CN116750500A

CN116750500A - Rigid-flexible coupling robot for yard operation

Info

Publication number: CN116750500A
Application number: CN202310814940.3A
Authority: CN
Inventors: 訾斌; 刘洋; 周斌; 钱森; 崔国华; 李元
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2023-07-03
Filing date: 2023-07-03
Publication date: 2023-09-15

Abstract

The invention discloses a rigid-flexible coupling robot for yard operation, which comprises a movable mounting mechanism, a rigid-flexible coupling mechanism, an unmanned aerial vehicle distributing mechanism and a rope winding mechanism, wherein the rigid-flexible coupling mechanism is arranged between main frames of the movable mounting mechanism, and is lifted by the rope winding mechanism. The twist lock binding work of the side face of the container group can be realized through the rigid-flexible coupling robot, and the bridge lock binding work of the top of the container group and the 40-foot and 20-foot standard container stacking work are completed; can realize the input of container crowd top bridge lock and supplementary strapping ligature operation through unmanned aerial vehicle cloth mechanism. The invention has the integrated functions of stacking, binding, distributing and the like, has the characteristics of a series-parallel mechanism and rigid-flexible coupling, and has the advantages of large working range, high positioning precision, high modularization degree, simple structure and strong practicability.

Description

Rigid-flexible coupling robot for yard operation

Technical Field

The invention relates to the field of palletizing robots, in particular to a rigid-flexible coupling robot for yard operation.

Background

Along with the continuous penetration of economic globalization, economic trade communication among countries is frequent, and containers are taken as an integral part of import and export maritime transportation and bear most of the cargo transportation in the world. However, how to automatically and efficiently perform stacking and binding operations of containers remains a difficulty in the robot field. The empty containers are generally piled in a specific yard, and the containers are required to be piled and bound and reinforced in the yard, so that collapse accidents are prevented.

Six layers (up to 13 meters) of empty container can be piled in a storage yard, at present, the empty container piling operation mainly depends on equipment such as an empty container piling machine, a forklift and the like, the piling mode has higher technical requirements on a driver, and when the upper layer of container and the lower layer of container are piled, the driver is required to visually observe whether the piling is orderly or not, so that the characteristics of long piling time and low efficiency exist; the container binding operation mainly comprises a rotary lock, a bridge lock and a binding belt, wherein the rotary lock is used for binding all upper and lower layers of containers, the application quantity is the largest, and the loading and unloading workload of the rotary lock is the largest and is mostly simple and repeatable; the binding belt is suitable for binding and reinforcing the periphery of the container, the bridge lock is used for transversely binding the uppermost container, and workers are required to climb to the top of the container for loading and unloading operations during use; the binding mode is low in binding efficiency, high in labor intensity and bad in working environment, has certain dangerousness, and does not guarantee personal safety of workers.

Chinese patent CN109612764a discloses a test platform for container lashing, and it is applicable to the simulation test in the factory, and to practical application, often the actual conditions is more complicated than the condition during the simulation, takes place the problem that the lashing frame interfered easily, and because this kind of arrangement form of slider slide rail, through motor lead screw structure for the whole weight of frame is very heavy, inconvenient removal and occupy the electric power resource, and does not take into account the bridge lock lashing at container crowd top and peripheral lashing belt lashing work.

Therefore, the prior art still has no better container stacking and binding integrated operation solution.

Disclosure of Invention

The invention provides a rigid-flexible coupling robot for yard operation, which aims to solve the problem that a container binding platform in the prior art cannot realize stacking and binding integrated operation due to the fact that the container binding platform does not have container top bridge lock binding capability.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:

the rigid-flexible coupling robot for the yard operation comprises a movable mounting mechanism (1), wherein the movable mounting mechanism (1) comprises a pair of main frames (12) which are oppositely arranged, and a rigid-flexible coupling mechanism (2) is arranged between the two main frames (12);

the rigid-flexible coupling mechanism (2) comprises a main frame (21) and an empty box crane (28); a variable-rigidity rotating mechanism (25) is arranged in the main frame (21) in a lifting manner, a lifting driving mechanism for driving the variable-rigidity rotating mechanism (25) to lift is arranged on the main frame (21), elastic force opposite to the lifting direction is generated when the variable-rigidity rotating mechanism (25) lifts, so that variable rigidity is realized, a lifting operation mechanism (27) is rotatably arranged at the bottom of the variable-rigidity rotating mechanism (25), a rotating motor (2503) for driving the lifting operation mechanism (27) to rotate is arranged in the variable-rigidity rotating mechanism (25), and a first operation arm (2701) with an adjustable horizontal position is arranged at the bottom of the lifting operation mechanism (27); the empty box crane (28) comprises a horizontal basic frame, a hollow frame is arranged in the basic frame, the bottom of the main frame (21) is connected to the top of the hollow frame, a plurality of rotary lock control devices are respectively arranged outside two symmetrical sides of the hollow frame in a crossing mode at the bottom of the basic frame, an axial vertical rotary lock (2805) is respectively arranged at two symmetrical ends of each rotary lock control device in the crossing direction in a rotating mode, a gear transmission mechanism is respectively arranged in each rotary lock control device, a motor (2803) is arranged on the basic frame, and the motor (2803) drives rotary locks (2805) at two ends of the corresponding rotary lock control devices to rotate through the gear transmission mechanism in each rotary lock control device;

In the movable mounting mechanism (1), each main frame (12) is respectively provided with a rope winding mechanism (5), and the rope winding outputted by each rope winding mechanism (5) is respectively hung on the top of a main frame (21) in the rigid-flexible coupling mechanism (2) after respectively bypassing the pulley of the corresponding main frame (12); the opposite surfaces of the two main frames (12) are respectively provided with a second working arm (44) with adjustable horizontal and vertical positions; the first working arm (2701) and the second working arm (44) in the rigid-flexible coupling mechanism (2) are matched to realize the binding of a bridge lock and a twist lock of the container, the rope winding mechanism (5) is matched with the rigid-flexible coupling mechanism (2) to realize the hoisting stacking of the container, and the first working arm (2701) and the second working arm (44) are matched to realize the binding operation of a binding belt of the container.

Further, the horizontal position of each main frame (12) in the movable mounting mechanism (1) is adjustable.

Further, the lifting driving mechanism in the rigid-flexible coupling mechanism (2) is a scissor type lifting mechanism (24), one end of the scissor type lifting mechanism (24) is fixed in the main frame (21), and the other end of the scissor type lifting mechanism (24) is fixedly connected with the bottom of the rigidity-variable rotating mechanism (25).

Further, the rigidity-variable rotating mechanism (25) further comprises a mounting plate (2509) and a slewing bearing (2508), wherein the top of the mounting plate (2509) is connected with the lifting driving mechanism, the lifting driving mechanism drives the mounting plate (2509) to lift, one of an inner ring and an outer ring of the slewing bearing (2508) is fixed at the bottom of the mounting plate (2509), the other is fixedly connected with the top of the hoisting operation mechanism (27), the rotating motor (2503) is fixed on the mounting plate (2509), and the rotating motor (2503) drives one of the inner ring and the outer ring of the slewing bearing (2508) connected with the hoisting operation mechanism (27) to rotate; the four corners of the mounting plate (2509) are respectively vertically penetrated and fixed with flexible support rods (2501), the upper end and the lower end of each flexible support rod (2501) are respectively fixed in the main frame (21), springs (2502) are respectively arranged outside each flexible support rod (2501), one end of each spring (2502) is fixed on the mounting plate (2509), the other end of each spring is fixed in the main frame (21), and the springs (2502) generate elastic force opposite to the lifting direction when the mounting plate (2509) lifts.

Further, the rotary lock control device further comprises a fixed frame (2815), two rotary locks (2805) corresponding to each rotary lock control device are respectively and rotatably arranged at two symmetrical end positions of the fixed frame (2815) through vertical bevel gear rotating shafts (2809), bevel gears are respectively and fixedly arranged on each bevel gear rotating shaft (2809), axial horizontal rotating shafts are rotatably arranged in the fixed frame (2815), end bevel gears (2810) are respectively and fixedly arranged at two ends of the rotating shafts, the two end bevel gears (2810) are in one-to-one corresponding transmission engagement with bevel gears on the two bevel gear rotating shafts (2809), middle bevel gears (2812) are fixedly arranged on the rotating shafts, axial vertical power bevel gears (2813) are rotatably arranged in the fixed frame (2815), and the power bevel gears (2813) are in transmission engagement with the middle bevel gears (2812); in each rotary lock control device, a gear transmission mechanism is formed by the bevel gear rotating shaft (2809) and a bevel gear on the bevel gear rotating shaft, a bevel gear (2810) at the end part of the rotating shaft, a bevel gear (2812) at the middle part of the rotating shaft and a bevel power gear (2813), and the motor (2803) drives the bevel power gear (2813) of each rotary lock control device to rotate, so that two rotary locks (2805) corresponding to the rotary lock control devices are driven to rotate through the gear transmission mechanism.

Further, in the plurality of rotary lock control devices, a bidirectional driving device (2807) is arranged at the bottom of a fixing frame (2815) of at least one rotary lock control device, two ends of the bidirectional driving device (2807) are respectively and fixedly connected with mounting seats, the two mounting seats are respectively and slidably connected with two symmetrical end positions of the fixing frame (2815) to form a telescopic beam structure, and the two mounting seats are driven by the bidirectional driving device (2807) to move close to each other or separate from each other; end bevel gears (2810) corresponding to fixing frames (2815) of the rotary lock control device provided with the bidirectional driving device (2807) are respectively positioned in two mounting seats, bevel gear rotating shafts (2809) of the corresponding two rotary locks (2805) of the rotary lock control device provided with the bidirectional driving device (2807) penetrate through the mounting seats in a one-to-one correspondence manner and are rotatably arranged in the mounting seats, and therefore bevel gears on each bevel gear rotating shaft (2809) are respectively positioned in the corresponding mounting seats; when the mounting seats are driven by the bidirectional driving device (2807) to be separated or mutually close, the two bevel gear rotating shafts (2809) and the corresponding two rotating locks (2805) are separated or mutually close, and when the two rotating locks (2805) are mutually close, the bevel gears on the bevel gear rotating shafts (2809) can be in transmission engagement with the corresponding end bevel gears (2810), and when the two rotating locks (2805) are mutually far away, the bevel gears on the bevel gear rotating shafts (2809) are mutually separated from the corresponding end bevel gears (2810).

Further, a plurality of cameras (2804) and infrared sensors (2808) are installed at the bottom of the basic frame of the empty box crane (28), the distance between the basic frame of the empty box crane (28) and the container is detected through the infrared sensors (2808), and images are collected through the cameras (2804) to provide image support for the operation of the first operation arm (2701).

Further, the unmanned aerial vehicle comprises an unmanned aerial vehicle material distribution mechanism (3), the unmanned aerial vehicle material distribution mechanism (3) comprises an unmanned aerial vehicle main body (31), a landing frame (3201) is connected to the belly of the unmanned aerial vehicle main body (31), the landing frame (3201) is provided with a plurality of supporting feet, a movable platform (35) is installed between the supporting feet in a lifting mode, and a movable platform (35) lifting driving mechanism for driving the movable platform (35) to lift is installed in the landing frame (3201); the bottom of the movable platform (35) is provided with clamping plates which are symmetrically distributed and can be separated from each other and move close to each other, the movable platform (35) is also provided with an action driving mechanism for driving the two clamping plates to act, the two clamping plates are matched with the unmanned aerial vehicle main body (31) to realize bridge lock cloth of the container, and the two clamping plates assist the first working arm (2701) and the second working arm to realize binding of the binding belt of the device.

Further, an ultrasonic distance meter (3503) is arranged at the bottom of the movable platform (35), and distance information of the movable platform (35) is sensed by the ultrasonic distance meter (3503).

Further, each clamping plate is respectively provided with a pair of hollow windows which are horizontally distributed, and the hollow windows are respectively provided with an axial vertical roller (3613) in a rotating way; one surface of each clamping plate facing the other clamping plate is positioned between the two rollers (3613) and is fixedly provided with a pair of arc-shaped pressing plates which are distributed up and down, and the inner arcs of the two arc-shaped pressing plates are opposite; the opposite faces of the two clamping plates are also provided with mutually matched molded faces, one face of one clamping plate, facing the other clamping plate, of the two clamping plates is also provided with a plurality of locking strips (3614), the other clamping plate is provided with matching holes corresponding to the positions of the locking strips (3614), the molded faces are contacted and matched firstly when the two clamping plates are mutually close to each other, and each locking strip (3614) is inserted into the corresponding matching hole after the two clamping plates are continuously mutually close to each other.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the stacking and binding operation of the empty container in the storage yard, the rigid-flexible coupling robot integrated operation mode is adopted, so that the working efficiency is improved, and the personal safety risk existing in the previous operation process is reduced.

2. The invention designs the empty container hanging mechanism aiming at the stacking of the empty containers, has the characteristics of light weight, simple structure and convenient operation, and also forms integrated equipment with the hanging operation mechanism, so that the rigid-flexible coupling robot can complete the stacking and binding work of the containers of 20 feet and 40 feet, and the practicability is enhanced.

3. According to the invention, the scissor type lifting mechanism is matched with the variable-rigidity rotating mechanism, the hoisting operation mechanism and the variable-rigidity rotating mechanism are fused, and when the stacking mode and the binding mode are switched, the spring is pressed or pulled, so that a buffer effect is achieved, the influence of the action inertia of the mechanism on the operation precision is reduced, and the rigid-flexible coupling is realized. In addition, the position of the rigid-flexible coupling robot can be controlled through the rope winding mechanism, the operation requirement can be met by only changing the length of the rope aiming at container groups with different sizes, and the universality of equipment is enhanced.

4. The invention has the advantages of large working range, high positioning precision, small accumulated error, small inertia and good dynamic response characteristic of the series-parallel mechanism, and adopts the series connection of the shear type lifting mechanism and the rigidity-variable rotating mechanism to achieve the rigidity-variable effect, thereby ensuring the rigidity of the working arm during binding operation; the empty box hanging mechanism is connected with the hanging operation mechanism in parallel, so that the operation range of the robot is enlarged, and meanwhile, the movable installation mechanism and the rigid-flexible coupling robot operate in parallel, so that the operation efficiency is greatly improved.

5. The unmanned aerial vehicle material distribution mechanism is adopted, so that the problem of high-altitude operation is solved, and the functions of multiple material throwing operations and auxiliary binding are realized. Through the design of the sliding groove of the landing frame, the landing frame can be used as a supporting leg for the unmanned aerial vehicle during landing, the lifting function of the movable disc is realized, the weight of the machine body is reduced, and the load ratio of the unmanned aerial vehicle is improved; in addition, the clamping mechanism is designed, the distance between the left clamping plate and the right clamping plate can be controlled to meet the carrying requirement aiming at different cloth materials, and the flexibility and the maneuverability of high-altitude operation are improved.

Drawings

Fig. 1 is a schematic diagram of an overall structure of a rigid-flexible coupling robot according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of the rigid-flexible coupling robot in a stacking mode according to an embodiment of the invention.

FIG. 3 is a schematic view of a mobile mounting mechanism according to an embodiment of the present invention, wherein: (a) is a structural diagram; (b) is a partial enlarged view of the A position in (a); (c) is a partial enlarged view of the B position in (a).

Fig. 4 is an exploded view of a second work arm mechanism according to an embodiment of the present invention.

Fig. 5 is a schematic structural view of a rigid-flexible coupling mechanism according to an embodiment of the present invention.

Fig. 6 is an exploded view of a rigid-flexible coupling mechanism in accordance with an embodiment of the present invention.

Fig. 7 is a schematic structural view of a variable stiffness rotary mechanism according to an embodiment of the present invention.

Fig. 8 is a schematic structural view of a hoisting operation mechanism according to an embodiment of the present invention.

Fig. 9 is a schematic structural view of an empty box hanging mechanism according to an embodiment of the present invention.

Fig. 10 is an exploded view of the power take-off and the twist-lock control device according to the embodiment of the present invention.

Fig. 11 is a schematic structural view of the rigid-flexible coupling robot in a lashing mode according to an embodiment of the present invention.

Fig. 12 is a schematic structural view of a rope winding mechanism according to an embodiment of the present invention.

Fig. 13 is a schematic structural view of a material distributing mechanism of an unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 14 is another view of a drone distributing mechanism according to an embodiment of the present invention, wherein: (a) is an overall structure diagram; (b) is a partial enlarged view of the operation driving position.

Fig. 15 is a schematic structural view of a clamping mechanism according to an embodiment of the present invention, wherein: (a) is an overall structure diagram; (b) is a partial enlarged view of the profile position.

Fig. 16 is a flow chart of the operation of the rigid-flexible coupling robot according to the embodiment of the present invention.

Fig. 17 is a flow chart of operation of the unmanned aerial vehicle distributing mechanism according to an embodiment of the present invention.

The marks in the above figures are:

the movable mounting mechanism 1, the Z-axis movable platform 11, a screw bearing seat 1101, a Z-axis linear guide rail 1102, a slide block mounting bearing seat 1103, a guide rail slide block 1104, a Z-axis ball screw 1105, a compression nut 1106, a coupling 1107, a servo motor 1108, a screw mounting bottom plate 1109, a main frame 12, a pulley top plate 13, a fixed pulley 14, a pulley bottom plate 15 and a roller 16.

Rigid-flexible coupling mechanism 2, main frame 21, laminate 2201, upper column shoe 2202, lower column shoe 2203, side arm 23, scissor lift mechanism 24, lift top plate 2401, hydraulic cylinder 2402, lift bottom frame 2403, variable stiffness rotation mechanism 25, flexible support rod 2501, spring 2502, rotating motor 2503, decelerator 2504, motor mounting plate 2505, rotating gear 2506, angle sensor 2507, internal tooth slewing bearing 2508, mounting plate 2509, positioning plate 26, lifting operation mechanism 27, first operation arm 2701, mounting plate 2702, linear guide slider 2703, linear guide 2704, screw bearing 2705, bearing housing 2706, screw 2707, mounting bearing housing 2708, screw nut 2709, fastening screw 2710, screw bottom plate 2711, driving motor 2712, motor mounting base 2713, bevel pinion 2714, bevel gear big gear 2715; the overhead hoist 28, the cross beam 2801, the end beam 2802, the motor 2803, the 3D camera 2804, the rotational lock 2805, the telescopic beam structure 2806, the bidirectional driving device 2807, the infrared sensor 2808, the bevel gear shaft 2809, the end bevel gear 2810, the bearing 2811, the middle bevel gear 2812, the power bevel gear 2813, the driven wheel 2814, the fixed frame 2815, the chain 2816, and the driving wheel 2817.

Unmanned aerial vehicle cloth mechanism 3, unmanned aerial vehicle main part 31, descending frame 3201, spout 3202, camera 33, micro motor 3401, take-up tube 3402, stay cord 3403, wire loop 3404, sliding ring 3405, movable platform 35, movable disk 3501, square angle frame 3502, ultrasonic distance meter 3503, fixture 36, motor 3601, support 3602, drive gear 3603, synchronizing gear 3604, belt gear 3605, hold-in range 3606, bearing frame 3607, second splint 3608, first splint 3609, micro lead screw 3610, bearing 3611, drive nut 3612, roller 3613, locking strip 3614.

The second arm mechanism 4, the moving slide 41, the Y-axis linear guide 42, the arm mounting base 43, the second arm 44, the driving motor 4501, the driving gear 4502, the slider 46, the infrared sensor 47, the rack 48, and the 3D camera 49.

The rope winding mechanism 5, the winding drum 51, the winding drum bracket 52, the coupling 53, the speed reducer 54, the rope winding motor 55, the motor mounting bracket 56, the mounting table 57 and the rope winding 58.

A mobile platform 6, a track 61 and a rail car 62.

A group of containers 7, 40 feet container 71.

Detailed Description

In order to make the technical solution of the present invention better understood by those skilled in the art, the following detailed description will be given with reference to the accompanying drawings and examples, by which the technical means are applied to solve the technical problem, and the implementation process for achieving the corresponding technical effects can be fully understood and implemented. The embodiment of the invention and the characteristics in the embodiment can be mutually combined on the premise of no conflict, and the formed technical scheme is within the protection scope of the invention.

It will be apparent that the described embodiments are merely some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It is noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of the present invention and in the foregoing figures, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.

As shown in fig. 1 and 2, the present embodiment discloses a rigid-flexible coupling robot for yard operations, which includes a mobile mounting mechanism 1, a rigid-flexible coupling mechanism 2, an unmanned aerial vehicle distributing mechanism 3, a second working arm mechanism 4, a rope winding mechanism 5, and a mobile platform 6.

In this embodiment, the moving platform 6 includes a pair of rails 61 symmetrically distributed in the X direction, each rail 61 extends in the Y direction, and each rail 61 is mounted with a rail car 62, and the rail car 62 can move in the Y direction along the rail 61 where it is located.

In this embodiment, the mobile installation mechanism 1 includes a pair of main frames 12 symmetrically distributed in the X direction, each main frame 12 is integrally rectangular in the vertical direction, the main frame 12 is integrally formed by "L" shaped steel, and each 8 groups of "L" shaped steel are welded to form an overhead group as the main frame 12, so that the overhead group can be modularly added according to actual requirements to meet working condition requirements. As shown in fig. 3, the two main frames 12 are disposed on two rail cars 62 in the mobile platform 6 in a one-to-one correspondence, and the bottom of each main frame 12 is fixed on the top of the corresponding rail car 62, so that the Y-direction horizontal position of the corresponding main frame 12 can be adjusted by the rail car 62.

The Y-direction both sides at the top of each main frame 12 are respectively fixed with a triangle support, the top side edge positions of each triangle support are respectively fixed with a pulley top plate 13, a plurality of fixed pulleys 14 which are axially in Y-direction horizontal are respectively rotatably arranged on each pulley top plate 13, the triangle structure of the triangle support increases the stability of the triangle support, and the bearing capacity of the top of the main frame 12 can be improved. The top of each rail car 62 is fixed with a pulley bottom plate 15 respectively at two sides of the Y direction of the corresponding main frame 12, and a plurality of rollers 16 which are axially in the Y direction and are horizontal are respectively rotatably arranged on each pulley bottom plate 15.

The opposite side surfaces of the two main frames 12 are respectively provided with a Z-axis moving platform 11, and each Z-axis moving platform 11 respectively comprises a screw mounting base plate 1109, and the screw mounting base plate 1109 is vertically fixed on the side surface of the corresponding main frame 12. The upper part of the plate surface of each screw mounting base plate 1109 is respectively fixed with a screw bearing seat 1101, the lower part of the plate surface of each screw mounting base plate 1109 is respectively fixed with a servo motor 1108, the main shaft of the servo motor 1108 is respectively vertically upwards and is respectively and coaxially fixedly connected with a Z-axis ball screw 1105 through a coupler 1107 and a compression nut 1106, the upper end of the Z-axis ball screw 1105 is rotatably arranged in the corresponding screw bearing seat 1101, and the Z-axis ball screw 1105 is respectively and spirally provided with a slide block mounting bearing seat 1103. Each screw mounting base plate 1109 is further provided with a vertically extending Z-axis linear guide rail 1102 respectively positioned outside two sides of the Z-axis ball screw 1105, and each Z-axis linear guide rail 1102 is provided with two guide rail sliding blocks 1104 respectively in a sliding manner.

In this embodiment, the second arm mechanisms 4 have two groups, and the two groups of second arm mechanisms 4 are mounted on the Z-axis moving platforms 11 on the opposite side surfaces of the two main frames 12. As shown in fig. 3 (a), (b), (c) and fig. 4, each second arm mechanism 4 includes a moving slide 41, an arm mounting base 43, and a second arm 44, respectively; one surface of each movable slide plate 41 is fixedly connected with a guide rail slide block 1104 and a slide block mounting bearing seat 1103 of the corresponding Z-axis movable platform 11, Y-axis linear guide rails 42 extending in the Y direction are respectively fixed at the upper side edge and the lower side edge of the other surface of each movable slide plate 41, two slide blocks 46 are respectively and slidably mounted on each Y-axis linear guide rail 42, and a working arm mounting bottom plate 43 is fixedly connected with each slide block 46; a rack 48 parallel to the Y-axis linear guide rail 42 is also fixed on the other surface of each movable slide plate 41, a driving motor 4501 is fixed on the working arm mounting base plate 43, an output shaft of the driving motor 4501 penetrates through the working arm mounting base plate 43 to point to the movable slide plate 41, a driving gear 4502 is fixedly arranged on the output shaft of the driving motor 4501, and the driving gear 4502 is meshed with the rack 48; the second arm 44 is fixed to the other surface of the arm mounting base 43.

Thus, in the present embodiment, when the servo motor 1108 of the Z-axis moving platform 11 on each stand 12 drives the Z-axis ball screw 1105 to rotate, the entire corresponding second arm mechanism 4 can be moved in the Z-direction. The driving motor 4501 in each second working arm mechanism 4 drives the driving gear 4502 to rotate, so that the whole working arm mounting base plate 43 and the whole second working arm 44 in each second working arm mechanism 4 can move along the Y direction, and further each second working arm 44 can move in the YZ plane. The two ends of the movable slide plate 41 are provided with limit baffles so as to prevent the whole working arm 44 from crossing the working range.

In addition, the two ends of the movable slide 41 are respectively provided with a 3D camera 49 for visual identification and an infrared sensor 47 for detecting distance, the distance between the movable slide 41 corresponding to the second working arm 44 and the container is detected through the infrared sensor 47, and the image is acquired through the 3D camera 49 to provide image support for the operation of the second working arm 44.

In this embodiment, the rigid-flexible coupling mechanism 2 is provided between two main frames 12 in the movable mounting mechanism 1. As shown in fig. 5, 6, 7, 8, 9, and 10, the rigid-flexible coupling mechanism 2 includes a main frame 21, a scissor lift mechanism 24, a variable stiffness rotation mechanism 25, a hoisting mechanism 27, and an empty box crane 28. Wherein:

As shown in fig. 5 and 6, the main frame 21 has a rectangular frame structure, the top of the main frame 21 is a frame plate, and four corner positions of the top frame plate of the main frame 21 are respectively fixed with hanging rings. The plywood 2201 is fixed between four vertical frame edges of the main frame 21 in the main frame 21, the plywood 2201 is located below a top frame plate of the main frame 21, the scissor type lifting mechanism 24 is arranged below the plywood 2201, the scissor type lifting mechanism 24 is a hydraulic scissor type lifting platform, the scissor type lifting mechanism 24 comprises a lifting top plate 2401, a lifting bottom frame 2403 and a scissor arm connected with the lifting top plate 2401 and the lifting bottom frame 2403, a hydraulic cylinder 2402 is arranged in the scissor type lifting mechanism 24, lifting is achieved through driving of the hydraulic cylinder 2402, and the lifting top plate 2401 of the scissor type lifting mechanism 24 is fixedly connected with the bottom of the plywood 2201.

The four vertical frame edges inside the main frame 21 are respectively fixed with a horizontal upper toe plate 2202 and a lower toe plate 2203 positioned below the upper toe plate 2202, each upper toe plate 2202 is positioned below the laminate 2201, each upper toe plate 2202 is positioned on the same horizontal plane, and each lower toe plate is positioned on the same horizontal plane.

As shown in fig. 7, the variable stiffness rotation mechanism 25 includes a rotation motor 2503, an internal tooth type slewing bearing 2508, and a mounting plate 2509. The mounting plate 2509 is positioned between the plane defined by each upper toe plate 2202 and the plane defined by each lower toe plate 2203, and the four corners of the mounting plate 2509 extend into the main frame 21 between the upper and lower toe plates 2202, 2203 on four upright frame sides in a one-to-one correspondence. The lifting base frame 2403 of the scissor lift mechanism 24 is fixedly connected to the top of the mounting plate 2509, thereby driving the mounting plate 2509 in the variable stiffness rotation mechanism 25 to lift by using the scissor lift mechanism 24 as a lift driving mechanism. The four corners of the mounting plate 2509 are respectively and fixedly provided with flexible support rods 2501 in a penetrating manner, the upper end of each flexible support rod 2501 is fixedly connected with the upper column foot plate 2202 above the corresponding corner of the mounting plate 2509, the upper end of each flexible support rod 2501 is fixedly connected with the lower column foot plate 2203 below the corresponding corner of the mounting plate 2509, therefore, each flexible support rod 2501 is mounted in the main frame 21, four groups of springs 2502 are respectively connected between the corresponding upper column foot plate 2202 of each flexible support rod 2501 and the corresponding corner of the mounting plate 2509, and the total 16 groups of springs are compressed or stretched when the mounting plate 2509 is lifted in the variable stiffness rotating mechanism 25 in a matched manner, so that the effect of variable stiffness is realized by elastic force opposite to the lifting direction.

The rotating motor 2503 is fixed to the top of the mounting plate 2509 through a motor mounting plate 2505, the outer ring of the internal tooth type slewing bearing 2508 is fixed to the bottom of the mounting plate 2509, a rotating gear 2506 is arranged in the inner ring of the internal tooth type slewing bearing 2508, the rotating gear 2506 is meshed with the inner ring of the internal tooth type slewing bearing 2508, an output shaft of the rotating motor 2503 is connected with an input shaft of a speed reducer 2504, an output shaft of the speed reducer 2504 vertically passes through the mounting plate 2509, the rotating gear 2506 is fixed to the output shaft of the speed reducer 2504, an angle sensor 2507 is further mounted on the output shaft of the rotating motor 2503, and therefore the inner ring of the internal tooth type slewing bearing 2508 can be driven to rotate through the rotating motor 2503 as a power source, and the rotation amount of the inner ring of the internal tooth type slewing bearing 2508 is acquired through the angle sensor 2507.

As shown in fig. 8, the hoisting work mechanism 27 includes a screw base plate 2711, a mounting plate 2702, a first work arm 2701, and bearing blocks 2706, mounting bearing blocks 2708, and a screw 2707. The top of the screw bottom plate 2711 is fixed at the bottom of the inner ring of the internal tooth type slewing bearing 2508, linear guide rails 2704 which are parallel to each other and extend in the horizontal direction are respectively fixed at two symmetrical side edges of the bottom of the screw bottom plate 2711, and each linear guide rail 2704 is respectively and slidably provided with a linear guide rail slider 2703. The bearing seat 2706 and the mounting bearing seat 2708 are respectively fixed between two linear guide rails 2704 at the bottom of the screw rod bottom plate 2711 through fastening screws 2710, the straight lines defined by the bearing seat 2706 and the mounting bearing seat 2708 are parallel to the linear guide rails 2704, screw rod bearings 2705 are respectively arranged in the bearing seat 2706 and the mounting bearing seat 2708, and the screw rod 2707 is arranged in the screw rod bearings of the bearing seat 2706 and the mounting bearing seat 2708. A screw nut 2709 is assembled on the screw 2707 in a screwed manner, a large bevel gear 2715 is fixed at one end of the screw 2707, a driving motor 2712 is fixed at the bottom of the screw bottom plate 2711 through a motor mounting seat 2713, a small bevel gear 2714 is fixedly arranged on an output shaft of the driving motor 2712, and the small bevel gear 2714 is in transmission engagement with the large bevel gear 2715. The top of the mounting plate 2702 is fixedly connected to the screw nut 2709 and each linear guide slider 2703, and the first work arm 2701 is mounted to the bottom of the mounting plate 2702.

As a result, the shear type lifting mechanism 24 drives the rigidity changing rotary mechanism 25 and the hoisting work mechanism 27 to move up and down as a whole, and thereby the first work arm 2701 moves up and down. The rotation motor 2503 in the variable stiffness rotation mechanism 25 drives the inner ring of the inner tooth type slewing bearing 2508 to rotate, thereby rotationally moving the entire hoisting mechanism 27 and further rotationally moving the first arm 2701. The screw 2707 is driven to rotate by the drive motor 2712 in the hoisting mechanism 27, and the mounting plate 2702 and the first work arm 2701 are moved in the horizontal direction. Therefore, the first work arm 2701 in this embodiment can realize movement in the Z-axis direction and positional adjustment in any direction in the horizontal direction.

As shown in fig. 9 and 10, the overhead crane 28 includes a basic frame including two end beams 2802 extending in the Y direction in parallel with each other, and cross beams 2801 extending in the X direction are connected between the ends of the two end beams 2802 in the same direction, respectively, thereby forming a basic frame having a rectangular shape as a whole. Two connecting beams are connected between the middle positions of the two end beams 2802, a hollow frame in the middle of the basic frame is surrounded by the two connecting beams and the end beam 2802 part between the two connecting beams, the horizontal cross-sectional area in the hollow frame is the same as the horizontal cross-sectional area of the bottom of the main frame 21, the external dimension of the hollow frame is consistent with that of a 40-foot standard container, and the internal dimension of the hollow frame can be matched with that of a 20-foot standard container. The bottom of the main frame 21 is fixedly connected to the top of the end beams 2802 corresponding to the hollow frame, that is, the lower ends of four vertical frame edges of the main frame 21 are fixedly connected to the top of two end beams 2802 corresponding to the hollow frame, thereby forming a main frame structure of the rigid-flexible coupling mechanism 2. Side arms 23 are rigidly connected between the top four corners of the main frame 21 and the four corners of the basic frame of the empty box crane 28 in a one-to-one correspondence manner, so that the connection is more stable by forming a triangular structure, and an L-shaped locating plate 26 is fixedly connected between the lower end of each vertical frame edge of the main frame 21 and the corresponding end beam 2802 respectively, so that the connection stability is further improved.

The basic frame bottom of the empty box crane 28 is positioned at the outer sides of the Y-direction of the hollow frame and is respectively provided with two groups of rotating lock control devices in a crossing way, one group of rotating lock control devices on each side is positioned at the bottom of the Y-direction corresponding side edge (namely the bottom of the transverse beam 2801) of the basic frame of the empty box crane 28, and the other group of rotating lock control devices on each side is positioned between the Y-direction corresponding side edge of the basic frame of the empty box crane 28 and the hollow frame.

Each rotary lock control device comprises a fixing frame 2815 with a long edge in the X direction and rotary locks 2805 arranged at two ends of the fixing frame 2815 in the X direction. The fixing frames 2815 in each rotary lock control device respectively cross the basic frame of the empty box crane 28 along the X direction, and the top parts of the fixing frames 2815 are respectively fixed at corresponding positions of the bottom parts of the basic frame of the empty box crane 28. Two shafts which are axially distributed along the X direction and coaxially are respectively installed in each fixing frame 2815 in a rotating mode through bearings 2811, middle bevel gears 2812 are respectively fixed at the opposite ends of the two shafts in each fixing frame 2815, one ends, deviating from each other, of the two shafts in each fixing frame 2815 penetrate out of the corresponding fixing frame 2815 end portions respectively and are respectively fixed with end bevel gears 2810, power bevel gears 2813 are respectively installed at positions, located between the opposite ends of the two shafts, of the inner top portions of the fixing frames 2815 in a rotating mode through axial vertical gear shafts, the power bevel gears 2813 in the fixing frames 2815 are simultaneously meshed with the middle bevel gears 2812 in the two shafts in a transmission mode, and the gear shafts of the power bevel gears 2813 vertically penetrate out of the tops of the corresponding fixing frames 2815 in an upward mode and are fixedly provided with driven wheels 2814.

Two rotary locks 2805 of each rotary lock control device are vertical, the upper end of each rotary lock 2805 is respectively and fixedly connected with an axial vertical bevel gear rotating shaft 2809, the X-direction two ends of a fixing frame 2815 of each rotary lock control device are respectively connected with mounting seats, and one ends of two rotating shafts in each fixing frame 2815, provided with end bevel gears 2810, extend into the mounting seats in the corresponding directions respectively, so that the end bevel gears 2810 are all located in the mounting seats. Bevel gear shafts 2809 on each rotary lock control device are vertically penetrated through mounting seats at the two X-direction ends of a fixing frame 2815 in a one-to-one correspondence manner, and are rotatably mounted on the mounting seats, one end of each bevel gear shaft 2809 in each mounting seat is respectively fixed with a bevel gear, and the bevel gears on each bevel gear shaft 2809 are respectively in transmission engagement with end bevel gears 2810 in the corresponding mounting seats.

In each rotary lock control device, a gear transmission mechanism is formed by a bevel gear rotating shaft 2809 of each rotary lock and a bevel gear on the bevel gear rotating shaft, two rotating shafts in each fixing frame, an end bevel gear 2810 and a middle bevel gear 2812 on the rotating shafts, and a power bevel gear 2813 of each fixing frame and a gear set of the power bevel gear 2813, wherein the gear transmission in the gear transmission mechanism brings more accurate rotating angles, and the phenomenon of falling off of the rotary lock is prevented.

In this embodiment, in the lock control device located at the Y-directional side of the basic frame of the empty gantry crane 28 (i.e. the bottom of the cross beam 2801), the mounting seat is fixedly connected to the corresponding X-directional end of the fixing frame 2815, so that the distance between the locks 2805 in the two lock control devices located at the Y-directional side of the basic frame of the empty gantry crane 28 is not adjustable.

In this embodiment, in the rotary lock control device located between the Y-directional side edge of the basic frame of the overhead crane 28 and the hollow frame, the mounting seat is slidably connected to the corresponding X-directional end of the fixing frame 2815, thereby forming a telescopic beam structure 2806, the bottom of the fixing frame 2815 corresponding to the telescopic beam structure 2806 is respectively provided with a bidirectional driving device 2807, the bidirectional driving device 2807 adopts a bidirectional telescopic motor, two telescopic ends of the bidirectional driving device 2807 are respectively and fixedly connected with the corresponding two telescopic beam structures 2806, and the two mounting seats are driven by the bidirectional driving device 2807 to move close to each other or separate from each other. The rotating shafts in the fixing frames 2815 provided with the bidirectional driving devices 2807 respectively penetrate through the corresponding ends of the X-direction fixing frames 2815 and then penetrate into the mounting seats in the corresponding directions, the end bevel gears 2810 at the shaft ends of the rotating shafts are respectively positioned in the corresponding mounting seats, the bevel gear rotating shafts 2809 of the corresponding two rotating locks 2805 provided with the rotating lock control devices of the bidirectional driving devices 2807 respectively penetrate through the mounting seats in a one-to-one correspondence manner and are rotatably mounted in the mounting seats, and therefore the bevel gears on each bevel gear rotating shaft 2809 are respectively positioned in the corresponding mounting seats. When the mounting seats are driven by the bidirectional driving device 2807 to be separated or mutually close, the two bevel gear rotating shafts 2809 and the corresponding two rotating locks 2805 are separated or mutually close, and when the two rotating locks 2805 are mutually close, the bevel gears on the bevel gear rotating shafts 2809 can be in transmission engagement with the corresponding end bevel gears 2810, and when the two rotating locks 2805 are mutually far away, the bevel gears on the bevel gear rotating shafts 2809 are mutually separated from the corresponding end bevel gears 2810.

The corresponding telescopic beam 2806 of the rotary lock control device with the bidirectional driving device 2807 has a maximum extension size slightly larger than that of the transverse beam 2801, and the component space can be matched with a 20-foot standard container, and the bidirectional driving device 2807 controls two groups of bevel gear shafts 2809 to move along the X direction. When the blank hanger 28 is in the 40 foot standard container palletizing mode, the bi-directional drive 2807 controls the two sets of bevel gear shafts 2809 to move apart from each other in the X direction so as not to interfere with the engagement of the container with the twist lock 2805 located on the Y-directional side of the basic frame of the blank hanger 28. When the empty container crane 28 is in the 20 foot standard container palletizing mode, the bi-directional drive 2807 controls the two sets of bevel gear shafts 2809 to move toward each other in the X-direction such that four sets of twist locks 2805 located between the Y-direction side of the basic frame of the empty container crane 28 and the hollow frame cooperate with the container to complete palletizing operations.

Two sets of power output devices are installed on the basic frame of the empty box crane 28, wherein one set of power output devices is used for driving the two sets of rotating lock control device rotating locks 2805 of the hollow frame Y outwards from one side, and the other set of power output devices is used for driving the two sets of rotating lock control device rotating locks 2805 of the hollow frame Y outwards from the other side. As shown in fig. 10, each group of power output devices includes a motor 2803, a driving wheel 2817 and a chain 2816, the motor 2803 of each group of power output devices is fixed on the basic frame, two driving wheels 2817 of each group of power output devices are respectively fixed on the output shaft of the corresponding motor 2803, one driving wheel 2817 of each group of power output devices is in transmission connection with a driven wheel 2814 above a fixed frame 2815 in one group of rotation lock control devices corresponding to the power output devices through the chain 2816, and the other driving wheel of each group of power output devices is in transmission connection with a driven wheel above the fixed frame in the other group of rotation lock control devices corresponding to the power output devices through the chain. The motor 2803 of each power take-off drives the rotary lock 2805 of the corresponding two sets of rotary lock control devices to rotate through the driven wheel 2814 and the gear transmission mechanism of the corresponding two sets of rotary lock control devices. Each group of power output devices can synchronously control the corresponding two groups of rotary lock control devices, so that the number of motors can be saved, and the weight can be reduced.

In the basic frame of the empty box crane 28, an infrared sensor 2808 is arranged in the middle of the bottom of each end beam 2802, so that the distance between the basic frame of the empty box crane 28 and a standard container can be detected, and the power output device can control the corresponding rotating lock control device to rotate the rotating lock 2805 by 90 degrees only when the detected distance meets the safe lifting threshold value, so that the empty box crane 28 is matched with the container for locking; when the detected distance meets the safe drop threshold, the power output device can control the rotary lock 2805 in the corresponding rotary lock control device to unlock, so that the locking fit with the container is released.

In the basic frame of the overhead crane 28, a 3D camera 2804 is mounted on one quarter of each cross beam 2801, and three-dimensional image technical support can be provided for the first work arm 2701 in the rigid-flexible coupling mechanism 2 by using images acquired by the 3D camera 2804.

When the rigid-flexible coupling mechanism 2 is in the stacking mode, the scissor lift mechanism 24 drives the mounting plate 2509 to move upwards, and the first working arm 2701 is contracted until the whole lifting working mechanism 27 is positioned at the upper part of the empty box crane 28 and does not affect the stacking operation; when the rigid-flexible coupling mechanism 2 is in the binding mode, the scissor type lifting mechanism 24 drives the mounting plate 2509 to move downwards until the screw bottom plate 2711 is positioned below the empty box crane 28, rotation operation is not affected, and meanwhile, the binding operation is more stable and reliable due to the variable stiffness of the variable stiffness rotating mechanism 25.

In this embodiment, the rope winding mechanisms 5 are respectively disposed on the rail cars 62 of the mobile platform 6, and each rail car 62 is respectively provided with two groups of rope winding mechanisms 5. As shown in fig. 11 and 12, each set of rope winding mechanism 5 includes a drum 51, a drum holder 52, a coupling 53, a decelerator 54, a rope winding motor 55, a motor mounting holder 56, a mounting base 57, and a rope winding 58. The mounting table 57 and the reel bracket 52 in the rope winding mechanism 5 are respectively fixed on the top of the corresponding rail car 62, and a safe distance is kept between the mounting table 57 and the reel bracket 52 and the main frame 12 on the corresponding rail car 62. The rope winding motor 55 is fixed on the mounting table 57 through the motor mounting bracket 56, the speed reducer 54 is fixed on the mounting table 57, the winding drum 51 is rotatably mounted on the winding drum bracket 52, the winding drum is wound with the rope 58, an output shaft of the rope winding motor 55 is connected with an input shaft of the speed reducer 54, an output shaft of the speed reducer 54 is connected with one axial end of the winding drum 51 through the coupler 53, and the winding drum 51 is driven to rotate by the rope winding motor 55 in each group of rope winding mechanisms 5, so that winding and unwinding of the rope winding 58 are realized.

The two groups of rope winding mechanisms 5 on each rail car 62 are matched with the rollers 16 on the Y-direction two sides of the main frame 12 on each rail car 62 and the fixed pulleys 14 on the Y-direction two-side triangle supports on the top of the corresponding main frame 12 in a one-to-one correspondence manner. In each specific group of rope winding mechanisms 5, the rope 58 horizontally bypasses the corresponding roller 16 positioned at the top of the corresponding rail car 62, then upwards bypasses the fixed pulley 14 corresponding to the corresponding main frame 12, and then downwards extends to the top of the rigid-flexible coupling mechanism 2 between the two main frames 12. The ropes 58 output by the four groups of rope winding mechanisms 5 are connected to the hanging rings at four corner positions of the top frame plate of the main frame 21 in the rigid-flexible coupling mechanism 2 in a one-to-one correspondence manner. Thus, each rope 58 can uniformly distribute the pressure brought by the ropes to the car body 62 and the main frame 12 through the corresponding multiple groups of rollers 16 and fixed pulleys 14, so as to avoid stress concentration.

As shown in fig. 1, 2 and 11, the winding mechanism 5 can control the rigid-flexible coupling mechanism 2 to move in a large range through the winding and unwinding of four groups of winding ropes 58, when stacking operation is performed, the rigid-flexible coupling mechanism 2 can be lifted above a container group 7 formed by stacking 40 feet of containers 71 through the winding mechanism 5, the first operation arm 2701 and the second operation arm 44 in the rigid-flexible coupling mechanism 2 cooperate to realize the binding of bridge locks and twist locks of the containers, the winding mechanism 5 cooperates with the rigid-flexible coupling mechanism 2 to realize the lifting and stacking of the containers 71, and the first operation arm 2701 and the second operation arm 44 cooperate to realize the binding operation of binding bands of the container group 7.

The unmanned aerial vehicle cloth mechanism 3 of this embodiment is used with rigid-flexible coupling mechanism 2 cooperation. As shown in fig. 13, 14, and 15, the unmanned aerial vehicle distributing mechanism 3 includes an unmanned aerial vehicle main body 31, a landing gear 3201, a moving platform 35, and a holding mechanism 36. Unmanned aerial vehicle main part 31 is four rotor unmanned aerial vehicle, and camera 33 is installed to unmanned aerial vehicle main part 31 belly position, can provide image information for the cloth.

As shown in fig. 14 (a) and (b), the landing frame 3201 includes a torus, a protruding torus is provided at the top of the torus, the torus in the landing frame 3201 is fixed at the belly edge of the unmanned aerial vehicle body 31 by protruding torus, four groups of vertically extending support legs are connected at the bottom of the torus in the landing frame 3201, and the support function is achieved when the unmanned aerial vehicle body 31 descends by the four groups of support legs. Each group of support legs is respectively hollowed out to form a sliding groove 3202 which extends vertically.

The movable platform 35 comprises a movable disc 3501, and a plurality of groups of strip-shaped holes are formed in the movable disc 3501, so that the weight can be reduced, and the circuit arrangement is convenient. The movable disc 3501 is axially vertical and arranged among four support legs of the falling frame 3201, square foot frames 3502 are respectively connected to edges of the movable disc 3501 corresponding to the position of each support leg, each square foot frame 3502 is respectively connected with a sliding ring 3405, and each sliding ring 3405 is respectively slidably mounted in a sliding groove 3202 corresponding to each support leg. The upper end position in the spout 3202 of every stabilizer blade is fixed with wire loop 3404 respectively, and the tourbillon bottom of landing gear 3201 corresponds every stabilizer blade position and is fixed with micro motor 3401 respectively, and the output shaft of micro motor 3401 is fixed with a receipts section of thick bamboo 3402 respectively, and the winding has the stay cord 3403 on the receipts section of thick bamboo 3402, and the slip ring 3405 in the corresponding stabilizer blade spout 3202 of fixed connection again after the stay cord 3403 passes wire loop 3404 in the corresponding stabilizer blade downwards.

The winding drum 3402 is driven by the micro motor 3401 to further control the winding and unwinding of the pull rope 3403, one end of the pull rope 3403 is connected with the winding drum 3402, the other end is connected with the slip ring 3405, the pull rope 3404 is penetrated halfway, the pull rope is arranged at the upper end of the sliding groove 3202, and winding of the pull rope 3403 and the landing gear 3201 during winding can be avoided. The four groups of rope collecting devices can control the movable platform 35 to freely lift and move in an annular area surrounded by four groups of supporting legs.

As shown in fig. 15 (a) and (b), the clamping mechanism 36 is mounted on the bottom of the movable disk 3501, and the clamping mechanism 36 includes a first clamping plate 3609, a second clamping plate 3608, and an operation driving mechanism, and the first clamping plate 3609 and the second clamping plate 3608 are driven to move apart from each other and close to each other by the operation driving mechanism.

The bottom that is close to circumference border position of movable disk 3501 is equipped with a plurality of ultrasonic rangefinder 3503, and ultrasonic rangefinder 3503 senses the distance information of moving platform 35, can provide distance information for unmanned aerial vehicle cloth mechanism 3.

The motion driving mechanism comprises a motor 3601 fixed at the bottom of the movable disk 3501 through a bracket 3602, and two micro screws 3610 rotatably installed at the bottom of the movable disk 3501 through a bearing seat 3607 and a bearing 3611 respectively. The two micro-lead screws 3610 are axially horizontal and parallel to each other, each micro-lead screw 3610 is respectively provided with a transmission nut 3612 in a screwed mode, the rotation directions of the two transmission nuts 3612 are opposite, one ends of the two micro-lead screws 3610 in the same direction are respectively and fixedly provided with a belt gear 3605, and the two belt gears 3605 are in transmission connection through a synchronous belt 3606. The output shaft of the motor 3601 is fixedly provided with a transmission gear 3603, one belt gear 3605 is coaxially and fixedly connected with a synchronous gear 3604, and the transmission gear 3603 is in transmission engagement with the synchronous gear 3604. The motor 3601 drives the transmission gear 3603 to rotate, and power is transmitted to the synchronous gear 3604 and then transmitted to the belt gear 3605 which is coaxially arranged with the synchronous gear 3604, so that the two micro screws 3610 are driven to synchronously rotate, and when the two micro screws 3610 synchronously rotate due to the fact that the rotation directions of the two transmission nuts 3612 are opposite, the movement directions of the two transmission nuts 3612 are opposite.

The first clamping plate 3609 and the second clamping plate 3608 are respectively vertical, the first clamping plate 3609 and the second clamping plate 3608 are distributed relatively, the first clamping plate 3609 is fixedly connected with a transmission nut 3612 on one of the micro screws 3610, and the second clamping plate 3609 is fixedly connected with a transmission nut on the other micro screw. When the two micro screws 3610 rotate, the two driving nuts 3612 move horizontally and linearly to separate from or approach each other, so as to drive the first clamping plate 3609 and the second clamping plate 3608 to separate from or approach each other.

The opposite surfaces of the first clamping plate 3609 and the second clamping plate 3608 are provided with mutually matched molded surfaces (as shown in a partial enlarged mode in fig. 15), a plurality of locking strips 3614 are connected to the bottom side of one surface of the first clamping plate 3609 facing the second clamping plate 3608, and matching holes are respectively formed in the positions, corresponding to the locking strips 3614, of the second clamping plate 3608. When the screw rod rotates to drive the first clamping plate 3609 and the second clamping plate 3608 to approach each other, the molded surfaces of the first clamping plate 3609 and the second clamping plate 3608 are in contact fit at first, when the bridge lock or the binding belt enters into the space for closing, the locking strip 3614 on the first clamping plate 3609 can be inserted into the matching hole on the second clamping plate 3608 by continuing to rotate the micro screw rod, so that the locking state is achieved, and if the bridge lock is a cloth, the micro screw rod can meet the operation requirement after reaching the locking state. Multiple sets of locking bars 3614 can be arranged for different clothing to prevent the unmanned aerial vehicle from losing goods in the flight process.

In addition, two groups of hollow windows which are horizontally distributed are respectively hollow in the first clamping plate 3609 and the second clamping plate 3608, and rolling rollers 3613 are respectively and rotatably arranged in each group of hollow windows. A pair of arc-shaped pressing plates which are distributed up and down in a relative mode are respectively arranged at positions between the two groups of hollowed windows on the opposite surfaces of the first clamping plate 3609 and the second clamping plate 3608, inner arcs of the two arc-shaped pressing plates on the same clamping plate are opposite, and the height of each arc-shaped pressing plate is slightly lower than the radius of the rolling roller 3613. When the micro lead screw 3610 reaches a locking state, the binding belt can slide in the enclosed space through the rolling roller 3613, and the micro lead screw can reach a clamping state after being continuously rotated, and the binding belt is mutually extruded and locked by the arc-shaped pressing plate and cannot move in the enclosed space.

Can realize the input of container crowd top bridge lock through unmanned aerial vehicle cloth mechanism 3, perhaps accomplish the assistance-localization real-time work of binding area, improve the work efficiency of container ligature.

As shown in fig. 16, the control method of the rigid-flexible coupling robot in this embodiment is performed according to the following steps:

step one: the railcar 62 is started, and whether the infrared sensor 47, the angle sensor 2507 and the 3D cameras 49 are operating normally is tested, and the system initialization of the mobile mounting mechanism 1 and the rigid-flexible coupling mechanism 2 is performed.

Step two: the railcar 62 is controlled to reach the area to be worked, whether the infrared sensor 47 sends distance feedback information or not is detected, if so, the distance between the railcar 62 and the container group 7 is readjusted until the distance is within a proper threshold, if not, the next step is carried out.

Step three: the mode of operation of the rigid-flexible coupling mechanism 2 is selected.

3.1, the selection mode is a single container stacking mode, and empty containers of 20 feet or 40 feet standard containers can be stacked.

And 3.2, the selection mode is a container binding mode, and the binding work of the bridge lock and the twist lock can be completed.

Step four:

4.1 in single bin palletizing mode, the position of scissor lift mechanism 24 is adjusted while first work arm 2701 is retracted to above empty bin crane 28.

4.2, in the container lashing mode, the position of the scissor lift mechanism 24 is adjusted while the first work arm 2701 is extended to be below the empty container crane 28. In addition, the Y-axis moving mechanism 4 and the Z-axis moving platform 11 are started, and the position of the second arm 44 is adjusted to wait for the binding instruction operation.

Step five:

5.1, in the single container palletizing mode, according to different standards of containers to be palletized, the bidirectional driving device 2807 is controlled to move inwards or outwards, and meanwhile, the rigid-flexible coupling mechanism 2 is driven by the rope winding mechanism 5 to be matched with the containers to be palletized (for example, 40 feet of standard container 71), and control signals of the infrared sensor 2808 are waited.

And 5.2, when the container is in the container lashing mode, the three-dimensional image information provided by the plurality of groups of 3D cameras 2804 is processed by a computer, and then the corresponding second working arm 44 is controlled to reach the position to be worked, and lashing operation is executed.

Step six:

6.1, when in the single-box stacking mode, detecting whether the infrared sensor 2608 issues a rotation lock control signal, if the distance accords with the safety threshold, issuing the rotation lock control signal, and driving the rotation lock 2805 to rotate by 90 degrees by the rotation lock control device to achieve a locking state.

6.2, when the container is in the container binding mode, judging whether all containers are subjected to binding and reinforcing operations, if so, completing the working tasks, closing all driving motors, and controlling the rigid-flexible coupling robot to return to the designated position; if not, continuing to execute the second step.

Step seven:

when the device is in the single-box stacking mode, the rigid-flexible coupling mechanism 2 is controlled to hoist empty containers 71 of containers to be stacked to reach the region to be stacked, meanwhile, whether the infrared sensor 2608 issues a rotation lock signal is detected, if the distance accords with the safety threshold, the rotation lock control signal is issued, the rotation lock 2805 is driven by the rotation lock control device to rotate 90 degrees to reach the unloading state, so that the single stacking operation is completed, whether all work tasks are completed is judged, if not, the second step is continuously executed, if yes, the driving motors are closed, and the rigid-flexible coupling robot is controlled to return to the designated position.

As shown in fig. 17, the control method of the unmanned aerial vehicle distributing mechanism 3 of the present embodiment is performed as follows:

step one: the four-rotor unmanned aerial vehicle 31 (hereinafter referred to as unmanned aerial vehicle) is started, whether the unmanned aerial vehicle camera 33 and the ultrasonic range finder 3503 work normally or not is tested, and the unmanned aerial vehicle material distributing mechanism 3 system is initialized.

Step two: cloth modes (1 bridge lock cloth mode, 2 auxiliary binding band binding mode, the same applies below) are selected.

S2.1, bridge lock distribution mode: the throwing operation of the bridge lock at the top of the container group can be completed.

S2.2, auxiliary binding belt binding mode: the rigid-flexible coupling mechanism 2 can be assisted to complete binding operation of the binding belt.

Step three:

s3.1, placing the bridge lock between the left clamping plate and the right clamping plate (3608 and 3609), and starting the micro-screw 3610 to drive the left clamping plate and the right clamping plate to approach each other until the bottom locking strip 3614 of the first clamping plate 3609 is inserted into the matching hole at the bottom of the second clamping plate 3608, so that a locking state is achieved.

S3.2, one end (a certain length is reserved at a joint) of the binding belt is placed between the first clamping plate (3608) and the second clamping plate (3609), the micro screw 3610 is started to achieve a clamping state, and at the moment, the arc-shaped pressing plates mutually squeeze and lock the binding belt.

Step four: starting four groups of rope pulling devices to drive the movable disc 3501 to rise to a proper position;

S4.1, controlling the unmanned aerial vehicle 31 to fly to a safe distance of a region to be distributed, if the ultrasonic range finder 3503 sends information of too short or too long distance, re-executing the step, and if the proper distance is reached, controlling the unmanned aerial vehicle 31 to hover.

S4.2, controlling the unmanned aerial vehicle 31 to fly to a position to be bound of the container and hover at one side, and waiting for the rigid-flexible coupling mechanism 2 to fix the binding belt at the side. After the fixation of the binding belt at the side is finished, the ball screw 3610 in the clamping mechanism 36 is controlled to achieve a locking state, the binding belt is ensured not to drop and can move in the inner space, then the unmanned aerial vehicle 31 is controlled to fly to the other side of the position to be bound to hover, and the binding belt at the side is waited to be fixed by the rigid-flexible coupling mechanism 2.

Step five: starting four groups of rope pulling devices to drive the movable disc 3501 to descend to a proper position;

s5.1, the ball screw 3610 in the clamping mechanism 36 is controlled to be in a 'relaxed state' (namely, the first clamping plate 3609 is separated from the second clamping plate 3608, and the cloth can be freely dropped), and at the moment, the put-in bridge is locked to the area to be distributed.

S5.2, the ball screw 3610 in the clamping mechanism 36 is controlled to be in a 'loosening state' (namely, the first clamping plate 3609 is separated from the second clamping plate 3608, and the cloth can be freely separated), at the moment, the binding belt is separated, and then the rigid-flexible coupling mechanism 2 completes tightening and reinforcing operations.

Step six: after the fifth step is completed, whether the top material distribution work or auxiliary binding work of the whole container group is completed or not needs to be judged. If not, the second step needs to be continuously executed; if the operation is completed, the motors (micro motor 3401 and motor 3601) in the unmanned aerial vehicle distributing mechanism 3 are turned off, the unmanned aerial vehicle main body 31 is controlled to return, and the distributing task is finished.

The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, and the examples described herein are merely illustrative of the preferred embodiments of the present invention and are not intended to limit the spirit and scope of the present invention. The individual technical features described in the above-described embodiments may be combined in any suitable manner without contradiction, and such combination should also be regarded as the disclosure of the present disclosure as long as it does not deviate from the idea of the present invention. The various possible combinations of the invention are not described in detail in order to avoid unnecessary repetition.

The present invention is not limited to the specific details of the above embodiments, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the protection scope of the present invention without departing from the scope of the technical concept of the present invention, and the technical content of the present invention is fully described in the claims.

Claims

1. The rigid-flexible coupling robot for the yard operation is characterized by comprising a movable mounting mechanism (1), wherein the movable mounting mechanism (1) comprises a pair of main frames (12) which are oppositely arranged, and a rigid-flexible coupling mechanism (2) is arranged between the two main frames (12);

In the movable mounting mechanism (1), each main frame (12) is respectively provided with a rope winding mechanism (5), and the rope winding outputted by each rope winding mechanism (5) is respectively hung on the top of a main frame (21) in the rigid-flexible coupling mechanism (2) after respectively bypassing the pulley of the corresponding main frame (12); the opposite surfaces of the two main frames (12) are respectively provided with a second working arm (44) with adjustable horizontal and vertical positions; the first operation arm (2701) and the second operation arm (44) in the rigid-flexible coupling mechanism (2) cooperate to realize binding operation of a bridge lock and a twist lock of the container; the rope winding mechanism (5) is matched with the rigid-flexible coupling mechanism (2) to realize hoisting and stacking of the container, and the first working arm (2701) and the second working arm (44) are matched to realize binding operation of a binding belt of the container.

2. A rigid-flexible coupled robot for yard operations according to claim 1, characterized in that the horizontal position of each main frame (12) in the mobile mounting mechanism (1) is adjustable.

3. The rigid-flexible coupling robot for yard operations according to claim 1, wherein the lifting driving mechanism in the rigid-flexible coupling mechanism (2) is a scissor type lifting mechanism (24), one end of the scissor type lifting mechanism (24) is fixed in the main frame (21), and the other end of the scissor type lifting mechanism (24) is fixedly connected with the bottom of the rigidity-variable rotating mechanism (25).

4. The rigid-flexible coupling robot for yard operations according to claim 1, wherein the variable stiffness rotating mechanism (25) further comprises a mounting plate (2509) and a slewing bearing (2508), the top of the mounting plate (2509) is connected with the lifting driving mechanism, the lifting driving mechanism drives the mounting plate (2509) to lift, one of an inner ring and an outer ring of the slewing bearing (2508) is fixed at the bottom of the mounting plate (2509), the other is fixedly connected with the top of the hoisting operation mechanism (27), the rotating motor (2503) is fixed on the mounting plate (2509), and the rotating motor (2503) drives one of the inner ring and the outer ring of the slewing bearing (2508) connected with the hoisting operation mechanism (27) to rotate; the four corners of the mounting plate (2509) are respectively vertically penetrated and fixed with flexible support rods (2501), the upper end and the lower end of each flexible support rod (2501) are respectively fixed in the main frame (21), springs (2502) are respectively arranged outside each flexible support rod (2501), one end of each spring (2502) is fixed on the mounting plate (2509), the other end of each spring is fixed in the main frame (21), and the springs (2502) generate elastic force opposite to the lifting direction when the mounting plate (2509) lifts.

5. The rigid-flexible coupling robot for yard operations according to claim 1, wherein the rotary lock control device further comprises a fixed frame (2815), two rotary locks (2805) corresponding to each rotary lock control device are respectively and rotatably installed at two symmetrical end positions of the fixed frame (2815) through vertical bevel gear shafts (2809), bevel gears are fixedly installed on each bevel gear shaft (2809), an axial horizontal rotating shaft is rotatably installed inside the fixed frame (2815), end bevel gears (2810) are fixedly installed at two ends of the rotating shaft respectively, two end bevel gears (2810) are in one-to-one corresponding transmission engagement with bevel gears on the two bevel gear shafts (2809), a middle bevel gear (2812) is fixedly installed on the rotating shaft, an axial vertical power bevel gear (2813) is rotatably installed inside the fixed frame (2815), and the power bevel gear (2813) is in transmission engagement with the middle bevel gear (2812); each rotary lock control device is characterized in that a gear transmission mechanism is formed by the bevel gear rotating shaft (2809) and an end bevel gear (2810), a middle bevel gear (2812) and a power bevel gear (2813) on the bevel gear rotating shaft, the motor (2803) drives the power bevel gear (2813) of each rotary lock control device to rotate, and then the two rotary locks (2805) corresponding to the rotary lock control devices are driven to rotate through the gear transmission mechanism.

6. The rigid-flexible coupling robot for yard operations according to claim 5, wherein, among the plurality of twist-lock control devices, a bidirectional driving device (2807) is installed at the bottom of a fixing frame (2815) of at least one twist-lock control device, two ends of the bidirectional driving device (2807) are respectively and fixedly connected with mounting seats, and the two mounting seats are respectively and slidingly connected with two symmetrical end positions of the fixing frame (2815) to form a telescopic beam structure, and the two mounting seats are driven by the bidirectional driving device (2807) to move close to each other or separate from each other; end bevel gears (2810) corresponding to fixing frames (2815) of the rotary lock control device provided with the bidirectional driving device (2807) are respectively positioned in two mounting seats, bevel gear rotating shafts (2809) of the corresponding two rotary locks (2805) of the rotary lock control device provided with the bidirectional driving device (2807) penetrate through the mounting seats in a one-to-one correspondence manner and are rotatably arranged in the mounting seats, and therefore bevel gears on each bevel gear rotating shaft (2809) are respectively positioned in the corresponding mounting seats; when the mounting seats are driven by the bidirectional driving device (2807) to be separated or mutually close, the two bevel gear rotating shafts (2809) and the corresponding two rotating locks (2805) are separated or mutually close, and when the two rotating locks (2805) are mutually close, the bevel gears on the bevel gear rotating shafts (2809) can be in transmission engagement with the corresponding end bevel gears (2810), and when the two rotating locks (2805) are mutually far away, the bevel gears on the bevel gear rotating shafts (2809) are mutually separated from the corresponding end bevel gears (2810).

7. The rigid-flexible coupled robot for yard operations according to claim 1, wherein a plurality of cameras (2804) and infrared sensors (2808) are installed at the bottom of the base frame of the empty gantry crane (28), the distance between the base frame of the empty gantry crane (28) and the container is detected by the infrared sensors (2808), and images are acquired by the cameras (2804) to provide image support for the operations of the first work arm (2701).

8. The rigid-flexible coupling robot for yard operations according to claim 1, further comprising an unmanned aerial vehicle distributing mechanism (3), wherein the unmanned aerial vehicle distributing mechanism (3) comprises an unmanned aerial vehicle main body (31), a landing frame (3201) is connected to the belly of the unmanned aerial vehicle main body (31), the landing frame (3201) is provided with a plurality of supporting feet, a movable platform (35) is installed between the plurality of supporting feet in a lifting manner, and a movable platform (35) lifting driving mechanism for driving the movable platform (35) to lift is installed in the landing frame (3201); the bottom of the movable platform (35) is provided with clamping plates which are symmetrically distributed and can be separated from each other and move close to each other, the movable platform (35) is also provided with a driving mechanism for driving the two clamping plates to move, the two clamping plates are matched with the unmanned aerial vehicle main body (31) to realize bridge lock cloth of the container, and the two clamping plates assist the first working arm (2701) and the second working arm to realize binding of the binding belt of the device.

9. The rigid-flexible coupling robot for yard operations according to claim 8, wherein an ultrasonic range finder (3503) is provided at the bottom of the movable platform (35), and distance information of the movable platform (35) is sensed by the ultrasonic range finder (3503).

10. The rigid-flexible coupling robot for yard operations according to claim 8, wherein each clamping plate is respectively provided with a pair of hollow windows which are horizontally distributed, and the hollow windows are respectively rotatably provided with an axial vertical roller (3613); one surface of each clamping plate facing the other clamping plate is positioned between the two rollers (3613) and is fixedly provided with a pair of arc-shaped pressing plates which are distributed up and down, and the inner arcs of the two arc-shaped pressing plates are opposite; the opposite faces of the two clamping plates are also provided with mutually matched molded faces, one face of one clamping plate, facing the other clamping plate, of the two clamping plates is also provided with a plurality of locking strips (3614), the other clamping plate is provided with matching holes corresponding to the positions of the locking strips (3614), the molded faces are contacted and matched firstly when the two clamping plates are mutually close to each other, and each locking strip (3614) is inserted into the corresponding matching hole after the two clamping plates are continuously mutually close to each other.