Separated lock pin automatic disassembly and assembly system for transfer platform

Abstract

The invention provides a separated lock pin automatic disassembly and assembly system for a transfer platform, comprising: an upper frame for placing a container; the upper frame is arranged on the lower frame in the first direction, the lower frame is detachably connected with the upper frame, and the lower frame is used for being arranged on a transfer platform; the multiple robots are sequentially arranged on the lower frame at intervals in the first direction and correspond to the upper frame, all the robots are used for unlocking or locking the container placed on the upper frame, and the first direction is perpendicular to the vertical direction; the conveying device is arranged on the lower frame in the first direction and corresponds to the robots, and the conveying device is used for conveying lock pins to the robots; the multiple lock pin frames are arranged on the upper frame, the lock pin frames are distributed at the two ends, in the first direction, of the conveying device and the positions corresponding to the robots, and each lock pin frame is used for storing lock pins.

Description

Technical Field

[0001] The invention relates to the technical field of logistics and transportation, and in particular to a separate type locking pin automatic disassembly and assembly system for a transfer platform. Background Art

[0002] During the sea transportation process, the four corners of the bottom of the container need to be installed with lock pins to fix the box body, and the lock pins need to be removed after arriving at the port. At present, the port generally uses an automated double-trolley quay crane to lift the container to the container parking frame on the transfer platform of the quay crane, and manually removes the lock pins at the bottom of the container. Due to the low efficiency of manual removal of lock pins, the progress of lock pin removal operation is slow. At present, some terminals have begun to set robots on the container parking frame to automatically remove the lock pins at the bottom of the container. The lock pins removed by the robot will be temporarily placed in multiple lock pin frames on the transfer platform. Specifically, in the operation of using robots to automatically remove lock pins, when the lock pin frame used to recycle the lock pins is full of lock pins, a new lock pin frame needs to be replaced. One replacement method is to lift the container parking frame as a whole to the ground and replace the lock pin frame uniformly, but at this time, the robot on the frame needs to be powered off as a whole, and then powered on and restored after the container parking frame is lifted to the transfer platform. Since the robot needs to be powered on and off, this method is inefficient and not operable. If the lock pin frame is lifted to the ground to remove the lock pin, the lock pin removal operation needs to be suspended during the process of the crane lifting the lock pin frame, because there is a certain risk when the crane is operating and it is easy to interfere with the moving robot parts. At present, there are generally 4-8 lock pin frames on the transfer platform of the quay crane, which means that the lock pin removal operation needs to be suspended 4-8 times. Similarly, the lock pin installation operation on the transfer platform also needs to be suspended 4-8 times, which seriously reduces the efficiency of the lock pin removal operation. Summary of the invention

[0003] In view of this, the present invention provides a separate type lock pin automatic disassembly and assembly system for a transfer platform, which can effectively improve the disassembly and assembly efficiency of container lock pins.

[0004] In order to solve at least one of the above technical problems, the present invention adopts the following technical solutions:

[0005] According to an embodiment of the present invention, a separate type locking pin automatic disassembly and assembly system for a transfer platform includes:

[0006] An upper frame, the upper frame is used to place containers;

[0007] A lower frame, wherein the upper frame is arranged on the lower frame along a first direction, the lower frame is detachably connected to the upper frame, and the lower frame is used to be arranged on the transfer platform;

[0008] A plurality of robots, the plurality of robots are sequentially arranged on the lower frame at intervals along a first direction and correspond to the upper frame, each robot is used to unlock or lock a container placed on the upper frame, and the first direction is perpendicular to the vertical direction;

[0009] A conveying device, the conveying device is arranged on the lower frame along the first direction and corresponds to each robot respectively, and the conveying device is used to convey a locking pin to each robot;

[0010] Multiple lock pin frames are arranged on the upper frame, and lock pin frames are distributed at both ends of the conveying device along the first direction and at positions corresponding to each robot, and each lock pin frame is used to store a lock pin.

[0011] In one embodiment of the present invention, the lower frame comprises:

[0012] A base, the base is arranged along a first direction;

[0013] A plurality of first support columns are arranged on the base along the vertical direction, the upper frame is detachably connected to each of the first support columns, and the conveying device and each of the robots are arranged on the base.

[0014] In one embodiment of the present invention, the upper frame comprises:

[0015] Two side frames, the two side frames are symmetrically arranged at two ends of the upper frame along the first direction, and the two side frames are arranged along the vertical direction;

[0016] Two cross beams, the two cross beams are respectively arranged along the first direction and located between the two side frames, the two ends of the two cross beams along the first direction are respectively connected to the two side frames, the bottom of each cross beam is sequentially connected with a plurality of second support columns spaced in sequence along the first direction, each second support column is arranged along the vertical direction, the first support column corresponds to the second support column one by one, and each first support column is connected to its corresponding second support column through a rotating pin mechanism;

[0017] The two side frames and the two cross beams form a placement interval for placing containers, the tops of the second support columns are flush and used to provide support for the containers in the placement interval, and the robots are located below the placement interval.

[0018] In one embodiment of the present invention, the second support columns on the two cross beams correspond one to one, and the two corresponding second support columns on the two cross beams are respectively connected by longitudinal beams, each longitudinal beam is arranged along the second direction, and the top of each longitudinal beam is flush with the top of the second support column, the second direction is perpendicular to the first direction, and the second direction is perpendicular to the vertical direction.

[0019] In one embodiment of the present invention, the upper frame further comprises:

[0020] Two first placement platforms, the two first placement platforms are arranged on one side of the two side frames away from the placement interval, the first placement platforms are used to place a plurality of lock pin frames, the conveying device is located below the placement interval and its two ends along the first direction extend out of the two side frames respectively, and the two side frames are respectively provided with avoidance intervals for the conveying device to pass through;

[0021] Multiple second placement platforms are located below the placement interval and between two side frames, each second placement platform is used to place multiple locking pin frames, two adjacent robots correspond to the same second placement platform, and each second placement platform is connected to multiple second support columns adjacent to it through a connecting frame.

[0022] In one embodiment of the present invention, a guide block for guiding the container is provided on one side of each side frame close to the placement interval, and a guide slope for guiding the container is provided on the upper end of one side of each crossbeam close to the placement interval;

[0023] The base is provided with guide columns corresponding to each side frame, each guide column is arranged in a vertical direction, and the top of each guide column is provided with a guide inclined surface for guiding the side frame;

[0024] The base is provided with guide cones corresponding to each side frame, each guide cone is arranged in the vertical direction, the bottom of each side frame is provided with guide holes matching with the guide cones, the bottom of the side frame is higher than the upper surface of the base, and the lower end of each cross beam is provided with an avoidance portion corresponding to the corner of the container.

[0025] In one embodiment of the present invention, the resale mechanism comprises:

[0026] A mounting plate, the mounting plate is arranged at the lower end of the second supporting column, and the mounting plate is provided with a mounting hole penetrating in the vertical direction;

[0027] A rotating pin is arranged along the vertical direction and passes through the mounting hole. The rotating pin is rotatably connected with the mounting hole. A limiting member is arranged on the rotating pin. The limiting member is used to axially fix the rotating pin and the mounting plate.

[0028] A keyhole plate, the keyhole plate is arranged on the first supporting column, and a keyhole penetrating along the vertical direction is arranged on the keyhole plate, the keyhole is located below the rotating pin and is used to cooperate with the rotating pin;

[0029] A handle, which is arranged on the rotating pin and is used to drive the rotating pin to rotate;

[0030] A stop assembly, which is arranged on the second supporting column and is used to cooperate with the handle;

[0031] Among them, after the pin head of the rotating pin passes through the lock hole, the rotating pin is rotated by the handle to lock the rotating pin and the lock hole, and then the handle is fixed by the stop assembly.

[0032] In one embodiment of the present invention, the handle has an operating portion, the operating portion extends in a vertical direction, a connecting hole is provided on the operating portion, and the stop assembly includes:

[0033] A bracket, the bracket is mounted on the second supporting column, and a fixing ring is provided on the bracket;

[0034] A stopper is arranged on the bracket, the stopper is used to be inserted into the connecting hole to fix the handle, and the stopper is connected to the fixing ring through a chain.

[0035] In one embodiment of the present invention, the top of each first support column is fitted with the bottom of its corresponding second support column, and a first detector and a second detector are also provided at the upper end of each first support column. The first detector is used to detect the rotation position of the handle, and the second detector is used to detect the fitting state of the corresponding first support column and the second support column.

[0036] In one embodiment of the present invention, a top plate is disposed on the top of each first support column, a bottom plate is disposed on the bottom of each second support column, each top plate is used to fit with its corresponding bottom plate, and each top plate is disposed with a flexible pad.

[0037] The above technical solution of the present invention has at least one of the following beneficial effects:

[0038] The present invention provides a separate type lock pin automatic disassembly and assembly system for a transfer platform. By respectively arranging a plurality of lock pin frames in an upper frame and making the upper frame detachably connected to the lower frame, during the lock pin removal operation, the robot can work continuously until all lock pin frames for recovering lock pins are filled with lock pins, then release the connection between the upper frame and the lower frame, and hoist the upper frame as a whole to the ground by a crane. After all lock pins in all locked lock pin frames are taken out, the crane hoists the upper frame to the lower frame again. During the lock pin installation operation, the robot can work continuously until all lock pins in the lock pin frames for placing lock pins for installation are taken out, then hoist the upper frame to the ground by a crane, and after the lock pins in the lock pin frames for placing lock pins for installation are filled with lock pins again, the crane hoists the upper frame to the lower frame again. Thus, during the entire lock pin disassembly and assembly operation, the robot only needs to stop once, thereby effectively improving the efficiency of the container lock pin disassembly and assembly operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the structure of a separate type lock pin automatic disassembly and assembly system for a transfer platform in some embodiments of the present invention;

[0040] Figure 2 for Figure 1 Schematic diagram of the structure in the middle AA direction;

[0041] Figure 3 It is another structural schematic diagram of a separate type locking pin automatic disassembly and assembly system for a transfer platform in some embodiments of the present invention;

[0042] Figure 4 It is a structural schematic diagram of a lower frame of a separate type locking pin automatic disassembly and assembly system for a transfer platform in some embodiments of the present invention;

[0043] Figure 5 for Figure 1 Schematic diagram of the structure in the middle B direction;

[0044] Figure 6 It is a schematic structural diagram of an upper frame of a separate type locking pin automatic disassembly and assembly system for a transfer platform in some embodiments of the present invention;

[0045] Figure 7 for Figure 6 Schematic diagram of the structure in the CC direction;

[0046] Figure 8 for Figure 6 Schematic diagram of the structure in the middle DD direction;

[0047] Fig. 9 for Figure 6 Schematic diagram of the structure in the EE direction;

[0048] Fig.10 It is a structural schematic diagram of a transfer pin mechanism in a separate type lock pin automatic disassembly and assembly system for a transfer platform in some embodiments of the present invention;

[0049] Fig.11 It is a schematic diagram of the structure of installing a separate type locking pin automatic disassembly and assembly system for a transfer platform to a transfer platform in some embodiments of the present invention;

[0050] Fig.12 for Fig.11 A partial enlarged schematic diagram of the structure;

[0051] Fig.13 It is a schematic diagram of the structure of the split type lock pin automatic disassembly and assembly system for the transfer platform when disassembling the lock in some embodiments of the present invention;

[0052] Fig.14 It is a structural schematic diagram of hoisting the upper frame to the ground in the separate lock pin automatic disassembly and assembly system for the transfer platform in some embodiments of the present invention;

[0053] Fig.15 for Fig.14 A partial enlarged schematic diagram of the structure;

[0054] Fig.16 It is a schematic diagram of the structure in which a crane hoist hoists an upper frame to the ground in some embodiments of the present invention.

[0055] Reference numerals:

[0056] 100, upper frame; 101, container; 110, side frame; 111, guide block; 120, cross beam; 121, second support column; 122, longitudinal beam; 123, avoidance part; 124, avoidance interval; 125, lifting lug; 130, first placement platform; 140, second placement platform;

[0057] 200, lower frame; 210, base; 211, guide column; 212, guide cone; 220, first support column; 221, flexible pad;

[0058] 300, robot; 400, conveying device; 500, locking pin frame;

[0059] 600, rotating pin mechanism; 610, mounting plate; 620, rotating pin; 630, keyhole plate; 640, handle; 650, stop assembly; 651, bracket; 652, stopper;

[0060] 700, first detector; 800, second detector; 900, transfer platform; 910, hoisting device. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0062] Firstly, a separate type locking pin automatic disassembly and assembly system applied to a transfer platform according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0063] Figure 1 and Figure 2 The schematic diagrams of the structure of the split type lock pin automatic disassembly and assembly system for the transfer platform in some embodiments of the present invention are respectively shown and Figure 1 The structural diagram of the AA direction is as follows: Figure 1 and Figure 2As shown, the split type automatic disassembly and assembly system of the lock pin for the transfer platform of the present invention may include: an upper frame 100, a lower frame 200, a plurality of robots 300, a conveying device 400 and a plurality of lock pin frames 500. Among them, the upper frame 100 is used to place the container 101. The upper frame 100 is arranged on the lower frame 200 along the first direction, and the upper frame 100 is provided with a lifting lug 125, the lower frame 200 is detachably connected to the upper frame 100, and the lower frame 200 is used to be arranged on the transfer platform 900. A plurality of robots 300 are arranged on the lower frame 200 in sequence and spaced apart along the first direction and correspond to the upper frame 100, and each robot 300 is used to remove the lock pin operation or install the lock pin operation on the container 101 placed on the upper frame 100, and the first direction is perpendicular to the vertical direction. The conveying device 400 is arranged on the lower frame 200 along the first direction and corresponds to each robot 300 respectively. The conveying device 400 is used to convey the lock pins for each robot 300. A plurality of lock pin frames 500 are arranged on the upper frame 100. The lock pin frames 500 are distributed at both ends of the conveying device 400 along the first direction and at positions corresponding to each robot 300. Each lock pin frame 500 is used to store the lock pins. It should be noted that the first direction is the length direction of the upper frame 100, the length direction of the lower frame 200 and the length direction of the conveying device 400, and the width direction of the upper frame 100 is the second direction. The first direction and the second direction are both horizontal directions, the first direction is perpendicular to the second direction, and the first direction and the second direction are both perpendicular to the vertical direction.

[0064] In the embodiment of the present invention, the lower frame 200 is detachably connected to the upper frame 100, and a plurality of lock pin frames 500 are respectively arranged on the upper frame 100. In the lock pin removal operation, the robot 300 can work continuously until all the lock pin frames 500 for recovering the lock pins are filled with lock pins, and then the connection between the upper frame 100 and the lower frame 200 is released, and the upper frame 100 is hoisted to the ground as a whole by the crane, and after all the lock pins in the lock pin frames 500 for recovering the lock pins are taken out, the crane hoists the upper frame 100 to the lower frame 200 again. In the lock pin installation operation, the robot 300 can work continuously until all the lock pins in the lock pin frames 500 storing the lock pins for installation are taken out, and then the upper frame 100 is hoisted to the ground by the crane, and after the lock pins in the lock pin frames 500 storing the lock pins for installation are filled with lock pins again, the crane hoists the upper frame 100 to the lower frame 200 again. Therefore, when taking out the lock pins from the lock pin frame 500 or replenishing the lock pins into the lock pin frame 500 , the robot 300 only needs to be stopped once, thereby effectively improving the efficiency of the lock pin disassembly and assembly operation of the container 101 .

[0065] Specifically, taking the removal of the lock pin as an example, when performing the lock pin removal operation, the upper frame 100 can first be lifted and transported to the transfer platform 900 together with the lower frame 200 by passing through the lifting lug 125 on the upper frame 100 through the lifting device 910. Then the lifting device 910 of the quay crane can lift the container 101 to the upper frame 100, and the robot 300 can accurately locate and remove the lock pin in cooperation with the box type detection system and the lock pin positioning system, and then the robot 300 will send the removed lock pin into the lock pin frame 500. After performing several lock removal operations and the lock pin frame 500 for recovering the lock pin is filled with the removed lock pins, the connection between the upper frame 100 and the lower frame 200 can be manually released, and the upper frame 100 can be lifted and transported to the ground by the lifting device, and the lock pins in the lock pin frame 500 for recovering the lock pins can be taken out or directly replaced with a new lock pin frame 500. The upper frame 100 can then be hoisted to the lower frame 200 by the hoisting device, and the upper frame 100 and the lower frame 200 can be closed and locked manually. The process of installing the locking pin is opposite to the above process, which will not be repeated here.

[0066] Figure 3 and Figure 4 Another structural schematic diagram of the automatic disassembly and assembly system of the separate lock pin for the transfer platform in some embodiments of the present invention and a structural schematic diagram of the lower frame of the automatic disassembly and assembly system of the separate lock pin are respectively shown, such as Figure 3 and Figure 4 As shown, the lower frame 200 of the present invention may include: a base 210 and a plurality of first support columns 220. The base 210 is arranged along a first direction. The plurality of first support columns 220 are arranged on the base 210 along a vertical direction, the upper frame 100 is detachably connected to each of the first support columns 220, and the conveying device 400 and each of the robots 300 are arranged on the base 210.

[0067] In an embodiment of the present invention, by respectively arranging a plurality of first support columns 220 along a first direction and supporting the upper frame 100 by the first support columns 220, the loads of the upper frame 100 and the container 101 can be stably transferred to the transfer platform 900 of the quay crane through the first support columns 220, thereby effectively improving the stability of the upper frame 100 when carrying the container 101.

[0068] Figure 5 and Figure 6 They are shown respectively Figure 1 The structural diagram of the B direction in the configuration shown in the figure and the structural diagram of the upper frame of the separate locking pin automatic disassembly and assembly system for the transfer platform in some embodiments of the present invention are as follows: Figure 5 and Figure 6As shown, the upper frame 100 of the present invention may include: two side frames 110 and two cross beams 120. The two side frames 110 are symmetrically arranged at the two ends of the upper frame 100 along the first direction, and the two side frames 110 are arranged in the vertical direction. The two cross beams 120 are arranged along the first direction and are located between the two side frames 110. The two ends of the two cross beams 120 along the first direction are connected to the two side frames 110 respectively. The bottom of each cross beam 120 is sequentially connected with a plurality of second support columns 121 spaced in sequence along the first direction. Each second support column 121 is arranged in the vertical direction. The first support column 220 corresponds to the second support column 121 one by one. Each first support column 220 is connected to its corresponding second support column 121 through a rotating pin 620 mechanism 600. The two side frames 110 and the two cross beams 120 enclose a placement interval for placing the container 101. The tops of the second support columns 121 are flush and used to provide support for the container 101 in the placement interval. Each robot 300 is located below the placement interval.

[0069] In the embodiment of the present invention, a support surface facing the placement interval is formed on the top of each second support column 121, that is, when the first support column 220 is connected to the second support column 121 in a one-to-one correspondence, the support surface on the top of the second support column 121 can provide support for the container 101 in the placement interval. In addition, the placement interval surrounded by the two side frames 110 and the two crossbeams 120 for placing the container 101 can provide guidance and limit for the container 101, avoid the displacement of the container at high altitude, and effectively improve the safety. In addition, according to the specific situation, the placement interval can also place containers 101 of different sizes, such as a single 20-foot container 101, a single 40-foot container 101, a single 45-foot container 101, or two 20-foot containers 101 side by side.

[0070] like Figure 3 and Figure 5 As shown, the second support columns 121 on the two cross beams 120 correspond to each other, and the two corresponding second support columns 121 on the two cross beams 120 are connected by longitudinal beams 122 respectively, each longitudinal beam 122 is arranged along the second direction, and the top of each longitudinal beam 122 is flush with the top of the second support column 121, and the second direction is perpendicular to the first direction, and the second direction is perpendicular to the vertical direction. In other words, the longitudinal beam 122 between the two cross beams 120 can also provide support for the container 101 in the placement interval, and the load of the container 101 can be transferred to the first support column 220 through the longitudinal beam 122 and the protrusion on the top of the second support column 121. In this way, the stability of the upper frame 100 when carrying the container 101 is further improved.

[0071] Figure 7 and Figure 8 They are shown respectively Figure 6 In the configuration shown, the CC direction and Figure 6 The structural diagram of the DD direction in the configuration shown is as follows: Figure 6-Figure 8 As shown, the upper frame 100 of the present invention may also include: two first placement platforms 130 and multiple second placement platforms 140. The two first placement platforms 130 are arranged on the side of the two side frames 110 away from the placement interval, and the first placement platforms 130 are used to place multiple lock pin frames 500. The conveying device 400 is located below the placement interval and its two ends along the first direction extend out of the two side frames 110 respectively. The two side frames 110 are respectively provided with avoidance intervals 124 for the conveying device 400 to pass through. Multiple second placement platforms 140 are located below the placement interval and between the two side frames 110. Each second placement platform 140 is used to place multiple lock pin frames 500. Two adjacent robots 300 correspond to the same second placement platform 140. Each second placement platform 140 is connected to multiple second support columns 121 adjacent to it through a connecting frame.

[0072] In the embodiment of the present invention, a plurality of lock pin frames 500 are detachably mounted on the first placement platform 130 and the second placement platform 140 respectively corresponding thereto. The lock pin frame 500 on the first placement platform 130 is used to place the lock pins for installation. The lock pins can be manually taken out from the lock pin frame 500 on the first placement platform 130 and placed on the conveying device 400 to supplement the lock pins for installation for the robot 300. Since the operating area of ​​the operator is at both ends of the upper frame 100 and is not within the range of the container falling, the safety of the operator can be ensured. The lock pin frame 500 of the second placement platform 140 is used to recycle the lock pins removed by the robot 300. By respectively setting the first placement platform 130 and the second placement platform 140, and detachably mounting the lock pin frame 500 on the first placement platform 130 and the second placement platform 140, on the one hand, the placement stability of the lock pin frame 500 can be improved. On the other hand, when the upper frame 100 is hoisted to the ground to replace the lock pin frame 500, the replacement efficiency of the lock pin frame 500 can be effectively improved.

[0073] In one embodiment of the present invention, the bottom of the side frame 110 is higher than the upper surface of the base 210. Specifically, a 10 mm gap is reserved between the bottom of the side frame 110 and the upper surface of the base 210. That is, the vertical load of the upper frame 100 and the container 101 is only transmitted through the second support column 121 and the first support column 220. Thus, it is possible to avoid the load from affecting the side frame 110 and causing the side frame 110 or the avoidance interval 124 on the side frame 110 to deform, thereby avoiding affecting the conveying device 400 from conveying the lock pin through the avoidance interval 124.

[0074] like Figure 4As shown, the base 210 is provided with guide columns 211 corresponding to each side frame 110 , each guide column 211 is arranged along the vertical direction, and the top of each guide column 211 is provided with a guide slope for guiding the upper frame 100 .

[0075] In the embodiment of the present invention, when the upper frame 100 is hoisted onto the lower frame 200, the guide column 211 with the guide slope can provide preliminary guidance for the upper frame 100, so that the upper frame 100 can be loaded into the lower frame 200 via the guide slope, thereby effectively improving the positioning accuracy of the upper frame 100.

[0076] like Figure 4 As shown, the base 210 is provided with guide cones 212 corresponding to each side frame 110, each guide cone 212 is arranged in the vertical direction, and the bottom of each side frame 110 is provided with guide holes matched with the guide cones 212. In the embodiment of the present invention, after the guide column 211 performs preliminary guidance on the upper frame 100, the guide cone 212 can be inserted into the guide hole on the side frame 110 to perform secondary guidance on the upper frame 100. In this way, the positioning accuracy of the upper frame 100 can be further improved.

[0077] like Figure 3 and Figure 4 As shown, a top plate is provided on the top of each first support column 220, and a bottom plate is provided on the bottom of each second support column 121. Each top plate is used to fit with its corresponding bottom plate, and each top plate is provided with a flexible pad 221. Therefore, by providing the flexible pad 221, when the upper frame 100 is hoisted onto the lower frame 200, the impact force on the first support column 220 and the second support column 121 can be effectively reduced, thereby increasing the service life of the device.

[0078] like Figure 5 As shown, a guide block 111 for guiding the container 101 is provided on a side of each side frame 110 close to the placement interval, and a guide slope is provided on an upper end of a side of each crossbeam 120 close to the placement interval for guiding the container 101. In other words, the guide blocks 111 and the guide slopes on the crossbeams 120 can guide and limit the container 101 hoisted by the quay crane hoist 910 entering the placement interval. Thus, the placement accuracy of the container 101 can be effectively improved.

[0079] Fig. 9 Shows Figure 6 The schematic diagram of the structure of the EE direction in the configuration shown is as follows: Fig. 9As shown, the lower end of each cross beam 120 is provided with an escape portion 123 for corresponding to the corner of the container 101. Specifically, the escape portion 123 at the lower end of each cross beam 120 is formed as a chamfer that bends outward from the placement interval. In this way, it is possible to prevent the bottom of the container 101 from hooking the upper frame 100, causing damage to the container 101 or the upper frame 100.

[0080] Fig.10 The schematic diagram of the structure of the transfer pin mechanism in the separate lock pin automatic disassembly and assembly system for the transfer platform in some embodiments of the present invention is shown. Fig.10 As shown, the rotating pin 620 mechanism 600 of the embodiment of the present invention may include: a mounting plate 610, a rotating pin 620, a locking hole plate 630, a handle 640 and a stop assembly 650. The mounting plate 610 is arranged at the lower end of the second support column 121, and a mounting hole penetrating in the vertical direction is arranged on the mounting plate 610. The rotating pin 620 is arranged in the vertical direction and passes through the mounting hole. The rotating pin 620 is rotatably connected with the mounting hole. A limiting member is arranged on the rotating pin 620, and the limiting member is used to axially fix the rotating pin 620 and the mounting plate 610. The locking hole plate 630 is arranged on the first support column 220, and a locking hole penetrating in the vertical direction is arranged on the locking hole plate 630. The locking hole is located below the rotating pin 620 and is used to cooperate with the rotating pin 620. The handle 640 is arranged on the rotating pin 620, and the handle 640 is used to drive the rotating pin 620 to rotate. The stop assembly 650 is disposed on the second support column 121 , and the stop assembly 650 is used to cooperate with the handle 640 .

[0081] In the embodiment of the present invention, after the upper frame 100 is hoisted onto the lower frame 200, the pin head of the rotating pin 620 passes through the locking hole, and the rotating pin 620 is rotated by the handle 640 so that the head of the rotating pin 620 is locked in the locking hole on the locking hole plate 630, and then the handle 640 is fixed by the stopper assembly 650 to prevent the handle 640 from rotating. In this way, the upper frame 100 can be quickly locked, or the upper frame 100 and the lower frame 200 can be unlocked, which effectively improves the working efficiency.

[0082] like Fig.10As shown, the handle 640 has an operating portion, which extends in the vertical direction and is provided with a connecting hole. The stopper assembly 650 includes a bracket 651 and a stopper 652. The bracket 651 is mounted on the second support column 121, a fixing ring is provided on the bracket 651, and a through hole corresponding to the connecting hole is provided on the bracket 651. The stopper 652 is provided on the bracket 651, and the stopper 652 is connected to the fixing ring through a chain. The stopper 652 is used to be inserted into the through hole and the connecting hole respectively to fix the handle 640. Thus, by inserting the stopper 652 into the through hole on the bracket 651 and the connecting hole on the operating portion of the handle 640 respectively, the handle 640 can be effectively limited to prevent the handle 640 from rotating. Thus, the locking strength of the upper frame 100 and the lower frame 200 can be improved.

[0083] like Fig.10 As shown, the top of each first support column 220 fits with the bottom of its corresponding second support column 121, and the upper end of each first support column 220 is also provided with a first detector 700 and a second detector 800, the first detector 700 is used to detect the rotation position of the handle 640, and the second detector 800 is used to detect the fitting state of the corresponding first support column 220 and the second support column 121.

[0084] In the embodiment of the present invention, the first detector 700 and the second detector 800 may be photoelectric sensors, and the first detector 700 may detect the position of the operating part of the handle 640 in real time. Specifically, when the handle 640 rotates so that the end of the operating part is displaced to be coaxial with the transmitting end of the first detector 700, the first detector 700 may send a locking signal, and the locking signal is used to indicate that the handle 640 has been rotated to the locking position, and the upper frame 100 and the lower frame 200 have been locked in place. In this way, it is possible to avoid the upper frame 100 and the lower frame 200 starting to operate without locking the robot 300, or the upper frame 100 and the lower frame 200 starting to lift the upper frame 100 without unlocking the sling 910, thereby effectively improving the safety of the operation. The second detector 800 may detect the distance between its own transmitting end and the crossbeam 120 in real time, and when the distance is equal to the preset distance, the second detector 800 may send an in-place signal. The preset distance refers to the distance between the transmitting end of the second detector 800 and the beam 120 when the first support column 220 and the second support column 121 are in a fitted state, and the in-position signal is used to indicate that the first support column 220 and the second support column 121 are in a fitted state. In this way, the upper frame 100 and the lower frame 200 can be fully aligned.

[0085] The following describes the working process of the automatic disassembly and assembly system of the split lock pin applied to the transfer platform according to the embodiment of the present invention in conjunction with specific embodiments.

[0086] Fig.11and Fig.12 The schematic diagrams respectively show the structure of the separate lock pin automatic disassembly and assembly system for the transfer platform installed on the transfer platform in some embodiments of the present invention and Fig.11 A partial enlarged schematic diagram of the structure. Fig.11 and Fig.12 As shown, when the lock pin is removed, the upper frame 100 can be lifted together with the lower frame 200 onto the transfer platform 900 by first passing the lifting lug 125 on the upper frame 100 through the lifting device 910, and then the power supply of the robot 300 on the lower frame 200 can be turned on. Fig.13 The schematic diagram of the structure of the automatic disassembly and assembly system of the split lock pin used in the transfer platform in some embodiments of the present invention is shown. Fig.13 As shown, the lifting device 910 of the quay crane can lift the container on the container ship to the upper frame 100, the box type detection system can detect the box type and position of the container, and the lock pin positioning system can locate the accurate position of the container lock pin. Then the robot 300 can accurately locate and remove the lock pin on the container according to the information provided by the box type detection system and the lock pin positioning system. After the robot completes the disassembly operation, the lock pin positioning system will confirm the unlocking situation. After confirming that the lock pin has been successfully removed, the auxiliary trolley will move the container on the upper frame away. Figure 14-16 The schematic diagrams of the structure of hoisting the upper frame to the ground in the split lock pin automatic disassembly and assembly system for the transfer platform in some embodiments of the present invention are respectively shown. Fig.14 The enlarged schematic diagram of some structures in the figure and the schematic diagram of the structure of the crane hoisting device lifting the upper frame to the ground in some embodiments of the present invention. Figure 14-16 As shown, after several cycles of unloading and unlocking, the lock pin frame 500 is filled with removed lock pins. At this time, the connection between the upper frame 100 and the lower frame 200 can be manually released, and the upper frame 100 is lifted to the ground by the lifting device 910 to replace the new lock pin frame 500. Then the lifting device 910 lifts the upper frame carrying the empty lock pin frame 500 to the lower frame 200, and the upper frame 100 and the lower frame 200 are manually closed and locked.

[0087] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate quantity restrictions, but indicate the existence of at least one. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0088] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A separate type lock pin automatic disassembly and assembly system for a transfer platform, characterized in that: include: An upper frame, wherein the upper frame is used to place a container; A lower frame, the upper frame is arranged on the lower frame along a first direction, the lower frame is detachably connected to the upper frame, and the lower frame is used to be arranged on a transfer platform; A plurality of robots, wherein the plurality of robots are sequentially arranged on the lower frame at intervals along the first direction and correspond to the upper frame, each of the robots being used to unlock or lock a container placed on the upper frame, and the first direction is perpendicular to the vertical direction; A conveying device, the conveying device is arranged on the lower frame along the first direction and corresponds to each of the robots respectively, and the conveying device is used to convey a locking pin to each of the robots; A plurality of lock pin frames are arranged on the upper frame, and the lock pin frames are distributed at both ends of the conveying device along the first direction and at positions corresponding to each of the robots, and each of the lock pin frames is used to store a lock pin.

2. The split type lock pin automatic disassembly and assembly system for the transfer platform according to claim 1, characterized in that: The lower frame comprises: a base, the base being arranged along the first direction; A plurality of first support columns are arranged on the base in a vertical direction, the upper frame is detachably connected to each of the first support columns, and the conveying device and each of the robots are arranged on the base.

3. The split type lock pin automatic disassembly and assembly system for the transfer platform according to claim 2, characterized in that: The upper frame comprises: Two side frames, the two side frames are symmetrically arranged at two ends of the upper frame along the first direction, and the two side frames are arranged along the vertical direction; Two cross beams, the two cross beams are respectively arranged along the first direction and located between the two side frames, the two ends of the two cross beams along the first direction are respectively connected to the two side frames, the bottom of each cross beam is sequentially connected with a plurality of second support columns spaced apart along the first direction, each second support column is arranged along the vertical direction, the first support column corresponds to the second support column one by one, and each first support column is connected to its corresponding second support column through a rotation pin mechanism; The two side frames and the two cross beams form a placement interval for placing containers, the tops of the second support columns are flush and used to provide support for the containers in the placement interval, and the robots are located below the placement interval.

4. The split type lock pin automatic disassembly and assembly system for the transfer platform according to claim 3, characterized in that: The second support columns on the two cross beams correspond one to one, and the two corresponding second support columns on the two cross beams are respectively connected by longitudinal beams, each longitudinal beam is arranged along the second direction, and the top of each longitudinal beam is flush with the top of the second support column, the second direction is perpendicular to the first direction, and the second direction is perpendicular to the vertical direction.

5. The split type lock pin automatic disassembly and assembly system for the transfer platform according to claim 3, characterized in that: The upper frame also includes: Two first placement platforms, the two first placement platforms are arranged on one side of the two side frames away from the placement interval, the first placement platforms are used to place a plurality of the lock pin frames, the conveying device is located below the placement interval and its two ends along the first direction extend out of the two side frames respectively, and the two side frames are respectively provided with avoidance intervals for the conveying device to pass through; Multiple second placement platforms are located below the placement interval and between the two side frames, each second placement platform is used to place multiple locking pin frames, two adjacent robots correspond to the same second placement platform, and each second placement platform is connected to multiple second support columns adjacent to it through a connecting frame.

6. The split type lock pin automatic disassembly and assembly system for the transfer platform according to claim 3, characterized in that: A guide block for guiding the container is provided on one side of each side frame close to the placement interval, and a guide slope for guiding the container is provided on the upper end of one side of each crossbeam close to the placement interval; The base is provided with guide columns corresponding to each of the side frames, each of the guide columns is arranged in a vertical direction, and the top of each of the guide columns is provided with a guide slope for guiding the side frame; The base is provided with guide cones corresponding to each of the side frames, each of the guide cones is arranged in a vertical direction, the bottom of each of the side frames is provided with guide holes matching with the guide cones, the bottom of the side frame is higher than the upper surface of the base, and the lower end of each of the cross beams is provided with an avoidance portion corresponding to the corner of the container.

7. The split type lock pin automatic disassembly and assembly system for the transfer platform according to claim 4, characterized in that: The resale mechanism includes: A mounting plate, the mounting plate being arranged at the lower end of the second supporting column, the mounting plate being provided with a mounting hole penetrating in a vertical direction; A rotation pin, the rotation pin is arranged along the vertical direction and passes through the mounting hole, the rotation pin is rotatably connected to the mounting hole, and a limiting member is arranged on the rotation pin, and the limiting member is used to axially fix the rotation pin and the mounting plate; A lock hole plate, the lock hole plate is arranged on the first supporting column, the lock hole plate is provided with a lock hole penetrating in a vertical direction, the lock hole is located below the rotating pin and is used to cooperate with the rotating pin; A handle, wherein the handle is disposed on the rotating pin and is used to drive the rotating pin to rotate; A stop assembly, the stop assembly is arranged on the second supporting column, and the stop assembly is used to cooperate with the handle; Among them, after the pin head of the rotating pin passes through the locking hole, the rotating pin is rotated by the handle to lock the rotating pin with the locking hole, and then the handle is fixed by the stop assembly.

8. The split type lock pin automatic disassembly and assembly system for the transfer platform according to claim 7, characterized in that: The handle has an operating portion, the operating portion extends in a vertical direction, a connecting hole is provided on the operating portion, and the stop assembly includes: A bracket, the bracket is mounted on the second supporting column, and a fixing ring is provided on the bracket; A stopper is arranged on the bracket, the stopper is used to be inserted into the connecting hole to fix the handle, and the stopper is connected to the fixing ring through a chain.

9. The split type lock pin automatic disassembly and assembly system for the transfer platform according to claim 7, characterized in that: The top of each first support column is fitted with the bottom of its corresponding second support column, and the upper end of each first support column is also provided with a first detector and a second detector, the first detector is used to detect the rotation position of the handle, and the second detector is used to detect the fitting state of the corresponding first support column and the second support column.

10. The split type lock pin automatic disassembly and assembly system for the transfer platform according to claim 7, characterized in that: A top plate is disposed on the top of each of the first supporting columns, and a bottom plate is disposed on the bottom of each of the second supporting columns. Each of the top plates is used to fit with the corresponding bottom plate, and each of the top plates is disposed with a flexible pad.

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