right sliding device 20 to all stop sliding. At the same time, the second bearing arm 14 and... The fourth support arm 16, as well as the first and third support arms 13 and 15, cease deployment and provide support. Furthermore, because the travel sleeve 105 is in a stopped state, the upper rotating arm 103 and lower rotating arm 104 are also stationary at their stopped positions. This prevents the support device 300 above the container from moving downwards, leaving a certain space between it and the top of the container to avoid direct impact and damage to the contents. Additionally, depending on the size of the container, the path length of the contact plate 102 from its initial movement to its stopped state changes, affecting the distance between the support device 300 and the container below. This allows the device to automatically adjust the distance between adjacent support devices 300 according to the container size.Because the contact plates 102 on all four sides are in contact with the outer surface of the container, slippage of the container can be effectively prevented. If the container slips forward due to inertia or vibration, it will push the contact plates 102 in front forward, causing the lower rotating arm 104 and upper rotating arm 103 in the front auxiliary device 100 to rotate, thereby lifting the front end of the bearing device 300, making the bearing device 300 higher in the front and lower in the back, thus preventing the container from slipping.

Claims

1. An intelligent stacking device for container yards of unmanned aerial equipment, characterized in that, The system includes a support base (10), on the outer surface of which a first coupling base (11) and a second coupling base (12) are fixedly installed. The top and bottom of the first coupling base (11) are respectively movably fitted with a first support arm (13) and a second support arm (14). The top and bottom of the second coupling base (12) are respectively movably fitted with a third support arm (15) and a fourth support arm (16). One end of the first support arm (13) is movably fitted with a left rotating slide (17). The bottom of the second support arm (14) is movably fitted with a left sliding device (18). The top of the third support arm (15) is movably fitted with a right rotating slide (19). The bottom of the fourth support arm (16) is movably fitted with a right sliding device (20). A closed shell (21) is fixedly installed on the left side of the first coupling base (11) and the right side of the second coupling base (12). A return spring (22) is provided inside the closed shell (21).

2. The intelligent stacking device for unmanned aerial vehicle container yards according to claim 1, characterized in that, The included angle between the first coupling seat (11) and the second coupling seat (12) is 90 degrees. Gears are provided at the positions where the first bearing arm (13) and the second bearing arm (14) are fitted with the first coupling seat (11) and mesh with each other. Gears are provided at the positions where the third bearing arm (15) and the fourth bearing arm (16) are fitted with the second coupling seat (12) and mesh with each other.

3. The intelligent stacking device for container yards of unmanned aerial equipment according to claim 1, characterized in that, A left sleeve (23) is fixedly installed at one end of the left rotating slide (17), and an auxiliary device (100) is movably fitted inside the left sleeve (23). An extension rod (24) is fixedly installed at one end of the right rotating slide (19), and a right sleeve (25) is fixedly installed at one end of the extension rod (24).

4. The intelligent stacking device for unmanned aerial vehicle container yards according to claim 3, characterized in that, The left sliding device (18) includes a left slider (181), which is movably sleeved with the second support arm (14). A left stroke hole (182) is provided at one end of the left slider (181) near the bottom. The left stroke hole (182) is slidably engaged with the support device (300). A left limiting piece (183) is provided at the bottom of the left slider (181). The right sliding device (20) includes a right slider (201), a right travel hole (202) and a right limiting piece (203). The structure of the right slider (201), the right travel hole (202) and the right limiting piece (203) is the same as that of the left slider (181), the left travel hole (182) and the left limiting piece (183). One end of the right slider (201) is provided with an extension tube (204). The axis of the extension tube (204) and the axis of the right travel hole (202) are located on the same center line.

5. The intelligent stacking device for container yards of unmanned aerial equipment according to claim 4, characterized in that, The supporting device (300) includes an outer frame (301), and a supporting crossbeam (302) is fixedly installed on the inner wall of the outer frame (301). A container is placed on top of the supporting crossbeam (302). The supporting crossbeam (302) is distributed in a linear array. The top four sides of the outer frame (301) are provided with mounting grooves (303). A partition plate (304) is fixedly installed in the mounting groove (303) near the middle. A first sliding rod (305a) and a second sliding rod (305b) are fixedly installed in the mounting groove (303) on both sides of the partition plate (304). The outer surfaces of the first sliding rod (305a) and the second sliding rod (305b) are provided with spiral grooves, and the spiral directions of the two spiral grooves are opposite. The bottom four sides of the outer frame (301) are provided with sliding grooves (306). The left-hand rotating slide block (17) and the extension rod (24) are both movably installed inside the slide groove (306) by means of sliding fit. The left stroke hole (182) and the right stroke hole (202) are respectively slidably fitted with the first slide rod (305a) and the second slide rod (305b).

6. The intelligent stacking device for container yards of unmanned aerial equipment according to claim 3, characterized in that, The auxiliary device (100) includes an upper rotating shaft (101a) and a lower rotating shaft (101b). Contact plates (102) are fixedly installed at both ends of the upper rotating shaft (101a) and the lower rotating shaft (101b). An upper rotating arm (103) is movably sleeved on the outer surface of the upper rotating shaft (101a). There are two upper rotating arms (103), which are movably sleeved with the left sleeve (23) and the right sleeve (25) located on both sides through shaft holes. A lower rotating arm (104) is movably sleeved on the outer surface of the lower rotating shaft (101b). There are two lower rotating arms (104), and the bottom of each of the two lower rotating arms (104) is movably sleeved with a stroke bushing (105). Both lower rotating arms (104) are slidably engaged with the first slide rod (305a) and the second slide rod (305b) through the bottom travel bushing (105).

7. The intelligent stacking device for container yards of unmanned aerial equipment according to claim 6, characterized in that, Rotating devices (26) are movably mounted on the outer surfaces of the first slide rod (305a) and the second slide rod (305b) at the positions between the stroke bushing (105) and the left slider (181) and between the stroke bushing (105) and the extension tube (204).

8. The intelligent stacking device for unmanned aerial vehicle container yards according to claim 6, characterized in that, The rotating device (26) includes a rotating sleeve (261). The rotating sleeve (261) has a spiral protrusion inside, and the spiral protrusion cooperates with the spiral groove on the outer surface of the first slide rod (305a) and the second slide rod (305b). A torque sensor (262) is provided on the outer surface of the rotating sleeve (261). A transmission spring (263) is provided on one side of the torque sensor (262). One end of the transmission spring (263) is fixedly connected to the stroke bushing (105). The torque sensor (262) can monitor the torque output by the transmission spring (263) at all times.

9. A smart stacking device for container yards of unmanned aerial equipment according to claim 8, characterized in that, One side of the left sliding device (18) and the extension tube (204) are in contact with the rotating sleeve (261). When the left sliding device (18) and the extension tube (204) move toward the partition plate (304), the rotating sleeve (261) rotates under the guidance of the spiral groove, drives the stroke bushing (105) to rotate under the action of the transmission spring (263), and drives the first slide rod (305a) and the second slide rod (305b) to move toward the container.

10. An intelligent control system for an unmanned container yard, applicable to the intelligent stacking device for unmanned aerial equipment container yards as described in claims 1-9, characterized in that, It includes a data acquisition module, a data transmission module, a data processing module, and a crane control console. The data acquisition module acquires the torque value sensed by the torque sensor (262). The data transmission module transmits the sensed torque value to the crane control console. The data processing module built into the crane control console calculates the magnitude of the torque value to determine whether the load capacity of the stacking device has reached the upper limit. If the upper limit is reached, the crane control console will promptly notify the user.

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