Trolley on-line automatic replacement system and method

Abstract

The present invention discloses an on-line automatic trolley replacement system and method. The system includes: a trolley track door opening device, on each outer track of the head wheel, two moving tracks are provided, and the moving tracks are connected to a lateral telescopic mechanism; two trolley unloading devices, the trolley unloading device includes: a lifting mechanism, which includes a first lifting track, a lifting track slide rail and a vertical telescopic mechanism; a dragging mechanism, which includes a vehicle-out track and a first trolley track, a first trolley is arranged on the first trolley track, and the vertical telescopic mechanism can lower the first lifting track to fit into the vehicle-out track; two flipping systems, the flipping system includes: a pair of track components, each track component includes a pair of straight tracks, a second lifting track and a pair of limit columns; a push block component, which includes a pair of push blocks, a driving mechanism and a retracting mechanism. The present invention can realize automatically opening the moving track, automatically closing the moving track, and automatically removing the old trolley, saving manpower, and the trolley replacement does not stop the machine and does not occupy production time.

Description

Technical Field

[0001] The present invention relates to the field of roasting machines, and more particularly to a system and method for automatically replacing a trolley on-line. Background Art

[0002] The belt roaster is a thermal equipment for producing pellets for blast furnaces. Its main body is a ring-shaped chain breaking mechanism composed of a trolley (such as Figure 1 As shown in the figure, the trolley 2 is driven by the large gear at the head (head wheel 1), and the large gear at the tail (tail wheel 3) follows. A fixed track (including an inner track and an outer track, the inner track includes the head wheel inner track 4, the tail wheel inner track 5 and the trolley upper track 6 connected therebetween, the outer track includes the head wheel outer track 7, the tail wheel outer track 8 and the trolley lower track 9 connected therebetween) is provided around the head and tail large gears to limit and guide the wheels of the trolley. Since the trolley of the belt roasting machine operates in a high temperature environment all year round, the grates, railings and wheels of the trolley are all wearing parts and are easily worn and deformed. In this case, the trolley needs to be removed from the fixed track for maintenance and replacement. In the prior art, unloading the trolley is generally a manual operation, which requires slowing down and stopping the machine, and manually opening and closing the track. The operation is cumbersome, time-consuming, and labor-intensive. Summary of the Invention

[0003] The purpose of the present invention is to provide an online automatic replacement system and method for trolleys, which can automatically open and close the moving track, automatically remove the old trolley, save manpower, and the trolley replacement does not stop the machine and does not take up production time. The old trolley that is removed can be flipped over for easy maintenance.

[0004] In order to achieve these objects and other advantages of the present invention, a trolley online automatic replacement system is provided, wherein the trolley outer track includes a pair of head wheel outer tracks, the trolley includes a pair of first wheels at one end of the body and a pair of second wheels at the other end, including:

[0005] The trolley track door opening device includes a plurality of movable tracks and a plurality of transverse telescopic mechanisms. Two movable tracks are provided on each head wheel outer track, namely an upper movable track and a lower movable track. The lower movable track is located at the lower part of the head wheel outer track, and the upper movable track is located at the upper part of the head wheel outer track. Sliders are provided at the ends of the movable tracks. The transverse telescopic mechanism is connected to the movable track to drive the movable track to separate from the head wheel outer track, thereby forming a notch on the head wheel outer track, or fitting into the head wheel outer track.

[0006] Two trolley unloading devices, which correspond one to one with the two lower moving tracks, the trolley unloading devices include:

[0007] The lifting mechanism includes a first lifting rail, a lifting rail slide, and a vertical telescopic mechanism. The vertical telescopic mechanism is connected to the first lifting rail and is used to drive the first lifting rail to slide vertically along the lifting rail slide, so that the first lifting rail rises to the gap at the lower part of the head wheel outer rail to receive the head wheel outer rail.

[0008] The dragging mechanism includes a vehicle exit track and a first trolley track that are parallel to each other and extend in the transverse direction. A first trolley driven by a driving device is provided on the first trolley track. The first trolley can push the trolley to move along the vehicle exit track. The vertical telescopic mechanism can lower the first lifting track to engage with the vehicle exit track.

[0009] Two turning systems, corresponding one to one with the two lower moving tracks, the turning systems include:

[0010] A pair of track assemblies, each track assembly including a pair of straight tracks spaced apart, a second lifting track disposed between the pair of straight tracks, and a pair of limit posts disposed below the pair of straight tracks and on both sides of the second lifting tracks, wherein the pair of straight tracks are formed by extending the vehicle exit track in a transverse direction, and when the pair of second lifting tracks correspondingly support the pair of first wheels, the pair of second lifting tracks can drive the pair of first wheels to perform vertical reciprocating linear motion downward from a height equal to that of the straight tracks between the pair of limit posts under the drive of the telescopic member;

[0011] A push block assembly includes a pair of push blocks corresponding to the pair of second wheels, a driving mechanism for driving the pair of push blocks to move linearly parallel to the straight track, and a pair of retraction mechanisms corresponding to the push blocks and forcing the corresponding push blocks to avoid the first wheels;

[0012] Wherein, a slideway adapted to the slider is provided at the end portion where the outer track of the head wheel and the movable track are connected, and the slideway is provided along the axial direction of the head wheel so that the movable track can be separated from the outer track of the head wheel;

[0013] The maximum height to which the second lifting track descends is not greater than the distance between the centers of the first wheel and the second wheel on the same side. The reciprocating linear motion of the second lifting track cooperates with the linear motion of the pushing block to cause the first wheel to follow the corresponding second lifting track from the same height as the straight track to first descend to the lowest point and then rise to the highest point. At the same time, the pushing block pushes the corresponding second wheel to move from one side of the second lifting track to the other side, thereby realizing the flipping of the trolley.

[0014] Preferably, the trolley online automatic replacement system further comprises:

[0015] Two trolley loading devices, which correspond one to one with the two upper moving rails, the trolley loading devices include:

[0016] frame;

[0017] A pair of new trolley storage tracks are fixedly arranged on the frame at longitudinal intervals, and any one of the new trolley storage tracks extends transversely; the trolley wheels on both sides of the new trolley can be respectively placed on a pair of new trolley storage tracks.

[0018] A pair of transverse movement tracks, one transverse movement track is correspondingly arranged on the extension line of the front end of a new trolley storage track, and any one of the transverse movement tracks is slidably arranged on the frame transversely. The transverse movement track can move transversely to dock at the notch of the upper movement track at its front end. When there is a new trolley on the transverse movement track, the front wheels of the new trolley can enter the tooth grooves between the head wheel teeth.

[0019] A pair of moving brackets, one moving bracket is fixedly arranged correspondingly on the inner side of a transverse movement track.

[0020] A small frame is slidably arranged on the frame transversely. Push mechanisms are respectively arranged on both longitudinal sides of the small frame for pushing and pulling the corresponding moving brackets transversely. A buckle mechanism is arranged at the front end of the middle part of the small frame for clamping with the rear end of the new trolley.

[0021] Preferably, in the on-line automatic trolley replacement system, it further includes:

[0022] A plurality of first proximity switches, one first proximity switch is arranged on each side of the path of the trolley wheels in front of the front end of each moving track. One of the two first proximity switches corresponding to each moving track is used to sense the head wheel teeth to judge whether the faulty and old trolley arrives, and the other is used to sense the trolley wheels to judge whether a trolley arrives.

[0023] A second proximity switch is arranged on the first lifting track.

[0024] A third proximity switch is arranged on the vehicle-out track. When the trolley moves from the first lifting track to the vehicle-out track and triggers the third proximity switch, the trolley leaves the outer track of the head wheel.

[0025] A fourth proximity switch is arranged on the straight track. When the trolley triggers the fourth proximity switch, each first wheel is located on the corresponding second lifting track, each second wheel is located on the straight track on one side of the corresponding second lifting track, and each push block is located on the side of the corresponding second wheel away from the first wheel.

[0026] A fifth proximity switch is arranged at one end of the straight track far from the vehicle-out track. When the trolley triggers the fifth proximity switch, the trolley stops on the old trolley storage track formed at one end of the straight track far from the vehicle-out track.

[0027] A first weighing sensor is arranged on the first lifting track. When the trolley triggers the second proximity switch and the first weighing sensor simultaneously, the trolley is located on the first lifting track.

[0028] A second weighing sensor is arranged on the vehicle-out track.

[0029] A PLC is respectively connected to the first proximity switch, the second proximity switch, the third proximity switch, the fourth proximity switch, the fifth proximity switch, the first weighing sensor, the second weighing sensor, the lateral telescopic mechanism, the vertical telescopic mechanism, the telescopic member, the driving device and the driving mechanism.

[0030] Preferably, in the on-line automatic trolley replacement system, a pair of straight tracks correspond to a pair of limit posts. Each straight track and the corresponding limit post form an integrally formed L-shaped structure. Two ends of the second lifting track are respectively slidably connected to vertical sections of the corresponding L-shaped structures. The telescopic end of the telescopic member is fixedly connected to the bottom of the second lifting track to drive the second lifting track to perform reciprocating linear motion in the vertical direction between the pair of limit posts.

[0031] Preferably, in the on-line automatic trolley replacement system, the driving mechanism includes a second trolley, a pair of second trolley tracks parallel to the straight tracks, and a driving member for driving the second trolley to perform linear motion along the second trolley tracks. The second trolley includes a horizontal plate and side plates arranged on both sides of the horizontal plate. A pulley is arranged on each side plate. A pair of pulleys correspond to the pair of second trolley tracks and the pulleys are slidably connected to the corresponding second trolley tracks. A push block is arranged at the bottom of each side plate. The driving member includes a chain-link conveyor belt and a connecting rod fixedly connected to one of the chain links of the chain-link conveyor belt. The other end of the connecting rod is fixedly connected to the horizontal plate so that the horizontal plate moves as the chain-link conveyor belt moves and finally drives the push block to move.

[0032] Preferably, in the on-line automatic trolley replacement system, the specific way that the retracting mechanism causes the push block to avoid the first wheel is as follows: a fixed shaft is arranged on the side wall of the side plate. The push block is rotatably connected to the fixed shaft and rotates around the fixed shaft. A limit block is further arranged on the side plate. The limit block is located on the side of the push block away from the second wheel to limit the rotation of the push block toward the side away from the second wheel.

[0033] Preferably, in the on-line automatic trolley replacement system, the diameters of the first wheel and the second wheel are the same, the length of the second lifting track is slightly greater than the diameter of the first wheel, and the maximum height of the descent of the second lifting track is equal to the distance between the centers of the first wheel and the second wheel on the same side; the second lifting track makes a reciprocating uniform linear motion in the vertical direction, and the push block makes a variable-speed linear motion in the horizontal direction that cooperates with the second lifting track.

[0034] Preferably, in the on-line automatic trolley replacement system, a first weighing sensor and a plurality of first laser rangefinders are arranged at the bottom of the old trolley storage track; a second weighing sensor and a plurality of second laser rangefinders are arranged at the bottom of the new trolley storage track;

[0035] The on-line automatic trolley replacement system further includes:

[0036] A hoisting system, which includes:

[0037] A crane track;

[0038] A crane, which is slidably arranged on the crane track in the transverse direction;

[0039] A spreader, which is connected to the crane and is driven by the crane to move;

[0040] An old trolley placement rack, at the bottom of which a third weighing sensor and a plurality of third laser rangefinders are arranged;

[0041] A new trolley placement rack, at the bottom of which a fourth weighing sensor and a plurality of fourth laser rangefinders are arranged.

[0042] Preferably, in the on-line automatic trolley replacement system, the spreader is provided with a spreader main body, two clamps located on both sides of the spreader main body, and four target plates symmetrically arranged outside the two clamps. The two target plates outside any one clamp are symmetrically and spaced apart; each clamp includes two groups of semi-circular clamping arms that match the wheels of the trolley. The four groups of clamping arms of the two clamps are respectively clamped on the outer circumferences of the trolley wheels on both sides of the trolley; the two target plates on each clamp are located between the two groups of clamping arms, and the bottom of each target plate is an arc structure; the crane slides transversely along the crane track, driving the spreader to move transversely. The crane and the spreader are connected by a robotic arm, and the robotic arm drives the spreader to move longitudinally. The PLC is also respectively connected to the crane, the spreader and the robotic arm.

[0043] Preferably, in the on-line automatic trolley replacement system, the PLC is also respectively connected to the first weighing sensor, the plurality of first laser rangefinders, the second weighing sensor, the plurality of second laser rangefinders, the third weighing sensor, the plurality of third laser rangefinders, the fourth weighing sensor and the plurality of fourth laser rangefinders.

[0044] On-line automatic replacement method for trolleys, comprising:

[0045] Step 1: Connect the camera device to the trolley management system, take photos and number all the trolleys on the traveling grate sinter machine. The PLC numbers all the trolleys in the actual connection order, so that each trolley has a sequence number, and the number of the trolley is corresponding to the sequence number in the PLC. Set the first trolley and determine the position of any one of the trolleys (for example, determine the position of the first trolley. Specifically, when the first trolley passes through a pair of first proximity switches, it means that the first trolley is in the position where the pair of first proximity switches can sense, so as to determine the position of the first trolley). At the same time, interlock the PLC with the machine speed of the sinter machine and perform timing counting to determine the position of the trolley;

[0046] Step 2: When the PLC receives the number of the faulty and old trolley sent by the trolley management system (when the faulty trolley passes through the range that can be photographed by the camera, the trolley management system judges whether the gap of the trolley grate bars becomes larger and exceeds the preset value by the photographed photo. If it exceeds, the camera will immediately take a photo of the identification pattern on the trolley. The pattern corresponds to a number. The trolley management system sends the number to the PLC. The number on the PLC corresponds to the sequence number. By comparing the sequence number of the current trolley, the PLC knows the position of the faulty trolley), record the number of the faulty and old trolley. Then, determine the sequence number of the faulty and old trolley according to the number. By comparing the sequence number of the current trolley, the PLC determines the position of the faulty trolley and tracks the position of the trolley according to the current machine speed of the sinter machine. When the trolley moves to the front of the front end of the lower moving track, two first proximity switches here are triggered, and the PLC sends a photo-taking command to the trolley management system. The camera device takes a photo of the trolley. The taken photo is compared through the trolley management system, and the generated number is transmitted to the PLC. The PLC judges whether the trolley is a faulty and old trolley by comparing with the stored number. If they match, proceed to the next step; if they do not match, when the next trolley triggers the two first proximity switches in front of the front end of the lower moving track, the camera device takes a photo again, and the trolley management system identifies the photo and finds the corresponding number, which is transmitted to the PLC. The PLC performs number comparison. If they match, proceed to the next step; if they do not match, loop to the next cycle, advancing one trolley in advance, and then make a judgment;

[0047] Step 3: When the old and damaged trolley approaches the two first proximity switches in front of the front end of the lower moving track, if the teeth of the head wheel trigger one of the first proximity switches and the old and damaged trolley triggers the other first proximity switch, the door opening action is performed; otherwise, the door opening action is not performed. When the lower moving track performs the door opening action, after the corresponding horizontal telescopic mechanism of the lower moving track receives the door opening instruction from the PLC, it drives the lower moving track to move outward along the slideway towards the outside of the roasting machine to make space for the wheels of the old and damaged trolley. Then, the teeth of the head wheel push the old and damaged trolley to move onto the first lifting track. When the second proximity switch and the first weighing sensor are triggered simultaneously, the vertical telescopic mechanism drives the first lifting track to move downward along the lifting track slide rail, and the old and damaged trolley is dropped onto the vehicle-out track. After that, the second weighing sensor under the vehicle-out track is triggered, and the first trolley pushes the old and damaged trolley to move forward along the vehicle-out track. When the trolley triggers the third proximity switch, the old and damaged trolley leaves the outer track of the head wheel, and the first trolley pushes the old and damaged trolley to continue moving forward to the straight track. When the old and damaged trolley triggers the fourth proximity switch, each first wheel of the old and damaged trolley is located on the corresponding second lifting track, each second wheel is located on the straight track on one side of the corresponding second lifting track and close to the vehicle-out track, and each push block is located on the side of the corresponding second wheel away from the first wheel. The first wheel first descends along the corresponding second lifting track. At the same time, the push block drives the corresponding second wheel to move towards the other side of the second lifting track under the drive of the drive mechanism to cooperate with the descent of the first wheel. When the first wheel descends to the lowest point, the second wheel is directly above the first wheel. Then, the first wheel ascends along the corresponding second lifting track again. At the same time, the push block continues to drive the corresponding second wheel to move under the drive of the drive mechanism to cooperate with the ascent of the first wheel and transition to the straight track on the other side of the second lifting track. When the first wheel ascends to the highest point, the second lifting track and the straight track are flush, and the flipping of the old and damaged trolley is completed. After that, the push block continues to drive the old and damaged trolley forward under the drive of the drive mechanism until it triggers the fifth proximity switch and then stops on the old trolley storage track. Finally, the push block retracts in the direction away from the second wheel to the original position, and the retracting mechanism prompts the push block to avoid the first wheel so that the trolley is released from the restriction of the push block, and then waits for the next trolley unloading task;

[0048] When the old and damaged trolley leaves the notch space of the outer track of the head wheel, the corresponding horizontal telescopic mechanism of the lower moving track receives the door closing instruction from the PLC, drives the lower moving track to move towards the roasting machine along the slideway. After the lower moving track is fitted into a pair of outer tracks of the head wheels, the trolley track is re-formed into a closed loop;

[0049] When the old and damaged trolley disengages from the first lifting track, the first weighing sensor on the first lifting track is triggered, and the vertical telescopic mechanism pushes the first lifting track upward to the original position, waiting for the next trolley unloading task;

[0050] When one of the first proximity switches in front of the front end of the upper moving track is triggered by the head wheel teeth and the trolley does not trigger the other first proximity switch, the door opening action is performed; otherwise, the door opening action is not performed. When the upper moving track performs the door opening action, after the corresponding lateral telescopic mechanism of the upper moving track receives the door opening instruction from the PLC, it drives the upper moving track to move along the slideway towards the outside of the roasting machine to make room for the wheels of the new trolley. After the wheels of the new trolley enter the tooth grooves between the head wheel teeth, they enter the trolley track under the push of the head wheel teeth. When the new trolley enters the trolley track, the corresponding lateral telescopic mechanism of the upper moving track receives the door closing instruction from the PLC and drives the upper moving track to move along the slideway towards the roasting machine. After the upper moving track is fitted into the pair of outer tracks of the head wheels, the trolley track is re-formed into a closed loop.

[0051] Preferably, in the on-line automatic trolley replacement method, the specific method for the wheels of the new trolley to enter the tooth grooves between the head wheel teeth is as follows:

[0052] Place the trolley wheels on both sides of the new trolley on a pair of new trolley storage tracks respectively. The buckle mechanism on the trolley frame is clamped with the rear end of the new trolley. The trolley frame moves forward horizontally, driving the new trolley to move forward horizontally. Driven by the trolley frame, the new trolley moves forward to the transverse movement track. The trolley frame continues to move forward and pushes the moving bracket through the pushing mechanism, so that the trolley frame continues to move forward to drive the transverse movement track and the new trolley on the transverse movement track to continue moving forward. The transverse movement track moves forward until its front end is docked with the notch of the upper moving track. At this time, the front wheels of the new trolley on the transverse movement track can enter the tooth grooves between the head wheel teeth.

[0053] Preferably, in the on-line automatic trolley replacement method, after the wheels of the new trolley enter the tooth grooves between the head wheel teeth, the following steps are further included:

[0054] The trolley frame moves backward horizontally, and under the action of the pushing mechanism, pulls the transverse movement track backward, so that the transverse movement track is removed from the notch of the upper moving track. The transverse movement track returns to the position in contact with the new trolley storage track under the drive of the trolley frame, and the moving bracket is disconnected from the pushing mechanism;

[0055] The trolley frame continues to move backward until the buckle mechanism is clamped with the rear end of the next new trolley. The trolley frame continues to move forward to push the next new trolley, and repeats the above process to load the next new trolley into the trolley track.

[0056] Preferably, the on-line automatic trolley replacement method further includes:

[0057] When the PLC receives the information transmitted by the first weighing sensor, the PLC controls multiple first laser rangefinders to measure the distance between the spreader and the storage track of the old trolley, and controls the robotic arm to drive the spreader to move down a certain distance and stop. The PLC controls the spreader to clamp the wheels of the old trolley. After clamping, the first weighing sensor weighs to confirm successful clamping, and controls the robotic arm to drive the spreader to lift. If the clamping is not successful, this action is repeated until successful clamping;

[0058] The PLC controls the robotic arm to drive the spreader to lift a certain distance and stop. The PLC controls the crane to slide along the crane track to drive the spreader to move horizontally. When the crane moves to directly above the old trolley placement rack and stops, multiple third laser rangefinders measure the distance between the spreader and the old trolley placement rack, and control the robotic arm to drive the spreader to descend a certain distance and stop. The PLC controls the spreader to release the old trolley. After release, the third weighing sensor weighs to confirm successful release, and controls the robotic arm to drive the spreader to lift, realizing the operation of lifting the old trolley. At the same time, the PLC reminds to remove the old trolley on the old trolley placement rack;

[0059] The PLC controls the robotic arm to drive the spreader to lift a certain distance and stop. When the PLC receives that there is a new trolley on the new trolley placement rack monitored by the fourth weighing sensor, the PLC controls the crane to slide along the crane track to drive the spreader to move horizontally. When it stops directly above the new trolley placement rack, multiple fourth laser rangefinders measure the distance between the spreader and the new trolley placement rack. The robotic arm drives the spreader to descend a certain distance and stop. The PLC controls the spreader to clamp the new trolley. After clamping, the fourth weighing sensor weighs to confirm successful clamping, and controls the robotic arm to drive the spreader to lift. If the clamping is not successful, this action is repeated until successful clamping;

[0060] The PLC controls the robotic arm to drive the spreader to lift a certain distance and stop. The PLC controls the crane to slide along the crane track to drive the spreader to move horizontally. When the crane moves to directly above the new trolley storage track and stops, multiple second laser rangefinders measure the distance between the spreader and the new trolley storage track, and control the robotic arm to drive the spreader to descend a certain distance and stop. The PLC controls the spreader to release the new trolley. After release, the second weighing sensor weighs to confirm successful release. The PLC controls the robotic arm to drive the spreader to lift, completing the action of replenishing the new trolley in place. At the same time, the PLC reminds to replenish the new trolley on the new trolley placement rack;

[0061] The PLC controls the robotic arm to drive the spreader to lift a certain distance and stop. The PLC controls the crane to slide along the crane track to drive the spreader to move horizontally. When the crane moves to directly above the old trolley storage track and stops, the robotic arm drives the spreader to descend a certain distance and stop. The spreader returns to its original position and waits for the next cycle instruction of the PLC.

[0062] The present invention has at least the following beneficial effects:

[0063] The present invention realizes the fully mechanized opening and closing of the trolley track by setting some segments of the outer track of the head wheel as movable tracks and driving the movable tracks to separate from or engage with the outer track of the head wheel through a lateral telescopic mechanism, saving manpower and time.

[0064] The present invention sets a first proximity switch and a PLC. By using the first proximity switch to trigger an opening signal, the PLC automatically controls the separation of the movable track from the outer track of the head wheel. When the next time sequence comes, the PLC automatically controls the movable track to engage with the outer track of the head wheel, realizing the fully automated opening and closing of the trolley track.

[0065] The present invention sets an upper movable track and a lower movable track. When there are both old and damaged trolleys to be removed and new trolleys to be lifted into the trolley track, the upper movable track and the lower movable track can perform opening or closing operations independently of each other without interference, realizing the synchronous removal of old and damaged trolleys and the lifting of new trolleys, and improving the work efficiency.

[0066] The present invention builds a track system that can be connected to the main machine track (trolley track), and automatically pushes a new trolley into the main machine track, realizing the automatic loading of a new trolley during the production of a belt-type roasting machine without stopping. The track system for loading the new trolley consists of a new trolley storage track, a transverse movement track, and a moving bracket. Before pushing the trolley, the transverse movement track and the new trolley storage track are located on the same straight line horizontally, and the rear end of the transverse movement track contacts the front end of the new trolley storage track. The transverse movement track is associated with the trolley frame through the moving bracket and the pushing mechanism, so that the forward and backward movement of the trolley frame horizontally can drive the forward and backward movement of the transverse movement track. The trolley frame is associated with the trolley to be loaded through a buckle mechanism, so that the forward movement of the trolley frame can push the trolley to be loaded to move forward on the new trolley storage track and the transverse movement track.

[0067] The trolley unloading device of the present invention consists of a lifting mechanism and a dragging mechanism. Through switch control and timing positioning technology, the locking of the old and damaged trolley, the automatic "opening" of the track, the automatic disengagement of the trolley from the track, and the automatic "closing" of the track are realized, improving the work efficiency, solving the problems of deceleration, shutdown, and production reduction caused by manual trolley replacement during the production of the roasting machine, and at the same time reducing the labor cost of maintenance.

[0068] The lifting system of the present invention consists of a crane, a lifting tool, a laser rangefinder, a weighing sensor, etc. Precise positioning is achieved through multiple groups of laser rangefinders, and the lifting of new and old trolleys is realized through the crane and the lifting tool, improving the trolley replacement efficiency. Moreover, this system does not affect the normal production of the roasting machine, and the equipment can operate at the normal production speed without any operation of the process system, saving manpower, improving the production efficiency, ensuring the production operation rate, and truly achieving continuous production without stopping.

[0069] The trolley loading device of the present invention is composed of a trolley frame, a transverse movement track, a trigger, and a trigger block. The new trolley is pushed from the parking position to the main machine track through the cooperation of the trolley frame and the transverse movement track, realizing the automatic replenishment of the new trolley without stopping the belt grate kiln, improving the trolley replacement efficiency. By setting the trigger, the transverse movement track and the trolley frame are selectively linked, which can shorten the movement stroke of the transverse movement track, replace the expensive hydraulic rod in the conventional technology, reduce the equipment cost, and further achieve the purpose of continuously and automatically pushing and receiving the track and towing the trolley.

[0070] Other advantages, objectives, and features of the present invention will be partially reflected by the following description and partially understood by those skilled in the art through the research and practice of the present invention. Brief Description of the Drawings

[0071] Figure 1 It is a side schematic view of the head wheel, tail wheel, fixed track, and trolley in the prior art belt grate kiln.

[0072] Figure 2 It is a side structural schematic view of the trolley track door opening device described in the embodiment of the present invention.

[0073] Figure 3 It is a side structural schematic view of a part of the lower moving track described in the embodiment of the present invention.

[0074] Figure 4 It is a side structural schematic view of a part of the upper moving track described in the embodiment of the present invention.

[0075] Figure 5 It is a structural schematic view of the lifting mechanism and the dragging mechanism described in one technical solution of the present invention.

[0076] Figure 6 It is a side structural schematic view of the lifting mechanism and the dragging mechanism described in one technical solution of the present invention.

[0077] Figure 7 It is a schematic view when the first lifting track descends in one technical solution of the present invention.

[0078] Figure 8 It is a schematic view when the trolley moves along the first lifting track in one technical solution of the present invention.

[0079] Figure 9 It is a schematic view when the trolley moves along the outgoing track in one technical solution of the present invention.

[0080] Figure 10 It is a schematic view when the first lifting track rises in one technical solution of the present invention.

[0081] Figure 11Schematic structural diagram of the trolley loading device in one technical solution of the present invention;

[0082] Figure 12 Schematic structural diagram of the trolley loading device in another technical solution of the present invention when the trolley is pushed forward by the trolley frame;

[0083] Figure 13 Schematic structural diagram of the trolley loading device in another technical solution of the present invention when the trolley enters the main track;

[0084] Figure 14 Schematic structural diagram of the trolley loading device in another technical solution of the present invention when the trolley loading is completed;

[0085] Figure 15 Schematic structural diagram of the trolley loading device in another technical solution of the present invention when the trolley frame moves backward;

[0086] Figure 16 Schematic structural diagram of the trolley loading device in another technical solution of the present invention when the trolley frame moves backward to the state of being clamped with the next new trolley;

[0087] Figure 17 Schematic structural diagram of the trolley loading device in another technical solution of the present invention when the trolley frame moves forward again;

[0088] Figure 18 Stereogram of the trolley loading device in another technical solution of the present invention;

[0089] Figure 19 Top view of the trolley loading device in another technical solution of the present invention;

[0090] Figure 20 Schematic structural diagram of the buckle mechanism in another technical solution of the present invention;

[0091] Figure 21 Schematic structural diagram of the pushing mechanism in another technical solution of the present invention when the moving bracket is driven by the trolley frame to move forward;

[0092] Figure 22 Schematic structural diagram of the pushing mechanism in another technical solution of the present invention when the moving bracket is driven by the trolley frame to move backward;

[0093] Figure 23 Schematic structural diagram of the pushing mechanism in another technical solution of the present invention when the trigger block drives the movable block to rotate during the backward movement of the trolley frame;

[0094] Figure 24Schematic diagram of the structure of the present invention in another technical solution when the pushing mechanism completely passes through the trigger block driven by the backward movement of the trolley frame;

[0095] Figure 25 Schematic diagram of the structure of the present invention in another technical solution when the trigger block drives the movable block to rotate during the forward movement of the trolley frame again;

[0096] Figure 26 Schematic diagram of the structure of the sprocket drive mechanism of the present invention in another technical solution;

[0097] Figure 27 Schematic diagram of the structure of the push-type trolley flipping system according to one technical solution of the present invention;

[0098] Figure 28 Schematic diagram of the push-type trolley flipping system of the present invention when flipping the trolley according to one technical solution;

[0099] Figure 29 Schematic diagram of the push-type trolley flipping system of the present invention when flipping the trolley according to one technical solution;

[0100] Figure 30 Schematic diagram of the push-type trolley flipping system of the present invention when flipping the trolley according to one technical solution;

[0101] Figure 31 Schematic diagram of the push-type trolley flipping system of the present invention when the trolley flipping is completed according to one technical solution;

[0102] Figure 32 Schematic diagram of the push-type trolley flipping system of the present invention after the push block retracts when the trolley flipping is completed according to one technical solution;

[0103] Figure 33 Schematic diagram of the structure of the push-type trolley flipping system of the present invention according to one technical solution;

[0104] Figure 34 Schematic diagram of the structure of the retracting mechanism according to one technical solution of the present invention;

[0105] Figure 35 Schematic diagram of the structure of the trolley lifting system according to one technical solution of the present invention;

[0106] Figure 36 Schematic diagram of the structure of the present invention when the fixture grabs the old trolley on the old trolley storage track in another technical solution;

[0107] Figure 37 Schematic diagram of the structure of the present invention when the fixture grabs the old trolley and moves upward in another technical solution;

[0108] Figure 38 Schematic diagram of the structure when the fixture grips the old trolley and moves it horizontally in another technical solution of the present invention;

[0109] Figure 39 Schematic diagram of the structure when the fixture grips the old trolley and moves it downward to above the old trolley placement rack in another technical solution of the present invention;

[0110] Figure 40 Schematic diagram of the structure when the fixture releases the old trolley onto the old trolley placement rack in another technical solution of the present invention;

[0111] Figure 41 Schematic diagram of the structure when the fixture moves to above the new trolley placement rack in another technical solution of the present invention;

[0112] Figure 42 Schematic diagram of the structure when the fixture grips the new trolley on the new trolley placement rack in another technical solution of the present invention;

[0113] Figure 43 Schematic diagram of the structure when the fixture grips the new trolley and moves it upward in another technical solution of the present invention;

[0114] Figure 44 Schematic diagram of the structure when the fixture grips the new trolley and moves it to above the new trolley storage track in another technical solution of the present invention;

[0115] Figure 45 Schematic diagram of the structure when the fixture moves the new trolley downward in another technical solution of the present invention;

[0116] Figure 46 Schematic diagram of the structure when the fixture releases the new trolley onto the new trolley storage track in another technical solution of the present invention;

[0117] Figure 47 Schematic diagram of the structure when the fixture moves horizontally to the empty position in another technical solution of the present invention;

[0118] Figure 48 Front view of the fixture in another technical solution of the present invention;

[0119] s Figure 49 Right view of the fixture in another technical solution of the present invention.

[0120] Description of the reference numerals in the drawings: Head wheel 1; Horizontal telescopic mechanism 101; First lifting track 102; First lifting track slide rail 103; Vertical telescopic mechanism 104; Vehicle-out track 105; Trolley track 106; First trolley 107; Pusher plate 108; First proximity switch 109; Lower moving track 100; First support wheel 111; First frame 112; First support wheel track 113; Second support wheel 114; Second frame 115; Second support wheel track 116; Slide block 117; New trolley storage track 301; Trolley 2; Tail wheel 3; Inner track of the head wheel 4; Inner track of the tail wheel 5; Upper track of the trolley 6; Outer track of the head wheel 7; Outer track of the tail wheel 8; Lower track of the trolley 9; Frame 10; Crane track 11; Transverse movement track 12; Moving bracket 13; Stop block 131; Trolley frame 14; Third trolley track 141; Trolley wheel 142; Connecting piece 143; Stop wheel 144; Chain drive mechanism 15; Sprocket 151; Chain 152; Second motor 153; Tensioning piece 154; Pushing mechanism 16; Pushing block 161; Movable block 162; First pin shaft 163; Plate buckle 164; Trigger block 165; Buckling mechanism 17; Push rod 171; Second pin shaft 172; Buckle 173; Second counterweight 174; Trolley to be loaded 18; Main machine track 19; Broken and old trolley 20; Straight track 21; Second lifting track 22; Hydraulic rod 23; Third support frame 24; Fourth support frame 25; First wheel 26; Second wheel 27; Pushing block 28; Pulley 29; Chain rod type conveyor belt 30; Second trolley track 31; Side plate 32; Connecting rod 33; Empty space 34; Fixed shaft 35; Limit post 36. Detailed implementation manners

[0121] The following further elaborates on the present invention with reference to the drawings, so that those skilled in the art can implement it according to the description in the specification.

[0122] It should be noted that in the description of the present invention, the orientation or positional relationships indicated by the terms "horizontal", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0123] As Figures 1 to Figure 49 shown, the present invention provides an on-line automatic trolley replacement system. The outer track of the trolley includes a pair of outer tracks of the head wheel. The trolley includes a pair of first wheels at one end of the vehicle body and a pair of second wheels at the other end, and includes:

[0124] The trolley track door opening device includes a plurality of moving tracks and a plurality of lateral telescopic mechanisms. Two moving tracks are provided on each outer head wheel track, namely an upper moving track and a lower moving track. The lower moving track is located at the lower part of the outer head wheel track, and the upper moving track is located at the upper part of the outer head wheel track. A slider is provided at the end of the moving track. The lateral telescopic mechanism is connected to the moving track to drive the moving track to separate from the outer head wheel track, thereby forming a notch on the outer head wheel track or fitting onto the outer head wheel track;

[0125] Two trolley unloading devices, which correspond to the two lower moving tracks one by one. The trolley unloading device includes:

[0126] A lifting mechanism, which includes a first lifting track, a lifting track slide rail and a vertical telescopic mechanism. The vertical telescopic mechanism is connected to the first lifting track and is used to drive the first lifting track to slide vertically along the lifting track slide rail so that the first lifting track rises to the notch at the lower part of the outer head wheel track to receive the outer head wheel track;

[0127] A dragging mechanism, which includes a vehicle-out track and a first trolley track that are parallel to each other and both extend in the lateral direction. A first trolley driven by a driving device is provided on the first trolley track. The first trolley can push the trolley to move along the vehicle-out track, and the vertical telescopic mechanism can lower the first lifting track to fit into the vehicle-out track;

[0128] Two flipping systems, which correspond to the two lower moving tracks one by one. The flipping system includes:

[0129] A pair of track components. Each track component includes a pair of straight tracks arranged at intervals, a second lifting track provided between the pair of straight tracks, and a pair of limit columns provided below the pair of straight tracks and on both sides of the second lifting track. The pair of straight tracks extend from the vehicle-out track in the lateral direction. When the pair of second lifting tracks correspondingly support a pair of first wheels, the pair of second lifting tracks can drive the pair of first wheels to make a vertical reciprocating linear motion downward between the pair of limit columns from the same height as the straight tracks under the drive of a telescopic member;

[0130] A push block assembly, which includes a pair of push blocks corresponding to a pair of second wheels, a driving mechanism for driving the pair of push blocks to move linearly parallel to the straight track, and a retracting mechanism corresponding to the push blocks and for prompting the corresponding push blocks to avoid the first wheels;

[0131] Wherein, at the connection of the outer head wheel track with the end having a slider of the moving track, a slideway adapted to the slider is provided. The slideway is arranged along the axial direction of the head wheel so that the moving track can separate from the outer head wheel track;

[0132] The maximum height of the descent of the second lifting track is not greater than the distance between the centers of the first wheel and the second wheel on the same side. The reciprocating linear motion of the second lifting track cooperates with the linear motion of the push block, so that when the first wheel descends from the same height as the straight track to the lowest point and then rises to the highest point along the corresponding second lifting track, the push block pushes the corresponding second wheel from one side of the second lifting track to the other side, realizing the flipping of the trolley.

[0133] An on-line automatic trolley replacement method, comprising:

[0134] When the old and damaged trolley is at the door opening position corresponding to the lower moving track, the door opening action is performed; otherwise, the door opening action is not performed. When the lower moving track performs the door opening action, after the lateral telescopic mechanism corresponding to the lower moving track receives the door opening instruction from the controller, it drives the lower moving track to move along the slideway to the outside of the roasting machine to make room for the wheels of the old and damaged trolley. Then, the head wheel teeth push the old and damaged trolley onto the first lifting track, and the vertical telescopic mechanism drives the first lifting track to move down along the lifting track slide rail, dropping the old and damaged trolley onto the outgoing vehicle track. Then, the first trolley pushes the old and damaged trolley forward to the straight track and stops at the flipping position. At this time, each first wheel of the old and damaged trolley is located on the corresponding second lifting track, each second wheel is located on the straight track on one side of the corresponding second lifting track and close to the outgoing vehicle track, and each push block is located on the side of the corresponding second wheel away from the first wheel; the first wheel first descends along the corresponding second lifting track, and at the same time, the push block drives the corresponding second wheel to move towards the other side of the second lifting track to cooperate with the descent of the first wheel. When the first wheel descends to the lowest point, the second wheel is directly above the first wheel. Then, the first wheel rises along the corresponding second lifting track again. At the same time, the push block continues to drive the corresponding second wheel to move to cooperate with the ascent of the first wheel and transitions to the straight track on the other side of the second lifting track. When the first wheel rises to the highest point, the second lifting track is flush with the straight track, and the flipping of the old and damaged trolley is completed. Then, the push block continues to drive the old and damaged trolley forward and backward under the drive of the drive mechanism to stop at the old trolley storage track formed at one end of the straight track far from the outgoing vehicle track. Finally, the push block retracts in the direction away from the second wheel to the original position, and the retracting mechanism causes the push block to avoid the first wheel, so that the trolley is released from the restriction of the push block, and then waits for the next trolley unloading task;

[0135] When the old and damaged trolley leaves the notch space of the outer track of the head wheel, the lateral telescopic mechanism corresponding to the lower moving track receives the door closing instruction from the controller, drives the lower moving track to move along the slideway towards the roasting machine. After the lower moving track is fitted into a pair of outer tracks of the head wheel, the trolley track is re-formed into a closed loop;

[0136] When the old and damaged trolley disengages from the first lifting track, the vertical telescopic mechanism pushes the first lifting track upward to its original position, waiting for the next trolley unloading task.

[0137] When a new trolley needs to be loaded and there is no trolley at the door opening position corresponding to the upper moving track, the door opening action is performed; otherwise, the door opening action is not performed. When the upper moving track performs the door opening action, after the lateral telescopic mechanism corresponding to the upper moving track receives the door opening instruction from the controller, it drives the upper moving track to move outward along the slideway towards the outside of the roasting machine, making room for the wheels of the new trolley. After the wheels of the new trolley enter the tooth grooves between the teeth of the head wheel, they are pushed by the teeth of the head wheel and enter the trolley track. When the new trolley enters the trolley track, the lateral telescopic mechanism corresponding to the upper moving track receives the door closing instruction from the controller, drives the upper moving track to move towards the roasting machine along the slideway. After the upper moving track is fitted into the outer tracks of a pair of head wheels, the trolley track is re-formed into a closed loop.

[0138] In another technical solution, in the on-line automatic trolley replacement system, it further includes:

[0139] Two trolley loading devices, which correspond to the two upper moving tracks one by one. The trolley loading device includes:

[0140] A frame;

[0141] A pair of new trolley storage tracks, which are fixedly arranged on the frame at intervals along the longitudinal direction. Any new trolley storage track extends horizontally. The trolley wheels on both sides of the new trolley can be respectively placed on a pair of new trolley storage tracks;

[0142] A pair of transverse moving tracks. One transverse moving track is correspondingly arranged on the extension line of the front end of a new trolley storage track. Any transverse moving track is slidably arranged on the frame horizontally. The transverse moving track can move horizontally to dock its front end with the notch of the upper moving track. When there is a new trolley on the transverse moving track, the front wheels of the new trolley can enter the tooth grooves between the teeth of the head wheel;

[0143] A pair of moving brackets, and one moving bracket is fixedly arranged correspondingly inside one transverse moving track;

[0144] A small frame, which is slidably arranged on the frame horizontally. Push mechanisms are respectively arranged on both sides of the small frame along the longitudinal direction, which are used to push and pull the corresponding moving brackets horizontally. A buckle mechanism is arranged at the front end of the middle part of the small frame, which is used to be clamped with the rear end of the new trolley.

[0145] Place the trolley wheels on both sides of the new trolley on a pair of new trolley storage tracks respectively. The buckle mechanism on the trolley frame is clamped to the rear end of the new trolley. The trolley frame moves forward horizontally, driving the new trolley to move forward horizontally. Driven by the trolley frame, the new trolley moves forward to the transverse track. The trolley frame continues to move forward and pushes the moving bracket through the pushing mechanism, so that the trolley frame continues to move forward, driving the transverse track and the new trolley on the transverse track to continue to move forward. The transverse track moves forward until its front end is docked with the notch of the upper moving track. At this time, the front wheels of the new trolley on the transverse track can enter the tooth grooves between the head wheel teeth.

[0146] In another technical solution, in the on-line automatic trolley replacement system, it further includes:

[0147] A plurality of first proximity switches, one of which is provided on each side of the path of the trolley wheels in front of the front end of each moving track. One of the two first proximity switches corresponding to each moving track is used to sense the head wheel teeth to judge whether the faulty old trolley arrives, and the other is used to sense the trolley wheels to judge whether a trolley is in place;

[0148] A second proximity switch, which is arranged on the first lifting track;

[0149] A third proximity switch, which is arranged on the outgoing vehicle track. When the trolley moves from the first lifting track to the outgoing vehicle track and triggers the third proximity switch, the trolley leaves the outer track of the head wheel;

[0150] A fourth proximity switch, which is arranged on the straight track. When the trolley triggers the fourth proximity switch, each first wheel is located on the corresponding second lifting track, each second wheel is located on the straight track on one side of the corresponding second lifting track, and each push block is located on the side of the corresponding second wheel away from the first wheel;

[0151] A fifth proximity switch, which is arranged at one end of the straight track far from the outgoing vehicle track. When the trolley triggers the fifth proximity switch, the trolley stops on the old trolley storage track formed at one end of the straight track far from the outgoing vehicle track;

[0152] A first weighing sensor, which is arranged on the first lifting track. When the trolley triggers both the second proximity switch and the first weighing sensor at the same time, the trolley is located on the first lifting track;

[0153] A second weighing sensor, which is arranged on the outgoing vehicle track;

[0154] A PLC, which is respectively connected to the first proximity switch, the second proximity switch, the third proximity switch, the fourth proximity switch, the fifth proximity switch, the first weighing sensor, the second weighing sensor, the lateral telescopic mechanism, the vertical telescopic mechanism, the telescopic member, the driving device, and the driving mechanism. The PLC can, after receiving the signal sent by the first proximity switch, control the action of the corresponding telescopic mechanism based on timing counting.

[0155] In another technical solution, in the on-line automatic trolley replacement system, a pair of straight tracks correspond to a pair of limit posts. Each straight track and the corresponding limit post form an integrally formed L-shaped structure. The two ends of the second lifting track are respectively slidably connected to the vertical sections of the corresponding L-shaped structures. The telescopic end of the telescopic member is fixedly connected to the bottom of the second lifting track to drive the second lifting track to perform reciprocating linear motion in the vertical direction between the pair of limit posts.

[0156] In another technical solution, in the on-line automatic trolley replacement system, the driving mechanism includes a second trolley, a pair of second trolley tracks parallel to the straight tracks, and a driving member for driving the second trolley to perform linear motion along the second trolley tracks. The second trolley includes a horizontal plate and side plates provided on both sides of the horizontal plate. A pulley is provided on each side plate. A pair of pulleys correspond to a pair of second trolley tracks and the pulleys are slidably connected to the corresponding second trolley tracks. A push block is provided at the bottom of each side plate. The driving member includes a chain-link conveyor belt and a connecting rod fixedly connected to one of the chain links of the chain-link conveyor belt. The other end of the connecting rod is fixedly connected to the horizontal plate so that the horizontal plate moves with the movement of the chain-link conveyor belt and finally drives the push block to move.

[0157] In another technical solution, in the on-line automatic trolley replacement system, the specific way for the retracting mechanism to make the push block avoid the first wheel is as follows: a fixed shaft is provided on the side wall of the side plate. The push block is rotatably connected to the fixed shaft and rotates around the fixed shaft. The side plate is also provided with a limit block. The limit block is located on the side of the push block away from the second wheel to limit the rotation of the push block towards the side away from the second wheel.

[0158] In another technical solution, in the on-line automatic trolley replacement system, the first wheel and the second wheel have the same diameter. The length of the second lifting track is slightly greater than the diameter of the first wheel, and the maximum height of the descent of the second lifting track is equal to the distance between the centers of the first wheel and the second wheel on the same side. The second lifting track performs reciprocating uniform linear motion in the vertical direction, and the push block performs variable-speed linear motion in the horizontal direction in cooperation with the second lifting track.

[0159] In another technical solution, in the on-line automatic trolley replacement system, a weighing sensor one and a plurality of laser rangefinders one are arranged at the bottom of the old trolley storage track; a weighing sensor two and a plurality of laser rangefinders two are arranged at the bottom of the new trolley storage track;

[0160] The on-line automatic trolley replacement system further includes:

[0161] A hoisting system, which includes:

[0162] A crane track;

[0163] A crane, which is arranged on the crane track to slide transversely;

[0164] A spreader, which is connected to the crane and is driven by the crane to move;

[0165] An old trolley placement rack, at the bottom of which a weighing sensor three and a plurality of laser rangefinders three are arranged;

[0166] A new trolley placement rack, at the bottom of which a weighing sensor four and a plurality of laser rangefinders four are arranged.

[0167] In another technical solution, in the on-line automatic trolley replacement system, the spreader is provided with a spreader main body, two clamps located on both sides of the spreader main body, and four target plates symmetrically arranged outside the two clamps. The two target plates outside any one clamp are symmetrically and spaced apart; each clamp includes two groups of semi-circular clamping arms that match the wheels of the trolley. The four groups of clamping arms of the two clamps are respectively clamped on the outer periphery of the trolley wheels located on both sides of the trolley; the two target plates on each clamp are located between the two groups of clamping arms, and the bottom of each target plate is an arc structure; the crane slides transversely along the crane track to drive the spreader to move transversely. The crane is connected to the spreader through a robotic arm, and the robotic arm drives the spreader to move longitudinally. The PLC is also respectively connected to the crane, the spreader, and the robotic arm.

[0168] In another technical solution, in the on-line automatic trolley replacement system, the PLC is also respectively connected to the weighing sensor one, the plurality of laser rangefinders one, the weighing sensor two, the plurality of laser rangefinders two, the weighing sensor three, the plurality of laser rangefinders three, the weighing sensor four, and the plurality of laser rangefinders four.

[0169] The on-line automatic trolley replacement method includes:

[0170] Step 1: Connect the camera device to the trolley management system. Take photos and number all the trolleys on the traveling grate sinter machine respectively. The PLC numbers all the trolleys in the actual connection order, so that each trolley has a sequence number, and the number of the trolley is corresponding to the sequence number in the PLC. Set the first trolley and determine the position of any one of the trolleys (for example, determine the position of the first trolley. Specifically, when the first trolley passes through a pair of first proximity switches, it means that the first trolley is in the position that can be sensed by the pair of first proximity switches, so as to determine the position of the first trolley). At the same time, interlock the PLC with the speed of the sinter machine and perform timing counting to determine the position of the trolley. After the initial position of any one of the trolleys is determined, according to the machine speed, the position of this trolley at any time can be known. After the position of any one of the trolleys is determined, the other trolleys are connected in sequence, and naturally the positions of the other trolleys can be known.

[0171] Step 2: When the PLC receives the number of the faulty or old trolley sent by the trolley management system (when the faulty trolley passes through the range that can be photographed by the camera, the trolley management system judges whether the gap of the trolley grate bars becomes larger and whether it exceeds the preset value by the photographed photo. If it exceeds, the camera will immediately take a photo of the identification pattern on the trolley. The pattern corresponds to a number. The trolley management system sends the number to the PLC. The number on the PLC corresponds to the sequence number. By comparing the sequence number of the current trolley, the PLC knows the position of the faulty trolley), record the number of the faulty or old trolley. Then, determine the sequence number of the faulty or old trolley according to the number. By comparing the sequence number of the current trolley, the PLC determines the position of the faulty trolley and tracks the position of this trolley according to the current speed of the sinter machine. When this trolley moves to the front of the front end of the lower moving track and triggers the two first proximity switches here, the PLC sends a photo-taking command to the trolley management system, and the camera device takes a photo of this trolley. The taken photo is compared through the trolley management system, and the generated number is transmitted to the PLC. The PLC judges whether this trolley is a faulty or old trolley by comparing with the stored number. If they match, proceed to the next step; if they do not match, when the next trolley triggers the two first proximity switches in front of the front end of the lower moving track, the camera device takes a photo again, and then the trolley management system identifies the photo and finds the corresponding number, which is transmitted to the PLC. The PLC performs number comparison. If they match, proceed to the next step; if they do not match, loop to the next cycle, advancing one trolley in advance, and then make a judgment;

[0172] Step 3: When the old and damaged trolley approaches the two first proximity switches in front of the front end of the lower moving track, if the teeth of the head wheel trigger one of the first proximity switches and the old and damaged trolley triggers the other first proximity switch, the door opening action is performed; otherwise, the door opening action is not performed. When the lower moving track performs the door opening action, after the corresponding lateral telescopic mechanism of the lower moving track receives the door opening instruction from the PLC, it drives the lower moving track to move outward along the slideway towards the outside of the roasting machine to make space for the wheels of the old and damaged trolley. Then, the teeth of the head wheel push the old and damaged trolley to move onto the first lifting track. When both the second proximity switch and the first weighing sensor are triggered, the vertical telescopic mechanism drives the first lifting track to move downward along the lifting track slide rail, and the old and damaged trolley is dropped onto the outgoing vehicle track. After that, the second weighing sensor under the outgoing vehicle track is triggered, and the first trolley pushes the old and damaged trolley to move forward along the outgoing vehicle track. When the trolley triggers the third proximity switch, the old and damaged trolley leaves the outer track of the head wheel, and the first trolley continues to push the old and damaged trolley forward to the straight track. When the old and damaged trolley triggers the fourth proximity switch, each first wheel of the old and damaged trolley is located on the corresponding second lifting track, each second wheel is located on the straight track on one side of the corresponding second lifting track and close to the outgoing vehicle track, and each push block is located on the side of the corresponding second wheel away from the first wheel. The first wheel first descends along the corresponding second lifting track. At the same time, the push block drives the corresponding second wheel to move towards the other side of the second lifting track to cooperate with the descent of the first wheel. When the first wheel descends to the lowest point, the second wheel is directly above the first wheel. Then, the first wheel ascends along the corresponding second lifting track. At the same time, the push block continues to drive the corresponding second wheel to move to cooperate with the ascent of the first wheel and transitions to the straight track on the other side of the second lifting track. When the first wheel ascends to the highest point, the second lifting track and the straight track are flush, and the flipping of the old and damaged trolley is completed. After that, the push block continues to drive the old and damaged trolley forward until it triggers the fifth proximity switch and then stops on the old trolley storage track. Finally, the push block retracts in the direction away from the second wheel to the original position, and the retracting mechanism prompts the push block to avoid the first wheel so that the trolley is released from the restriction of the push block, and then waits for the next trolley unloading task.

[0173] When the old and damaged trolley leaves the notch space of the outer track of the head wheel, the corresponding lateral telescopic mechanism of the lower moving track receives the door closing instruction from the PLC and drives the lower moving track to move towards the roasting machine along the slideway. After the lower moving track is fitted into a pair of outer tracks of the head wheels, the trolley track is re-formed into a closed loop.

[0174] When the old and damaged trolley disengages from the first lifting track, the first weighing sensor on the first lifting track is triggered, and the vertical telescopic mechanism pushes the first lifting track upward to the original position, waiting for the next trolley unloading task.

[0175] When one of the first proximity switches in front of the front end of the upper moving track is triggered by the head wheel teeth and the trolley does not trigger the other first proximity switch, the door opening action is performed; otherwise, the door opening action is not performed. When the upper moving track performs the door opening action, after the corresponding lateral telescopic mechanism of the upper moving track receives the door opening instruction from the PLC, it drives the upper moving track to move along the slideway towards the outside of the roasting machine, making room for the wheels of the new trolley. After the wheels of the new trolley enter the tooth grooves between the head wheel teeth, they enter the trolley track under the push of the head wheel teeth. When the new trolley enters the trolley track, the corresponding lateral telescopic mechanism of the upper moving track receives the door closing instruction from the PLC, drives the upper moving track to move along the slideway towards the roasting machine. After the upper moving track is fitted into the outer tracks of a pair of head wheels, the trolley track is re-formed into a closed loop.

[0176] In another technical solution, in the on-line automatic trolley replacement method, the specific method for the wheels of the new trolley to enter the tooth grooves between the head wheel teeth is as follows:

[0177] Place the trolley wheels on both sides of the new trolley on a pair of new trolley storage tracks respectively. The buckle mechanism on the trolley frame is clamped with the rear end of the new trolley. The trolley frame moves forward horizontally, driving the new trolley to move forward horizontally. Driven by the trolley frame, the new trolley moves forward to the transverse movement track. The trolley frame continues to move forward and pushes the moving bracket through the pushing mechanism, so that the trolley frame continues to move forward, driving the transverse movement track and the new trolley on the transverse movement track to continue to move forward. The transverse movement track moves forward until its front end is butted against the notch of the upper moving track. At this time, the front wheels of the new trolley on the transverse movement track can enter the tooth grooves between the head wheel teeth.

[0178] In another technical solution, in the on-line automatic trolley replacement method, after the wheels of the new trolley enter the tooth grooves between the head wheel teeth, the following steps are further included:

[0179] The trolley frame moves backward horizontally, and under the action of the pushing mechanism, pulls the transverse movement track backward, so that the transverse movement track is removed from the notch of the upper moving track. The transverse movement track returns to the position in contact with the new trolley storage track under the drive of the trolley frame, and the moving bracket is disconnected from the pushing mechanism;

[0180] The trolley frame continues to move backward until the buckle mechanism is clamped with the rear end of the next new trolley. The trolley frame continues to move forward to push the next new trolley, repeating the above process to load the next new trolley into the trolley track.

[0181] In another technical solution, in the on-line automatic trolley replacement method, it further includes:

[0182] When the PLC receives the information transmitted by the first weighing sensor, the PLC controls multiple first laser rangefinders to measure the distance between the spreader and the storage track of the old trolley, and controls the robotic arm to drive the spreader to move down a certain distance and stop. The PLC controls the spreader to clamp the wheels of the old trolley. After clamping, the first weighing sensor weighs to confirm successful clamping, and controls the robotic arm to drive the spreader to lift. If the clamping is not successful, this action is repeated until successful clamping;

[0183] The PLC controls the robotic arm to drive the spreader to lift a certain distance and stop. The PLC controls the crane to slide along the crane track to drive the spreader to move horizontally. When the crane moves to directly above the old trolley placement rack and stops, multiple third laser rangefinders measure the distance between the spreader and the old trolley placement rack, and control the robotic arm to drive the spreader to descend a certain distance and stop. The PLC controls the spreader to release the old trolley. After release, the third weighing sensor weighs to confirm successful release, and controls the robotic arm to drive the spreader to lift, realizing the action of lifting the old trolley. At the same time, the PLC reminds to remove the old trolley on the old trolley placement rack;

[0184] The PLC controls the robotic arm to drive the spreader to lift a certain distance and stop. When the PLC receives that there is a new trolley on the new trolley placement rack monitored by the fourth weighing sensor, the PLC controls the crane to slide along the crane track to drive the spreader to move horizontally. When it stops directly above the new trolley placement rack, multiple fourth laser rangefinders measure the distance between the spreader and the new trolley placement rack. The robotic arm drives the spreader to descend a certain distance and stop. The PLC controls the spreader to clamp the new trolley. After clamping, the fourth weighing sensor weighs to confirm successful clamping, and controls the robotic arm to drive the spreader to lift. If the clamping is not successful, this action is repeated until successful clamping;

[0185] The PLC controls the robotic arm to drive the spreader to lift a certain distance and stop. The PLC controls the crane to slide along the crane track to drive the spreader to move horizontally. When the crane moves to directly above the new trolley storage track and stops, multiple second laser rangefinders measure the distance between the spreader and the new trolley storage track, and control the robotic arm to drive the spreader to descend a certain distance and stop. The PLC controls the spreader to release the new trolley. After release, the second weighing sensor weighs to confirm successful release. The PLC controls the robotic arm to drive the spreader to lift, completing the action of replenishing the new trolley in place. At the same time, the PLC reminds to replenish the new trolley on the new trolley placement rack;

[0186] The PLC controls the robotic arm to drive the spreader to lift a certain distance and stop. The PLC controls the crane to slide along the crane track to drive the spreader to move horizontally. When the crane moves to directly above the old trolley storage track and stops, the robotic arm drives the spreader to descend a certain distance and stop. The spreader returns to its original position and waits for the next cycle instruction of the PLC.

[0187] Such as Figures 2 to 4As shown in the figure, the trolley track door opening device includes: a pair of outer head wheel tracks 7, at least one section of each outer head wheel track 7 being a movable track, the movable tracks located on the pair of outer head wheel tracks 7 being oppositely arranged. Sliders are provided at the ends of the movable tracks, and a slideway adapted to the sliders is provided at the junction of the outer head wheel track 7 and the end of the movable track having the slider. The slideway is arranged along the axial direction of the head wheel 1 so that the movable track moves outward from the head wheel 1, and thus a notch is formed on the outer head wheel track 7.

[0188] A transverse telescopic mechanism is provided outside each movable track, and each transverse telescopic mechanism is connected to the corresponding movable track to drive the corresponding movable track to separate from the outer head wheel track 7 or to be fitted into the outer head wheel track 7.

[0189] Specifically, two movable tracks can be provided on each outer head wheel track 7, namely an upper movable track and a lower movable track 100. The lower movable track is located at the lower part of the outer head wheel track 7, and the upper movable track is located at the upper part of the outer head wheel track 7.

[0190] Specifically, the transverse telescopic mechanism can be an electric cylinder or a hydraulic cylinder, and the transverse telescopic mechanism 101 can be installed on the steel structure frames on both sides of the roasting machine.

[0191] Specifically, the cross-section of the slider 117 is T-shaped, and the vertical part of the T-shape is vertically connected to the end face of the movable track. The cross-section of the slideway is T-shaped and adapted to the slider. Here, when the movable track is fitted into the outer head wheel track 7, the connection and cooperation of the T-shaped slider and the T-shaped slideway can play a positioning role in four directions of up, down, left, and right, and at the same time bear the load brought by the trolley. When the movable track needs to move, the connection and cooperation of the T-shaped slider and the T-shaped slideway can also play a limiting and guiding role.

[0192] During the use of the above embodiments, by setting some sections of the outer head wheel track 7 as movable tracks and driving the movable tracks to separate from the outer head wheel track 7 or to be fitted into the outer head wheel track 7 through the transverse telescopic mechanism, the full mechanization of opening and closing the trolley track is realized, saving manpower and time. Further, by setting the upper movable track and the lower movable track, when there are both damaged and old trolleys to be removed and new trolleys to be lifted into the trolley track, the upper movable track and the lower movable track can perform the opening or closing operation respectively without interference, realizing the synchronous removal of the damaged and old trolleys and the lifting of the new trolleys, and improving the work efficiency.

[0193] In another embodiment, the trolley track door opening device further includes:

[0194] A plurality of first proximity switches 109, each of which is provided on both sides of the trolley wheel path in front of the front end of each moving track. The front end of the moving track refers to the end of the moving track that first contacts the trolley during the movement of the trolley.

[0195] A PLC, which is respectively connected to the first proximity switch and the lateral telescopic mechanism, and is used to control the action of the lateral telescopic mechanism based on timing counting after receiving the signal sent by the first proximity switch.

[0196] When the above embodiments are in use, all the trolleys on the belt grate can be numbered respectively to establish a circular number chain, and the first trolley is set. At the same time, the PLC is interlocked with the machine speed of the grate to perform timing counting to determine the number and position of the trolleys.

[0197] For the two first proximity switches in front of the front end of the lower moving track, one is used to sense the teeth of the head wheel 1 to determine whether the worn-out trolley 20 is coming, and the other senses the trolley wheel to judge whether the worn-out trolley is in place. When unloading the trolley, the PLC determines the number and position of the worn-out trolley 20 to be unloaded. When the position of the trolley with this number is close to the first proximity switch in front of the front end of the lower moving track, the teeth of the head wheel 1 trigger one of the first proximity switches, and the other first proximity switch judges whether there is a trolley between the teeth. If there is a trolley, the door opening action is performed; if there is no trolley, the door opening action is not performed. When performing the door opening action, after the electric cylinder or the hydraulic cylinder receives the "door opening" command from the PLC, it drives the lower moving track to move laterally along the slideway towards the side of the grate. The two lower moving tracks move to the left and right sides of the grate, creating space for the wheels of the worn-out trolley. The worn-out trolley 20 is pushed by the teeth of the head wheel 1 and leaves the trolley track. When the worn-out trolley 20 leaves the lower moving track, the PLC controls the lower moving track to perform the "door closing" action. After the electric cylinder or the hydraulic cylinder receives the "door closing" command from the PLC, it drives the lower moving track to move towards the grate along the slideway. After the two lower moving tracks are respectively fitted into the outer tracks 7 of a pair of head wheels, the trolley track is re-formed into a closed loop.

[0198] For the two first proximity switches in front of the front end of the upper moving track, one is used to sense the teeth of the head wheel 1 to determine whether the trolley 2 is coming, and the other senses the wheels of the trolley to determine whether a trolley is in place. When loading the trolley, the teeth of the head wheel 1 trigger one of the first proximity switches, and the other first proximity switch determines whether there is a trolley between the teeth. If there is no trolley, the door opening action is performed; if there is a trolley, the door opening action is not performed. When performing the door opening action, after the electric cylinder or hydraulic cylinder receives the "door opening" command from the PLC, it drives the upper moving track to move laterally along the slideway towards the side of the roasting machine. The two upper moving tracks are moved to the left and right sides of the roasting machine, creating space for the wheels of the new trolley. After the wheels of the new trolley enter the tooth grooves between the teeth of the head wheel 1, they are pushed by the teeth of the head wheel 1 into the trolley track. When the new trolley enters the trolley track, the PLC controls the upper moving track to perform the "door closing" action. After the electric cylinder or hydraulic cylinder receives the "door closing" command from the PLC, it drives the upper moving track to move towards the roasting machine along the slideway. After the two upper moving tracks are respectively fitted into a pair of outer tracks 7 of the head wheel, the trolley track is re-formed into a closed loop.

[0199] During the use of the above embodiment, by setting the first proximity switch and the PLC, and using the first proximity switch to trigger the door opening signal, the PLC automatically controls the separation of the moving track from the outer track 7 of the head wheel. When the next time sequence arrives, the PLC automatically controls the moving track to be fitted onto the outer track 7 of the head wheel, realizing the full automation of the opening and closing of the trolley track.

[0200] The lower track door opening device includes a section of the lower moving track 100 provided on the outer track 7 of the head wheel. A transverse telescopic mechanism 101 is arranged along the axial direction of the head wheel 1 on the outside of the lower moving track 100, which drives the lower moving track 100 to separate from the outer track 7 of the head wheel, thereby forming a notch on the outer track 7 of the head wheel.

[0201] As Figure 2 、 3 、shown in Figures 5 - 10, the trolley unloading device includes:

[0202] A lifting mechanism, which includes a first lifting track 102, a first lifting track slide rail 103, and a vertical telescopic mechanism 104. A vertical telescopic mechanism 104 is arranged between the first lifting track 102 and the first lifting track slide rail 103, which drives the first lifting track 102 to slide vertically within the first lifting track slide rail 103;

[0203] A dragging mechanism, which includes a vehicle out track 105 and a trolley track 106 that are parallel to each other. A first trolley 107 driven by a driving device, such as a first motor, is arranged on the trolley track 106, which pushes the trolley to move along the vehicle out track 105;

[0204] Wherein, the vertical telescopic mechanism 104 drives the first lifting track 102 to rise to the notch to receive the outer track 7 of the head wheel, or descends to fit into the car track 105.

[0205] In the above technical solution, the trolley unloading device is provided with a lifting mechanism and a dragging mechanism. The lower track door opening device is composed of a lower moving track 100 and a lateral telescopic mechanism 101. The lateral telescopic mechanism 101 drives the lower moving track 100 to separate from the outer track 7 of the head wheel or fit into the outer track 7 of the head wheel, realizing the full mechanization of opening and closing the trolley track. The lateral telescopic mechanism 101 can be installed on the steel structure frames on both sides of the roasting machine. The lifting mechanism is composed of a first lifting track 102, a vertical telescopic mechanism 104, and a first lifting track slide rail 103. The first lifting track 102 is located inside the lower moving track 100 and supports the trolley meshing wheel (the trolley meshing wheel meshes with the head wheel 1 inside the wheel of the trolley). The first lifting track slide rail 103 plays a guiding role. The vertical telescopic mechanism 104 is used to provide the power source for lifting the old trolley. The dragging mechanism is composed of a car track 105, a first trolley 107, a trolley track 106, and a first motor. The car track 105 is used to receive the old trolley lowered by the first lifting track. The first trolley 107 is used to push the old trolley to quickly leave the first lifting track 102. In addition, this technical solution also sets up a PLC, and proximity switches are installed at different positions on the frame to measure the teeth of the large gear to judge whether the old trolley arrives, or measure the wheels of the trolley to judge whether the trolley is in place. In this technical solution, the lateral telescopic mechanism 101 drives the lower moving track 100 to realize the automatic "opening" and "closing" of the outer track 7 of the head wheel of the trolley. At the same time, the vertical telescopic mechanism 104 and the lifting mechanism are used to move the trolley out of the outer track 7 of the head wheel, and then cooperate with the car track 105 to realize the full-automatic unloading process of the trolley. The whole process does not require manual observation of the position of the old trolley, manual shutdown, manual unlocking of the track, and disassembly of the trolley, solving the problems of deceleration, shutdown, and production reduction caused by manual replacement of the trolley during the production of the belt roasting machine, saving time and effort, and effectively improving the production efficiency.

[0206] In another technical solution, chains are connected to both ends of the first trolley 107, and the first motor is connected with a sprocket engaged with the chains. In this technical solution, the chains are connected and drag the first trolley 107, and the first motor drives the sprocket to rotate to drive the chains.

[0207] In another technical solution, a push plate 108 is fixed on the first trolley 107 to push the trolley to move. The push plate 108 is set in this technical solution to push the trolley smoothly and improve the stability of the device.

[0208] In another technical solution, the lateral telescopic mechanism 101 and the vertical telescopic mechanism 104 are electric cylinders or hydraulic cylinders.

[0209] In another technical solution, a first proximity switch 109 is provided on each side of the path of the trolley wheels in front of the front end of each moving track. A second proximity switch and a third proximity switch are respectively arranged on the first lifting track 102 and the outgoing track 105. In this technical solution, the first proximity switch is provided to measure the teeth of the large gear to determine whether the old trolley arrives, or to measure the trolley wheels to determine whether the trolley is in place.

[0210] In another technical solution, load sensors 110 are arranged on both the first lifting track 102 and the outgoing track 105.

[0211] In another technical solution, a first support wheel 111 is provided at the bottom of the front end of the lower moving track 100. A first frame 112 is provided below the first support wheel. A first support wheel track 113 adapted to the first support wheel 111 is arranged on the first frame. The first support wheel track 113 is arranged along the axis of the head wheel 1. A horizontal second support wheel 114 is provided on the convex surface at the rear end of the lower moving track 100. A second frame 115 opposite to the second support wheel is arranged on the outer track 7 of the head wheel. A second support wheel track 116 adapted to the second support wheel is arranged on the second frame. The second support wheel track is also arranged along the axis of the head wheel 1. In this technical solution, since the lower moving track 100 needs to bear the gravity load of the trolley, the slideway is prone to force deformation after long-term use. Therefore, the first support wheel 111 and the second support wheel 114 are provided to bear the gravity load of the trolley and prevent the slideway from being deformed by force.

[0212] In another technical solution, a T-shaped slider 117 is provided at the end of the lower moving track 100. A slideway adapted to the slider is arranged at the connection of the outer track 7 of the head wheel and the end of the lower moving track 100 with the slider 117. The slideway is arranged along the axis of the head wheel 1 so that the lower moving track 100 can move outward from the head wheel 1. When the lower moving track 100 is fitted in the outer track 7 of the head wheel, the connection and cooperation of the slider 117 and the slideway can play a positioning role in four directions of up, down, left and right, and also bear the load brought by the trolley. When the lower moving track 100 needs to move, the connection and cooperation of the slider 117 and the slideway can also play a limiting and guiding role.

[0213] When the present invention is in use, the system establishes a circular number chain for all the pallets on the roasting machine equipment in sequence, and sets the first pallet; all the pallets are corresponding to the numbers in the pallet management system (another system); at the same time, this system is interlocked with the speed of the roasting machine to perform sequential counting to determine the number and position of the pallets, and all actions are controlled by the PLC timing. When unloading the pallet, it can accurately control the "opening" and "closing" of the lower moving track 100. The head wheel teeth trigger a proximity switch, and another proximity switch is used to judge whether there is a pallet between the teeth; if it is an empty position, no "opening" action is required; if it is not an empty position, the "opening" action is performed; the "opening" action is completed by the lateral telescopic mechanism 101 pushing the lower moving track 100. Specifically, after receiving the PLC "opening" command, the lateral telescopic mechanism 101 drives the lower moving track 100 to move laterally towards the outside of the roasting machine to make space for the wheels; the head wheel teeth push the old pallet to move onto the first lifting track 102. After the proximity switch and the weighing sensor on the first lifting track 102 are triggered simultaneously, the vertical telescopic mechanism 104 moves downward, and the first lifting track 102 moves downward along the lifting track slide rail 103 to drop the old pallet onto the outgoing vehicle track 105. When the pallet drops onto the outgoing vehicle track 105, the weighing sensor under the outgoing vehicle track 105 is triggered, and the first trolley 107 pushes the old pallet to move forward along the outgoing vehicle track 105 and leave the outer track 7 of the head wheel. When the faulty old pallet 20 triggers the proximity switch on the outgoing vehicle track 105, it indicates that the old pallet has left the outer track 7 of the head wheel. When the old pallet leaves the notch space of the outer track 7 of the head wheel, the PLC controls the lower moving track 100 to perform the "closing" action; when the old pallet disengages from the first lifting track 102, the weighing sensor on the vertical telescopic mechanism 104 is triggered, and the vertical telescopic mechanism 104 pushes the first lifting track 102 upward to return to its original position, waiting for the next pallet unloading task.

[0214] As Figures 11 to 26 shown, the pallet loading device includes:

[0215] a frame 10;

[0216] a pair of new pallet storage tracks 301, which are fixedly arranged on the frame 10 at intervals longitudinally, and any one of the new pallet storage tracks extends laterally; the two pallet wheels on both sides of the pallet to be loaded are respectively placed on a pair of new pallet storage tracks;

[0217] a pair of transverse moving tracks 12, and a transverse moving track 12 is correspondingly arranged on the extension line of the front end of one new pallet storage track, and any one of the transverse moving tracks 12 is slidably arranged on the frame 10 laterally;

[0218] a pair of moving brackets 13, and a moving bracket 13 is fixedly arranged correspondingly inside one transverse moving track 12;

[0219] The trolley frame 14 is slidably arranged on the frame 10 in the transverse direction. Pushing mechanisms 16 are respectively arranged on both longitudinal sides of the trolley frame 14 for pushing and pulling the corresponding moving brackets 13 in the transverse direction. A buckle mechanism 17 is arranged at the front end of the middle part of the trolley frame 14 for clamping with the rear end of the trolley 18 to be loaded.

[0220] In the above technical solution, by building a track system that can be connected to the main machine track 19, the new trolley is automatically pushed into the main machine track 19, realizing the automatic loading of the new trolley under the production condition that the belt roasting machine does not stop.

[0221] The track system is composed of a new trolley storage track, a transverse movement track 12 and a moving bracket 13. Before pushing the trolley, the transverse movement track 12 and the new trolley storage track are located on the same straight line in the transverse direction, and the rear end of the transverse movement track 12 contacts the front end of the new trolley storage track. The transverse movement track 12 and the trolley frame 14 are associated through the moving bracket 13 and the pushing mechanism 16, so that the trolley frame 14 can drive the forward and backward movement of the transverse movement track 12 in the transverse direction. The trolley frame 14 and the trolley 18 to be loaded are associated through the buckle mechanism 17, so that the forward movement of the trolley frame 14 can push the trolley 18 to be loaded to move forward on the new trolley storage track and the transverse movement track 12.

[0222] Specifically: In the initial state, the trolley 18 (new trolley) to be loaded is stored on the new trolley storage track. The front end of the new trolley storage track contacts the rear end of the transverse movement track 12. The trolley 18 to be loaded can slide in the transverse direction on the new trolley storage track (to Figure 1For example, the direction parallel to the screen is the horizontal direction, and moving from left to right is moving forward along the horizontal direction, while moving from right to left is moving backward along the horizontal direction. The direction perpendicular to the screen is the vertical direction. The buckle mechanism 17 on the trolley frame 14 is clamped with the rear end of the trolley 18 to be loaded. The trolley frame 14 moves forward along the horizontal direction, which can drive the trolley 18 to be loaded to move forward along the horizontal direction. Driven by the trolley frame 14, the trolley 18 to be loaded moves forward to the transverse track 12. The trolley frame 14 continues to move forward and pushes the moving bracket 13 through the pushing mechanism 16. Furthermore, the continuous forward movement of the trolley frame 14 drives the transverse track 12 and the trolley 18 to be loaded on the transverse track 12 to continue moving forward. After the transverse track 12 moves forward in place, the front end of the transverse track 12 just docks with the main machine track 19 (at the door opening). The front trolley wheels of the trolley 18 to be loaded on the transverse track 12 can enter between the sawteeth of the main machine large gear. Then, driven by the main machine large gear, the trolley 18 to be loaded is brought into the main machine track 19. After the trolley 18 to be loaded completely enters the main machine track 19, the trolley frame 14 moves backward along the horizontal direction, and under the action of the pushing mechanism 16, the transverse track 12 is pulled backward, so that the transverse track 12 is removed from the main machine track 19. The transverse track 12 moves back to the position where it contacts the new trolley storage track under the drive of the backward movement of the trolley frame 14, and the moving bracket 13 is disconnected from the pushing mechanism 16;

[0223] The trolley frame 14 continues to move backward until the buckle mechanism 17 is clamped with the rear end of the next trolley 18 to be loaded. The trolley frame 14 continues to move forward to push the next trolley 18 to be loaded, and repeats the above process to load the next trolley 18 to be loaded into the main machine track 19.

[0224] In another technical solution, the trolley loading device further includes a pair of third trolley tracks 141, which are fixedly arranged at intervals along the vertical direction on the frame 10 and are both located between a pair of new trolley storage tracks, and any one of the third trolley tracks 141 extends along the horizontal direction; the trolley wheels 142 on both sides of the trolley frame 14 are respectively slidably arranged on a pair of third trolley tracks 141 along the horizontal direction. The third trolley tracks 141 are provided to provide a track for the trolley frame 14 to move along the horizontal direction.

[0225] In another technical solution, in the trolley loading device, the trolley frame 14 is slidably connected to the frame 10 through a chain transmission mechanism 15. Through the chain transmission mechanism 15, the sliding connection between the trolley frame 14 and the frame 10 is realized, and the chain transmission mechanism 15 drives the trolley frame 14 to move along the horizontal direction, improving the automation degree of the present invention.

[0226] In another technical solution, in the trolley loading device, the chain transmission mechanism 15 includes:

[0227] Two sprockets 151 are horizontally spaced on the frame 10. Any one of the sprockets 151 is rotatably arranged on the frame 10 through a wheel shaft, and the rotating shaft extends horizontally in the longitudinal direction; the two sprockets 151 are connected by a chain 152, and the trolley frame 14 is connected to the chain 152; the trolley frame 14 is connected to the chain 152 through a connecting member 143.

[0228] A second motor 153 is fixedly arranged on the frame 10. The output shaft of the second motor 153 is coaxially arranged with one of the rotating shafts and fixedly connected thereto. A tensioning member 154 is arranged on the sprocket corresponding to the other rotating shaft, thereby tensioning the chain.

[0229] In the above technical solution, the present invention drives one of the sprockets 151 to rotate through the second motor 153, thereby driving the chain 152 to rotate, and thus driving the trolley frame 14 to move horizontally. As Figure 26 shown, if the second motor 153 drives one of the rotating shafts to rotate clockwise, driving the chain 152 to rotate clockwise, thereby driving the trolley frame 14 to move forward horizontally. If the second motor 153 drives one of the rotating shafts to rotate counterclockwise, driving the chain 152 to rotate counterclockwise, thereby driving the trolley frame 14 to move backward horizontally. In practical applications, in order to ensure the straightness of the wheels of the trolley frame moving horizontally, side guide wheels 144 can be arranged on the outer side of the chain 152;

[0230] In another technical solution, for the trolley loading device, any one of the pushing mechanisms 16 includes:

[0231] A push block 161, which has an L-shaped structure. The first straight edge of the push block 161 extends vertically upward, and the second straight edge extends horizontally in the direction towards the transverse moving track 12; one side of the first straight edge of the push block 161 is fixedly connected to the side part of the trolley frame 14; the first straight edge of the push block 161 and the moving bracket 13 overlap in the horizontal projection.

[0232] A movable block 162, one side of which close to the first straight edge of the push block 161 is rotatably connected to the second straight edge of the push block 161 through a first pin shaft 163, and the other side far from the first straight edge of the push block 161 is provided with a first counterweight; the bottom of the movable block 162 is an arc-shaped convex flange structure protruding downward; the first pin shaft 163 extends horizontally in the longitudinal direction.

[0233] A plate buckle 164, the lower end of which is fixedly connected to one side of the movable block 162, and the upper end extends obliquely upward in the direction towards the first straight edge of the push block 161.

[0234] The trigger block 165 is fixedly arranged on the frame 10 and located below the push block 161. Both sides of the top of the trigger block 165 are rounded. Both sides of the trigger block 165 can touch the bottom of the movable block 162 and drive the movable block 162 to rotate from the first position to the second position. When the movable block 162 rotates to the first position, the plate buckle 164 can be hooked to the moving bracket 13. When the movable block 162 rotates to the second position, the plate buckle 164 and the moving bracket 13 do not interfere with each other.

[0235] In the above technical solution, the present invention discloses the specific structure of the pushing mechanism 16. The pushing mechanism 16 is composed of a push block 161, a movable block 162, a plate buckle 164 and a trigger block 165. Under the action of the trigger block 165, the movable block 162 and the plate buckle 164, the automatic switching between the hooking and detachment of the pushing mechanism 16 and the moving bracket 13 is realized, and thus the selective association between the transverse movement track 12 and the trolley frame 14 is realized.

[0236] To Figures 21 to 25 illustrate the working principle of the pushing mechanism 16:

[0237] a. As Figure 21 shown, the movable block 162 is in the first position state and is located on the side of the trigger block 165 close to the main machine track 19. The upper surface of the transverse movement track 12 supports the trolley 18 to be loaded. The trolley frame 14 drives the push block 161 to move forward (moving to the right of the screen is forward, and moving to the left of the screen is backward). The first straight edge of the push block 161 abuts against the rear end of the moving bracket 13. The forward movement of the trolley frame 14 can drive the moving bracket 13, the transverse movement track 12 and the trolley 18 to be loaded forward. When the transverse movement track 12 moves to contact the main machine track 19 (the main machine track 19 is opened before this), the trolley frame 14 stops moving forward, and the trolley 18 to be loaded is brought into the main machine track 19 by the main machine large gear, and the trolley loading is completed.

[0238] b. As Figure 22 shown, the trolley frame 14 moves backward, driving the push block 161 to move backward. The plate buckle 164 hooks the moving bracket 13, and thus the backward movement of the trolley frame 14 can drive the transverse movement track 12 to move backward. After the transverse movement track 12 withdraws, the main machine track 19 is closed.

[0239] c. As Figure 23As shown, the trolley frame 14 continues to carry the transverse movement track 12 and move backward until the flange of the movable block 162 contacts the trigger block 165. The trigger block 165 exerts a thrust on the flange of the movable block 162, causing the movable block 162 to rotate counterclockwise around the axis of the first pin shaft 163. This further drives the plate buckle 164 to rotate downward counterclockwise. Under the action of the trigger block 165, the plate buckle 164 can be rotated to a position where the top of the plate buckle 164 is lower than the track bracket, that is, the movable block 162 rotates to the second position. The trolley frame 14 continues to move backward, driving the plate buckle 164 to pass under the moving bracket 13. The plate buckle 164 releases the hooking on the moving bracket 13, that is, the transverse movement track 12 is disengaged from the trolley frame 14;

[0240] d. As Figure 24 As shown, after the transverse movement track 12 is disengaged from the trolley frame 14, the transverse movement track 12 stops moving (at this time, the transverse movement track 12 returns to the starting position for docking with the new trolley storage track). The trolley frame 14 continues to move to the right. When the movable block 162 moves to a position where it completely passes the trigger block 165 and does not interfere with the trigger block 165, under the action of the first counterweight and the gravity of the movable block 162 itself, the movable block 162 rotates clockwise around the axis of the first pin shaft 163 and automatically resets from the second position to the first position. The plate buckle 164 rotates upward clockwise to a position where the plate buckle 164 partially overlaps with the moving bracket 13 in the vertical direction. The trolley frame 14 continues to move backward until the buckle mechanism 17 on the trolley frame 14 is clamped with the rear end of the next new trolley. The trolley frame 14 stops moving backward;

[0241] e. As Figure 25 As shown, the trolley frame 14 continues to move forward with the next new trolley stored on the new trolley storage track. During the forward movement, the flange of the movable block 162 is touched by the trigger block 165 again. Since both sides of the trigger block 165 are rounded and the flange is also arc-shaped, when the trigger block 165 contacts the flange, under the continuous forward movement of the trolley frame 14, the trigger block 165 exerts a driving force on the movable block 162, driving the movable block 162 to rotate counterclockwise around the axis of the first pin shaft 163. This further drives the plate buckle 164 to rotate until its top is lower than the moving bracket 13. The plate buckle 164 moves forward from under the moving bracket 13 to the front side of the moving bracket 13. The trolley frame 14 continues to move forward;

[0242] Return again to as Figure 21In the state shown, the first straight edge of the trolley frame 14 abuts against the rear end of the moving bracket 13 again to drive the transverse track 12 to move forward. The movable block 162 moves to a position where it does not interfere with the trigger block 165 and automatically resets to the first position under the action of the counterweight block. Under the forward pushing action of the trolley frame 14, the next new trolley is pushed from the new trolley storage track onto the transverse track 12, and operation a is repeated for the loading operation of the next new trolley. Operations b - d are repeated for the pushing operation of the next new trolley.

[0243] In another technical solution, for the trolley loading device, the buckle mechanism 17 includes:

[0244] A push rod 171, which is rotatably arranged at the front end of the middle part of the trolley frame 14 through a second pin shaft 172, and the second pin shaft 172 extends horizontally along the longitudinal direction;

[0245] A buckle 173, which is fixedly arranged at the front end of the push rod 171. The vertical cross-section of the buckle 173 is an L-shaped structure, and the front end of the buckle 173 can abut against the rear end of the middle part of the trolley 18 to be loaded;

[0246] A second counterweight block 174, which is fixedly arranged at the rear end of the push rod 171.

[0247] In the above technical solution, the present invention provides a buckle mechanism 17 composed of a push rod 171, a buckle 173 and a second counterweight block 174, which can realize the automatic clamping of the trolley frame 14 with the trolley on the new trolley storage track, and enable the trolley frame 14 to push the trolley to move forward horizontally.

[0248] Specifically, as Figure 20 shown, under the action of the second counterweight block 174, in the starting state (or natural state), the push rod 171 is in a state where the front end is high and the rear end is low. The L-shaped buckle 173 at the front end forms an L-shaped step, and the vertical part of the buckle 173 abuts against the rear end of the trolley. Under the action of the second counterweight block 174, the buckle 173 can always abut against the rear end of the trolley, so that the forward movement of the trolley frame 14 can drive the forward movement of the trolley until it is pushed into the main machine track 19; after completing the loading operation of one trolley, as Figure 15 shown, the trolley frame 14 moves backward. When it moves to the front end position of the next new trolley, the push rod 171 rotates clockwise around the second pin shaft 172 under the action of the cross beam of the next new trolley, so that the front end of the push rod 171 rotates downward to a position lower than the cross beam of the next new trolley. Driven by the continuous backward movement of the trolley frame 14, the whole push rod 171 moves backward from below the cross beam of the new trolley. When the whole push rod 171 completely moves past the new trolley (from Figures 15 to 16During the process, under the action of the second counterweight 174, the push rod 171 automatically rotates counterclockwise around the second pin shaft 172 to the starting position (the front end is high and the rear end is low). After the carriage 14 stops moving backward, when there is a vacancy 34 on the main track 19 and the next new trolley needs to be sent to the main track 19, as Figure 17 shown, the carriage 14 moves forward again. At this time, the buckle 173 at the front end of the push rod 171 can abut against the rear end of the next new trolley, and the carriage 14 is clamped with the next new trolley, so that the forward movement of the carriage 14 can push the next new trolley forward.

[0249] In another technical solution, for the trolley loading device, a stop block 131 hooked to the plate buckle 164 is provided on one side of any moving bracket 13 away from the corresponding transverse movement track 12. The stop block 131 is provided to realize the hooking of the plate buckle 164 and the moving bracket 13.

[0250] In another technical solution, for the trolley loading device, the front end face of any transverse movement track 12 is an inclined surface structure that slopes downward from top to bottom and backward. When the transverse movement track 12 is docked with the main track 19, the front end of the transverse movement track 12 can enter the main track 19 without interfering with the normal operation of the main track 19.

[0251] As Figures 27 to 34 shown, for the push-type trolley flipping system, the trolley 2 includes a pair of first wheels 26 at one end of the vehicle body and a pair of second wheels 27 at the other end. The push-type trolley flipping system includes:

[0252] A pair of track assemblies, each track assembly includes a pair of straight tracks 21 arranged at intervals along the conveying direction, a second lifting track 22 arranged between the pair of straight tracks 21, and a pair of limit columns 36 arranged below the pair of straight tracks 21 and on both sides of the second lifting track 22. Among them, the pair of second lifting tracks 22 correspondingly support the pair of first wheels 26, and the pair of second lifting tracks 22 drive the pair of first wheels 26 to make a vertical reciprocating linear motion downward between the pair of limit columns 36 from the same height as the straight tracks 21;

[0253] A push block assembly, which includes a pair of push blocks 28 corresponding to the pair of second wheels 27, a driving mechanism for driving the pair of push blocks 28 to move linearly parallel to the straight tracks 21, and a pair of retracting mechanisms corresponding to the push blocks 28 and urging the corresponding push blocks 28 to avoid the first wheels 26;

[0254] Wherein, the maximum descending height of the second lifting track 22 is not greater than the distance between the centers of the first wheel 26 and the second wheel 27 on the same side. The reciprocating linear motion of the second lifting track 22 is matched with the linear motion of the push block 28, so that when the first wheel 26 descends from the same height as the straight track 21 to the lowest point and then rises to the highest point along with the corresponding second lifting track 22, the push block 28 pushes the corresponding second wheel 27 to move from one side of the second lifting track 22 to the other side, realizing the flipping of the trolley 2.

[0255] In the above technical solution, a pair of push blocks 28 corresponds to a pair of second wheels 27. A pair of push blocks 28 push a pair of second wheels 27 to move from the straight track 21 on one side of the second lifting track to the straight track on the other side. When the second lifting track 22 rises to the highest point (i.e., the position of the second lifting track when the first wheel 26 of the trolley is initially placed on the second lifting track), the top surfaces of the second lifting track and the pair of straight tracks are flush for the trolley to move. The two ends of the second lifting track correspond to a pair of straight tracks, and the two ends of the second lifting track 22 are in contact with the corresponding straight tracks 21. The straight track 21 is installed on the ground or other support surfaces through the third support frame 24 according to the actual situation. A pair of limit posts 36 are respectively arranged at the bottoms of one ends of the pair of straight tracks 21 close to the second lifting track 22. The bottom of the second lifting track 22 is provided with a telescopic member. The telescopic end of the telescopic member is fixedly connected to the bottom of the second lifting track 22, and the fixed end is installed on the ground or other support surfaces. The telescopic member can be a hydraulic rod 23 or an electric push rod to drive the second lifting track 22 to perform a reciprocating linear motion in the vertical direction between the pair of limit posts 36. The design of the pair of limit posts 36 prevents the second lifting track 22 from derailing in the horizontal direction.

[0256] The driving mechanism can be a second trolley provided with a driving member, such as a second trolley driven by a motor, and the traveling track of the second trolley. The pair of push blocks 28 are provided on the second trolley. The traveling track is located above the straight track 21. When the second trolley travels along the traveling track, it drives the push block 28 to move, and then drives the push block 28 to push the second wheel 27. In actual use, according to the situation, the traveling track of the second trolley is supported on the ground or other support surfaces through the fourth support frame 25.

[0257] The way of the retracting mechanism can be that the push block 28 is a telescopic push block 28. For example, the push block 28 can be connected to the telescopic end of a telescopic rod. The fixed end of the telescopic rod is arranged on the second trolley. The telescopic rod can be a hydraulic telescopic rod or an electric telescopic rod. When the trolley 2 finishes flipping and the second trolley retreats and encounters the first wheel 26, the push block 28 is retracted to not contact the first wheel 26, and then the second trolley continues to retreat, enabling the trolley 2 to be released from the restriction of the push block 28.

[0258] The maximum descending height of the second lifting track 22 is not greater than the distance between the centers of the first wheel 26 and the second wheel 27 on the same side, that is, the maximum descending height of the second lifting track 22 is equal to or less than the distance between the center of the first wheel 26 and the center of the second wheel 27 on the same side. Preferably, the maximum descending height of the second lifting track 22 is equal to or slightly less than (such as 1 - 5 cm less) the distance between the center of the first wheel 26 and the center of the second wheel 27 on the same side, and it can be designed according to the actual situation;

[0259] The reciprocating linear motion of the second lifting track 22 is matched with the linear motion of the push block 28. For example, the second lifting track 22 performs reciprocating linear motion, and the push block 28 performs variable-speed linear motion, or the second lifting track 22 performs reciprocating variable-speed linear motion, and the push block 28 performs uniform linear motion, which can be designed according to the actual situation during use;

[0260] In this technical solution, during use, when the trolley 2 needs to be flipped, the trolley 2 to be replaced is pushed by the first trolley into the straight track 21 to position the trolley 2. Among them, the positioning state of the trolley 2 is: each first wheel 26 is located on the corresponding second lifting track 22, each second wheel 27 is located on the straight track 21 on one side of the corresponding second lifting track 22, and each push block 28 is located on the side of the corresponding second wheel 27 away from the first wheel 26. The first wheel 26 first descends with the corresponding second lifting track 22. At the same time, the push block 28 is driven by the driving mechanism to push the corresponding second wheel 27 to move towards the other side of the second lifting track 22 to cooperate with the descent of the first wheel 26. When the first wheel 26 descends to the lowest point, the second wheel 27 is located directly above the first wheel 26. Then the first wheel 26 rises with the corresponding second lifting track 22 again. At the same time, the push block 28 continues to be driven by the driving mechanism to push the corresponding second wheel 27 to move to cooperate with the ascent of the first wheel 26 and transition to the straight track 21 on the other side of the second lifting track 22. When the first wheel 26 rises to the highest point, at this time the second lifting track 22 and the straight track 21 are flush, and the flipping of the trolley 2 is completed. Finally, the push block 28 retracts in the direction away from the second wheel 27, and the retracting mechanism causes the push block 28 to avoid the first wheel 26 so that the trolley 2 is released from the restriction of the push block 28, as Figures 27 to 32 shown, Figures 27 to 32 It represents the process of the lower plane of the trolley 2 being flipped from the initial upward state to the downward state (in actual use, the trolley 2 lifted from the traveling grate to the straight track 21 may have its upper plane upward or its lower plane upward);

[0261] With this technical solution, the beneficial effects are as follows. By designing the second trolley track 31, the second lifting track 22, the pushing block 28, the driving mechanism, and the retracting mechanism, through the cooperation of the linear motion of the pushing block 28 and the reciprocating linear motion of the second lifting track 22, the automatic flipping of the trolley 2 is realized, which is convenient to operate, time-saving and labor-saving, and improves the operation safety of construction workers.

[0262] In another technical solution, a pair of straight tracks 21 corresponds to a pair of limit posts 36. Each straight track 21 and the corresponding limit post 36 form an integrally formed L-shaped structure. The two ends of the second lifting track 22 are respectively slidably connected to the vertical sections of the corresponding L-shaped structures. A hydraulic rod 23 is provided below the second lifting track 22. The telescopic end of the hydraulic rod 23 is fixedly connected to the bottom of the second lifting track 22 to drive the second lifting track 22 to perform reciprocating linear motion in the vertical direction.

[0263] In the above technical solution, the vertical sections of the pair of L-shaped structures are arranged oppositely, that is, the vertical section in each L-shaped structure is close to the second lifting track 22, and each end of the second lifting track 22 is slidably connected to the vertical section of the corresponding L-shaped structure. The fixed end of the hydraulic rod 23 is installed on the ground or other supporting surfaces. In this technical solution, when in use, after the trolley 2 is in place, the hydraulic rod 23 and the driving mechanism are started synchronously, so that the reciprocating linear motion of the second lifting track 22 in the vertical direction is matched with the linear motion of the pushing block 28 in the horizontal direction to complete the flipping of the trolley 2. With this technical solution, the beneficial effects are as follows. By designing the hydraulic rod 23, a way for the second lifting track 22 to perform reciprocating linear motion in the vertical direction is provided, with a simple structure and easy operation.

[0264] In another technical solution, the driving mechanism includes a second trolley, a pair of second trolley tracks 31 parallel to the straight tracks 21, and a driving member for driving the second trolley to perform linear motion along the second trolley tracks 31. The second trolley includes a horizontal plate and side plates 32 provided on both sides of the horizontal plate. A pulley 29 is provided on each side plate 32. The pair of pulleys 29 corresponds to the pair of second trolley tracks 31 and the pulley 29 is slidably connected to the corresponding second trolley track 31. A pushing block 28 is provided at the bottom of each side plate 32. The driving member includes a chain-link conveyor belt 30 and a connecting rod 33 fixedly connected to one of the chain links of the chain-link conveyor belt 30. The other end of the connecting rod 33 is fixedly connected to the horizontal plate, so that the horizontal plate moves with the movement of the chain-link conveyor belt 30 and finally drives the pushing block 28 to move.

[0265] In the above technical solution, specifically, a pair of second trolley tracks 31 are installed on the ground or other supporting surfaces (the ground or supporting surface is not shown in the figure) through the fourth support frame 25. The second trolley tracks 31 are preferably located above the straight track 21. A pair of side plates 32 correspond to the pair of tracks. The link conveyor belt 30 is a conveyor belt commonly used by those skilled in the art and is driven by an assembled motor reducer. Its belt body is composed of multiple link rods. The belt body of the link conveyor belt 30 is supported and installed on the fourth support frame 25. One end of the connecting rod 33 is fixedly connected to one of the link rods of the link conveyor belt 30, and the other end is fixedly connected to the horizontal plate to drive the horizontal plate and the push block 28 to move along with the movement of the link rod.

[0266] Adopting this technical solution, the beneficial effects obtained are as follows: By designing the second trolley track 31, the horizontal plate, the side plate 32, the pulley 29, the link conveyor belt 30, and the connecting rod 33, a structure of a driving mechanism is provided. The materials are convenient to obtain, it can be installed and used on-site, and it is convenient, simple to use, and has a good driving effect.

[0267] In another technical solution, the specific way for the retracting mechanism to cause the push block 28 to avoid the first wheel 26 is as follows: A fixed shaft 35 is provided on the side wall of the side plate 32. The push block 28 is rotatably connected to the fixed shaft 35 and rotates around the fixed shaft 35. A limit block 33 is also provided on the side plate 32. The limit block 33 is located on the side of the push block 28 away from the second wheel 27 to limit the push block 28 from rotating towards the side away from the second wheel 27. Specifically, a pair of annular limit discs are coaxially provided on the fixed shaft 35. The top of the push block 28 is strung on the fixed shaft 35 between the pair of annular limit blocks 33. The length of the fixed shaft 35 between the pair of annular limit discs is slightly larger (such as 3 - 5 mm larger) than the thickness of the top of the push block 28 to limit the push block 28 from moving significantly along the axial direction of the fixed shaft 35 on the fixed shaft 35. The push block 28 in this technical solution is similar to a one-way valve. When in use, in the natural state, the push block 28 is in a vertical state under the action of gravity. When it is necessary to flip the trolley 2, the push block 28 is located on the side corresponding to the second wheel 27. Due to the large weight of the trolley 2 and the limitation of the limit block 33, the push block 28 directly pushes the trolley 2 to move along the straight track 21 under the drive of the driving mechanism and coordinates with the speed of the second lifting track 22 so that the trolley 2 can be flipped. When the trolley 2 is flipped, when the push block 28 encounters the first wheel 26 during the retracting process, at this time, since the retracting direction is opposite to the advancing direction, the push block 28 can rotate around the fixed shaft 35 to avoid the first wheel 26 until it disengages from the first wheel 26. At this time, the trolley 2 also disengages from the limitation of the push block 28. Adopting this technical solution, the beneficial effects obtained are as follows: By designing the fixed shaft 35 and the limit block 33, a structure of a retracting mechanism is provided. The structure is simple, it can automatically cause the push block 28 to avoid the first wheel 26, and it is convenient to use and has a good effect.

[0268] In another technical solution, the diameters of the first wheel 26 and the second wheel 27 are the same. The length of the second lifting track 22 is slightly greater than the diameter of the first wheel 26, and the maximum height by which the second lifting track 22 descends is equal to the distance between the centers of the first wheel 26 and the second wheel 27 on the same side.

[0269] In the above technical solution, the diameters of the first wheel 26 and the second wheel 27 are the same. The maximum height by which the second lifting track 22 descends is equal to the distance between the centers of the first wheel 26 and the second wheel 27 on the same side. The length of the second lifting track 22 is slightly greater than the diameter of the first wheel 26. For example, the length of the second lifting track 22 is 2 - 4 mm greater than the diameter of the first wheel 26, which facilitates the transition of the second wheel 27 from one side of the second lifting track 22 to the other side. In actual use, the length of the second lifting track 22 is designed according to the diameters of the first wheel 26 and the second wheel 27, mainly to enable the second wheel 27 to smoothly transition from one side of the second lifting track 22 to the other side. By adopting this technical solution, the beneficial effect obtained is that a design standard for the lengths of the first wheel 26, the second wheel 27, the second lifting track 22, and the maximum height by which the second lifting track 22 descends is provided, and with the cooperation of each component, it is easier to achieve the flipping of the trolley 2.

[0270] In another technical solution, the second lifting track 22 makes a reciprocating uniform linear motion in the vertical direction, and the push block 28 makes a variable-speed linear motion in the horizontal direction that cooperates with the second lifting track 22. By adopting this technical solution, the beneficial effect obtained is that such a combination is easier to operate and implement in actual use.

[0271] A method for flipping the trolley 2, characterized in that the above-mentioned push-type trolley flipping system is used to flip the trolley 2, specifically as follows:

[0272] The in-position state of the trolley 2 is as follows: each first wheel 26 is located on the corresponding second lifting track 22, each second wheel 27 is located on the straight track 21 on one side of the corresponding second lifting track 22, each pushing block 28 is located on the side of the corresponding second wheel 27 away from the first wheel 26. The first wheel 26 first descends along with the corresponding second lifting track 22. At the same time, the pushing block 28 drives the corresponding second wheel 27 to move towards the other side of the second lifting track 22 under the drive of the driving mechanism to cooperate with the descent of the first wheel 26. When the first wheel 26 descends to the lowest point, the second wheel 27 is located directly above the first wheel 26. Then the first wheel 26 ascends along with the corresponding second lifting track 22. At the same time, the pushing block 28 continues to drive the corresponding second wheel 27 to move under the drive of the driving mechanism to cooperate with the ascent of the first wheel 26 and transition to the straight track 21 on the other side of the second lifting track 22. When the first wheel 26 ascends to the highest point, at this time the second lifting track 22 and the straight track 21 are flush, and the flipping of the trolley 2 is completed. Finally, the pushing block 28 retracts in the direction away from the second wheel 27, and the retracting mechanism causes the pushing block 28 to avoid the first wheel 26 so that the trolley 2 is released from the restriction of the pushing block 28, as Figures 27 to 32 shown. During actual use, the trolley 2 lifted from the belt grate to the straight track 21 may have its upper plane facing up or its lower plane facing up, and it is used according to the actual situation.

[0273] As Figures 35 to 49 shown, the trolley lifting system includes:

[0274] The crane track 11;

[0275] The crane 501, which is slidably arranged along the transverse direction on the crane track 11;

[0276] The spreader 200, which is connected to the crane 501 and is driven by the crane 501 to move. The spreader 200 is provided with a spreader main body 201, two clamps 202 located on both sides of the spreader main body 200, and four target plates 203 symmetrically arranged outside the two clamps 202. The two target plates 203 outside any one clamp 202 are symmetrically spaced apart;

[0277] Two pairs of storage tracks, which include a pair of old trolley storage tracks 300 and a pair of new trolley storage tracks 301. The bottom of the old trolley storage track 300 is provided with a first weighing sensor 302 and a plurality of first laser rangefinders 303. The bottom of the new trolley storage track 301 is provided with a second weighing sensor 304 and a plurality of second laser rangefinders 305.

[0278] In the above technical solution, a horizontally extending crane track 11 is provided above one side of the main track of the traveling grate. A crane 501 that can slide horizontally along it is installed on the crane track 11. A spreader 200 is connected below the crane 501. Clamps 202 for gripping the trolley tires are provided on both sides of the spreader 200. A plurality of target plates 203 are installed outside the clamps 202 for receiving the laser emitted by the laser rangefinder. In addition, a pair of old trolley storage tracks 300 and a pair of new trolley storage tracks 301 extend outward from one side of the main track of the traveling grate respectively for placing old trolleys and new trolleys. A first weighing sensor 302 and a plurality of first laser rangefinders 303 are installed at the bottom of the old trolley storage track 300. A second weighing sensor 304 and a plurality of second laser rangefinders 305 are installed at the bottom of the new trolley storage track 301 for accurately positioning and determining whether to grip the old and new trolleys, thus realizing the automatic lifting process of the old and new trolleys. During use, the first laser rangefinder 303 measures the distance between the spreader 200 and the wheels of the old trolley, and the spreader 200 stops descending after a certain distance; the spreader 200 moves slightly to grip the wheels, and after gripping, the first weighing sensor 302 weighs to confirm successful gripping and then lifts; if not successful, repeat this action until successful; the spreader 200 stops lifting after a certain distance, and the crane 501 moves horizontally; the crane 501 stops at the handover position of the old trolley, and the spreader 200 starts to descend; a third laser rangefinder measures the distance between the spreader 200 and the ground, and the spreader 200 stops descending after a certain distance, the spreader 200 moves slightly to release the trolley, then lifts, realizing the action of lifting the old trolley; the spreader 200 stops lifting at a certain height, the crane 501 continues to move horizontally forward by a certain distance, stops at the position above the new trolley to be replenished, and the spreader 200 descends; a fourth laser rangefinder measures the distance between the spreader 200 and the ground, and the spreader 200 stops descending after a certain distance; the spreader 200 moves slightly to grip, and after gripping, the fourth weighing sensor weighs to confirm successful gripping and then lifts; if not successful, repeat this action until successful; stops lifting to a certain height, the crane 501 moves horizontally in the reverse direction; the crane 501 moves a certain distance, stops at the position above the new trolley track, and the spreader 200 descends; the spreader 200 stops descending after a certain distance; the spreader 200 moves slightly to release the new trolley, and after releasing, the second weighing sensor 304 weighs to confirm successful release and then lifts, completing the action of replenishing the new trolley in place; the spreader 200 stops lifting at a certain height, the crane 501 moves horizontally in the forward direction; the crane 501 moves a certain distance, stops at the position above the stop position of the old trolley, and the spreader 200 descends back to the original position, waiting for the next cycle instruction.

[0279] In another technical solution, it further includes an old trolley storage rack 400 and a new trolley storage rack 401. A weighing sensor three 402 and multiple laser rangefinders three 403 are provided at the bottom of the old trolley storage rack 400, and a weighing sensor four 404 and multiple laser rangefinders four 405 are provided at the bottom of the new trolley storage rack 401. In this technical solution, weighing sensors are installed on the two storage racks to judge the state of the storage racks, and multiple laser rangefinders facilitate measuring the distance to the spreader 200.

[0280] In another technical solution, the weighing sensor three 402 and the weighing sensor four 404 are respectively arranged in the middle of the bottom of the old trolley storage rack 400 and the new trolley storage rack 401. In this technical solution, the weighing sensors are arranged in the middle of the bottom of the storage rack, which is convenient for measuring the distance between the storage rack and the target plate 203 on the spreader 200 and ensures the accuracy of distance measurement.

[0281] In another technical solution, the old trolley to be disassembled is placed on the old trolley storage track 300, and the new trolley to be loaded is placed on the new trolley storage track 301. In this technical solution, placing the old trolley on the old trolley storage track 300 facilitates the disassembly of the old trolley, and the new trolley storage track 301 is used to place the new trolley, which is convenient for loading the new trolley.

[0282] In another technical solution, each fixture 202 includes two groups of semi-circular clamping arms that match the wheels of the trolley, and the four groups of clamping arms of the two fixtures 202 are respectively clamped on the outer circumference of the trolley wheels on both sides of the trolley. In this technical solution, setting the clamping arms facilitates the clamping and releasing of the old and new trolleys, realizes the automatic clamping and releasing function, and improves the automation.

[0283] In another technical solution, the two target plates 203 on each fixture 202 are located between the two groups of clamping arms, and the bottom of each target plate 203 is an arc structure. In this technical solution, by the different distances between the multiple laser rangefinders and the arc surface at the bottom of the target plate 203, the accuracy of distance measurement is improved and precise positioning is realized.

[0284] In another technical solution, the crane 501 slides horizontally along the crane track 11, driving the spreader 200 to move horizontally. The crane 501 is connected to the spreader 200 through a robotic arm (not shown in the figure), and the robotic arm drives the spreader 200 to move vertically. In this technical solution, through the coordinated operation of the crane 501 and the robotic arm, the spreader 200 is moved in the horizontal and vertical directions, improving the flexibility of the device.

[0285] In another technical solution, a PLC is further included, which is respectively connected to the crane 501, the spreader 200, the robotic arm, the first weighing sensor 302 and multiple first laser rangefinders 303, the second weighing sensor 304 and multiple second laser rangefinders 305, the third weighing sensor 402 and multiple third laser rangefinders 403, and the fourth weighing sensor 404 and multiple fourth laser rangefinders 405;

[0286] Among them, when the PLC receives that the first weighing sensor 302 monitors that the old trolley is placed on the old trolley storage track 300, the PLC controls the multiple first laser rangefinders 303 to measure the distance between the spreader 200 and the old trolley storage track 300, and controls the robotic arm to drive the spreader 200 to move down a certain distance and stop. The PLC controls the spreader 200 to clamp the wheels of the old trolley. After clamping, the first weighing sensor 302 weighs to confirm successful clamping, and controls the robotic arm to drive the spreader 200 to lift. If the clamping is not successful, this action is repeated until successful clamping;

[0287] The PLC controls the robotic arm to drive the spreader 200 to lift a certain distance and stop. The PLC controls the crane 501 to slide along the crane track 11 to drive the spreader 200 to move horizontally. When the crane 501 moves to directly above the old trolley placement rack 400 and stops, the multiple third laser rangefinders 403 measure the distance between the spreader 200 and the old trolley placement rack 400, and control the robotic arm to drive the spreader 200 to move down a certain distance and stop. The PLC controls the spreader 200 to release the old trolley. After release, the third weighing sensor 402 weighs to confirm successful release, and controls the robotic arm to drive the spreader 200 to lift, realizing the operation of lifting and transporting the old trolley. At the same time, the PLC reminds to take away the old trolley on the old trolley placement rack 400. For example, the PLC is connected to an alarm or a voice player, and the alarm or the voice player sounds after the operation of lifting and transporting the old trolley is completed;

[0288] The PLC controls the robotic arm to drive the spreader 200 to lift a certain distance and stop. When the PLC receives that the fourth weighing sensor 404 monitors that there is a new trolley on the new trolley placement rack 401, the PLC controls the crane 501 to slide along the crane track 11 to drive the spreader 200 to move horizontally. When it stops directly above the new trolley placement rack 401, the multiple fourth laser rangefinders 405 measure the distance between the spreader 200 and the new trolley placement rack 401. The robotic arm drives the spreader 200 to move down a certain distance and stop. The PLC controls the spreader 200 to clamp the new trolley. After clamping, the fourth weighing sensor 404 weighs to confirm successful clamping, and controls the robotic arm to drive the spreader 200 to lift. If the clamping is not successful, this action is repeated until successful clamping;

[0289] The PLC controls the robotic arm to drive the spreader 200 to lift a certain distance and then stop. The PLC controls the crane 501 to slide along the crane track 11 to drive the spreader 200 to move horizontally. When the crane 501 moves to directly above the new trolley storage track 301, it stops. Multiple second laser rangefinders 305 measure the distance between the spreader 200 and the new trolley storage track 301, and control the robotic arm to drive the spreader 200 to lower a certain distance and stop. The PLC controls the spreader 200 to release the new trolley. After the release, the second load cell 304 weighs it to confirm the successful release. The PLC controls the robotic arm to drive the spreader 200 to lift, completing the action of the new trolley being in place for replenishment. At the same time, the PLC reminds to replenish the new trolley on the new trolley placement rack 401. For example, connect the PLC to an alarm or a voice player, and the alarm or the voice player sounds after the action of the new trolley being in place for replenishment is completed;

[0290] The PLC controls the robotic arm to drive the spreader 200 to lift a certain distance and then stop. The PLC controls the crane 501 to slide along the crane track 11 to drive the spreader 200 to move horizontally. When the crane 501 moves to directly above the old trolley storage track 300, it stops. The robotic arm drives the spreader 200 to lower a certain distance and stop. The spreader 200 returns to its original position and waits for the next cycle instruction of the PLC.

[0291] To Figures 35 to 47 illustrate the working principle of the present invention, the following actions are all controlled by the PLC to complete:

[0292] a. As Figures 35 to 37 shown, the old trolleys to be transferred are placed on the old trolley storage track 300. Multiple first laser rangefinders 303 measure the distance between the spreader 200 and the old trolley storage track 300. The spreader 200 moves downward, and the fixture 202 clamps the outer circumference of the trolley wheels of the old trolley and drives the old trolley to move upward. The weight change monitored by the first load cell 302 is used to judge whether the clamping is successful;

[0293] b. As Figures 38 to 40 shown, the crane 501 drives the spreader 200 and the old trolley to move horizontally to the left to directly above the old trolley placement rack 400. Multiple third laser rangefinders 403 measure the distance between the spreader 200 and the old trolley placement rack 400. The spreader 200 moves downward, and the fixture 202 releases to place the old trolley on the old trolley placement rack 400. The spreader 200 moves upward. The weight change monitored by the third load cell 402 is used to judge whether the release is successful;

[0294] c. As Figures 41 to 43As shown in the figure, the crane 501 drives the spreader 200 to move horizontally to directly above the new trolley placement rack 401. Multiple laser rangefinders 405 measure the distance between the spreader 200 and the new trolley placement rack 401. The spreader 200 moves downward, and the clamp 202 clamps the outer circumference of the trolley wheels of the new trolley, driving the new trolley to move upward. Whether the clamping is successful is judged by monitoring the weight change detected by the load cell 404;

[0295] d. As Figures 44 to 46 As shown in the figure, the crane 501 drives the spreader 200 to move horizontally to directly above the new trolley storage track 301. Multiple laser rangefinders 305 measure the distance between the spreader 200 and the new trolley storage track 301. The spreader 200 moves downward, and the clamp 202 releases to place the new trolley on the new trolley placement rack 401. The spreader 200 moves upward. Whether the release is successful is judged by monitoring the weight change detected by the load cell 304;

[0296] e. As Figure 47 As shown in the figure, the crane 501 drives the spreader 200 to move horizontally to above the empty space, returns to the initial position, repeats the above operations, and conducts the next trolley lifting operation.

[0297] Although the embodiments of the present invention have been disclosed as above, they are not limited to only the applications listed in the description and the embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the field, additional modifications can be easily achieved. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present invention is not limited to the specific details and the illustrated and described examples here.

Claims

1. Online automatic trolley replacement system. The outer track of the trolley includes a pair of outer headwheel tracks. The trolley includes a pair of first wheels at one end of the vehicle body and a pair of second wheels at the other end. It is characterized in that, include: The trolley track door opening device includes a plurality of movable tracks and a plurality of transverse telescopic mechanisms. Two movable tracks are provided on each head wheel outer track, namely an upper movable track and a lower movable track. The lower movable track is located at the lower part of the head wheel outer track, and the upper movable track is located at the upper part of the head wheel outer track. Sliders are provided at the ends of the movable tracks. The transverse telescopic mechanism is connected to the movable track to drive the movable track to separate from the head wheel outer track, thereby forming a notch on the head wheel outer track, or fitting into the head wheel outer track. Two trolley unloading devices, which correspond one to one with the two lower moving tracks, the trolley unloading devices include: The lifting mechanism includes a first lifting rail, a lifting rail slide, and a vertical telescopic mechanism. The vertical telescopic mechanism is connected to the first lifting rail and is used to drive the first lifting rail to slide vertically along the lifting rail slide, so that the first lifting rail rises to the gap at the lower part of the head wheel outer rail to receive the head wheel outer rail. The dragging mechanism includes a vehicle exit track and a first trolley track that are parallel to each other and extend in the transverse direction. A first trolley driven by a driving device is provided on the first trolley track. The first trolley can push the trolley to move along the vehicle exit track. The vertical telescopic mechanism can lower the first lifting track to engage with the vehicle exit track. Two turning systems, corresponding one to one with the two lower moving tracks, the turning systems include: A pair of track assemblies, each track assembly including a pair of straight tracks spaced apart, a second lifting track disposed between the pair of straight tracks, and a pair of limit posts disposed below the pair of straight tracks and on both sides of the second lifting tracks, wherein the pair of straight tracks are formed by extending the vehicle exit track in a transverse direction, and when the pair of second lifting tracks correspondingly support the pair of first wheels, the pair of second lifting tracks can drive the pair of first wheels to perform vertical reciprocating linear motion downward from a height equal to that of the straight tracks between the pair of limit posts under the drive of the telescopic member; A push block assembly includes a pair of push blocks corresponding to the pair of second wheels, a driving mechanism for driving the pair of push blocks to move linearly parallel to the straight track, and a pair of retraction mechanisms corresponding to the push blocks and forcing the corresponding push blocks to avoid the first wheels; Wherein, a slideway adapted to the slider is provided at the end portion where the outer track of the head wheel and the movable track are connected, and the slideway is provided along the axial direction of the head wheel so that the movable track can be separated from the outer track of the head wheel; The maximum height of the descent of the second lifting track is not greater than the distance between the centers of the first wheel and the second wheel on the same side. The reciprocating linear motion of the second lifting track is coordinated with the linear motion of the push block, so that when the first wheel descends from the same height as the straight track to the lowest point and then rises to the highest point along the corresponding second lifting track, the push block pushes the corresponding second wheel to move from one side of the second lifting track to the other side, realizing the overturning of the trolley. The driving mechanism includes a second trolley, a pair of second trolley tracks parallel to the straight track, and a driving member for driving the second trolley to move linearly along the second trolley track. The second trolley includes a horizontal plate and side plates provided on both sides of the horizontal plate. A pulley is provided on each side plate. A pair of pulleys corresponds to a pair of second trolley tracks and the pulleys are slidably connected to the corresponding second trolley tracks. A push block is provided at the bottom of each side plate. The driving member includes a chain-link conveyor belt and a connecting rod fixedly connected to one of the chain links of the chain-link conveyor belt. The other end of the connecting rod is fixedly connected to the horizontal plate, so that the horizontal plate moves with the movement of the chain-link conveyor belt and finally drives the push block to move. The on-line automatic trolley replacement system further includes: A plurality of first proximity switches, with one first proximity switch provided on each side of the trolley wheel path in front of the front end of each moving track. One of the two first proximity switches corresponding to each moving track is used to sense the teeth of the head wheel to judge whether the old and damaged trolley arrives, and the other is used to sense the trolley wheel to judge whether a trolley arrives. A second proximity switch, which is provided on the first lifting track. A third proximity switch, which is provided on the vehicle-out track. When the trolley moves from the first lifting track to the vehicle-out track and triggers the third proximity switch, the trolley leaves the outer track of the head wheel. A fourth proximity switch, which is provided on the straight track. When the trolley triggers the fourth proximity switch, each first wheel is located on the corresponding second lifting track, each second wheel is located on the straight track on one side of the corresponding second lifting track, and each push block is located on the side of the corresponding second wheel away from the first wheel. A fifth proximity switch, which is provided at one end of the straight track far from the vehicle-out track. When the trolley triggers the fifth proximity switch, the trolley stops on the old trolley storage track formed at one end of the straight track far from the vehicle-out track. A first weighing sensor, which is provided on the first lifting track. When the trolley triggers both the second proximity switch and the first weighing sensor, the trolley is located on the first lifting track. A second weighing sensor, which is provided on the vehicle-out track. A PLC, which is respectively connected to the first proximity switch, the second proximity switch, the third proximity switch, the fourth proximity switch, the fifth proximity switch, the first weighing sensor, the second weighing sensor, the lateral telescopic mechanism, the vertical telescopic mechanism, the telescopic member, the driving device and the driving mechanism.

2. The trolley on-line automatic replacement system according to claim 1, characterized in that, It further includes: Two trolley loading devices, which correspond to the two upper moving tracks respectively. The trolley loading device includes: A frame; A pair of new trolley storage tracks are fixedly arranged on the frame at longitudinal intervals, and any one of the new trolley storage tracks extends transversely; the trolley wheels on both sides of the new trolley can be respectively placed on a pair of new trolley storage tracks. A pair of transverse movement tracks. A transverse movement track is correspondingly arranged on the extension line at the front end of a new trolley storage track. Any one of the transverse movement tracks is slidably arranged on the frame transversely. The transverse movement track can move transversely to dock at the notch of the upper movement track at its front end. When there is a new trolley on the transverse movement track, the front wheels of the new trolley can enter the tooth grooves between the teeth of the head wheels. A pair of moving brackets. A moving bracket is fixedly arranged correspondingly inside a transverse movement track. A small frame is slidably arranged on the frame transversely. Pushing mechanisms are respectively arranged on both longitudinal sides of the small frame for pushing and pulling the corresponding moving brackets transversely. A buckle mechanism is arranged at the front end in the middle of the small frame for clamping with the rear end of the new trolley.

3. The trolley on-line automatic replacement system according to claim 1, wherein A pair of straight tracks correspond to a pair of limit posts. Each straight track and the corresponding limit post form an integrally formed L-shaped structure. Both ends of the second lifting track are slidably connected to the vertical sections of the corresponding L-shaped structures. The telescopic end of the telescopic member is fixedly connected to the bottom of the second lifting track to drive the second lifting track to perform reciprocating linear motion in the vertical direction between a pair of limit posts.

4. The trolley on-line automatic replacement system according to claim 1, characterized in that, The specific way for the retracting mechanism to prompt the push block to avoid the first wheel is as follows: A fixed shaft is arranged on the side wall of the side plate. The push block is rotatably connected to the fixed shaft and rotates around the fixed shaft. The side plate is also provided with a limit block. The limit block is located on the side of the push block far from the second wheel to limit the push block from rotating towards the side far from the second wheel.

5. The trolley on-line automatic replacement system according to claim 1, characterized in that, The diameters of the first wheel and the second wheel are the same. The length of the second lifting track is slightly greater than the diameter of the first wheel, and the maximum height of the descent of the second lifting track is equal to the distance between the centers of the first wheel and the second wheel on the same side; the second lifting track performs reciprocating uniform linear motion in the vertical direction, and the push block performs variable-speed linear motion in the horizontal direction in cooperation with the second lifting track.

6. The trolley on-line automatic replacement system according to claim 1, characterized in that, A weighing sensor one and multiple laser rangefinders one are arranged at the bottom of the old trolley storage track; a weighing sensor two and multiple laser rangefinders two are arranged at the bottom of the new trolley storage track. The trolley on-line automatic replacement system further includes: A hoisting system, which includes: A crane track; A crane, which is slidably arranged on the crane track transversely; A lifting appliance, which is connected to the crane and is driven by the crane to move; An old trolley placement rack, at the bottom of which a weighing sensor three and multiple laser rangefinders three are arranged; A new trolley placement rack, at the bottom of which a weighing sensor four and multiple laser rangefinders four are arranged.

7. The trolley on-line automatic replacement system according to claim 6, characterized in that, The spreader is provided with a spreader body, two clamps located on both sides of the spreader body, and four target plates symmetrically arranged outside the two clamps. The two target plates outside any one clamp are symmetrically arranged at intervals; each clamp includes two sets of semi-circular clamping arms that match the wheels of the trolley. The four sets of clamping arms of the two clamps are respectively clamped on the outer circumference of the trolley wheels located on both sides of the trolley; the two target plates on each clamp are located between the two sets of clamping arms, and the bottom of each target plate is an arc structure; the crane slides laterally along the crane track, driving the spreader to move laterally. The crane is connected to the spreader through a robotic arm, and the robotic arm drives the spreader to move longitudinally. The PLC is also connected to the crane, the spreader, and the robotic arm respectively.

8. The trolley on-line automatic replacement system according to claim 6, characterized in that, The PLC is also respectively connected to a first weighing sensor, multiple first laser rangefinders, a second weighing sensor, multiple second laser rangefinders, a third weighing sensor, multiple third laser rangefinders, a fourth weighing sensor, and multiple fourth laser rangefinders.

9. The on-line automatic replacement method of the trolley using the replacement system as described in claim 8, characterized in that, Including: Step 1: Connect the imaging device to the trolley management system. Take pictures and number all the trolleys on the traveling grate. The PLC numbers all the trolleys in the actual connection order, so that each trolley has a sequence number, and corresponds the number of the trolley with the sequence number in the PLC. Set the first trolley and determine the position of any one of the trolleys. At the same time, interlock the PLC with the traveling grate speed and perform timing counting to determine the position of the trolley. Step 2: When the PLC receives the number of the defective or old trolley sent by the trolley management system, record the number of the defective or old trolley. Then, determine the sequence number of the defective or old trolley according to the number of the defective or old trolley. By comparing the sequence number of the current trolley, the PLC determines the position of the defective or old trolley and tracks the position of the trolley according to the current traveling grate speed. When the trolley moves to the front of the front end of the lower moving track, two first proximity switches here are triggered. The PLC sends a photographing command to the trolley management system, and the imaging device takes a picture of the trolley. The taken picture is compared through the trolley management system, and the generated number is transmitted to the PLC. The PLC judges whether the trolley is a defective or old trolley by comparing it with the stored number. If they match, proceed to the next step; if they do not match, when the next trolley triggers the two first proximity switches in front of the front end of the lower moving track, the imaging device takes a picture again, and the trolley management system identifies the picture and finds the corresponding number, which is transmitted to the PLC. The PLC performs number comparison. If they match, proceed to the next step; if they do not match, loop to the next cycle, advancing one trolley earlier, and then make a judgment. Step 3: When the old and damaged trolley approaches the two first proximity switches in front of the front end of the lower moving track, if the teeth of the head wheel trigger one of the first proximity switches and the old and damaged trolley triggers the other first proximity switch, the door opening action is performed; otherwise, the door opening action is not performed. When the lower moving track performs the door opening action, after the corresponding horizontal telescopic mechanism of the lower moving track receives the door opening instruction from the PLC, it drives the lower moving track to move outward along the slideway towards the outside of the roasting machine to make room for the wheels of the old and damaged trolley. Then, the teeth of the head wheel push the old and damaged trolley to move onto the first lifting track. When the second proximity switch and the first weighing sensor are triggered simultaneously, the vertical telescopic mechanism drives the first lifting track to move downward along the lifting track slideway to lower the old and damaged trolley onto the outgoing vehicle track. Then, the second weighing sensor under the outgoing vehicle track is triggered, and the first trolley pushes the old and damaged trolley to move forward along the outgoing vehicle track. When the trolley triggers the third proximity switch, the old and damaged trolley leaves the outer track of the head wheel, and the first trolley pushes the old and damaged trolley forward to the straight track. When the old and damaged trolley triggers the fourth proximity switch, each first wheel of the old and damaged trolley is located on the corresponding second lifting track, each second wheel is located on the straight track on one side of the corresponding second lifting track and close to the outgoing vehicle track, and each push block is located on the side of the corresponding second wheel away from the first wheel. The first wheel first descends with the corresponding second lifting track. At the same time, the push block is driven by the driving mechanism to push the corresponding second wheel to move towards the other side of the second lifting track to cooperate with the descent of the first wheel. When the first wheel descends to the lowest point, the second wheel is directly above the first wheel. Then, the first wheel ascends with the corresponding second lifting track. At the same time, the push block continues to be driven by the driving mechanism to push the corresponding second wheel to move to cooperate with the ascent of the first wheel and transition to the straight track on the other side of the second lifting track. When the first wheel ascends to the highest point, the second lifting track and the straight track are flush, and the flipping of the old and damaged trolley is completed. Then, the push block continues to be driven by the driving mechanism to push the old and damaged trolley forward until it triggers the fifth proximity switch and stops on the old trolley storage track. Finally, the push block retracts in the direction away from the second wheel to the original position, and the retracting mechanism prompts the push block to avoid the first wheel so that the trolley is released from the restriction of the push block, and then waits for the next trolley unloading task; When the old and damaged trolley leaves the gap space of the outer track of the head wheel, the corresponding horizontal telescopic mechanism of the lower moving track receives the door closing instruction from the PLC and drives the lower moving track to move towards the roasting machine along the slideway. After the lower moving track is fitted into a pair of outer tracks of the head wheel, the trolley track is re-formed into a closed loop; When the old and damaged trolley disengages from the first lifting track, the first weighing sensor on the first lifting track is triggered, and the vertical telescopic mechanism pushes the first lifting track upward to the original position and waits for the next trolley unloading task; When one of the first proximity switches in front of the front end of the upper moving track is triggered by the head wheel teeth and the trolley does not trigger the other first proximity switch, the door opening action is performed; otherwise, the door opening action is not performed. When the upper moving track performs the door opening action, after the corresponding lateral telescopic mechanism of the upper moving track receives the door opening instruction from the PLC, it drives the upper moving track to move outward along the slideway towards the outside of the roasting machine, creating space for the wheels of the new trolley. After the wheels of the new trolley enter the tooth grooves between the head wheel teeth, they are pushed by the head wheel teeth and enter the trolley track. When the new trolley enters the trolley track, the corresponding lateral telescopic mechanism of the upper moving track receives the door closing instruction from the PLC, drives the upper moving track to move towards the roasting machine along the slideway. After the upper moving track is fitted into the pair of outer tracks of the head wheel, the trolley track is re-formed into a closed loop.

10. The on-line automatic replacement method of the trolley according to claim 9, characterized in that, The specific method for the wheels of the new trolley to enter the tooth grooves between the head wheel teeth is as follows: Place the trolley wheels on both sides of the new trolley on a pair of new trolley storage tracks respectively. The buckle mechanism on the small carriage is clamped to the rear end of the new trolley. The small carriage moves forward horizontally, driving the new trolley to move forward horizontally. Driven by the small carriage, the new trolley moves forward to the transverse movement track. The small carriage continues to move forward and pushes the moving bracket through the pushing mechanism, so that the small carriage continues to move forward, driving the transverse movement track and the new trolley on the transverse movement track to continue moving forward. The transverse movement track moves forward until its front end is docked with the notch of the upper moving track. At this time, the front wheels of the new trolley on the transverse movement track can enter the tooth grooves between the head wheel teeth.

11. The on-line automatic replacement method of the trolley according to claim 10, characterized in that, After the wheels of the new trolley enter the tooth grooves between the head wheel teeth, the following steps are also included: The small carriage moves backward horizontally and, under the action of the pushing mechanism, pulls the transverse movement track backward, so that the transverse movement track is removed from the notch of the upper moving track. The transverse movement track returns to the position in contact with the new trolley storage track driven by the small carriage, and the moving bracket is disconnected from the pushing mechanism; The small carriage continues to move backward until the buckle mechanism is clamped to the rear end of the next new trolley. The small carriage continues to move forward to push the next new trolley, repeating the above process to load the next new trolley into the trolley track.

12. The on-line automatic replacement method of the trolley according to claim 9, characterized in that, It also includes: When the PLC receives the information transmitted by the first weighing sensor, the PLC controls multiple first laser rangefinders to measure the distance between the spreader and the old trolley storage track, and controls the robotic arm to drive the spreader to move down a certain distance and stop. The PLC controls the spreader to clamp the wheels of the old trolley. After clamping, the first weighing sensor weighs to confirm successful clamping, and controls the robotic arm to drive the spreader to lift. If the clamping is not successful, this action is repeated until successful clamping; The PLC controls the robotic arm to drive the spreader to lift a certain distance and stop. The PLC controls the crane to slide along the crane track to drive the spreader to move horizontally. The crane stops when it is directly above the old trolley placement rack. Multiple third laser rangefinders measure the distance between the spreader and the old trolley placement rack, and control the robotic arm to drive the spreader to move down a certain distance and stop. The PLC controls the spreader to release the old trolley. After release, the third weighing sensor weighs to confirm successful release, and controls the robotic arm to drive the spreader to lift, realizing the operation of lifting the old trolley. At the same time, the PLC reminds to remove the old trolley on the old trolley placement rack; The PLC controls the robotic arm to drive the spreader to lift a certain distance and stop. When the PLC receives that the weighing sensor four detects a new trolley on the new trolley placement rack, the PLC controls the crane to slide along the crane track to drive the spreader to move horizontally, and stops when it is directly above the new trolley placement rack. Multiple laser rangefinders four measure the distance between the spreader and the new trolley placement rack. The robotic arm drives the spreader to descend a certain distance and stop. The PLC controls the spreader to clamp the new trolley. After clamping, the weighing sensor four weighs it to confirm successful clamping, and controls the robotic arm to drive the spreader to lift. If the clamping is not successful, this action is repeated until successful clamping; The PLC controls the robotic arm to drive the spreader to lift a certain distance and stop. The PLC controls the crane to slide along the crane track to drive the spreader to move horizontally, and stops when the crane moves directly above the new trolley storage track. Multiple laser rangefinders two measure the distance between the spreader and the new trolley storage track, and control the robotic arm to drive the spreader to descend a certain distance and stop. The PLC controls the spreader to release the new trolley. After release, the weighing sensor two weighs it to confirm successful release. The PLC controls the robotic arm to drive the spreader to lift to complete the action of supplementing the new trolley in place. At the same time, the PLC reminds to supplement the new trolley on the new trolley placement rack; The PLC controls the robotic arm to drive the spreader to lift a certain distance and stop. The PLC controls the crane to slide along the crane track to drive the spreader to move horizontally, and stops when the crane moves directly above the old trolley storage track. The robotic arm drives the spreader to descend a certain distance and stop. The spreader returns to its original position and waits for the next cycle instruction of the PLC.

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