Trolley lifting system

Abstract

The present invention discloses a trolley hoisting system, which includes: a crane track; a crane that is slidably arranged on the crane track transversely; a sling that is connected to the crane and is driven by the crane to move. The sling is provided with a sling body, two clamps located on both sides of the sling body, and four target plates symmetrically arranged outside the two clamps. The two target plates located outside any one of the clamps are symmetrically and spaced apart; two pairs of storage tracks, which include a pair of old trolley storage tracks and a pair of new trolley storage tracks. A first weighing sensor and a plurality of first laser rangefinders are arranged at the bottom of the old trolley storage track, and a second weighing sensor and a plurality of second laser rangefinders are arranged at the bottom of the new trolley storage track. The present invention realizes the automatic hoisting process of the trolley by setting a crane, a sling, multiple groups of laser rangefinders and weighing sensors.

Description

Technical Field

[0001] The present invention relates to the technical field of roasting processing equipment. More specifically, the present invention relates to a trolley lifting system. Background Art

[0002] The traveling grate is a thermal equipment for producing pellet materials for blast furnaces. For the roasting system, ensuring the operation rate means ensuring economic benefits. The key component of this equipment - the trolley needs to be replaced irregularly, that is, the machine needs to be stopped. Stopping for replacement is time-consuming and laborious. It takes at least 20 minutes to replace one trolley; during the replacement process, manual operations such as "opening the door" (opening the track) and "closing the door" (closing the track) are required, and manual operation of the crane is needed to position the trolley; in addition, the production system needs to perform complex thermal operations such as reducing the machine speed, stopping the machine, and adjusting the hot air system.

[0003] Among them, during the manual operation of lifting the trolley, it is necessary to manually clamp the lifting tool on the old trolley and manually lift it to the ground; then manually lift the new trolley above the head track and manually align it with the vacant position left by the old trolley; manually place the new trolley. Due to the narrow placement area, the trolley often tilts due to eccentricity and is not placed stably, so repeated alignment or repeated adjustment of the vacant position is required, which takes a lot of time; after placing the trolley, it is also necessary to manually disassemble the lifting tool, and then slowly start the traveling grate and adjust the process thermal system to make the traveling grate reach the normal production state. During this process, the quality of the produced pellets is unstable, wasting the energy of the operators, and increasing costs such as fuel, water, electricity, gas, and oil, and reducing the output. Summary of the Invention

[0004] One object of the present invention is to solve at least the above problems and provide at least the advantages described later.

[0005] Another object of the present invention is to provide a trolley lifting system, which can realize the automatic lifting of old and new trolleys, solve the problems of deceleration, shutdown, and production reduction caused by trolley replacement during the production of the traveling grate, and at the same time solve the labor cost of maintenance.

[0006] To achieve these objects and other advantages of the present invention, there is provided a trolley lifting system, which includes:

[0007] A crane track;

[0008] A crane, which is slidably arranged on the crane track in the transverse direction;

[0009] A lifting tool, which is connected to the crane and driven by the crane to move. The lifting tool is provided with a lifting tool body, two clamps located on both sides of the lifting tool body, and four target plates symmetrically arranged outside the two clamps. The two target plates outside any one clamp are symmetrically spaced apart;

[0010] Two pairs of storage tracks, which include a pair of old trolley storage tracks and a pair of new trolley storage tracks. A first weighing sensor and a plurality of first laser rangefinders are provided at the bottom of the old trolley storage tracks, and a second weighing sensor and a plurality of second laser rangefinders are provided at the bottom of the new trolley storage tracks.

[0011] Preferably, it further includes an old trolley placement rack and a new trolley placement rack. A third weighing sensor and a plurality of third laser rangefinders are provided at the bottom of the old trolley placement rack, and a fourth weighing sensor and a plurality of fourth laser rangefinders are provided at the bottom of the new trolley placement rack.

[0012] Preferably, the third weighing sensor and the fourth weighing sensor are respectively provided in the middle of the bottom of the old trolley placement rack and the new trolley placement rack.

[0013] Preferably, the old trolley to be disassembled is placed on the old trolley storage tracks, and the new trolley to be loaded is placed on the new trolley storage tracks.

[0014] Preferably, each fixture 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 respectively clamp and hold the outer circumferences of the trolley wheels located on both sides of the trolley.

[0015] Preferably, two target plates on each fixture are located between the two groups of clamping arms, and the bottom of each target plate is an arc-shaped structure.

[0016] The crane slides horizontally along the crane track, driving the lifting appliance to move horizontally. The crane is connected to the lifting appliance through a robotic arm, and the robotic arm drives the lifting appliance to move vertically.

[0017] Preferably, it further includes a controller, which is respectively connected to the crane, the lifting appliance, the robotic arm, the first weighing sensor and the plurality of first laser rangefinders, the second weighing sensor and the plurality of second laser rangefinders, the third weighing sensor and the plurality of third laser rangefinders, and the fourth weighing sensor and the plurality of fourth laser rangefinders;

[0018] Wherein, when the controller receives that the first weighing sensor monitors that the old trolley is placed on the old trolley storage tracks, the controller controls the plurality of first laser rangefinders to measure the distance between the lifting appliance and the old trolley storage tracks, and controls the robotic arm to drive the lifting appliance to move down a certain distance and stop. The controller controls the lifting appliance 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 lifting appliance to lift. If the clamping is not successful, this action is repeated until the clamping is successful;

[0019] The controller controls the robotic arm to drive the lifting device to lift a certain distance and then stop. The controller controls the crane to slide along the crane track to drive the lifting device to move horizontally. When the crane moves to directly above the old trolley placement rack, it stops. Multiple laser rangefinders III measure the distance between the lifting device and the old trolley placement rack, and control the robotic arm to drive the lifting device to lower a certain distance and stop. The controller controls the lifting device to release the old trolley. After release, the weighing sensor III weighs it to confirm successful release, and then controls the robotic arm to drive the lifting device to lift, thus realizing the operation of lifting the old trolley. At the same time, the controller reminds to remove the old trolley on the old trolley placement rack;

[0020] The controller controls the robotic arm to drive the lifting device to lift a certain distance and then stop. When the controller receives the signal that the weighing sensor IV detects a new trolley on the new trolley placement rack, the controller controls the crane to slide along the crane track to drive the lifting device to move horizontally. When it is directly above the new trolley placement rack, it stops. Multiple laser rangefinders IV measure the distance between the lifting device and the new trolley placement rack. The robotic arm drives the lifting device to lower a certain distance and stop. The controller controls the lifting device to clamp the new trolley. After clamping, the weighing sensor IV weighs it to confirm successful clamping, and then controls the robotic arm to drive the lifting device to lift. If the clamping is not successful, this action will be repeated until successful clamping;

[0021] The controller controls the robotic arm to drive the lifting device to lift a certain distance and then stop. The controller controls the crane to slide along the crane track to drive the lifting device to move horizontally. When the crane moves to directly above the new trolley storage track, it stops. Multiple laser rangefinders II measure the distance between the lifting device and the new trolley storage track, and control the robotic arm to drive the lifting device to lower a certain distance and stop. The controller controls the lifting device to release the new trolley. After release, the weighing sensor II weighs it to confirm successful release. The controller controls the robotic arm to drive the lifting device to lift, completing the action of replenishing the new trolley in place. At the same time, the controller reminds to replenish the new trolley on the new trolley placement rack;

[0022] The controller controls the robotic arm to drive the lifting device to lift a certain distance and then stop. The controller controls the crane to slide along the crane track to drive the lifting device to move horizontally. When the crane moves to directly above the old trolley storage track, it stops. The robotic arm drives the lifting device to lower a certain distance and stop. The lifting device returns to its original position and waits for the next cycle instruction from the controller.

[0023] The present invention has at least the following beneficial effects: The present invention consists of a crane, a lifting device, laser rangefinders, and weighing sensors. Precise positioning is achieved through multiple groups of laser rangefinders. The lifting and transportation of new and old trolleys are realized through the crane and the lifting device, improving the trolley replacement efficiency. Moreover, this system does not affect the normal production of the roasting machine. The equipment can operate at the normal production speed without any operation of the process system, saving manpower, improving production efficiency, ensuring the production operation rate, and truly achieving continuous production without shutdown.

[0024] Other advantages, objects, and features of the present invention will be partly reflected by the following description and partly understood by those skilled in the art through the research and practice of the present invention. Brief Description of the Drawings

[0025] Figure 1 It is a schematic structural diagram of the trolley hoisting system described in one technical solution of the present invention;

[0026] Figure 2 It is a schematic structural diagram when the fixture described in another technical solution of the present invention grabs the old trolley on the old trolley storage track;

[0027] Figure 3 It is a schematic structural diagram when the fixture described in another technical solution of the present invention grabs the old trolley and moves upward;

[0028] Figure 4 It is a schematic structural diagram when the fixture described in another technical solution of the present invention grabs the old trolley and moves horizontally;

[0029] Figure 5 It is a schematic structural diagram when the fixture described in another technical solution of the present invention grabs the old trolley and moves downward to above the old trolley placement rack;

[0030] Figure 6 It is a schematic structural diagram when the fixture described in another technical solution of the present invention releases the old trolley onto the old trolley placement rack;

[0031] Figure 7 It is a schematic structural diagram when the fixture described in another technical solution of the present invention moves to above the new trolley placement rack;

[0032] Figure 8 It is a schematic structural diagram when the fixture described in another technical solution of the present invention grabs the new trolley on the new trolley placement rack;

[0033] Figure 9 It is a schematic structural diagram when the fixture described in another technical solution of the present invention grabs the new trolley and moves upward;

[0034] Figure 10 It is a schematic structural diagram when the fixture described in another technical solution of the present invention grabs the new trolley and moves to above the new trolley storage track;

[0035] Figure 11 It is a schematic structural diagram when the fixture described in another technical solution of the present invention moves the new trolley downward;

[0036] Figure 12 It is a schematic structural diagram when the fixture described in another technical solution of the present invention releases the new trolley onto the new trolley storage track;

[0037] Figure 13 Schematic diagram of the structure when the fixture moves laterally to the empty position in another technical solution of the present invention;

[0038] Figure 14 Front view of the fixture in another technical solution of the present invention;

[0039] Figure 15 Right view of the fixture in another technical solution of the present invention. Detailed implementation manners

[0040] The following further describes the present invention in detail with reference to the accompanying drawings and embodiments, so that those skilled in the art can implement it according to the description in the specification.

[0041] It should be understood that the terms such as "having", "including" and "comprising" used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0042] It should be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials can be obtained from commercial channels unless otherwise specified.

[0043] In the description of the present invention, the orientation or positional relationship indicated by terms such as "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, and does 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 therefore should not be construed as a limitation of the present invention.

[0044] As Figures 1 to 15 shown, the present invention provides a trolley hoisting system, which includes:

[0045] Crane track 100;

[0046] A crane 101, which is slidably arranged on the crane track 100 in the lateral direction;

[0047] A lifting tool 200, which is connected to the crane 101 and is driven by the crane 101 to move. The lifting tool 200 is provided with a lifting tool main body 201, two fixtures 202 located on both sides of the main body of the lifting tool 200, and four target plates 203 symmetrically arranged outside the two fixtures 202. The two target plates 203 located outside any one of the fixtures 202 are symmetrically and spaced apart;

[0048] Two pairs of storage tracks, which include a pair of old trolley storage tracks 300 and a pair of new trolley storage tracks 301. A first weighing sensor 302 and multiple first laser rangefinders 303 are arranged at the bottom of the old trolley storage track 300, and a second weighing sensor 304 and multiple second laser rangefinders 305 are arranged at the bottom of the new trolley storage track 301.

[0049] In the above technical solution, a horizontally extending crane track 100 is arranged above one side of the main track of the belt grate kiln. A crane 101 that can slide horizontally along it is installed on the crane track 100. A spreader 200 is connected below the crane 101. Clamps 202 for clamping the trolley tires are arranged 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 respectively extend outward from one side of the main track of the belt grate kiln for placing old trolleys and new trolleys. A first weighing sensor 302 and multiple first laser rangefinders 303 are installed at the bottom of the old trolley storage track 300, and a second weighing sensor 304 and multiple second laser rangefinders 305 are installed at the bottom of the new trolley storage track 301 for accurately positioning and judging whether to clamp the old and new trolleys, so as to realize 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 finely moves to clamp the wheels, and after clamping, the first weighing sensor 302 weighs to confirm successful clamping and then lifts; if not successful, repeat this action until successful clamping; the spreader 200 stops lifting after a certain distance, and the crane 101 moves horizontally; the crane 101 stops moving to 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 finely moves to release the trolley and then lifts, realizing the action of lifting the old trolley; the spreader 200 stops lifting at a certain height, the crane 101 continues to move forward horizontally by a certain distance, stops at the position above the new trolley to position, 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 finely moves to clamp, and after clamping, the fourth weighing sensor weighs to confirm successful clamping and then lifts; if not successful, repeat this action until successful clamping; stop lifting to a certain height, the crane 101 moves horizontally in the reverse direction; the crane 101 moves a certain distance, stops at the position above the new trolley track to position, and the spreader 200 descends; the spreader 200 stops descending after a certain distance; the spreader 200 finely moves to release the new trolley, and after release, the second weighing sensor 304 weighs to confirm successful release and then lifts, completing the action of supplementing the new trolley in place; the spreader 200 stops lifting at a certain height, the crane 101 moves horizontally in the positive direction; the crane 101 moves a certain distance, stops at the position above the stop position of the old trolley to position, and the spreader 200 descends back to the original position, waiting for the next cycle instruction.

[0050] In another technical solution, it further includes an old trolley storage rack 400 and a new trolley storage rack 401. A weighing sensor III 402 and multiple laser rangefinders III 403 are provided at the bottom of the old trolley storage rack 400, and a weighing sensor IV 404 and multiple laser rangefinders IV 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 are convenient for measuring the distance from the spreader 200.

[0051] In another technical solution, the weighing sensor III 402 and the weighing sensor IV 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.

[0052] 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 is convenient for disassembling 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.

[0053] In another technical solution, each fixture 202 includes two sets of semi-circular clamping arms that match the wheels of the trolley, and the four sets of clamping arms of the two fixtures 202 are respectively clamped on the outer circumferences of the trolley wheels on both sides of the trolley. In this technical solution, setting the clamping arms is convenient for clamping and releasing the old and new trolleys, realizing the automatic clamping and releasing function and improving the automation.

[0054] In another technical solution, the two target plates 203 on each fixture 202 are located between the two sets 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.

[0055] In another technical solution, the crane 101 slides horizontally along the crane track 100, driving the spreader 200 to move horizontally. The crane 101 and the spreader 200 are connected by 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 cooperative operation of the crane 101 and the robotic arm, the spreader 200 is moved in the horizontal and vertical directions, improving the flexibility of the device.

[0056] In another technical solution, a controller is further included, which is respectively connected to the crane 101, 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;

[0057] Among them, when the controller receives that the first weighing sensor 302 monitors that the old trolley is placed on the old trolley storage track 300, the controller 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 controller 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;

[0058] The controller controls the robotic arm to drive the spreader 200 to lift a certain distance and stop. The controller controls the crane 101 to slide along the crane track 100 to drive the spreader 200 to move horizontally. When the crane 101 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 descend a certain distance and stop. The controller 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 the old trolley. At the same time, the controller reminds to remove the old trolley on the old trolley placement rack 400;

[0059] The controller controls the robotic arm to drive the spreader 200 to lift a certain distance and stop. When the controller receives that the fourth weighing sensor 404 monitors that there is a new trolley on the new trolley placement rack 401, the controller controls the crane 101 to slide along the crane track 100 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 descend a certain distance and stop. The controller 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;

[0060] The controller controls the robotic arm to drive the spreader 200 to lift a certain distance and then stop. The controller controls the crane 101 to slide along the crane track 100 to drive the spreader 200 to move horizontally. When the crane 101 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 controller 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 controller controls the robotic arm to drive the spreader 200 to lift, completing the action of supplementing the new trolley in place. At the same time, the controller reminds to supplement the new trolley on the new trolley placement rack 401;

[0061] The controller controls the robotic arm to drive the spreader 200 to lift a certain distance and then stop. The controller controls the crane 101 to slide along the crane track 100 to drive the spreader 200 to move horizontally. When the crane 101 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 from the controller.

[0062] To Figures 1 to 13 illustrate the working principle of the present invention, the following actions are all controlled by the controller to complete:

[0063] a. As Figures 1 to 3 shown, the old trolley to be transferred is 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, driving the old trolley to move upward. The change in weight monitored by the first load cell 302 is used to determine whether the clamping is successful;

[0064] b. As Figures 4 to 6 shown, the crane 101 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 change in weight monitored by the third load cell 402 is used to determine whether the release is successful;

[0065] c. As Figures 7 to 9 shown, the crane 101 drives the spreader 200 to move horizontally to directly above the new trolley placement rack 401. Multiple fourth laser rangefinders 405 measure the distance between the spreader 200 and the new trolley placement rack 401. The spreader 200 moves downward, and the fixture 202 clamps the outer circumference of the trolley wheels of the new trolley, driving the new trolley to move upward. The change in weight monitored by the fourth load cell 404 is used to determine whether the clamping is successful;

[0066] d. AsFigures 10 to 12 As shown, the crane 101 drives the spreader 200 to move horizontally to directly above the new trolley storage track 301. Multiple second 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, and it is judged whether the release is successful by monitoring the weight change through the second load cell 304;

[0067] e. As Figure 13 As shown, the crane 101 drives the spreader 200 to move horizontally to above the empty position, returns to the initial position, repeats the above operation, and conducts the hoisting operation of the next trolley.

[0068] The number of devices and the processing scale described here are used to simplify the description of the present invention. The application, modification, and variation of the present invention are obvious to those skilled in the art.

[0069] Although the embodiments of the present invention have been disclosed as above, it is not limited to only the applications listed in the specification 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 examples described here.

Claims

1. Cart hoisting system, characterized in that, Comprising: Crane rails; A crane, which is slidably arranged on the crane rails transversely; A lifting appliance, which is connected to the crane and driven by the crane to move. The lifting appliance is provided with a main body of the lifting appliance, two clamps located on both sides of the main body of the lifting appliance, and four target plates symmetrically arranged outside the two clamps. The two target plates outside any one clamp are symmetrically arranged at intervals; Two pairs of storage rails, which include a pair of old trolley storage rails and a pair of new trolley storage rails. A first weighing sensor and a plurality of first laser rangefinders are arranged at the bottom of the old trolley storage rails, and a second weighing sensor and a plurality of second laser rangefinders are arranged at the bottom of the new trolley storage rails; It further includes a controller, which is respectively connected to the crane, the lifting appliance, the robotic arm, the first weighing sensor and the plurality of first laser rangefinders, the second weighing sensor and the plurality of second laser rangefinders, the third weighing sensor and the plurality of third laser rangefinders, and the fourth weighing sensor and the plurality of fourth laser rangefinders; Wherein, when the controller receives that the first weighing sensor monitors that the old trolley is placed on the old trolley storage rails, the controller controls the plurality of first laser rangefinders to measure the distance between the lifting appliance and the old trolley storage rails, and controls the robotic arm to drive the lifting appliance to move down a certain distance and stop. The controller controls the lifting appliance 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 lifting appliance to lift. If the clamping is not successful, it will be repeated until the clamping is successful; The controller controls the robotic arm to drive the lifting appliance to lift a certain distance and stop. The controller controls the crane to slide along the crane rails to drive the lifting appliance to move transversely. When the crane moves to directly above the old trolley placement rack and stops, the plurality of third laser rangefinders measure the distance between the lifting appliance and the old trolley placement rack, and control the robotic arm to drive the lifting appliance to move down a certain distance and stop. The controller controls the lifting appliance to release the old trolley. After release, the third weighing sensor weighs to confirm successful release, and controls the robotic arm to drive the lifting appliance to lift, realizing the operation of lifting the old trolley. At the same time, the controller reminds to take away the old trolley on the old trolley placement rack; The controller controls the robotic arm to drive the lifting appliance to lift a certain distance and stop. When the controller receives that the fourth weighing sensor monitors that there is a new trolley on the new trolley placement rack, the controller controls the crane to slide along the crane rails to drive the lifting appliance to move transversely. When it stops directly above the new trolley placement rack, the plurality of fourth laser rangefinders measure the distance between the lifting appliance and the new trolley placement rack. The robotic arm drives the lifting appliance to move down a certain distance and stop. The controller controls the lifting appliance to clamp the new trolley. After clamping, the fourth weighing sensor weighs to confirm successful clamping, and controls the robotic arm to drive the lifting appliance to lift. If the clamping is not successful, it will be repeated until the clamping is successful; The controller controls the robotic arm to drive the spreader to lift a certain distance and stop. The controller 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, it stops. Multiple laser rangefinders II measure the distance between the spreader and the new trolley storage track, and control the robotic arm to drive the spreader to lower a certain distance and stop. The controller controls the spreader to release the new trolley. After the release, the load cell II weighs to confirm the successful release. The controller controls the robotic arm to drive the spreader to lift, completing the action of supplementing the new trolley in place. At the same time, the controller reminds to supplement the new trolley on the new trolley placement rack; The controller controls the robotic arm to drive the spreader to lift a certain distance and stop. The controller 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, it stops. The robotic arm drives the spreader to lower a certain distance and stop. The spreader returns to its original position and waits for the next cycle instruction from the controller.

2. The trolley hoisting system according to claim 1, wherein, It further includes an old trolley placement rack and a new trolley placement rack. The bottom of the old trolley placement rack is provided with a load cell III and multiple laser rangefinders III. The bottom of the new trolley placement rack is provided with a load cell IV and multiple laser rangefinders IV.

3. The trolley lifting system according to claim 2, characterized in that, The load cell III and the load cell IV are respectively arranged in the middle of the bottom of the old trolley placement rack and the new trolley placement rack.

4. The trolley hoisting system according to claim 1, wherein, The old trolley to be disassembled is placed on the old trolley storage track, and the new trolley to be loaded is placed on the new trolley storage track.

5. The trolley hoisting system according to claim 1, characterized in that, Each fixture includes two groups of semi-circular clamping arms that match the wheels of the trolley. The four groups of clamping arms of the two fixtures respectively match and clamp the outer circumferences of the trolley wheels on both sides of the trolley.

6. The trolley lifting system according to claim 5, wherein The two target plates on each fixture are located between the two groups of clamping arms, and the bottom of each target plate is an arc structure.

7. The trolley lifting system according to claim 1, characterized in that The crane slides horizontally along the crane track, driving the spreader to move horizontally. The crane is connected to the spreader through a robotic arm, and the robotic arm drives the spreader to move vertically.

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