Container unlocking equipment
By detecting the shape and position of the container torsion lock with sensors, and using a robotic arm with gripping and unlocking claws to automatically unlock it, the problem of low unlocking efficiency caused by the variety of container torsion lock specifications is solved, and efficient automated unlocking is achieved.
Patent Information
- Application Number
- CN202520315710.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-26
- Publication Date
- 2025-12-09
- Estimated Expiration
- 2035-02-26
AI Technical Summary
The wide variety of existing container twist lock specifications and models leads to low efficiency in manual unlocking.
Sensors are used to detect the shape and position of the torsion lock, and automatic unlocking is achieved through gripping claws and unlocking claws. A robotic arm and unlocking mechanism are used to automatically grip and rotate the torsion lock's latch.
It improves the unlocking efficiency of container twist locks, realizes automated operation, and reduces manual intervention.
Smart Images
Figure CN223645455U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the technical field of unlocking devices, and in particular relates to a container unlocking device. Background Technology
[0002] A container twist lock is a device used to secure and lock containers. It is typically installed on vehicles, trailers, railways, or ships to ensure that the container does not shift or tilt during transportation. After the container is separated from the carrier, the twist lock at the bottom of the container needs to be disassembled and recycled. A twist lock usually consists of a shell and a rotating locking tongue, the end of which is locked to the bottom of the container. Due to the wide variety of regions that containers travel to, there are many specifications and models of twist locks. The existing unlocking method is usually manual unlocking, which is inefficient.
[0003] Therefore, how to avoid the low unlocking efficiency caused by the numerous specifications of twist locks is a technical problem that urgently needs to be solved in this field.
[0004] It should be noted that the information disclosed in this background section is only for understanding the background technology of the present application concept, and therefore, the above description is not considered to constitute prior art information. Utility Model Content
[0005] This disclosure provides at least one container unlocking device.
[0006] In a first aspect, embodiments of this disclosure provide a container unlocking device, comprising: a robotic arm; a clamping mechanism disposed at the movable end of the robotic arm, the clamping mechanism including a plurality of slidably disposed clamping claws adapted to clamp the shape of a twist lock; an unlocking mechanism disposed on the side of the clamping mechanism, the unlocking mechanism including a rotatably disposed unlocking claw adapted to abut against the locking tongue of the twist lock and rotate to release the twist lock; and a detection mechanism disposed on the side of the clamping mechanism, the detection mechanism including a sensor adapted to detect the shape and position of the twist lock, and wherein the clamping claws, the unlocking claws, and the sensor are electrically connected to a controller, wherein the controller is adapted to receive information detected by the sensor, control the clamping claws to clamp the twist lock, and control the unlocking claws to rotate to release the twist lock.
[0007] In one optional embodiment, the clamping mechanism further includes a housing, which is mounted on the movable end of the robot arm; the housing is provided with a plurality of lateral sliding pairs, the movable end of the lateral sliding pairs is provided with a longitudinal sliding pair, the clamping claw is provided at the movable end of the longitudinal sliding pair, and the clamping end of the clamping claw extends out of the housing.
[0008] In one optional embodiment, the lateral sliding pair includes a lateral guide rail and a lateral sliding block. The lateral guide rail is installed inside the housing, the lateral sliding block is slidably disposed on the lateral guide rail, the longitudinal sliding pair is disposed on top of the lateral sliding block, and the lateral sliding pair shares the lateral guide rail, and the lateral guide rail is provided in pairs.
[0009] In one optional embodiment, the lateral sliding pair further includes a drive motor and a drive rack; the drive motor is mounted on the bottom of the lateral sliding block, the drive rack is mounted inside the housing, and the output shaft of the drive motor is connected to the drive rack via a gear.
[0010] In one alternative embodiment, the clamping mechanism further includes a secondary claw, which is mounted on the side wall of the housing via an auxiliary hand.
[0011] In one optional embodiment, the longitudinal sliding pair includes a longitudinal guide rail and a longitudinal sliding block, the longitudinal guide rail being mounted on top of the transverse sliding block, the longitudinal sliding block being slidably disposed on the longitudinal guide rail, and the clamping claw being mounted on top of the longitudinal sliding block.
[0012] In one optional embodiment, an electric push rod is provided on the top of the transverse sliding block, and the movable end of the electric push rod is connected to the longitudinal sliding block through a connecting block.
[0013] In one optional embodiment, the unlocking mechanism includes a lifting joint and a rotary motor. The lifting joint is disposed on the side wall of the housing, the rotary motor is mounted on the moving end of the lifting joint, and the unlocking claw is mounted on the output shaft of the rotary motor.
[0014] In one alternative implementation, the unlocking claw includes a pair of pins adapted to abut against the shape of the torsion lock's latch for rotational unlocking.
[0015] In one alternative implementation, the sensor is mounted on the side wall of the housing via a bracket.
[0016] The beneficial effects of this utility model are that the container unlocking device detects the shape and position of the twist lock through a sensor and transmits the data to the controller. The controller controls the gripping claw to hold the shape of the twist lock and controls the unlocking claw to rotate the twist lock. After the shape of the twist lock is detected by the sensor, the gripping position of the gripping claw is determined, thereby realizing automatic unlocking of the twist lock and improving unlocking efficiency.
[0017] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objectives and other advantages of this invention are realized and obtained through the structures particularly pointed out in the description, claims, and drawings.
[0018] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description
[0019] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0020] Figure 1 A perspective view of a container unlocking device provided in an embodiment of this disclosure;
[0021] Figure 2 A perspective view of a clamping mechanism provided in an embodiment of this disclosure;
[0022] Figure 3 A perspective view of an unlocking mechanism provided in an embodiment of this disclosure;
[0023] Figure 4 This is a perspective view of a clamping mechanism provided in an embodiment of the present disclosure.
[0024] In the picture:
[0025] 1. Robotic arm;
[0026] 2. Clamping mechanism; 21. Clamping claws; 22. Housing;
[0027] 23. Lateral sliding pair; 23a. Lateral guide rail; 23b. Lateral sliding block; 23c. Drive motor; 23d. Drive rack;
[0028] 24. Longitudinal sliding pair; 24a. Longitudinal guide rail; 24b. Longitudinal sliding block; 24c. Electric push rod;
[0029] 25. Secondary claw; 26. Auxiliary hand;
[0030] 3. Unlocking mechanism; 31. Unlocking claw; 31a. Pin; 32. Lifting pair; 33. Rotary motor;
[0031] 4. Testing institutions; 41. Sensors. Detailed Implementation
[0032] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.
[0033] In this document, when it is mentioned that a first component is located on a second component, this can mean that the first component can be directly formed on the second component, or that a third component can be inserted between the first and second components. Furthermore, in the accompanying drawings, the thickness of the components may be exaggerated or reduced for the purpose of effectively describing the technical content.
[0034] In this document, when an element or layer is referred to as “located,” “joined to,” “connected to,” “attached to,” or “coupled to” another element or layer, it may be directly located, joined, connected, attached to, or coupled to the other element or layer, or there may be intermediate elements or layers present. Conversely, when an element is referred to as “directly on another element or layer,” “directly joined to,” “directly connected to,” “directly attached to,” or “directly coupled to” another element or layer, there may be no intermediate elements or layers present. Other terms used to describe relationships between elements should be interpreted in a similar manner (e.g., “between” versus “directly between,” “adjacent” versus “directly adjacent,” etc.). As used herein, the term “and / or” includes any and all combinations of one or more of the related listed items.
[0035] In this document, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. As used herein, expressions such as “at least one of…” modify the entire list of elements when following a list of elements, rather than individual elements in the list. For example, the expression “at least one of a, b, and c” should be understood to include only a, only b, only c, both a and b, both a and c, both b and c, or all of a, b, and c.
[0036] The terminology used herein is for the purpose of describing specific exemplary configurations only and is not intended to be limiting. As used herein, the singular articles “a,” “an,” and “the” may also be intended to include plural forms unless otherwise clearly stated herein. The terms “comprising,” “including,” and “having” are inclusive and thus specify the presence of features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein should not be construed as requiring them to be performed in the specific order discussed or shown, unless specifically identified as such. Additional or alternative steps may be employed.
[0037] As used herein, the phrases “in one embodiment,” “according to one embodiment,” “in some embodiments,” etc., generally refer to the fact that a particular feature, structure, or characteristic following the phrase can be included in at least one embodiment of this disclosure. Therefore, a particular feature, structure, or characteristic can be included in more than one embodiment of this disclosure, such that these phrases do not necessarily refer to the same embodiment. As used herein, the terms “example,” “exemplary,” etc., are used to “serve as an example, instance, or illustration.” Any implementation, aspect, or design described herein as “example” or “exemplary” is not necessarily to be construed as preferred or superior to other implementations, aspects, or designs. Rather, the use of the terms “example,” “exemplary,” etc., is intended to present concepts in a specific manner.
[0038] Research has revealed that existing twist locks have numerous specifications and models, resulting in low efficiency when manually unlocked. This is the problem and objective that the utility model aims to solve.
[0039] Based on the above research, this disclosure provides a container unlocking device that uses sensors to detect the shape and position of the twist lock, and uses clamping claws and unlocking claws to unlock the twist lock.
[0040] The shortcomings of the above solutions are the result of the utility model inventor's practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed in this disclosure should be considered as contributions made by the utility model inventor to this disclosure.
[0041] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0042] The following detailed description, with reference to the accompanying drawings, describes some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.
[0043] See Figures 1 to 4The image shows a container unlocking device, comprising: a robotic arm 1; a clamping mechanism 2 disposed at the movable end of the robotic arm 1, the clamping mechanism 2 including a plurality of slidably disposed clamping claws 21 adapted to clamp the shape of a twist lock; an unlocking mechanism 3 disposed on the side of the clamping mechanism 2, the unlocking mechanism 3 including a rotatably disposed unlocking claw 31 adapted to abut against the locking tongue of the twist lock and rotate to release the twist lock; and a detection mechanism 4 disposed on the side of the clamping mechanism 2, the detection mechanism 4 including a sensor 41 adapted to detect the shape and position of the twist lock, as well as the clamping mechanism 2. The gripper 21, the unlocking gripper 31, and the sensor 41 are electrically connected to the controller. The controller is adapted to receive information detected by the sensor 41, control the gripping gripper 21 to clamp the twist lock, and control the unlocking gripper 31 to rotate and release the twist lock. In short, the sensor 41 detects the shape and position of the twist lock and transmits it to the controller. The controller controls the gripping gripper 21 to clamp the shape of the twist lock and controls the unlocking gripper 31 to rotate the lock tongue of the twist lock. After the sensor 41 detects the shape of the twist lock, it determines the clamping position of the gripping gripper 21, thereby achieving automatic unlocking of the twist lock and improving unlocking efficiency. The sensor 41 can be a lidar.
[0044] In some embodiments, the clamping mechanism 2 further includes a housing 22, which is mounted on the movable end of the manipulator 1. The housing 22 contains a plurality of transverse sliding pairs 23, and the movable end of each transverse sliding pair 23 is provided with a longitudinal sliding pair 24. The clamping claw 21 is disposed at the movable end of the longitudinal sliding pair 24, and the clamping end of the clamping claw 21 extends out of the housing 22. In short, the transverse sliding pairs 23 and the longitudinal sliding pairs 24 enable the clamping claw 21 to move in a plane, thereby clamping the sidewall of the torsion lock.
[0045] In some embodiments, the lateral sliding pair 23 includes a lateral guide rail 23a and a lateral sliding block 23b. The lateral guide rail 23a is installed inside the housing 22, and the lateral sliding block 23b is slidably disposed on the lateral guide rail 23a. The longitudinal sliding pair 24 is disposed on top of the lateral sliding block 23b, and the lateral sliding pairs 23 share the lateral guide rail 23a, and the lateral guide rail 23a is provided in pairs. In short, all lateral sliding pairs 23 share the lateral guide rail 23a, that is, all lateral sliding blocks 23b slide on the same lateral guide rail 23a, saving space in the housing 22.
[0046] In some embodiments, the lateral sliding pair 23 further includes a drive motor 23c and a drive rack 23d; the drive motor 23c is installed at the bottom of the lateral sliding block 23b, the drive rack 23d is installed inside the housing 22, and the output shaft of the drive motor 23c is connected to the drive rack 23d via gears; in short, the drive rack 23d is installed inside the housing 22, the drive motor 23c is installed at the bottom of the lateral sliding block 23b and moves synchronously with the lateral sliding block 23b, and the output shaft of the drive motor 23c is connected to the drive rack 23d via gears to complete the driving of the lateral sliding block 23b.
[0047] In some embodiments, the clamping mechanism 2 further includes a secondary claw 25, which is mounted on the side wall of the housing 22 via an auxiliary hand 26; in short, the secondary claw 25 is mounted on the side wall of the housing 22 via an auxiliary hand 26 and is responsible for assisting in unlocking the twist lock, such as by turning the pin.
[0048] In some embodiments, the longitudinal sliding pair 24 includes a longitudinal guide rail 24a and a longitudinal sliding block 24b. The longitudinal guide rail 24a is mounted on top of the transverse sliding block 23b, and the longitudinal sliding block 24b is slidably disposed on the longitudinal guide rail 24a. The clamping claw 21 is mounted on top of the longitudinal sliding block 24b. In short, the longitudinal guide rail 24a is mounted on the transverse sliding block 23b, and the longitudinal sliding block 24b is slidably disposed on the longitudinal guide rail 24a to complete the horizontal displacement of the clamping claw 21.
[0049] In some embodiments, an electric push rod 24c is provided on the top of the transverse sliding block 23b, and the movable end of the electric push rod 24c is connected to the longitudinal sliding block 24b through a connecting block; in short, the electric push rod 24c is provided on the top of the transverse sliding block 23b, and its movable end is connected to the longitudinal sliding block 24b to complete the driving of the longitudinal sliding block 24b.
[0050] In some embodiments, the unlocking mechanism includes a lifting joint 32 and a rotary motor 33. The lifting joint 32 is disposed on the side wall of the housing 22, the rotary motor 33 is mounted on the moving end of the lifting joint 32, and the unlocking claw 31 is mounted on the output shaft of the rotary motor 33. In short, the rotary motor 33 is responsible for rotating the unlocking claw 31 to rotate the torsion lock, and the lifting joint 32 is responsible for driving the rotary motor 33 to rise and fall, thereby driving the unlocking claw 31 to a suitable position.
[0051] In some embodiments, the unlocking claw 31 includes a pair of pins 31a, which are adapted to abut against the shape of the torsion lock's latch to rotate and unlock; in short, by abutting the shape of the torsion lock with a pair of pins 31a, the torsion lock's latch is rotated, thereby releasing the lock from the container.
[0052] In some embodiments, the sensor 41 is mounted on the side wall of the housing 22 via a bracket; in short, the sensor 41 is mounted on the side wall of the housing 22 and faces the front end of the housing 22 to detect torsion lock.
[0053] In the description of the embodiments of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0054] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence unless expressly indicated herein. Therefore, without departing from the teachings of the exemplary embodiments, the first element, component, region, layer, or segment discussed above may be referred to as the second element, component, region, layer, or segment.
[0055] Spatially relative terms, such as “inside,” “outside,” “below,” “below,” “down,” “above,” “up,” etc., may be used herein to describe the relationship between one element or feature illustrated in the figures and another element or feature. In addition to the orientations depicted in the figures, spatially relative terms may be intended to cover different orientations of the device in use or operation. For example, if the device in the figure is flipped, an element described as “below” or “below” other elements or features would be oriented as “above” other elements or features. Thus, the example term “below” can cover both above and below orientations. The device may be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein are interpreted accordingly.
[0056] In the above discussion, unless otherwise stated, when used to describe numerical values, the terms “about,” “approximately,” “basically,” etc., indicate a change of + / - 10% in that value.
[0057] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.
Claims
1. A container unlocking device, characterized in that, include: robotic arm (1); A clamping mechanism (2) is provided at the movable end of the manipulator (1). The clamping mechanism (2) includes a plurality of slidably arranged clamping claws (21), which are adapted to clamp the shape of a twist lock. The unlocking mechanism (3) is located on the side of the clamping mechanism (2). The unlocking mechanism (3) includes an unlocking claw (31) that is rotatably disposed. The unlocking claw (31) is adapted to abut against the locking tongue of the twist lock and rotate to release the twist lock. A detection mechanism (4), disposed on the side of the clamping mechanism (2), includes a sensor (41) adapted to detect the shape and position of the toggle lock. The clamping claw (21), the unlocking claw (31), and the sensor (41) are electrically connected to the controller, wherein... The controller is configured to, upon receiving information detected by the sensor (41), control the clamping claw (21) to clamp the twist lock, and control the unlocking claw (31) to rotate to release the twist lock.
2. The container unlocking device as described in claim 1, characterized in that, The clamping mechanism (2) also includes a housing (22), which is installed at the movable end of the robotic arm (1); The housing (22) is provided with a number of transverse sliding pairs (23), the moving end of the transverse sliding pair (23) is provided with a longitudinal sliding pair (24), the clamping claw (21) is provided at the moving end of the longitudinal sliding pair (24), and the clamping end of the clamping claw (21) extends out of the housing (22).
3. The container unlocking device as described in claim 2, characterized in that, The lateral sliding pair (23) includes a lateral guide rail (23a) and a lateral sliding block (23b). The lateral guide rail (23a) is installed inside the housing (22), and the lateral sliding block (23b) is slidably disposed on the lateral guide rail (23a). The longitudinal sliding pair (24) is disposed on the top of the lateral sliding block (23b), and... The transverse sliding pair (23) shares a transverse guide rail (23a), and the transverse guide rail (23a) is provided in a pair.
4. The container unlocking device as described in claim 3, characterized in that, The lateral sliding pair (23) also includes a drive motor (23c) and a drive rack (23d); The drive motor (23c) is mounted at the bottom of the transverse sliding block (23b), and the drive rack (23d) is mounted inside the housing (22). The output shaft of the drive motor (23c) is connected to the drive rack (23d) via a gear.
5. The container unlocking device as described in claim 4, characterized in that, The clamping mechanism (2) also includes a secondary claw (25), which is mounted on the side wall of the housing (22) by an auxiliary hand (26).
6. The container unlocking device as described in claim 2, characterized in that, The longitudinal sliding pair (24) includes a longitudinal guide rail (24a) and a longitudinal sliding block (24b). The longitudinal guide rail (24a) is mounted on the top of the transverse sliding block (23b), and the longitudinal sliding block (24b) is slidably disposed on the longitudinal guide rail (24a). The clamping claw (21) is mounted on the top of the longitudinal sliding block (24b).
7. The container unlocking device as described in claim 6, characterized in that, An electric push rod (24c) is provided on the top of the transverse sliding block (23b), and the movable end of the electric push rod (24c) is connected to the longitudinal sliding block (24b) through a connecting block.
8. The container unlocking device as described in claim 2, characterized in that, The unlocking mechanism includes a lifting pair (32) and a rotary motor (33). The lifting pair (32) is disposed on the side wall of the housing (22). The rotary motor (33) is installed on the moving end of the lifting pair (32). The unlocking claw (31) is installed on the output shaft of the rotary motor (33).
9. The container unlocking device as described in claim 8, characterized in that, The unlocking claw (31) includes a pair of pins (31a) adapted to abut against the shape of the torsion lock's bolt for rotational unlocking.
10. The container unlocking device as described in claim 2, characterized in that, The sensor (41) is mounted on the side wall of the housing (22) by a bracket.