CN116081206A - Quick loading and unloading handling device for container - Google Patents

Abstract

A container fast loading and unloading device, comprising a body device, two booms with the same structure, multiple running devices for driving the body device and the two booms to move synchronously, and the two booms are symmetrically arranged side by side on the body device On the left and right sides of the two booms, there are twist locks on the opposite inner sides of the two booms for corresponding fastening with the corner fittings of the container. Each of the booms includes a rear boom. The connection is on one side of the body device, and the front side of the rear arm frame is equipped with a front arm frame that can expand and contract with the linear drive device; a plurality of the walking devices are symmetrically distributed in pairs on the outer surface of the two arm frames and the body device. The running device includes a lifting drive device and a rotatable steering wheel arranged at the outer lower end of the lifting drive device; it saves labor, shortens working time, and improves loading, unloading and transportation efficiency.

Description

A container fast loading and unloading device

technical field

The invention relates to the technical field of container loading and unloading, in particular to a container fast loading and unloading device.

Background technique

In the logistics system, loading and unloading work is one of the important links. From production to users, materials have to go through multiple turnovers. Every time they pass through a material circulation terminal and every time they change the mode of transportation, a loading and unloading operation must be carried out. The workload and time spent on loading, unloading and handling operations, as well as the manpower and material resources consumed, occupy a large proportion in the entire logistics process.

There are many types of container handling equipment and handling equipment, which can be divided into water transport, air transport, road, railway, etc. according to the mode of transportation, and can be divided into wheel type and rail type according to the running mechanism; however, the types of equipment with loading, unloading and handling functions are much reduced. Reach hanger, side hanger, hook arm type, straddle carrier, etc.

In some small or temporary freight yards to complete cargo loading and unloading, and in the field loading and unloading and transportation process with poor road conditions, this method is difficult to meet the requirements. Cranes, complete loading and unloading trucks, and simple hoisting machinery are used for loading and unloading containers, which have poor maneuverability. During the loading and unloading process, other large auxiliary loading and unloading equipment need to be invested, which is extremely inconvenient.

Contents of the invention

The object of the present invention is to overcome the above-mentioned deficiencies of the prior art and provide a container fast loading and unloading device, which saves labor, shortens working time, and improves loading, unloading and handling efficiency.

A container fast loading and unloading device, comprising a body device, two booms with the same structure, multiple running devices for driving the body device and the two booms to move synchronously, and the two booms are symmetrically arranged side by side on the body device On the left and right sides of the two booms, there are twist locks on the opposite inner sides of the two booms for corresponding fastening with the corner fittings of the container. Each of the booms includes a rear boom. It can be pivotally opened and connected to one side of the main body device, and the front side of the rear arm frame is equipped with a front arm frame that can expand and contract with the linear drive device; a plurality of the walking devices are distributed symmetrically in pairs on the two arm frames and the outer body device. On the side, the running device includes a lifting drive device and a rotatable steering wheel arranged at the outer lower end of the lifting drive device;

A number of ultrasonic sensors are distributed on the inner and outer surfaces of the two booms, each of the steering wheels has a displacement sensor for detecting the lifting position of the steering wheel, and each of the booms is equipped with a displacement sensor for detecting the telescopic distance of the respective forearm Second, the handling device also includes a controller for collecting the signals of each displacement sensor and the rotary encoder signal of the rotating motor on the steering wheel, and then controlling the lifting, rotation, and walking of each steering wheel, and the expansion and contraction of the forearm frame.

The rear end of the rear ledge is bent outward to form a bent portion.

The connecting rod device is composed of two groups of connecting rods, and the two groups of connecting rods are hinged symmetrically and parallelly between the two ends of the bending part of the rear ledge and the main body device through the rotating shaft.

The connecting rod group includes two connecting rods arranged in parallel up and down, vertical vertical rods are connected between the two connecting rods, and through holes for installing rotating shafts are provided at both ends of the two connecting rods.

The lifting drive device is a linear motor, the stator of the linear motor is fixedly connected with the arm frame or the main body device, and on the stator of the mover sliding device of the linear motor, an installation platform for installing the steering wheel protrudes from the outer surface of the mover.

The input end of the controller has an analog input module for collecting the rotary encoder and each displacement sensor, and the output end has a telescopic motor driver for outputting control signals to the linear drive device, a linear motor driver for the lifting drive device, and a rotary motor for the steering wheel. The analog output module of the driver and the travel motor driver, and multiple relays used to output the switch signal to the enable terminal of each driver and other loads.

The handling device also includes a power supply system for supplying power to the controller.

The power supply system includes a DC24V power supply, a charger, and an internal combustion engine generator set for powering the charger.

The output port of the controller is connected in parallel with a fault alarm module, a sound prompt module and a status indicator light, and the input and output ports of the controller are connected with a touch screen for signals.

The beneficial effects of the present invention are: the present invention does not need to rely on other hoisting, lifting equipment and special consignment vehicles for loading and unloading, integrates loading and unloading functions, has a high degree of automation, cancels special cranes, lifting equipment and other equipment, and reduces loading and unloading costs , At the same time, the product enters and exits the standard container by itself, realizing product standardization and modular transportation. It solves the problems of heavy existing equipment, low degree of automation and the need for consignment of special vehicles.

It is an intelligent integrated equipment that can quickly load, unload and transport containers (vehicle and ground) without relying on external power sources and external equipment. It can be loaded into containers without disassembly; at the same time, it can load a variety of Containers with box gauge save labor, shorten working time, and improve loading, unloading, and handling efficiency.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a control system block diagram of the present invention;

Fig. 3 is a schematic diagram of the unfolded state of the present invention;

Fig. 4 is a schematic diagram of the present invention entering the transportation state in the container;

Fig. 5 is a schematic diagram of the present invention entering the transport state in the vehicle-mounted container;

Fig. 6 is a schematic diagram of the loading and unloading state of the vehicle-mounted box of the present invention;

Fig. 7 is a schematic diagram of the unfolded state of the device of the present invention after it is taken out of the vehicle-mounted container;

Fig. 8 is a schematic diagram of the ground box traveling across the box of the present invention;

Fig. 9 is a schematic diagram of the locking and releasing results of the ground box of the present invention;

Fig. 10 is a straight line trajectory figure of the present invention;

Fig. 11 is the track diagram of shrinking and expanding of the present invention;

Fig. 12 is the curve locus figure under the shrinkage state of the present invention;

Fig. 13 is a curve track diagram under the unfolded state of the present invention;

In the figure: 1. Body device, 2. Internal combustion engine generator set, 3. Traveling device, 4. Connecting rod device, 5. Rotating shaft, 6. Twist lock, 7. Right rear arm frame, 8. Left rear arm frame, 9. Control system, 10, left forearm frame, 11, right forearm frame, 12, steering wheel, 13, rotating motor, 14, stator, 15, mover, 17, lifting drive device.

Detailed ways

Now, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings. The accompanying drawings are simplified schematic diagrams and only schematically illustrate the basic structure of the present invention.

As shown in Fig. 1, the present invention comprises a main body device 1, two left arm frames and a right arm frame with the same structure arranged behind the body device 1, the left arm frame and the right arm frame are arranged side by side, and the main body device 1 is composed of two A T-shaped structure composed of a vertical longitudinal plate connected to one end of the longitudinal plate and a horizontal plate connected to the middle of one end of the longitudinal plate. The left arm frame is composed of a left rear arm frame 8 and a left front arm frame 10 that can be stretched in the cavity of the left rear arm frame 8. The right arm frame is made up of the right rear arm frame 7 and the right front arm frame 11 that can expand and contract in the right rear arm frame 7. 1. In the inner cavity of the right rear arm frame 7, the rear ends of the left rear arm frame 8 and the right rear arm frame 7 are respectively connected with the body device 1 through a connecting rod device 4, driven by the running device 3, the left and right arms The frame rotates to the outer profile direction around the rotating shaft 5 on the two ends of the link device 4 . The rear ends of the left rear arm frame 8 and the right rear arm frame 7 are bent outwards to form a bending part. The connecting rod device 4 is composed of two groups of connecting rod groups, and the two groups of connecting rod groups are symmetrically and parallelly hinged on the rear ledge through the rotating shaft 5. Between the two ends of the bending part and the main body device 1, the connecting rod set includes two connecting rods arranged in parallel up and down, a vertical vertical rod is connected between the two connecting rods, and the two ends of the two connecting rods are provided with Install the through hole of rotating shaft 5. On the inside of the front end of the left forearm frame 10 and the right forearm frame 11, on the inside of the rear end of the left rear arm frame 8 and the right rear arm frame 7, there are twist locks 6 for fastening corresponding to the corner fittings of the container, and the left forearm frame 10 and the right forearm frame 11 A running device 3 is arranged on the outside of the front end, the outside of the rear end of the left rear arm frame 8 and the right rear arm frame 7, and the two outer sides of the body device 1. The running device 3 includes a lifting drive device 17 and a steering wheel 12. The steering wheel 12 can rotate 360° Rotating steering wheel. The lifting drive device 17 is a linear motor, the stator 14 of the linear motor is fixedly connected with the arm frame or the body device 1, the mover 15 of the linear motor slides on the stator 14, and the outer surface of the mover 15 protrudes from the mounting platform for installing the steering wheel 12 . Both sides of the body device 1 are connected to the movers of the linear motors, the left rear arm frame 8 and the right rear arm frame 7 are mirror images, the rear end is hinged to the left end of the connecting rod device 4 through the rotating shaft 5, the left rear arm frame 8, and the right rear arm frame 7 The rear end outer side of the rear end is connected with the mover of the linear motor, and the rear end inner side of the left rear arm frame 8 and the right rear arm frame 7 is provided with a twist lock 6 connected with the corner fitting of the container. The left forearm frame 10 and the right forearm frame 11 are mirror images; they are slidably connected with the left rear arm frame 8 and the right rear arm frame 7, and are driven and stretched by a linear drive device. Twistlock 6 for corner fitting connection. There is an internal combustion engine generator set 2 for providing power above the body device 1 .

According to shown in Fig. 2, control system block diagram; Described control system 9 comprises PLC controller, is used to detect the displacement sensor one of each steering wheel 12 lifting positions, is used to detect the displacement sensor two of respective forearm telescoping distance, PLC controller By collecting the first signal of the displacement sensor on each steering wheel 12, the second signal of the displacement sensor on each front arm frame, and the rotary encoder signal of the rotary motor 13 on each steering wheel 12, the telescopic motor driver and the lifting drive device 17 of the front arm frame linear drive device are controlled. The linear motor driver, the walking motor driver and the rotary motor driver of the steering wheel 12 act. Controlling motor actions by PLC is a prior art and will not be described in detail in this embodiment. The control system provides power through the internal combustion engine generator AC380V power supply and DC24V battery pack. The input end of the controller has an analog input module for collecting the rotary encoder and each displacement sensor, and the output end has an output end for outputting control signals to the linear drive device driver, the linear motor driver of the lifting drive device 17, the rotary motor driver of the steering wheel 12 and the travel The analog output module of the motor driver, and multiple relays used to output the switch signal to each driver enable terminal and other loads.

The control system 9 adopts the ST60+ analog input and output expansion module in the PLC controller as the core controller of the system. Through the signals obtained by the ultrasonic sensor, the steering wheel system control equipment composed of the walking motor and the steering motor is controlled in real time to carry out barrier-free traffic independently, from The data obtained by the displacement sensor controls the operation of the lifting motor and the telescopic motor. The displacement sensor is a rope sensor.

The control power supply of the whole system is powered by 24V/100Ah storage battery, and the power supply is AC380V power supply provided by diesel generator set, which also provides a large current automatic charging function.

6 groups of travel motors with encoder feedback drive the travel, 12 groups (double 6-way) steering motors drive 12 rotations of each steering wheel, which constitutes the electronic control system of the four steering wheel system. Because the travel motor has a large bearing capacity, the steering of the travel motor depends on Two electric telescopic electric cylinders above the driving wheel realize left and right rotation. The driving motor driver of the steering wheel 12 is controlled by PLC. At the same time, a Hall sensor is installed on the motor, which can monitor parameters such as motor rotation angle, speed, and phase, and provide real-time feedback to the motor. speed information. The PLC controller also controls 12 sets of steering motor drivers of the 6 steering wheels to control the steering of the loading and unloading equipment, and also obtains the rotation angle feedback of the steering motors from the turntable of the steering wheels 12. When telescoping is required, the PLC controller controls two sets of telescopic motor drivers to drive the telescopic motors on the left and right booms, controls the booms to extend, and obtains the feedback of the telescopic length from the displacement sensor. When the equipment needs to be lifted, the PLC controls 6 sets of linear motors to change its height, and obtains the feedback of the lifting height from the displacement sensor.

The touch screen is connected to the input and output ports of the PLC controller. The design of the touch screen is to facilitate the movement of the loading and unloading equipment. During the debugging process, the touch screen can also be used to control the movement of the equipment to different locations for debugging of sensors and control parameters.

The analog input module mainly collects signals from rotary encoders, ultrasonic sensors, displacement sensors, etc.; the analog output module is used to control the walking motor driver, steering motor driver, outrigger lifting motor and boom telescopic driver, allowing them to drive corresponding motor. The relay module is to increase the drive capacity, use the relay output, provide the driver enable signal, or drive other loads, etc.

The human-computer interaction module includes a sound prompt module, a fault alarm module, a status indicator light, and a touch screen. The sound prompt module can prompt each process of loading and unloading equipment movement. The fault alarm module will send out an alarm signal when the control system detects a fault such as an overheating of the motor. The status indicator light can indicate obstacle avoidance and collision avoidance prompts during the driving process, while the touch screen can display menus, various parameters, etc., on which various motion parameters of the loading and unloading equipment can be set during the debugging process.

There are eight operating states:

1) Unfolding: used to control the process of deforming the loading and unloading equipment from the shrinking state to the unfolding state after leaving the container;

2) Shrinking: It is used to control the process of loading and unloading equipment preparing to enter the container from the unfolded state to the shrinking state;

3) Ground entry into the container: used to control the loading and unloading equipment to move autonomously into the container;

4) Vehicle-mounted container entry: used to control the loading and unloading equipment to lift the boom to the vehicle-mounted container entry height and then move into the container autonomously;

5) Out of the box on the ground: used to control the loading and unloading equipment to walk out of the box from the box;

6) Vehicle out of the box: used to control the loading and unloading equipment to walk out of the box on the vehicle and land on the ground;

7) Traveling across the box: used to control the loading and unloading equipment to surround the box;

8) Manually operated box locking and releasing: box locking and releasing is mainly used to control the process of inserting, locking and releasing the rotary locks on the two main boom frames and the corner fittings of the container, and the rotary locks on the two main boom frames When the box is on the ground or on the vehicle, it will be near the lock holes of the four corners of the container as the main arm rises and falls. By controlling the locking and unlocking process of the twist lock, the twist lock can be inserted into the corner of the container. The process of separating the fittings and turnlocks from the corner fittings of the container. Auxiliary cameras are equipped at each corner fitting.

Any combination of these eight loading and unloading equipment states can satisfy the motion process of all loading and unloading equipment.

According to the schematic diagram of the unfolded state shown in Figure 3, the reverse process of this figure is shrinking; after the device is out of the box, due to the use of the steering wheel structure, each wheel can rotate 180°, and the control system 9 controls the boom on both sides. The four steering wheels 12 rotate outward to open the same angle, the angles of the two steering wheels of the main body device 1 remain unchanged, and then the speeds of the six steering wheels are consistent, so that the deformation from the shrunken state to the expanded state can be controlled; The corners of the four steering wheels 12 in the horizontal direction form an included angle, and the two steering wheels 12 on the body device 1 are parallel to the horizontal direction. At this time, the two main booms can move outward along the direction that the included angle with the horizontal direction is ± a set angle. , which will drive the two main booms to move in a circular arc on the rotating arm centered on the body, and the final result is the state of the arms being extended.

According to Figure 4, the schematic diagram of the transportation state of the device after retracting into the container; when entering the container from the ground, first control the 6 steering wheels to align the equipment with the entrance of the container, and place the two main booms at the edge of the container entrance Nearby, in the process of advancing in the box, the ultrasonic sensors on the outside of the left and right main booms are used for positioning, and the feedback is sent to the control system to adjust the forward direction of the six steering wheels, so as to keep the left and right main booms from colliding with the box. , complete the ground into the box.

As shown in Figure 5, the schematic diagram of the device entering the vehicle container for transportation; firstly, by controlling the six steering wheels, the equipment is aligned with the entrance of the box, and the two main booms are placed near the edge of the box entrance; the control system 9 controls the lifting drive The device 17 lifts the body device 1 and the two booms to a position at a certain height from the entrance of the box; the control system 9 controls the six steering wheels 12 to allow the traveling wheels to advance. The lifting drive device 17 on the front side of the main boom descends, retracts to the initial state, continues to advance the set distance, and keeps the wheels in contact with the bottom of the box; Return to the initial state, continue to advance the set distance, and keep the wheels in contact with the bottom of the box; the lifting drive devices 17 on both sides of the body device 1 descend, retract to the initial state, continue to advance the set distance, and the loading and unloading equipment into the box is completed. In the process of moving forward in the box, the positioning is performed by the ultrasonic sensors on the outside of the left and right main booms, which are fed back to the control system to adjust the direction of the steering wheel, so as to keep the left and right main booms from colliding with the box.

As shown in Figure 6, the schematic diagram of the loading and unloading state of the vehicle-mounted box;

As shown in Figure 7, the schematic diagram of the state of the device being released from the vehicle-mounted container; the control system 9 controls the six steering wheel angles to be parallel to the horizontal direction, retreats and stops after a set distance, and the control system 9 controls the running devices on both sides of the main body device 1 3 Lifting Lift the steering wheel 12 (at this time, the state shows that the driving wheel is falling) to the ground; the control system 9 controls the 6 steering wheels 12, and makes the 6 steering wheels 12 retreat for a set distance before parking, and the control system 9 continues to control the left and right The two traveling devices 3 at the rear ends of the two main booms are lifted until the steering wheel of the rear traveling device touches the ground; the control system 9 controls the steering wheel 12 to travel, and stops after a set distance, and the control system 9 continues to control the left and right main booms. The running device at the front end of the jib is lifted until the steering wheel touches the ground; the control system 9 controls the 6 steering wheels to walk, and after the set distance is retreated, the lifting drive device 17 is controlled to control the lifting drive device 17 of the 6 running devices, and the body device 1, Both main booms are lowered to the ground position simultaneously.

According to Figure 8, the schematic diagram of the ground box traveling across the box; after the device is out of the box, it is first unfolded, and then the control device moves (the direction of the main body is the tail) to the vicinity of the ground container, aligns the opening with the container, and keeps the left and right main booms in the middle In the neutral position, the six steering wheels are then controlled to advance so that the two main booms surround the container. In the process of straddling the box, the positioning is performed by the ultrasonic sensors inside the left and right main booms, and the feedback is sent to the control system to adjust the direction of the six steering wheels, so as to keep the left and right main booms from colliding with the box.

When the vehicle straddles the box, the loading and unloading equipment is unfolded after being out of the box, and then the loading and unloading equipment is controlled to move to the vicinity of the container on the vehicle, and the lifting mechanism is controlled to lift the main body and the two main boom frames to the level with the corner fittings of the container on the vehicle. position (non-aligned). Align the opening with the container, and keep the gap between the left and right main booms, and then control the six steering wheels to move forward so that the two main booms surround the container. In the process of straddling the box, the positioning is performed by the ultrasonic sensors inside the left and right main booms, and the feedback is sent to the control system to adjust the direction of the six steering wheels, so as to keep the left and right main booms from colliding with the box.

As shown in Figure 9, the schematic diagram of the lock and release results of the ground box; the lock and release of the box body is mainly used to control the process of inserting, locking and releasing the twist locks on the two main boom frames and the corner fittings of the container, and the two main boom frames When the rotary lock on the box is on the ground or on the vehicle, it will be located near the lock holes of the four corners of the container as the main boom rises and falls. The relative position of the lock hole and the rotary lock is adjusted manually, and then the rotary lock is controlled. The locking and unlocking process can realize the process of inserting the twist lock into the container corner fitting and separating the turn lock from the container corner fitting.

According to the straight line trajectory diagram shown in Figure 10, due to the use of steering wheels, each wheel of the loading and unloading equipment can rotate 180°, so as long as the control system 9 controls the rotation angles of the six steering wheels to be consistent with the speed of travel, the loading and unloading equipment can be controlled to make a straight line sports. ⑴The loading and unloading equipment is in the retracted state; ⑵The six steering wheel angles are controlled to be parallel to the Y-axis when the loading and unloading equipment is in the unfolded state. At this time, the loading and unloading equipment can move along the positive or negative direction of the Y-axis; ⑶The loading and unloading equipment is in the retracted state Control the rotation angles of the four steering wheels to be 45° to the positive direction of the X-axis; (4) control the rotation angles of the four steering wheels to be 45° to the positive direction of the X-axis when the loading and unloading equipment is in the unfolded state. 45° direction forward and backward movement.

As shown in Figure 11, the trajectory diagram for shrinking and unfolding; the control system 9 controls the four steering wheel angles on the left and right booms of the loading and unloading equipment (the left and right angles are mirrored), and the two steering wheels on the main body device 1 are parallel to the Y axis, and the shrinking state Down control the front and rear 2 rudder wheels on the left arm stand at 45° to the Y axis, and the front and rear 2 rudder wheels on the right arm stand at -45° to the Y axis, the left arm drive wheel rotates counterclockwise, and the right arm drive wheel clockwise Rotating clockwise, the four-bar linkage device rotates to 90° along the hinge under the drive of the two arms to control the movement of the loading and unloading equipment from the shrinking state to the unfolding state. This is from the shrinking body state to the unfolding state, and when from the unfolding state to the shrinking body state, the rotation direction of the driving wheel is opposite and can be realized.

According to Fig. 12, shown in Fig. 13, curve locus diagram; control system 9 controls the movement locus of 6 steering wheels of loading and unloading equipment to be on 6 circular arcs respectively, and controls the speed of each steering wheel to be proportional to the arc radius, can control The handling robot moves in a curved line, assuming that the coordinates of the origin O of the coordinate system are (𝑥0, 𝑦0), the coordinates of the center O1 of the 6 arc trajectories in the retracted state are (𝑥1, 𝑦1) and the coordinates of the center O2 of the 6 arc trajectories in the unfolded state is (𝑥2, 𝑦2), and since parameters such as the size of the loading and unloading equipment and the installation position of the steering wheel are known, the radii of the six arc trajectories and the rotation angle of each steering wheel can be calculated.

Claims (9)

1. A container quick loading and unloading handling device is characterized in that: the device comprises a body device (1), two arms with the same structure and a plurality of running devices (3) for driving the body device (1) and the two arms to run synchronously, wherein the two arms are symmetrically arranged on the left side and the right side of the body device (1) side by side, a rotary lock (6) for being correspondingly fastened with a container corner fitting is arranged on the opposite inner side surfaces of the two arms, each arm comprises a rear arm frame, the rear end of the rear arm frame is connected to one side of the body device (1) through a connecting rod device (4), and the front side of the rear arm frame is provided with a front arm frame which can stretch along with a linear driving device; the running devices (3) are symmetrically distributed on the outer side surfaces of the two arm frames and the body device (1) in pairs, and the running devices (3) comprise a lifting driving device (17) and a rotatable steering wheel (12) arranged at the lower end of the outer side of the lifting driving device (17);

the conveying device comprises a steering wheel (12), a steering wheel, a front boom and a conveying device, wherein a plurality of ultrasonic sensors are distributed on the inner side surface and the outer side surface of the two booms, a first displacement sensor for detecting the lifting position of the steering wheel (12) is arranged on each steering wheel (12), a second displacement sensor for detecting the telescopic distance of the front boom is arranged on each boom, and the conveying device further comprises a rotary encoder signal for collecting signals of the displacement sensors and a rotary motor (13) on the steering wheel (12), so as to control lifting, rotation and running of the steering wheel and a controller for telescopic front boom.

2. A container quick loading and unloading handling device according to claim 1, wherein: the rear end of the rear ledge is bent outwards to form a bending part.

3. A container quick loading and unloading handling device according to claim 1, wherein: the connecting rod device (4) is composed of two groups of connecting rod groups which are symmetrically and parallelly hinged between two ends of the bending part of the rear ledge and the body device (1) through a rotating shaft (5).

4. A container quick load and unload handling device according to claim 3, wherein: the connecting rod group comprises two connecting rods which are arranged in parallel up and down, a vertical rod is connected between the two connecting rods, and through holes for installing the rotating shaft (5) are formed in the two end parts of the two connecting rods.

5. A container quick loading and unloading handling device according to claim 1, wherein: the lifting driving device (17) is a linear motor, a stator (14) of the linear motor is fixedly connected with the arm support or the body device (1), a rotor (15) of the linear motor is arranged on the stator (14) of the sliding device, and an installation platform for installing the steering wheel (12) is protruded out of the outer side surface of the rotor (15).

6. A container quick loading and unloading handling device according to claim 1, wherein: the controller is characterized in that the input end of the controller is provided with an analog quantity input module for acquiring a rotary encoder and each displacement sensor, and the output end of the controller is provided with a telescopic motor driver for outputting control signals to a linear driving device, a linear motor driver for lifting the driving device (17), a rotary motor driver for a steering wheel (12) and an analog quantity output module for running the motor driver, and a plurality of relays for outputting switching value signals to each driver enabling end and other loads.

7. A container quick load and unload handling device according to claim 1 or 6, wherein: the handling device further comprises a power supply system for providing power to the controller.

8. The quick loading and unloading handling device for containers as set forth in claim 7, wherein: the power supply system comprises a DC24V power supply, a charger and an internal combustion engine generator set (2) for supplying power to the charger.

9. A container rapid loading and unloading handling apparatus according to any one of claims 1, 6 and 8, wherein: the output port of the controller is connected with a fault alarm module, a sound prompt module and a status indicator lamp in parallel, and the input and output ports of the controller are connected with a touch screen in a signal manner.

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