Manipulator device for opening or closing container door

Abstract

A mechanical arm device used for opening or closing a container door comprises a rotating disc installed at the end of a mechanical arm, a shell is installed below the rotating disc, and a locking plate rotating mechanism and a handle clamping mechanism are installed on the shell. The locking plate rotating mechanism can push the locking plate to rotate, so that the handle is locked and unlocked by the locking plate; the handle clamping mechanism comprises two clamping blocks capable of clamping the outer end of a handle, hinge arms are installed at the rear ends of the clamping blocks, the two hinge arms are symmetrically installed on a hinge frame, a power mechanism is installed on the rear side of the hinge frame, the power mechanism can drive the two hinge arms to rotate synchronously, and clamping and loosening of the two clamping blocks are achieved. By means of video acquisition, when the container door is opened, the lock plate rotating mechanism unlocks the lock plate, then the handle clamping mechanism rotates to unlock the lock plate, the whole container door is opened by pulling the handle, reverse operation is executed when the container door is closed, the container door of the container is automatically opened or closed, and the container door opening and closing device has the advantages of being simple in structure, convenient to operate, high in practicability and the like. And the automation degree is high.

Description

Technical Field

[0001] The utility model relates to the design of a manipulator, in particular to a manipulator device used for opening or closing a container door. Background Art

[0002] like Figure 1 As shown, the rear of the container is equipped with two doors. Each door has two locking rods, with lock slots located at corresponding upper and lower positions on the door frame. The locking rods are equipped with a handle that can drive the locking rods to rotate. When the handle is rotated to fit the door, the locking rods extend out of the lock slots and lock the door. When the handle is rotated to be perpendicular to the door, the locking rods leave the lock slots and the door can be opened.

[0003] like Figure 2 As shown, the handle is recessed in the middle relative to the container door. A locking plate is provided on the door. When the locking plate is rotated to the front of the recess, the handle is locked. The locking hole in the locking plate aligns with the locking hole in the handle, and the two are locked together by the lead seal. To unlock the container, after breaking the lead seal, the locking plate is rotated 270 degrees to release the handle, allowing the handle to rotate and open the container door. Opening a container door requires many steps, so there is currently no device on the market that can open or close a container door.

[0004] Patent No. 202011580181.1, published by the Chinese Patent Office on May 4, 2021, describes an automatic container opening and closing lock device. The device includes an opening and closing lock mechanism and a locking mechanism. The opening and closing lock mechanism comprises a mounting frame, an arcuate track, a crank arm, a drive mechanism, and a rotating frame. The arcuate track is fixed to the mounting frame. The crank arm is hinged at one end to the mounting frame and slides onto the arcuate track at the other end. The drive mechanism is hinged at one end to the mounting frame and pivotally connected to the middle of the crank arm at the other end. The drive mechanism retracts and retracts to drive the crank arm and the rotating frame to move in an arc. The locking mechanism is attached to the rotating frame and can lock or release the locking rod on the container door. This device is very complex and can only be used to open and close the container door; it cannot open the container door. Summary of the Invention

[0005] The purpose of the present invention is to provide a manipulator device for opening or closing a container door in order to address the defects and shortcomings of the prior art.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is: the manipulator device for opening or closing the container door includes a turntable installed at the end of the manipulator arm, a shell is installed below the turntable, and a lock plate rotating mechanism and a handle clamping mechanism are installed on the shell; the lock plate rotating mechanism can push the lock plate to rotate, so as to realize the locking and unlocking of the handle by the lock plate; the handle clamping mechanism includes two clamping blocks that can clamp the outer end of the handle, and the rear ends of the clamping blocks are each installed with an articulated arm, and the two articulated arms are symmetrically installed on the articulated frame, and a power mechanism is installed on the rear side of the articulated frame, and a slider is installed at the output end of the power mechanism, and a slide groove is opened on the rear side of the articulated arm. The guide columns on both sides of the slider are movably embedded in the slide groove. When the slider moves, it can drive the two articulated arms to rotate synchronously, so as to realize the clamping and release of the two clamping blocks.

[0007] The power mechanism is a motor, an oil cylinder or an air cylinder.

[0008] The power mechanism and the articulated frame are connected via two outer plates, and a space is left between the power mechanism and the articulated frame for the slider to move forward and backward.

[0009] The sliding groove is arranged obliquely on the hinged arm.

[0010] A bent clamping portion is provided between the recess and the outer end of the handle, and the clamping block is provided with a bent clamping groove, which can be fitted into the bent clamping portion of the handle. After clamping, the handle is pulled and the handle will not move relative to the clamping groove.

[0011] The locking plate rotation mechanism includes an electric telescopic rod installed below the handle clamping mechanism. The front end of the electric telescopic rod can extend forward and abut against the side of the locking plate. The mechanical arm moves to push the locking plate to rotate.

[0012] A video acquisition device is provided on the shell.

[0013] The utility model can collect video data. When opening the door, the lock plate rotating mechanism first rotates the lock plate 270 degrees to release the lock of the handle. Then the handle clamping mechanism rotates to unlock it, and the entire door is opened by pulling the handle. When closing, the reverse operation can be performed to realize automatic opening or closing of the container door. The utility model has the advantages of simple structure, easy operation and high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the structure of the container's rear door.

[0015] Figure 2 This is a schematic diagram of the handle and lock plate structure on the container door.

[0016] Figure 3 It is a structural diagram of the present utility model.

[0017] Figure 4 It is a structural diagram of the handle clamping mechanism of the present utility model.

[0018] Figure 5 This is a schematic structural diagram of the articulated arm of the present invention.

[0019] Figure 6 This is a schematic diagram of the clamping handle of the clamping block of the present invention. DETAILED DESCRIPTION

[0020] like Figure 1 As shown, the rear side of the container 10 is equipped with two doors 11 that open in opposite directions. Each door 11 is provided with two locking rods 12, and locking slots 14 are provided at corresponding upper and lower positions of the door frame. The locking rods 12 are provided with handles 13 that can drive the locking rods 12 to rotate. When the handles 13 are rotated to abut against the door 11, the locking rods 12 extend out of the locking slots 14 and lock the door 11. When the handles 13 are rotated to be perpendicular to the door 11, the locking rods 12 leave the locking slots 14, and the door 11 can be opened.

[0021] like Figure 2 As shown, the center of the handle 13 is recessed relative to the container door 11. A locking plate 15 is provided on the container door 11. When the locking plate 15 is rotated to the front of the recess, the handle 13 is locked. At this point, the locking hole in the locking plate 15 aligns with the locking hole in the handle 13, and the two are locked by the lead seal. To unlock, after breaking the lead seal, the locking plate 15 is rotated 270 degrees to release the lock on the handle 13. The handle 13 can then be rotated to open the container door 11.

[0022] like Figure 3 As shown, the present invention is a manipulator device for opening or closing the door 11 of a container 10. The device comprises a turntable 20 mounted at the end of a manipulator arm. A housing 21 is mounted below the turntable 20. A locking plate rotating mechanism and a handle clamping mechanism 40 are mounted on the housing 21. The locking plate rotating mechanism can rotate the locking plate 15, thereby locking and unlocking the handle 13. The locking plate rotating mechanism comprises an electric telescopic rod 50 mounted below the handle clamping mechanism 40. The electric telescopic rod 50 is mounted on a rod bracket 51. A telescopic drive mechanism is disposed within the rod bracket 51, which can drive the electric telescopic rod 50 to extend and retract. The front end of the electric telescopic rod 50 extends forward and abuts against the side of the locking plate 15. The movement of the manipulator arm can rotate the locking plate 15. The handle clamping mechanism 40 can clamp the handle 13, thereby rotating the handle 13 and pulling the handle 13 to open the door 11 of the container 10. The housing 21 is provided with a video acquisition device 30 , which is mounted on a device fixing frame 31 above the handle clamping mechanism 40 , and is used to identify information of the container 10 , the position of the locking piece 15 , and the position of the handle 13 .

[0023] like Figure 4 、 Figure 5 As shown, the handle clamping mechanism 40 comprises two clamping blocks 44 that secure the outer end of the handle 13. Each clamping block 44 is equipped with an articulated arm 43 at its rear end. The two articulated arms 43 are symmetrically mounted on an articulated frame 45. A power mechanism 41, such as a motor, oil cylinder, or air cylinder, is mounted on the rear side of the articulated frame 45. A slider 46 is mounted on the output end of the power mechanism 41. The power mechanism 41 and the articulated frame 45 are connected by two outer plates 42, with space between the power mechanism 41 and the articulated frame 45 for the slider 46 to move back and forth. A slide 431 is defined on the rear side of the articulated arm 43 and is tilted and positioned on the articulated arm 43. Guide posts 47 on either side of the slider 46 are movably mounted within the slide 431. Movement of the slider 46 drives the two articulated arms 43 to rotate synchronously, thereby tightening and loosening the two clamping blocks 44.

[0024] like Figure 6 As shown, the middle portion of the handle 13 is recessed relative to the door 11, and a bent clamping portion 131 is provided between the recessed portion and the outer end of the handle 13. Therefore, the clamping block 44 is provided with a plurality of clamping teeth 442, and a bent clamping groove 441 is formed in the middle of the clamping teeth 442. The clamping groove 441 can be fitted into the bent clamping portion 131 at the outer end of the handle 13. The bent clamping portion 131 of the handle 13 is clamped by the clamping teeth 442. After clamping, the handle 13 will not move relative to the clamping groove 441 when it is pulled. Therefore, after the locking rod 12 of the door 11 of the container 10 is opened, the door 11 of the container 10 can be opened by pulling the handle 13 without worrying that the handle 13 will slip out of the clamping groove 441 of the clamping block 44 when pulling.

[0025] The utility model can collect video data. When opening the door, the lock plate rotating mechanism first rotates the lock plate 15 270 degrees to release the lock of the handle 13, and then rotates the handle clamping mechanism 40 to unlock it. The entire door 11 is opened by pulling the handle 13. When closing, the reverse operation can be performed to realize automatic opening or closing of the door 11 of the container 10. It has the advantages of simple structure, easy operation and high degree of automation.

Claims

1. A manipulator device for opening or closing a container door, comprising a turntable mounted at the end of a manipulator arm, with a housing mounted below the turntable, characterized in that A locking plate rotating mechanism and a handle clamping mechanism are installed on the shell; the locking plate rotating mechanism can push the locking plate to rotate, so as to realize locking and unlocking of the handle by the locking plate; the handle clamping mechanism includes two clamping blocks that can clamp the outer end of the handle, and the rear ends of the clamping blocks are each installed with an articulated arm, and the two articulated arms are symmetrically installed on the articulated frame, and a power mechanism is installed on the rear side of the articulated frame, and a slider is installed on the output end of the power mechanism, and a slide groove is opened on the rear side of the articulated arm. The guide columns on both sides of the slider are movably embedded in the slide groove. When the slider moves, it can drive the two articulated arms to rotate synchronously, so as to realize the clamping and release of the two clamping blocks.

2. The manipulator device for opening or closing a container door according to claim 1, characterized in that The power mechanism is a motor, an oil cylinder or an air cylinder.

3. The manipulator device for opening or closing a container door according to claim 1, characterized in that The power mechanism and the articulated frame are connected via two outer plates, and a space is left between the power mechanism and the articulated frame for the slider to move forward and backward.

4. The manipulator device for opening or closing a container door according to claim 1, characterized in that The sliding groove is arranged obliquely on the hinged arm.

5. The manipulator device for opening or closing a container door according to claim 1, characterized in that A bent clamping portion is provided between the recess and the outer end of the handle, and the clamping block is provided with a bent clamping groove, which can be fitted into the bent clamping portion of the handle. After clamping, the handle is pulled and the handle will not move relative to the clamping groove.

6. The manipulator device for opening or closing a container door according to any one of claims 1 to 5, characterized in that The locking plate rotation mechanism includes an electric telescopic rod installed below the handle clamping mechanism. The front end of the electric telescopic rod can extend forward and abut against the side of the locking plate. The mechanical arm moves to push the locking plate to rotate.

7. The manipulator device for opening or closing a container door according to any one of claims 1 to 5, characterized in that A video acquisition device is provided on the shell.

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