MAGNETICALLY CONTROLLED SMART SORTING DEVICE FOR CONTAINER LOCKPINS, AND CONTROL METHOD THEREFOR

Abstract

Provided is a magnetically controlled smart sorting device for container lockpins, and a control method therefor. In the magnetically controlled smart sorting device for container lockpins, a bidirectional retractable component (1) is provided at an upper end of a guide cylinder (3), the bidirectional retractable component (1) is connected to a bidirectional retractable component linkage (2), the bidirectional retractable component linkage (2) is connected to a guide column (4), a universal joint (5) is fixedly mounted on the lower portion of the guide column (4), and the lower portion of the universal joint (5) is connected to a magnetically controlled gripper (6). At least one magnetically controlled head (7) is attached to the lower portion of the magnetically controlled gripper (6), and each magnetically controlled head (7) is configured to attract a selected lockpin when the magnetically controlled gripper (6) presses against the selected lockpin.

Claims

1. A magnetically controlled smart sorting device for container lockpins, comprising a guide cylinder (3), a bidirectional retractable component (1) mounted inside the guide cylinder (3), a bidirectional retractable component linkage (2), a guide column (4), a universal joint (5), a magnetically controlled gripper (6), and at least one magnetically controlled head (7); wherein the bidirectional retractable component (1) is provided at an upper end of the guide cylinder (3), a lower portion of the bidirectional retractable component (1) is connected to the bidirectional retractable component linkage (2), the bidirectional retractable component linkage (2) is connected to the guide column (4), the universal joint (5) is fixedly mounted on a lower portion of the guide column (4), and a lower portion of the universal joint (5) is connected to the magnetically controlled gripper (6); wherein the at least one magnetically controlled head (7) is attached to a lower portion of the magnetically controlled gripper (6), and each magnetically controlled head (7) of the at least one magnetically controlled head (7) is configured to attract a selected lockpin when the magnetically controlled gripper (6) presses against the selected lockpin.

2. The magnetically controlled smart sorting device for container lockpins of claim 1, wherein an upper edge of the magnetically controlled gripper (6) is provided with a guide slope (61).

3. The magnetically controlled smart sorting device for container lockpins of claim 1, wherein the guide cylinder (3) is made of a magnetism isolating material.

4. The magnetically controlled smart sorting device for container lockpins of claim 1, wherein the bidirectional retractable component (1) is electrically driven or pneumatically driven.

5. The magnetically controlled smart sorting device for container lockpins of claim 1, wherein the each magnetically controlled head (7) attached to the lower portion of the magnetically controlled gripper (6) is a permanent magnet-attracted magnetically controlled head.

6. The magnetically controlled smart sorting device for container lockpins of claim 1, wherein the each magnetically controlled head (7) attached to the lower portion of the magnetically controlled gripper (6) is a magnetically controlled head of an electromagnetic attraction structure.

7. A control method for the magnetically controlled smart sorting device for container lockpins of claim 1, comprising: in a case where a container lockpin basket is brought to a first designated position, moving the smart sorting device to above a selected lockpin, lowering the smart sorting device to a second designated position, to enable the bidirectional retractable component (1) to push the magnetically controlled gripper (6) downward until the magnetically controlled gripper (6) attaches the selected lockpin; extracting the selected lockpin by the smart sorting device and delivering to a third designated position by the smart sorting device; in response to the smart sorting device with the extracted lockpin having been moved to the third designated position, lowering the smart sorting device to a designated height, to enable the magnetically controlled gripper (6) being retracted into the guide cylinder (3) through the bidirectional retractable component (1), so as to disengage the magnetically controlled head (7) from a lockpin and to disengage the lockpin onto a fourth designated position.

8. A control method for the magnetically controlled smart sorting device for container lockpins of claim 2, comprising: in a case where a container lockpin basket is brought to a first designated position, moving the smart sorting device to above a selected lockpin, lowering the smart sorting device to a second designated position, to enable the bidirectional retractable component (1) to push the magnetically controlled gripper (6) downward until the magnetically controlled gripper (6) attaches the selected lockpin; extracting the selected lockpin by the smart sorting device and delivering to a third designated position by the smart sorting device; in response to the smart sorting device with the extracted lockpin having been moved to the third designated position, lowering the smart sorting device to a designated height, to enable the magnetically controlled gripper (6) being retracted into the guide cylinder (3) through the bidirectional retractable component (1), so as to disengage the magnetically controlled head (7) from a lockpin and to disengage the lockpin onto a fourth designated position.

9. A control method for the magnetically controlled smart sorting device for container lockpins of claim 3, comprising: in a case where a container lockpin basket is brought to a first designated position, moving the smart sorting device to above a selected lockpin, lowering the smart sorting device to a second designated position, to enable the bidirectional retractable component (1) to push the magnetically controlled gripper (6) downward until the magnetically controlled gripper (6) attaches the selected lockpin; extracting the selected lockpin by the smart sorting device and delivering to a third designated position by the smart sorting device; in response to the smart sorting device with the extracted lockpin having been moved to the third designated position, lowering the smart sorting device to a designated height, to enable the magnetically controlled gripper (6) being retracted into the guide cylinder (3) through the bidirectional retractable component (1), so as to disengage the magnetically controlled head (7) from a lockpin and to disengage the lockpin onto a fourth designated position.

10. A control method for the magnetically controlled smart sorting device for container lockpins of claim 4, comprising: in a case where a container lockpin basket is brought to a first designated position, moving the smart sorting device to above a selected lockpin, lowering the smart sorting device to a second designated position, to enable the bidirectional retractable component (1) to push the magnetically controlled gripper (6) downward until the magnetically controlled gripper (6) attaches the selected lockpin; extracting the selected lockpin by the smart sorting device and delivering to a third designated position by the smart sorting device; in response to the smart sorting device with the extracted lockpin having been moved to the third designated position, lowering the smart sorting device to a designated height, to enable the magnetically controlled gripper (6) being retracted into the guide cylinder (3) through the bidirectional retractable component (1), so as to disengage the magnetically controlled head (7) from a lockpin and to disengage the lockpin onto a fourth designated position.

11. A control method for the magnetically controlled smart sorting device for container lockpins of claim 5, comprising: in a case where a container lockpin basket is brought to a first designated position, moving the smart sorting device to above a selected lockpin, lowering the smart sorting device to a second designated position, to enable the bidirectional retractable component (1) to push the magnetically controlled gripper (6) downward until the magnetically controlled gripper (6) attaches the selected lockpin; extracting the selected lockpin by the smart sorting device and delivering to a third designated position by the smart sorting device; in response to the smart sorting device with the extracted lockpin having been moved to the third designated position, lowering the smart sorting device to a designated height, to enable the magnetically controlled gripper (6) being retracted into the guide cylinder (3) through the bidirectional retractable component (1), so as to disengage the magnetically controlled head (7) from a lockpin and to disengage the lockpin onto a fourth designated position.

12. A control method for the magnetically controlled smart sorting device for container lockpins of claim 6, comprising: in a case where a container lockpin basket is brought to a first designated position, moving the smart sorting device to above a selected lockpin, lowering the smart sorting device to a second designated position, to enable the bidirectional retractable component (1) to push the magnetically controlled gripper (6) downward until the magnetically controlled gripper (6) attaches the selected lockpin; extracting the selected lockpin by the smart sorting device and delivering to a third designated position by the smart sorting device; in response to the smart sorting device with the extracted lockpin having been moved to the third designated position, lowering the smart sorting device to a designated height, to enable the magnetically controlled gripper (6) being retracted into the guide cylinder (3) through the bidirectional retractable component (1), so as to disengage the magnetically controlled head (7) from a lockpin and to disengage the lockpin onto a fourth designated position.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0017] FIG. 1 is a structural diagram of a magnetically controlled smart sorting device for container lockpins according to the present disclosure.

[0018] FIG. 2 is a flowchart of a control method for a magnetically controlled smart sorting device for container lockpins according to the present disclosure.

REFERENCE LIST

[0019] 1 bidirectional retractable component [0020] 2 bidirectional retractable component linkage [0021] 3 guide cylinder [0022] 4 guide column [0023] 5 universal joint [0024] 6 magnetically controlled gripper [0025] 7 magnetically controlled head [0026] 61 guide slope

DETAILED DESCRIPTION

[0027] With reference to FIG. 1, the present disclosure provides a magnetically controlled smart sorting device for container lockpins. The magnetically controlled smart sorting device for container lockpins is provided with a magnetically controlled gripper 6. Three magnetically controlled heads 7 are attached to the lower portion of the magnetically controlled gripper 6. The number of the magnetically controlled heads 7 can be increased or reduced according to actual requirements. The universal joint 5 is mounted on the upper portion of the magnetically controlled gripper 6 and is fixed to the lower portion of the guide column 4.

[0028] The guide cylinder 3 is the main body of the magnetically controlled smart sorting device for container lockpins of the present disclosure. The bidirectional retractable component 1 is fixedly mounted at the upper end of the guide cylinder 3. The lower portion of the bidirectional retractable component 1 is connected to the bidirectional retractable component linkage 2. The bidirectional retractable component linkage 2 is the working part of the bidirectional retractable component 1 and is connected to the guide column 4. The guide column 4 is connected to the universal joint 5. The magnetically controlled gripper 6 is connected to the guide column 4 through the universal joint 5.

[0029] In this embodiment, the bidirectional retractable component 1 is configured to retract in the up-down direction. The bidirectional retractable component 1 may be a hydraulic retractable rod, a pneumatic retractable rod, an electric retractable rod, or the like.

[0030] In an embodiment, the lower portion of the bidirectional retractable component linkage 2 is connected to the guide column 4.

[0031] When the magnetically controlled gripper 6 presses against the selected lockpin, the universal joint 5 connected to the magnetically controlled gripper 6 adapts the magnetically controlled gripper to the shape of the matched lockpin so that the magnetically controlled head 7 can tightly attach the selected lockpin and extract the lockpin from the lockpin basket.

[0032] In order to increase the distance between the magnetically controlled gripper 6 and the inner wall of the guide cylinder 3, the upper edge of the magnetically controlled gripper 6 is provided with a guide slope 61. The angle of the guide slope 61 can be flexibly changed in accordance with the shape of the lockpin under the traction of the universal joint 5, so that the magnetically controlled head 7 can firmly attach the lockpin, firmly grippe the lockpin, and smoothly retract into the guide cylinder while releasing the extracted lockpin.

[0033] In this embodiment, the guide slope 61 may be provided in an annular shape along the upper edge of the magnetically controlled gripper 6. The guide slope 61 may be provided in a circular or square shape according to the shape of the guide cylinder 3. The guide slope 61 is provided obliquely from top to bottom in a direction away from the bidirectional retractable component linkage 2.

[0034] The guide cylinder 3 may be made of a magnetism isolating material. The guide cylinder made of a magnetism isolating material is arranged outside the magnetically controlled smart sorting device for container lockpins, so that the magnetically controlled smart sorting device for container lockpins can extract any type of lockpin without limitation.

[0035] The bidirectional retractable component 1 may be driven by electric power, pneumatic power, or other power.

[0036] The magnetically controlled head 7 attached to the lower portion of the magnetically controlled gripper 6 may be a magnetically controlled head made of a permanent magnetically attractive material or a magnetically controlled head of an electromagnetic attraction structure.

[0037] The working process of the magnetically controlled smart sorting device for container lockpins of the present disclosure is as follows:

[0038] When the magnetically controlled smart sorting device for container lockpins obtains an instruction of extracting a lockpin, the device moves and lowers above the lockpin selected to be extracted in the lockpin basket. The bidirectional retractable component 1 pushes out the bidirectional retractable component linkage 2. The guide column 4 moves downward. The magnetically controlled gripper 6 extends out of the guide cylinder 3 and presses against the selected lockpin. The universal joint 5 connected to the magnetically controlled gripper 6 can make the magnetically controlled gripper adapt to various lockpin shapes, and then the magnetically controlled head 7 can tightly attach the selected lockpin and extract the selected lockpin from the lockpin basket.

[0039] When the magnetically controlled smart sorting device for container lockpins obtains an instruction of extracting a lockpin, the device moves and lowers above the lockpin selected to be extracted in the lockpin basket. The bidirectional retractable component 1 pushes out the bidirectional retractable component linkage 2. The guide column 4 moves downward. The magnetically controlled gripper 6 extends out of the guide cylinder 3 and presses against the selected lockpin. Since the universal joint 5 connected to the magnetically controlled gripper 6 can make the magnetically controlled gripper adapt to various lockpin shapes, the magnetically controlled head 7 can tightly attach the selected lockpin and extract the selected lockpin from the lockpin basket.

[0040] The upper edge of the magnetically controlled gripper 6 is provided with a guide slope 61. The guide slope 61 increases the distance between the magnetically controlled gripper 6 and the inner wall of the guide cylinder 3, and the angle of the guide slope 61 can be flexibly changed in accordance with the shape of the lockpin under the traction of the universal joint 5, so that the magnetically controlled head 7 can firmly attach the lockpin and firmly grippe the various types of lockpins and the magnetically controlled gripper 6 can smoothly retract into the guide cylinder 3 to prevent the magnetically controlled gripper 6 from being stuck by the cylinder wall of the guide cylinder.

[0041] With reference to FIG. 2, the present disclosure further provides a control method for a magnetically controlled smart sorting device for container lockpins. The control steps are as follows: when a container lockpin basket is brought to a designated position, the smart sorting device receives an instruction of extracting a lockpin, selects a matched lockpin in the lockpin basket, moves above the lockpin and lowers to a certain position. The bidirectional retractable component linkage 2 is immediately activated to push downward the magnetically controlled gripper 6 until the magnetically controlled gripper 6 firmly attaches the lockpin to be extracted. At this point, the smart sorting device initiates the lifting program to extract the selected lockpin, is instructed to leave the lockpin basket, and delivers the extracted lockpin to a designated position.

[0042] After the smart sorting device with the extracted lockpin moves to the designated position, the smart sorting device lowers to a designated height, and the reverse retraction of the bidirectional retractable component is initiated according to the program. When the magnetically controlled gripper is retracted into the guide cylinder, the bidirectional retractable component continues to retract to disengage the magnetically controlled head from the lockpin, and the lockpin is disengaged onto a designated position. In this manner, the smart sorting device completes the extraction and conveyance of the lockpin and then returns to the original position.

[0043] The basic principle of the process of the magnetically controlled smart sorting device for container lockpins of the present disclosure is as follows:

[0044] The magnetically controlled smart sorting device for container lockpins of the present disclosure is a device consisting of a bidirectional retractable component, a guide column, a universal joint, a magnetically controlled gripper and a magnetically controlled head and can magnetically attach the container lockpin, and the guide cylinder casing the device is made of the magnetism isolating material and can extract any type of lockpin without limitation. Starting from the identification of the lockpin type, the device receives an instruction, finds a designated lockpin in the basket, pushes the magnetically controlled head to attach the lockpin through the bidirectional retractable component, extracts the lockpin from the basket, and conveys the extracted lockpin to a designated position. Then the device activates the bidirectional retractable component again, retracts the magnetically controlled head to disengage the lockpin, and conveys the designated lockpin (the same type) to the designated position. In this manner, the whole process can be automatically completed.

[0045] The relationship between the main processes of the present disclosure is described below in conjunction with FIG. 2.

[0046] (1) The magnetically controlled smart sorting device for container lockpins, after receiving an instruction of finding a designated lockpin, automatically moves to a position where the designated lockpin is located, and then the program of the magnetically controlled smart sorting device for container lockpins for extracting the designated lockpin is initiated.

[0047] (2) Lockpin extraction: the magnetically controlled smart sorting device for container lockpins initiates the extraction program. The bidirectional retractable component pushes the bidirectional retractable component linkage downward to make the magnetically controlled gripper to reach out of the guide cylinder and align with the designated lockpin, and continuously presses the lockpin down until all the magnetically controlled heads tightly attach the lockpin. After that, the bidirectional retractable component stops pushing down, the magnetically controlled smart sorting device for container lockpins lifts up as a whole, and the lockpin leaves the lockpin basket.

[0048] (3) Lockpin conveyance: the lockpin is lifted out of the lockpin basket and the conveyance procedure is initiated. The lockpin moves to a designated position where the lockpin is placed according to a designated path or by a fixed transmission facility until the lockpin is conveyed to the designated position.

[0049] (4) Lockpin placement: after the lockpin is conveyed to the designated position, the lockpin disengagement procedure is initiated. The bidirectional retractable component retracts the bidirectional retractable component linkage upward so that the magnetically controlled gripper is retracted into the guide cylinder. When the lockpin is blocked by the guide cylinder, the magnetically controlled gripper is continuously retracted, the magnetically controlled head is pulled and disengages the lockpin, the lockpin is placed at the designated position, and then the bidirectional retractable component stops the retraction movement.

[0050] (5) The magnetically controlled smart sorting device for container lockpins returns to the original position.

[0051] In practical application, the main process of the magnetically controlled smart sorting device for container lockpins of the present disclosure is as follows:

[0052] 1. After receiving the instruction for extracting the lockpin, the device moves above the position of the designated lockpin according to the position instruction of the program, the magnetically controlled smart sorting device for container lockpins is lowered, and the program for extracting the lockpin is initiated.

[0053] 2. After the lockpin extraction program is initiated, according to the built-in setting, the bidirectional retractable component initiates the downward pushing function and continuously presses the magnetically controlled gripper to the lockpin so that the magnetically controlled head can tightly attach the designated lockpin. After the lockpin is lifted, go to the next step.

[0054] 3. After the lockpin is extracted and leaves the lockpin basket, the system initiates the conveyance procedure. The magnetically controlled smart sorting device for container lockpins conveys the extracted lockpin to the designated position, and after the magnetically controlled smart sorting device for container lockpins is lowered, the procedure goes to the next step.

[0055] 4. After the lock pin is conveyed to the designated position, the system initiates the lockpin disengagement program. The bidirectional retractable component initiates the retraction function, and the magnetically controlled gripper continuously retracts into the guide cylinder, so that the guide cylinder blocks the lockpin until the magnetically controlled head is disengaged from the lockpin. The lockpin is automatically extracted, conveyed and replaced to the designated position, and then the device returns to the starting position and gets ready to circularly implement the automatic extraction and conveyance of the lockpin.

[0056] In an embodiment, the control method for the magnetically controlled smart sorting device for container lockpins includes the steps described below.

[0057] When a container lockpin basket is brought to a first designated position, the smart sorting device moves above a selected lockpin and lowers to a second designated position so that the bidirectional retractable component pushes the magnetically controlled gripper downward until the magnetically controlled gripper attaches the selected lockpin; the smart sorting device extracts the selected lockpin and conveys the extracted lockpin to a third designated position.

[0058] After the smart sorting device with the extracted lockpin moves to the third designated position, the smart sorting device lowers to a designated height, the bidirectional retractable component retracts the magnetically controlled gripper into the guide cylinder to disengage the magnetically controlled head from the lockpin, and the lockpin is disengaged onto a fourth designated position. According to the magnetically controlled smart sorting device for container lockpins and the control method therefor of the present disclosure, the lockpins of different models can be automatically sorted, and the clamp for extracting the lockpin does not need to be replaced due to different models so that the manner of grabbing of the lockpins of various types by manual adaptation and compatible can be completely replaced, and even if the lockpins in one lockpin basket are not the same type, the lockpin can be freely extracted and automatically conveyed to a designated position, thereby breaking the bottleneck of automatic sorting of the container lockpin.

[0059] The magnetically controlled smart sorting device for container lockpins of the present disclosure adopts a magnetically controlled gripper. When the magnetically controlled lockpin gripper obtains a gripping instruction, the magnetically controlled lockpin gripper aligns with the lockpin that is selected to grip in a container lockpin basket according to the instruction. The device pushes the magnetically controlled gripper down by using the bidirectional retractable component, maintains pressure until the lockpin can be stably and firmly attracted, and then lifts the lockpin to a point where the lockpin is designated to be placed. The bidirectional retractable component is activated again and pulls the magnetically controlled gripper upward so that the lockpin which is magnetically attracted to the device is blocked by the guide cylinder and then disengaged. In this manner, the automatic gripping and conveying to the target is completed.

[0060] The magnetically controlled smart sorting device for container lockpins of the present disclosure adopts a magnetically controlled gripper, which can replace manual adaptation and compatibility of grabbing of lockpins of various types, thereby solving the problem that various types of lockpins require a plurality of different clamps but clamps cannot be frequently changed. Even if the lockpins in one lockpin basket are not the same type, the device of the present disclosure can still freely grip the lockpin.

[0061] In the present disclosure, a unique AI algorithm is embedded. Therefore, the device, with the use of the powerful functions of the AI technology, identifies different types of lockpins by scanning the lockpins in the lockpin basket, matches the type of lockpins required for the operation, issues a sorting instruction to the magnetically controlled sorting device, extracts the corresponding lockpins from the lockpin basket, and conveys the corresponding lockpins to a designated position.

[0062] According to the magnetically controlled smart sorting device for container lockpins and the control method therefor of the present disclosure, the smart identification of the container lockpin type can be achieved, and according to an instruction set by the system, the matched lockpin can be automatically selected, extracted from the lockpin basket, and conveyed to a designated position, thereby achieving the smart automatic sorting and arrangement of the lockpin.