A split lock pin automatic dismounting system for a transfer platform

Abstract

The application provides a split locking pin automatic dismounting system for a transfer platform, which comprises an upper frame, a lower frame, a plurality of robots and a conveying device. The upper frame is used for placing containers. The upper frame is arranged on the lower frame along a first direction. The lower frame is detachably connected with the upper frame and is used for being arranged on a transfer platform. The plurality of robots are sequentially and spacedly arranged on the lower frame along the first direction and correspond to the upper frame. Each robot is used for unlocking or locking the containers placed on the upper frame. The first direction is perpendicular to a vertical direction. The conveying device is arranged on the lower frame along the first direction and corresponds to each robot. The conveying device is used for conveying locking pins for each robot. The plurality of locking pin frames are arranged on the upper frame. The ends of the conveying device along the first direction and the positions corresponding to each robot are all distributed with the locking pin frames. Each locking pin frame is used for storing the locking pins.

Description

Technical Field

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

[0002] During sea transport, containers require locking pins installed at the four corners to secure them. These pins must be removed upon arrival at the port. Currently, ports typically use automated, dual-trolley quay cranes to lift containers onto the container parking frame on the quay crane's transfer platform, where the locking pins on the container's bottom are manually removed. Due to the low efficiency of manual pin removal, the removal process is slow. Some terminals are now installing robots on the container parking frame to automatically remove the locking pins from the bottom of the container. The robot-removed pins are then temporarily placed in multiple locking pin frames on the transfer platform. Specifically, when the robot automatically removes the locking pins, the locking pin frames used to recycle the pins become full and need to be replaced with new ones. One method involves lifting the entire container parking frame to the ground and replacing the locking pin frames. However, this requires the entire robot on the frame to be powered off and then powered back on again after the container parking frame is lifted onto the transfer platform. This method is inefficient and impractical due to the need to power the robots on and off. However, if the locking pin frames are hoisted to the ground one by one using a hoist to remove the locking pins, the crane operation is dangerous and can easily interfere with moving robot parts. Therefore, the locking pin removal and installation operations must be paused during the crane operation. Currently, there are generally 4-8 locking pin frames installed on the transfer platform of the quay crane, which means that the locking pin removal operation must be paused 4-8 times. Similarly, the locking pin installation operation on the transfer platform also needs to be paused 4-8 times, which seriously reduces the efficiency of the locking pin removal and installation operation. Summary of the Invention

[0003] In view of this, the present invention provides a detachable 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] 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 detachable lock pin automatic disassembly and assembly system for a transfer platform includes:

[0006] 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 and the upper frame are detachably connected, and the lower frame is used to be arranged on the transfer platform;

[0008] A plurality of robots are sequentially spaced apart along a first direction on the lower frame and corresponding to the upper frame, each robot being used to unlock or lock a container placed on the upper frame, the first direction being perpendicular to the vertical direction;

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

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

[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 crossbeams, each of which is arranged along a first direction and located between the two side frames, each crossbeam having two ends along the first direction connected to the two side frames, each crossbeam having a bottom connected to a plurality of second support columns spaced in sequence along the first direction, each second support column being arranged along a vertical direction, the first support columns corresponding to the second support columns one by one, and each first support column being connected to its corresponding second support column via a rotation 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. 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 to each other one by 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 are arranged on one side of the two side frames away from the placement interval, and the first placement platforms are used to place multiple 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. The two side frames are respectively provided with an avoidance interval for the conveying device to pass through;

[0021] 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. Each second placement platform is connected to multiple second support columns close to it through a connecting frame.

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

[0024] The base is provided with a guide cone corresponding to each side frame, each guide cone is arranged in a vertical direction, and the bottom of each side frame is provided with a guide hole matching the guide cone. 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 includes:

[0026] A mounting plate is provided at the lower end of the second support column, and a mounting hole is provided on the mounting plate that passes through in a vertical direction;

[0027] A rotation pin is arranged in a vertical direction and passes through the mounting hole. The rotation pin is rotatably connected to the mounting hole. A limit member is provided on the rotation pin. The limit member is used to axially fix the rotation pin and the mounting plate.

[0028] A keyhole plate is provided on the first support column and is provided with a keyhole running through the keyhole plate in a vertical direction. The keyhole is located below the rotation pin and is used to cooperate with the rotation pin;

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

[0030] A stop assembly is provided on the second support 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 extending in a vertical direction and provided with a connecting hole, and the stop assembly includes:

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

[0034] A stopper is provided on the bracket and is used to be inserted into the connecting hole to fix the handle. 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 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.

[0036] In one embodiment of the present invention, a top plate is provided on the top of each first support column, and a bottom plate is provided 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 provided 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 relates to a separate automatic lock pin disassembly and assembly system for a transfer platform. Multiple lock pin frames are disposed in an upper frame, and the upper frame is detachably connected to a lower frame. During the lock pin removal operation, a robot can operate continuously until all lock pin frames for retrieving lock pins are filled with lock pins. The connection between the upper frame and the lower frame is then released, and the upper frame is hoisted to the ground by a crane. After all lock pins are removed from all locked lock pin frames, the crane re-hoists the upper frame onto the lower frame. During the lock pin installation operation, the robot can operate continuously until all lock pins are removed from all lock pin frames containing installation lock pins. The crane then hoists the upper frame to the ground, re-hoists the lock pin frames containing installation lock pins, and re-hoists the upper frame onto the lower frame. Consequently, the robot only needs to stop once during the entire lock pin disassembly and assembly operation, effectively improving the efficiency of container lock pin disassembly and assembly operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic structural diagram of a detachable 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 AA direction;

[0041] Figure 3 Another structural diagram of the split locking pin automatic dismounting system for the transfer platform in some embodiments of the present application;

[0042] Figure 4 A structural diagram of the lower frame of the split locking pin automatic dismounting system for the transfer platform in some embodiments of the present application;

[0043] Figure 5 A structural diagram of the upper frame of the split locking pin automatic dismounting system for the transfer platform in some embodiments of the present application; Figure 1 A structural diagram of the middle B direction;

[0044] Figure 6 A structural diagram of the upper frame of the split locking pin automatic dismounting system for the transfer platform in some embodiments of the present application;

[0045] Figure 7 A structural diagram of the middle C-C direction; Figure 6

[0046] A structural diagram of the middle D-D direction; Figure 8 Figure 6 A structural diagram of the middle E-E direction;

[0047] Figure 9 Figure 6 A structural diagram of the middle E-E direction;

[0048] Figure 10 A structural diagram of the transfer pin mechanism of the split locking pin automatic dismounting system for the transfer platform in some embodiments of the present application;

[0049] Figure 11 A structural diagram of the split locking pin automatic dismounting system for the transfer platform in some embodiments of the present application installed to the transfer platform;

[0050] Figure 12 A structural diagram of the middle E-E direction; Figure 11

[0051] A structural diagram of the split locking pin automatic dismounting system for the transfer platform in some embodiments of the present application installed to the transfer platform; Figure 13

[0052] A structural diagram of the split locking pin automatic dismounting system for the transfer platform in some embodiments of the present application installed to the transfer platform; Figure 14

[0053] A structural diagram of the split locking pin automatic dismounting system for the transfer platform in some embodiments of the present application installed to the transfer platform; Figure 15 Figure 14 A structural diagram of the split locking pin automatic dismounting system for the transfer platform in some embodiments of the present application installed to the transfer platform;

[0054] Figure 16 A structural diagram of the split locking pin automatic dismounting system for the transfer platform in some embodiments of the present application installed to the transfer platform;​​​

[0055] Reference signs:

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

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

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

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

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

[0061] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the described embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0062] Firstly, a separated locking pin automatic dismounting system applied to a transfer platform according to an embodiment of the present application will be described in detail below with reference to the drawings.

[0063] Figure 1 And Figure 2 respectively show the structural schematic diagram of the separated locking pin automatic dismounting system applied to the transfer platform in some embodiments of the present application and Figure 1 the structural schematic diagram of the transfer platform in the A-A direction, like Figure 1 and Figure 2As shown, the detachable locking pin automatic dismounting and mounting system for the transfer platform of the present application can include an upper frame 100, a lower frame 200, a plurality of robots 300, a conveying device 400 and a plurality of locking pin frames 500. The upper frame 100 is used for placing containers 101. The upper frame 100 is arranged on the lower frame 200 along a first direction, and the upper frame 100 is provided with lifting lugs 125. The lower frame 200 is detachably connected with the upper frame 100, and the lower frame 200 is arranged on a transfer platform 900. The plurality of robots 300 are arranged on the lower frame 200 along the first direction and correspond to the upper frame 100. Each robot 300 is used for performing the locking pin dismounting operation or the locking pin mounting operation on the container 101 placed on the upper frame 100. 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. The conveying device 400 is used for conveying locking pins for each robot 300. The plurality of locking pin frames 500 are arranged on the upper frame 100. The two ends of the conveying device 400 along the first direction and the positions corresponding to each robot 300 are all distributed with the locking pin frames 500. Each locking pin frame 500 is used for storing locking 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. 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. The first direction and the second direction are both perpendicular to the vertical direction.

[0064] In the embodiment of the present application, the lower frame 200 is detachably connected with the upper frame 100, and the plurality of locking pin frames 500 are arranged on the upper frame 100. In the locking pin dismounting operation, the robot 300 can continuously work until all the locking pin frames 500 for recycling locking pins are full of locking pins. Then, the connection between the upper frame 100 and the lower frame 200 is released. The upper frame 100 is hoisted by a crane to the ground. All the locking pins in the locking pin frames 500 for recycling locking pins are taken out. Then, the upper frame 100 is hoisted by the crane to the lower frame 200 again. In the locking pin mounting operation, the robot 300 can continuously work until all the locking pins in the locking pin frames 500 for mounting are taken out. Then, the upper frame 100 is hoisted by the crane to the ground. The locking pin frames 500 for mounting are full of locking pins again. Then, the upper frame 100 is hoisted by the crane to the lower frame 200 again. Thus, when the locking pins in the locking pin frames 500 are taken out or supplemented, the robot 300 only needs to stop once, thereby effectively improving the efficiency of the container 101 locking pin dismounting and mounting operation.

[0065] Specifically, taking the removal of lock pins as an example, when performing the lock pin removal operation, the upper frame 100 and the lower frame 200 can first be lifted onto the transfer platform 900 by passing the lifting lugs 125 on the upper frame 100 through the lifting device 910. The gantry crane's lifting device 910 can then lift the container 101 onto the upper frame 100. The robot 300 can then cooperate with the container type detection system and the lock pin positioning system to accurately locate and remove the lock pins. The robot 300 then places the removed lock pins into the lock pin frame 500. After performing several lock removal operations and the lock pin frame 500 is filled with removed lock pins for recovering the 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 to the ground using the lifting device. The lock pins in the lock pin frame 500 for recovering the lock pins can be removed or directly replaced with new lock pin frames 500. The upper frame 100 can then be hoisted onto the lower frame 200 by the lifting device, and the upper frame 100 and the lower frame 200 can be manually closed and locked. The process of installing the locking pin is the opposite of the above process and will not be repeated here.

[0066] Figure 3 and Figure 4 Another structural schematic diagram of the automatic disassembly and assembly system of the detachable 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 detachable lock pin are respectively shown. 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 vertically mounted on the base 210. The upper frame 100 is detachably connected to each of the first support columns 220. The conveying device 400 and each of the robots 300 are mounted on the base 210.

[0067] In an embodiment of the present invention, by arranging a plurality of first support columns 220 respectively along the 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 Shown respectively Figure 1 The structural diagram of the B direction in the configuration shown and the structural diagram of the upper frame of the separate lock 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 crossbeams 120. The two side frames 110 are symmetrically arranged at both ends of the upper frame 100 along a first direction, and the two side frames 110 are arranged in a vertical direction. The two crossbeams 120 are arranged along the first direction and located between the two side frames 110. The two crossbeams 120 are connected to the two side frames 110 at their respective ends along the first direction. A plurality of second support columns 121 are connected to the bottom of each crossbeam 120 in sequence along the first direction. Each second support column 121 is arranged in a vertical direction, with a first support column 220 corresponding to a second support column 121. Each first support column 220 is connected to its corresponding second support column 121 via a rotation pin 620 mechanism 600. The two side frames 110 and the two crossbeams 120 define a storage area for placing containers 101. The tops of the second support columns 121 are flush and used to support the containers 101 in the storage area. Each robot 300 is located below the storage area.

[0069] In an 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 for placing the container 101, which is surrounded by the two side frames 110 and the two crossbeams 120, can provide guidance and positioning for the container 101, thereby preventing the container from shifting at high altitudes and effectively improving safety. In addition, depending on the specific situation, the placement interval can also accommodate 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 placed side by side.

[0070] like Figure 3 and Figure 5 As shown, the second support columns 121 on the two crossbeams 120 correspond one to one, and the two corresponding second support columns 121 on the two crossbeams 120 are connected by a longitudinal beam 122. 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. 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 crossbeams 120 can also provide support for the container 101 within the storage area. The load of the container 101 can be transferred to the first support column 220 via the longitudinal beam 122 and the protrusions on the top of the second support column 121. This further improves the stability of the upper frame 100 when carrying the container 101.

[0071] Figure 7 and Figure 8 Shown respectively Figure 6 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. 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 this embodiment of the present invention, multiple lock pin frames 500 are detachably mounted on their respective first and second placement platforms 130, 140. The lock pin frames 500 on the first placement platform 130 are used to store installation lock pins. Lock pins can be manually removed from the lock pin frames 500 on the first placement platform 130 and placed on the conveyor 400 to replenish the installation lock pins for the robot 300. Since the operator's work area is at both ends of the upper frame 100 and is not within the range of the container's drop, the operator's safety is ensured. The lock pin frames 500 on the second placement platform 140 are used to recycle lock pins removed by the robot 300. By separately providing the first and second placement platforms 130, 140 and detachably mounting the lock pin frames 500 on the first and second placement platforms 130, 140, respectively, the placement stability of the lock pin frames 500 can be improved. Furthermore, when the upper frame 100 is hoisted to the ground to replace the lock pin frames 500, the replacement efficiency of the lock pin frames 500 can be effectively improved.

[0073] In one embodiment of the present invention, the bottom of the side frame 110 is higher than the top surface of the base 210. Specifically, a 10 mm gap is reserved between the bottom of the side frame 110 and the top surface of the base 210. This means that vertical loads from the upper frame 100 and container 101 are transmitted only through the second support column 121 and the first support column 220. This prevents the load from impacting the side frame 110 and causing deformation of the side frame 110 or the avoidance section 124 thereon, thereby preventing the conveyor 400 from transporting the lock pins through the avoidance section 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 in a vertical direction, and the top of each guide column 211 is provided with a guide slope for guiding the upper frame 100 .

[0075] In an 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 to the upper frame 100, so that the upper frame 100 is installed into the lower frame 200 from 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 a guide cone 212 corresponding to each side frame 110. Each guide cone 212 is arranged in a vertical direction, and the bottom of each side frame 110 is provided with a guide hole that mates with the guide cone 212. In this embodiment of the present invention, after the guide column 211 provides initial guidance for the upper frame 100, the guide cone 212 can be inserted into the guide hole in the side frame 110 to provide secondary guidance for the upper frame 100. This further improves the positioning accuracy of the upper frame 100.

[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, the impact force on the first support column 220 and the second support column 121 can be effectively reduced when the upper frame 100 is hoisted onto the lower frame 200, thereby improving the service life of the device.

[0078] like Figure 5 As shown, each side frame 110 is provided with a guide block 111 on the side near the placement area for guiding the container 101. Each crossbeam 120 is provided with a guide slope on the upper end near the placement area 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 position of the container 101 lifted by the quay crane spreader 910 entering the placement area, thereby effectively improving the placement accuracy of the container 101.

[0079] Figure 9 Shown Figure 6 The structural diagram of the EE direction in the configuration shown is as follows: Figure 9As shown, the lower end of each crossbeam 120 is provided with a relief portion 123 that corresponds to the corner of the container 101. Specifically, the relief portion 123 at the lower end of each crossbeam 120 is formed as a chamfer that bends outward from the storage area. This prevents the bottom of the container 101 from catching on the upper frame 100 and causing damage to the container 101 or the upper frame 100.

[0080] Figure 10 FIG. 1 shows a 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. Figure 10 As shown, the pivot pin 620 mechanism 600 according to an embodiment of the present invention may include: a mounting plate 610, a pivot pin 620, a locking plate 630, a handle 640, and a stop assembly 650. The mounting plate 610 is disposed at the lower end of the second support column 121 and is provided with a mounting hole extending vertically therethrough. The pivot pin 620 is disposed vertically and passes through the mounting hole, and is rotatably connected to the mounting hole. A limiter is provided on the pivot pin 620 to axially secure the pivot pin 620 to the mounting plate 610. The locking plate 630 is disposed on the first support column 220 and is provided with a locking hole extending vertically therethrough. The locking hole is located below the pivot pin 620 and is adapted to engage with the pivot pin 620. A handle 640 is provided on the pivot pin 620 and is used to drive the pivot 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 this embodiment of the present invention, after the upper frame 100 is hoisted onto the lower frame 200, the head of the rotating pin 620 passes through the locking hole, and the rotating pin 620 is rotated using the handle 640 so that the head of the rotating pin 620 is locked in the locking hole of the locking hole plate 630. The handle 640 is then fixed using the stopper assembly 650 to prevent the handle 640 from rotating. In this way, the upper frame 100 can be quickly locked or unlocked from the lower frame 200, effectively improving working efficiency.

[0082] like Figure 10As shown, the handle 640 has an operating part extending in a vertical direction, and a connecting hole is arranged on the operating part, and the stop assembly 650 comprises a bracket 651 and a stopper 652. The bracket 651 is mounted on the second support column 121, and a fixing ring is arranged on the bracket 651, and a through hole corresponding to the connecting hole is arranged on the bracket 651. The stopper 652 is arranged on the bracket 651 and is connected with the fixing ring through a chain, and the stopper 652 is used for being respectively inserted into the through hole and the connecting hole to fix the handle 640. In this way, by respectively inserting the stopper 652 into the through hole on the bracket 651 and the connecting hole on the operating part of the handle 640, the handle 640 can be effectively limited, and rotation of the handle 640 is avoided. In this way, the locking strength of the upper frame 100 and the lower frame 200 can be improved.

[0083] As shown in the figure, Figure 10 As shown, the top of each first support column 220 is in abutment with the bottom of the corresponding second support column 121, and the upper end of each first support column 220 is further provided with a first detector 700 and a second detector 800. The first detector 700 is used for detecting the rotating position of the handle 640, and the second detector 800 is used for detecting the abutment state of the corresponding first support column 220 and the second support column 121.

[0084] In the embodiment of the application, the first detector 700 and the second detector 800 can be photoelectric sensors, and the first detector 700 can detect the position of the operating part of the handle 640 in real time. Specifically, when the handle 640 rotates and the end of the operating part is displaced to be coaxial with the emitting end of the first detector 700, the first detector 700 can send a locking signal, and the locking signal is used to indicate that the handle 640 has been rotated to a locking position, and the upper frame 100 and the lower frame 200 have been locked in place. In this way, it can be avoided that the upper frame 100 and the lower frame 200 start work without being locked, or the upper frame 100 starts to be hoisted without being unlocked, and the work safety is effectively improved. The second detector 800 can detect the distance between the emitting end thereof and the cross beam 120 in real time, and when the distance is equal to a preset distance, the second detector 800 can send a to-position signal. The preset distance refers to the distance between the emitting end of the second detector 800 and the cross beam 120 when the first support column 220 and the second support column 121 are in the abutment state, and the to-position signal is used to indicate that the first support column 220 and the second support column 121 are in the abutment state. In this way, the upper frame 100 and the lower frame 200 can be fully aligned.

[0085] The working process of the split lock pin automatic dismounting system applied to the transfer platform in the embodiment of the application will be described below in combination with specific embodiments.

[0086] Figure 11and Figure 12 The schematic diagrams respectively show the structure of the automatic disassembly and assembly system of the detachable lock pin for the transfer platform in some embodiments of the present invention and Figure 11 A partial enlarged schematic diagram of the structure. Figure 11 and Figure 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. Figure 13 The following is a schematic diagram showing 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. Figure 13 As shown, the gantry crane's spreader 910 can lift containers from a container ship onto the upper frame 100. The container shape detection system detects the container's shape and position, and the lock pin positioning system accurately locates the container's lock pins. The robot 300 then accurately locates and removes the container's lock pins based on the information provided by the container shape detection and lock pin positioning systems. After the robot completes the removal operation, the lock pin positioning system confirms the successful removal of the lock pins. Once the removal is confirmed, the auxiliary trolley removes the container from the upper frame. Figure 14-16 The schematic diagrams of the structure of lifting the upper frame to the ground in the automatic disassembly and assembly system of the detachable lock pin for the transfer platform in some embodiments of the present invention are respectively shown. Figure 14 The enlarged schematic diagram of some structures in the figure and the schematic diagram of the structure of the crane hoisting the upper frame to the ground in some embodiments of the present invention. Figure 14-16 As shown, after several unloading and unlocking cycles, 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, technical terms or scientific terms used in the present application shall have the ordinary meaning of such terms for a person skilled in the art to which the present application pertains. The terms "first", "second" and similar terms are used herein merely to distinguish one element from another, and are not intended to imply any order or sequence, or any importance. Similarly, the terms "one" or "a" or "an" are not limited to one, but rather mean at least one. The terms "connected" or "coupled" or similar terms are not limited to a direct connection or coupling, but also include an indirect connection or coupling, such as through an intermediate party, an electrical connection or a mechanical connection.

[0088] The above is the preferred embodiment of the present application, it should be noted that for those skilled in the art, without departing from the principles of the present application, can make a number of improvements and refinements, these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A separate lock pin automatic disassembly and assembly system for a transfer platform, characterized in that: include: an upper frame, the upper frame being used to place a container; a lower frame, the upper frame being arranged on the lower frame along a first direction, the lower frame being detachably connected to the upper frame, and the lower frame being used to be arranged on a transfer platform; a plurality of robots, the plurality of robots being sequentially spaced apart along the first direction on the lower frame and corresponding to the upper frame, each of the robots being used to unlock or lock a container placed on the upper frame, the first direction being perpendicular to the vertical direction; a conveying device, the conveying device being arranged on the lower frame along the first direction and corresponding to each of the robots, the conveying device being used to convey a locking pin to each of the robots; a plurality of lock pin frames, the plurality of lock pin frames being arranged on the upper frame, the lock pin frames being distributed at both ends of the conveying device along the first direction and at positions corresponding to each of the robots, each of the lock pin frames being used to store a lock pin; Wherein, the lower frame includes: a base, the base being arranged along the first direction; a plurality of first support columns, wherein the plurality of first support columns are vertically arranged on the base, 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; 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 in the vertical direction; Two crossbeams, the two crossbeams are respectively arranged along the first direction and located between the two side frames, the two ends of the two crossbeams along the first direction are respectively connected to the two side frames, the bottom of each crossbeam is connected to a plurality of second support columns in sequence along the first direction, each second support column is arranged along the vertical direction, the first support columns correspond to the second support columns one by one, and each first support column is connected to its corresponding second support column by a revolving pin mechanism; the two side frames and the two crossbeams form a placement interval for placing containers, the tops of the respective second support columns are flush and used to provide support for the containers in the placement interval, and each robot is located below the placement interval; The resale mechanism includes: A mounting plate, the mounting plate being arranged at the lower end of the second support column, the mounting plate being provided with a mounting hole penetrating in a vertical direction; A rotation pin, the rotation pin being arranged in a vertical direction and passing through the mounting hole, the rotation pin being rotatably connected to the mounting hole, and a limit member being provided on the rotation pin, the limit member being used to axially fix the rotation pin and the mounting plate; A keyhole plate, the keyhole plate being arranged on the first support column, the keyhole plate being provided with a keyhole running through the first support column in a vertical direction, the keyhole being located below the rotation pin and being used to cooperate with the rotation pin; A handle, the handle being arranged on the rotating pin and being used for driving the rotating pin to rotate; A stop assembly is provided on the second support column, and the stop assembly is used to cooperate with the handle; when the pin head of the turn pin passes through the lock hole, the turn pin is rotated by the handle to lock the turn pin with the lock hole, and then the handle is fixed by the stop assembly.

2. The automatic disassembly and assembly system for the separate lock pin for the transfer platform according to claim 1, 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.

3. The automatic disassembly and assembly system of the detachable lock pin for the transfer platform according to claim 1, characterized in that: The upper frame further comprises: Two first placement platforms, the two first placement platforms are arranged on a 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 respectively extend outside the two side frames, and the two side frames are respectively provided with an avoidance interval 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. Each second placement platform is connected to multiple second support columns adjacent to it through a connecting frame.

4. The automatic disassembly and assembly system of the split lock pin for the transfer platform according to claim 1, characterized in that: A guide block for guiding the container is provided on a side of each side frame close to the placement interval, and a guide slope for guiding the container is provided on an upper end of a 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 a top of each of the guide columns is provided with a guide slope for guiding the side frame; The base is provided with a guide cone corresponding to each side frame, each guide cone is arranged in a vertical direction, and the bottom of each side frame is provided with a guide hole matching the guide cone. 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.

5. The automatic disassembly and assembly system of the split lock pin for the transfer platform according to claim 1, characterized in that: The handle has an operating portion extending in a vertical direction and provided with a connecting hole. The stop assembly includes: a bracket, the bracket being mounted on the second support column, and the bracket being provided with a fixing ring; A stopper is provided 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.

6. The automatic disassembly and assembly system of the split lock pin for the transfer platform according to claim 1, 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.

7. The automatic disassembly and assembly system for the separate lock pin for the transfer platform according to claim 1, characterized in that: A top plate is provided on the top of each first support column, and a bottom plate is provided on the bottom of each second support column. Each of the top plates is used to fit with the corresponding bottom plate, and each of the top plates is provided with a flexible pad.

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