Container lock dismounting and mounting robot and container lock dismounting and mounting system

Abstract

The utility model relates to the technical field of automation equipment, and provides a container lock disassembling and assembling robot and a container lock disassembling and assembling system. The container lock disassembling and assembling robot comprises a base, a connecting piece, a first mechanical arm and a second mechanical arm, the connecting piece is connected with the base, and the connecting piece can rotate relative to the base in the first direction; the first mechanical arm and the second mechanical arm are arranged on the two sides of the connecting piece correspondingly and matched with each other to disassemble and assemble the container lock. Each of the first mechanical arm and the second mechanical arm comprises a first arm section, a second arm section, a third arm section and a manipulator; the first end of the first arm section is connected with the connecting piece, and the second end of the first arm section, the second arm section, the third arm section and the manipulator are sequentially connected; the first arm section rotates around a second direction; the second arm section can rotate around a third direction and a fourth direction; the third arm section can rotate around a fifth direction and a sixth direction; and the manipulator can rotate around a seventh direction and an eighth direction. The device is high in safety and high in efficiency.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, and in particular to a container lock disassembly and assembly robot and a container lock disassembly and assembly system. Background Technology

[0002] In port logistics operations, unloading containers from ships or loading them from yards is a core step. After loading, containers need to be locked to ensure stability during transportation; before unloading, they need to be unlocked to facilitate hoisting and transshipment.

[0003] Currently, the locking and unlocking of containers mainly relies on manual operation. However, during the process of lifting containers from bridge cranes to trucks, due to the large weight of the containers and the long lifting distance, manual operation is unsafe, costly, and prone to errors such as incorrect loading and unloading, affecting loading and unloading efficiency and even causing safety accidents. Utility Model Content

[0004] This utility model provides a container lock assembly / disassembly robot and a container lock assembly / disassembly system to solve the problems in the prior art where the locking and unlocking of containers is done manually, which is not safe and is prone to incorrect loading and unloading, affecting loading and unloading efficiency.

[0005] This utility model provides a container lock assembly / disassembly robot, comprising: a base, a connector, a first robotic arm, and a second robotic arm. The connector is connected to the base and is rotatable relative to the base around a first direction. The first and second robotic arms are respectively disposed on both sides of the connector and cooperate with each other to assemble / disassemble container locks. Each of the first and second robotic arms includes a first arm segment, a second arm segment, a third arm segment, and a robotic hand. The first end of the first arm segment is connected to the connector, and the second end of the first arm segment, the second arm segment, the third arm segment, and the robotic hand are connected sequentially. The first arm segment rotates relative to the connector around a second direction, which is perpendicular to the first direction. The second arm segment is rotatable relative to the first arm segment around a third and a fourth direction, which is perpendicular to the fourth direction. The third arm segment is rotatable relative to the second arm segment around a fifth and a sixth direction, which is perpendicular to the sixth direction. The robotic hand is rotatable relative to the third arm segment around a seventh and an eighth direction, which is perpendicular to the seventh direction.

[0006] According to the container lock assembly / disassembly robot provided by this utility model, both the first robotic arm and the second robotic arm further include a first revolute joint, a second revolute joint, and a third revolute joint. The first revolute joint is rotatably connected to the second end of the first arm segment, and the first end of the second arm segment is rotatably connected to the first revolute joint. The second revolute joint is rotatably connected to the second end of the second arm segment, and the first end of the third arm segment is rotatably connected to the second revolute joint. The third revolute joint is rotatably connected to the second end of the third arm segment, and the robotic arm is rotatably connected to the third revolute joint.

[0007] According to the present invention, a container lock assembly and disassembly robot is provided, wherein the robotic hand includes multiple fingers and a palm, the palm is rotatably connected to the third rotating joint, the fingers are rotatably connected to the palm, each finger has multiple joints, and adjacent joints can rotate relative to each other to achieve bending and unfolding.

[0008] The container lock disassembly and assembly robot provided by this utility model also includes a walking and steering mechanism, and the base is disposed on the walking and steering mechanism.

[0009] According to the present invention, a container lock assembly and disassembly robot further includes a storage box, which is disposed on the walking and steering mechanism. The first robotic arm and / or the second robotic arm are used to grab the target lock in the storage box or store the target lock in the storage box.

[0010] According to the present invention, a container lock disassembly and assembly robot further includes a control compartment, which is equipped with a main controller, a first controller and a second controller. The first controller and the second controller are both electrically connected to the main controller. The first controller is electrically connected to the first robotic arm and the second controller is electrically connected to the second robotic arm. The walking and steering mechanism is electrically connected to the main controller.

[0011] According to the present invention, a container lock disassembly and assembly robot further includes a monitoring component, which is disposed on the connecting component and electrically connected to the main controller. The main controller is used to control the first controller and the second controller to disassemble or install the target lock based on the target lock obtained by the monitoring component.

[0012] The container lock assembly and disassembly robot provided by this utility model also includes a radar, which is located on the walking and steering mechanism, and both the radar and the walking and steering mechanism are electrically connected to the main controller.

[0013] According to the present invention, a container lock disassembly and assembly robot also includes a power supply, which is located in the walking and steering mechanism. The main controller, the first controller, and the second controller are all electrically connected to the power supply.

[0014] This utility model also provides a container lock assembly / disassembly system, including a container lock assembly / disassembly robot as described in any of the above claims, and a track, wherein the container lock assembly / disassembly robot is movably connected to the track.

[0015] The container lock assembly / disassembly robot and container lock assembly / disassembly system provided by this utility model have a first robotic arm and a second robotic arm that can rotate simultaneously relative to the connecting parts to adjust the robot's angle. The first and second robotic arms have seven directions of rotational coordination. The first and second robotic arms work together to ensure that the robotic arms can cover a large operating range when performing tasks, with high flexibility and accuracy. Compared with manual operation, it has high safety and high accuracy, thereby improving the efficiency of container loading and unloading. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the 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.

[0017] Figure 1 This is a structural schematic diagram of the container lock disassembly and assembly robot provided by this utility model;

[0018] Figure label:

[0019] 1. Base; 2. Connector; 3. First robotic arm; 4. Second robotic arm; 41. First arm segment; 42. Second arm segment; 43. Third arm segment; 44. First revolute joint; 45. Second revolute joint; 46. Third revolute joint; 47. Robotic arm; 5. Walking and steering mechanism; 6. Storage box; 7. Control compartment; 8. Monitoring components; 9. Radar; 10. Power supply. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages 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 scope of protection of this utility model.

[0021] In the description of the embodiments of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model based on the specific circumstances.

[0022] In the description of the embodiments of this utility model, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of 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. Therefore, they should not be construed as limitations on the embodiments of this utility model.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0024] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0025] The following disclosure provides numerous different embodiments or examples for implementing various structures of the present invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0026] The following is combined with Figure 1This invention describes a container lock assembly / disassembly robot and a container lock assembly / disassembly system.

[0027] The container lock assembly / disassembly robot provided in this embodiment includes a base 1, a connector 2, a first robotic arm 3, and a second robotic arm 4. The first robotic arm 3 and the second robotic arm 4 are respectively disposed on both sides of the connector 2, and the first robotic arm 3 and the second robotic arm 4 cooperate with each other to assemble and disassemble container locks; the connector 2 is connected to the base 1, and the connector 2 can rotate relative to the base 1 around a first direction.

[0028] Base 1, used to support the entire robot, is typically positioned on the ground or a mobile platform. The first robotic arm 3 and the second robotic arm 4 are connected to base 1 via connector 2. Connector 2 can rotate relative to base 1 around a first direction to adjust the positions of the first robotic arms 3 and 4, enabling them to work collaboratively to assemble and disassemble containers at different angles. For example... Figure 1 As shown, the first direction is perpendicular to the base 1, and the first robotic arm 3 and the second robotic arm 4 can rotate about the axial direction of the base 1 to disassemble and assemble containers circumferentially on the base 1. The connecting member 2 can be driven to rotate by a driving component. The driving component includes a motor (servo motor), hydraulic drive, and gear drive. In one embodiment, the motor is fixed to the base 1, and the output shaft of the motor is connected to the connecting member 2. By controlling the rotation angle and speed of the motor, the connecting member 2 is driven to rotate the first robotic arm 3 and the second robotic arm 4.

[0029] The first robotic arm 3 and the second robotic arm 4 have the same structure. Specifically, both the first robotic arm 3 and the second robotic arm 4 include a first arm segment 41, a second arm segment 42, a third arm segment 43, and a robotic arm 47. The first end of the first arm segment 41 is connected to the connector 2, and the second end of the first arm segment 41, the second arm segment 42, the third arm segment 43, and the robotic arm 47 are connected sequentially. Specifically, the first arm segment 41 rotates relative to the connector 2 about a second direction, which is perpendicular to the first direction and parallel to the axis of the first arm segment 41. The second arm segment 42 can rotate relative to the first arm segment 41 about a third and a fourth direction, which is perpendicular to the fourth direction and parallel to the axis of the second arm segment 42. The third arm segment 43 can rotate relative to the second arm segment 42 about a fifth and a sixth direction, which is perpendicular to the fifth and a sixth direction and parallel to the axis of the third arm segment 43. The robotic arm 47 can rotate relative to the third arm segment 43 about a seventh and an eighth direction, which is perpendicular to the seventh direction.

[0030] The first end of the first arm segment 41 can be connected to the connector 2 via a rotary joint, thereby enabling the first arm segment 41 to rotate. The first drive motor is connected to the rotary joint to drive the rotary joint to rotate, thereby adjusting the position of the first robotic arm 3 and the second robotic arm 4. The first arm segment 41 can rotate relative to the connector 2 about a second direction, which is perpendicular to the first direction and parallel to the axial direction of the first arm segment 41.

[0031] The second end of the first arm segment 41 is connected to the first end of the second arm segment 42, and the second arm segment 42 can rotate relative to the first arm segment 41 about a third direction. In one embodiment, the second end of the first arm segment 41 and the first end of the second arm segment 42 can be connected through a first hinge shaft, and a second drive motor is connected to the first hinge shaft to drive the first hinge shaft to rotate the second arm segment 42. In addition, the second arm segment 42 can also rotate relative to the first arm segment 41 about a fourth direction. In one embodiment, the first end of the second arm segment 42 is connected to the second end of the first arm segment 41 through a first rotation shaft, the first rotation shaft is disposed on the first hinge shaft, and a second drive motor is connected to the first rotation shaft to drive the first rotation shaft to rotate the second arm segment 42 about a fourth direction relative to the first hinge shaft, that is, relative to the first arm segment.

[0032] The second end of the second arm segment 42 is connected to the first end of the third arm segment 43, and the third arm segment 43 is rotatable relative to the second arm segment 42 about a fifth direction. In one embodiment, the second end of the second arm segment 42 and the first end of the third arm segment 43 can be connected via a second hinge shaft, and a third drive motor is connected to the second hinge shaft to drive the second hinge shaft to rotate the third arm segment 43 relative to the second arm segment 42 about a fifth direction. Alternatively, the third arm segment 43 can also rotate relative to the second arm segment 42 about a sixth direction. In one embodiment, the first end of the third arm segment 43 is connected to the second end of the second arm segment 42 via a second rotation shaft, the second rotation shaft being disposed on the first hinge shaft, and a third drive motor is connected to the second rotation shaft to drive the second rotation shaft to rotate the third arm segment 43 relative to the second arm segment 42 about a sixth direction.

[0033] A robotic arm 47 is disposed at the second end of the third arm segment 43. The robotic arm 47 can rotate relative to the third robotic arm in a seventh direction to achieve rotation of the robotic arm 47 in the seventh direction. In one embodiment, the robotic arm 47 is connected to the second end of the third arm segment 43 via a third hinge shaft, and a fourth drive motor is connected to the third hinge shaft to drive the third hinge shaft to rotate the robotic arm 47 relative to the third arm segment 43 in the seventh direction. The robotic arm 47 is rotatably connected to the third hinge shaft, such as through a bearing, and can rotate relative to the third arm segment 43 in an eighth direction, that is, rotate around its own axis, to adjust the position and attitude of the robotic arm 47 for attaching or detaching the locks of the container.

[0034] The container lock assembly / disassembly robot provided in this embodiment of the utility model has a first robotic arm 3 and a second robotic arm 4 that can rotate simultaneously relative to the connecting member 2 to adjust the robot's angle. The first robotic arm 3 and the second robotic arm 4 have seven directions of rotational coordination. The first robotic arm 3 and the second robotic arm 4 work together to ensure that the robotic arm can cover a large operating range when performing tasks, with high flexibility and accuracy. Compared with manual operation, it has high safety and high accuracy, thereby improving the efficiency of container loading and unloading.

[0035] In one embodiment, rotation between adjacent arm segments is achieved via a revolute joint. Both the first robotic arm 3 and the second robotic arm 4 further include a first revolute joint 44, a second revolute joint 45, and a third revolute joint 46. The first revolute joint 44 is rotatably connected to the second end of the first arm segment 41, and the first end of the second arm segment 42 is rotatably connected to the first revolute joint 44. The second revolute joint 45 is rotatably connected to the second end of the second arm segment 42, and the first end of the third arm segment 43 is rotatably connected to the second revolute joint 45. The third revolute joint 46 is rotatably connected to the second end of the third arm segment 43, and the robotic arm 47 is rotatably connected to the third revolute joint 46.

[0036] The first arm segment 41 is connected to the second arm segment 42 via a first revolute joint 44. The second arm segment 42 is connected to the third arm segment 43 via a second revolute joint 45. The robotic arm 47 is connected to the third arm segment 43 via a third revolute joint 46. It should be noted that the first revolute joint 44, the second revolute joint 45, and the third revolute joint 46 can have the same structure. The first revolute joint 44 will be used as an example for explanation; the others will not be elaborated upon. The first revolute joint 44 includes a rotating shaft and a drive mechanism. The drive mechanism is connected to the rotating shaft. The second arm segment 42 is directly or indirectly connected to the rotating shaft. The drive mechanism drives the rotating shaft to rotate, causing the second arm segment 42 to rotate relative to the first arm segment 41 in a third direction. The second arm segment 42 is rotatably connected to the first revolute joint 44 and can rotate in a fourth direction (the direction of its own axis). In one embodiment, a first gear is provided on the first rotating joint 44, and a second gear is provided on the second arm segment 42. The first gear meshes with the second gear, and a driving member is connected to the first gear or the second gear to drive the first gear and the second gear to rotate, thereby causing the second arm segment 42 to rotate relative to the first arm segment 41 in a fourth direction.

[0037] By setting multiple rotating joints, the robotic arm can achieve multi-degree-of-freedom movement and adapt to the disassembly and assembly of locks at different angles and positions.

[0038] The robotic arm 47 in this embodiment includes multiple fingers and a palm. The palm is rotatably connected to a third rotary joint 46 to adjust the position of the robotic arm 47. Each finger is rotatably connected to the palm, and driving the finger to rotate allows adjacent fingers to move closer or further apart for grasping and operating locks. Each finger has multiple joints, and adjacent joints can rotate relative to each other to achieve bending and unfolding for disassembling and assembling container locks.

[0039] In one embodiment, there are five fingers, simulating the structure of a human hand. Each finger is connected to the palm via a rotary joint, allowing it to rotate relative to the palm around the connection point. The rotation of each finger can be driven by a motor or hydraulic device, with precise angle control achieved through a control system. In one embodiment, each finger has three joints: a first joint, a second joint, and a third joint. The first joint is located at the base of the finger and is rotatably connected to the palm, with a rotation angle of 0-90°, providing basic support and range of motion for the finger. The second joint is located between the first and third joints and can rotate relative to the first joint, allowing for bending relative to the first joint, such as at an angle of 0-90°. The third joint can also rotate relative to the second joint, allowing for bending relative to the second joint, with a bending angle of 0-60°.

[0040] In actual operation, the palm can be adjusted in position via the third rotary joint 46, allowing the fingers to rotate the container's lock. The fingers rotate around the connection point to adjust their position and the joints of different fingers to assemble and disassemble the lock, ensuring it is securely gripped or released.

[0041] The container lock assembly / disassembly robot of this utility model embodiment also includes a walking and steering mechanism 5, with a base 1 disposed on the walking and steering mechanism 5. In one embodiment, the walking and steering mechanism 5 includes a vehicle body, a drive mechanism, and wheels. The base 1 is disposed on the top surface of the vehicle body, and the wheels are disposed on the bottom surface of the vehicle body. The drive end of the drive mechanism is connected to the wheels, and the drive mechanism can be installed on the bottom surface of the vehicle body. The drive mechanism can drive the vehicle body, base 1, connecting member 2, first robotic arm 3, and second robotic arm 4 to move and steer. The walking and steering mechanism 5 can be a four-wheel drive, four-wheel structure.

[0042] The container lock loading and unloading robot also includes a storage box 6, which is installed on the walking and steering mechanism 5 and is used to hold the target locks for the container. During container loading, the first robotic arm 3 and / or the second robotic arm 4 grab the target locks from the storage box 6 as needed to secure the container. During container unloading, the first robotic arm 3 and / or the second robotic arm 4 can store the target locks removed from the container into the storage box 6 in preparation for container lifting.

[0043] The container lock removal and installation robot also includes a control compartment 7 to control the operation of the entire robot. The control compartment 7 is equipped with a main controller, a first controller, and a second controller. Both the first controller and the second controller are electrically connected to the main controller. The first controller is electrically connected to the first robotic arm 3, and the second controller is electrically connected to the second robotic arm 4.

[0044] In actual operation, the main controller, based on target requirements, controls the first controller to operate the first robotic arm 3 and the second controller to operate the second robotic arm 4, enabling the first robotic arm 3 and the second robotic arm 4 to work together to install and remove target locks on the container. This embodiment of the invention allows for independent control of the first robotic arm 3 and the second robotic arm 4 based on target requirements, resulting in greater flexibility and stronger operability.

[0045] The container lock removal and installation robot also includes a monitoring component 8, used to acquire target information about the target locks on the container, including their type and model. The monitoring component 8 includes a camera module. The monitoring component 8 is mounted on the connecting component 2, such as... Figure 1 As shown, the monitoring component 8 is positioned at the top of the connector 2 for easy detection. The monitoring component 8 is slidably connected to the connector 2 and can move along the height direction of the connector 2 to adjust its height, facilitating the detection of target locks on containers of different heights with high monitoring accuracy. In one embodiment, the monitoring component 8 is connected to the drive end of the drive component, which drives the monitoring component 8 to move along the height direction of the connector 2.

[0046] Furthermore, all monitoring components 8 are electrically connected to the main controller. Monitoring components 8 can transmit acquired target information to the main controller. Based on the target information, the main controller controls the first and second controllers to coordinate the operation of the first robotic arm 3 and the second robotic arm 4 to disassemble and assemble the target lock. This utility model's monitoring components 8, working in conjunction with the controller, can disassemble and assemble different types of locks, offering flexible operation and high efficiency. It should be noted that the main controller has pre-stored disassembly and assembly programs for various locks. The main controller controls the operation of the first and second controllers based on the target information of the target lock.

[0047] The container lock assembly / disassembly robot also includes radar 9, which is located on the walking and steering mechanism 5. Multiple radars 9 can be used, including 2, 3, 4, 5, etc. Figure 1As shown, there are two radars 9, positioned on opposite sides of the walking and steering mechanism 5. The radars 9 provide the walking and steering mechanism 5 with environmental awareness and navigation information. Both the radars 9 and the walking and steering mechanism 5 are electrically connected to the main controller. The main controller receives information from the radars 9 and controls the movement of the walking and steering mechanism 5 based on this information, enabling autonomous detection, planning, and obstacle avoidance. The container lock assembly / disassembly robot provided in this embodiment can automatically complete path planning, navigation, automatically identify target locks, and perform lock assembly / disassembly using a dual-arm, human-like operation.

[0048] The container lock assembly / disassembly robot in this embodiment of the invention also includes a power supply 10, which is located on the walking and steering mechanism 5. The main controller, the first controller, the second controller, the monitoring component 8, and the radar 9 are all electrically connected to the power supply 10, which provides power to them. The power supply 10 includes a lithium battery.

[0049] The container lock assembly and disassembly robot provided in this embodiment can replace human workers working under the bridge crane, avoiding risks; it can also effectively reduce the labor intensity of operators and reduce the risk of occupational diseases; in addition, compared with manual operation, the robot will not make mistakes in loading or unloading, minimizing the risk of human error, effectively reducing the probability of errors and improving loading and unloading efficiency.

[0050] This utility model embodiment also provides a container lock assembly / disassembly system, including a container lock assembly / disassembly robot as described in any of the above embodiments, and a track. The track is set on the ground or other equipment according to target requirements. The container lock assembly / disassembly robot is movably connected to the track and can move along the extension direction of the track. In one embodiment, a walking and steering mechanism 5 is movably connected to the track. This utility model, by setting a track, limits the movement trajectory of the container lock assembly / disassembly robot, preventing the robot from deviating from the route and ensuring high safety.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A container lock dismounting robot characterized by comprising: The container lock dismounting and mounting device comprises a base, a connecting piece, a first mechanical arm and a second mechanical arm, the connecting piece is connected with the base, the connecting piece can rotate relative to the base in a first direction, the first mechanical arm and the second mechanical arm are arranged on two sides of the connecting piece, and the first mechanical arm and the second mechanical arm cooperate with each other to dismount and mount the container lock. The first mechanical arm and the second mechanical arm each comprise a first arm segment, a second arm segment, a third arm segment and a mechanical hand, the first end of the first arm segment is connected with the connecting piece, and the second end of the first arm segment, the second arm segment, the third arm segment and the mechanical hand are sequentially connected. The first arm segment rotates relative to the connecting piece in a second direction, the second direction is perpendicular to the first direction, the second arm segment can rotate relative to the first arm segment in a third direction and a fourth direction, the third direction and the fourth direction are perpendicular, the third arm segment can rotate relative to the second arm segment in a fifth direction and a sixth direction, the fifth direction is perpendicular to the sixth direction, and the mechanical hand can rotate relative to the third arm segment in a seventh direction and an eighth direction, the eighth direction is perpendicular to the seventh direction. The first mechanical arm and the second mechanical arm each further comprise a first rotating pair, a second rotating pair and a third rotating pair, the first rotating pair is rotatably connected to the second end of the first arm segment, and the first end of the second arm segment is rotatably connected to the first rotating pair.

2. The container lock dismounting robot according to claim 1, characterized in that, The second rotating pair is rotatably connected to the second end of the second arm segment, and the first end of the third arm segment is rotatably connected to the second rotating pair. The third rotating pair is rotatably connected to the second end of the third arm segment, and the mechanical hand is rotatably connected to the third rotating pair. The mechanical hand comprises a plurality of fingers and a palm, the palm is rotatably connected to the third rotating pair, the fingers are rotatably connected to the palm, each finger has a plurality of joints, and adjacent two joints can rotate relative to each other to realize bending and unfolding.

3. The container lock dismounting robot according to claim 2, characterized in that, The device further comprises a walking and steering mechanism, and the base is arranged on the walking and steering mechanism.

4. The container lock dismounting robot according to any one of claims 1 to 3, characterized in that, The device further comprises a storage box, the storage box is arranged on the walking and steering mechanism, and the first mechanical arm and / or the second mechanical arm are used for grabbing a target lock in the storage box or storing a target lock in the storage box.

5. The container lock dismounting robot according to claim 4, characterized in that, The device further comprises a control cabin, a main controller, a first controller and a second controller are arranged in the control cabin, the first controller and the second controller are electrically connected with the main controller, the first controller is electrically connected with the first mechanical arm, the second controller is electrically connected with the second mechanical arm, and the walking and steering mechanism is electrically connected with the main controller.

6. The container lock dismounting robot according to claim 4, characterized in that, The device further comprises a monitoring device, the monitoring device is arranged on the connecting piece, the monitoring device is electrically connected with the main controller, and the main controller is used for controlling the first controller and the second controller to dismount or mount a target lock based on the target lock acquired by the monitoring device.

7. The container lock dismounting robot according to claim 6, characterized in that, The device further comprises a radar, the radar is arranged on the walking and steering mechanism, and the radar and the walking and steering mechanism are electrically connected with the main controller.

8. The container lock dismounting robot according to claim 6, characterized in that, ​ 9. The container lock dismounting robot according to claim 6, characterized in that, The power supply is arranged on the walking steering mechanism, and the main controller, the first controller and the second controller are electrically connected with the power supply.

10. A container lock dismounting system, characterized by The container lock dismounting robot comprises a track, and the container lock dismounting robot is movably connected to the track.

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