Detachable lock pin automatic assembly and disassembly system for transfer platform

Abstract

Provided in the present invention is a detachable lock pin automatic disassembly and assembly system for a transfer platform, comprising: an upper frame, wherein the upper frame is configured to place a container; 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 configured 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, the robots are configured to unlock or lock a container placed on the upper frame, and the first direction is perpendicular to the vertical direction; a conveying apparatus, wherein the conveying apparatus is arranged on the lower frame along the first direction and corresponds to the robots, and the conveying apparatus is configured to convey a lock pin for each robot; and a plurality of lock pin frames, wherein the plurality of lock pin frames are arranged on the upper frame, the lock pin frames are distributed at both ends of the conveying apparatus along the first direction and at positions corresponding to the robots, and the lock pin frames are configured to store lock pins.

Description

[0001] This invention relates to the field of logistics and transportation technology, specifically to an automatic disassembly and assembly system for disassembly and assembly of lock pins for transshipment platforms. Background: During sea transport, containers require lock pins at their four bottom corners to secure the container body. Upon arrival at the port, these lock pins need to be removed. Currently, in ports, automated double-trolley quay cranes are generally used to lift containers onto container racks on the transshipment platform of the quay crane, and the bottom lock pins are manually removed. Because manual removal of lock pins is inefficient and slow, some terminals are now installing robots on the container racks to automatically remove the bottom lock pins. The removed lock pins are temporarily placed in multiple lock pin frames on the transshipment platform. Specifically, in the operation of automatically removing locking pins using robots, when the locking pin frames used for pin retrieval are full, new frames need to be replaced. One replacement method is to hoist the entire container parking frame to the ground for unified replacement of the locking pin frames. However, this requires the robot on the frame to be powered off first, and then powered back on after the container parking frame is hoisted to the transfer platform. Because this requires constantly switching the robot on and off, this method is inefficient and impractical. If a spreader is used to hoist the locking pin frames to the ground one by one to remove the pins, the operation is dangerous and prone to interference with moving robot parts. Therefore, the pin removal and installation operations need to be paused during the hoisting of the locking pin frames. Currently, the transfer platform of a quay crane typically has 4-8 locking pin frames, meaning that the pin removal operation needs to be paused 4-8 times. Similarly, the pin installation operation on the transfer platform also needs to be paused 4-8 times, which severely reduces the efficiency of the pin removal and installation operations. In view of the above, the present invention provides a separate automatic locking pin disassembly and assembly system for a transit platform, which can effectively improve the disassembly and assembly efficiency of container locking pins.To solve at least one of the above-mentioned technical problems, the present invention adopts the following technical solution: According to an embodiment of the present invention, a detachable automatic locking pin disassembly and assembly system for a transfer platform includes: an upper frame for placing containers; a lower frame, the upper frame being disposed on the lower frame along a first direction, the lower frame being detachably connected to the upper frame, and the lower frame being disposed on a transfer platform; multiple robots, the multiple robots being sequentially and spaced apart along a first direction on the lower frame and corresponding to the upper frame, each robot using a pin to disassemble or assemble containers placed on the upper frame, the first direction being perpendicular to the vertical direction; a conveying device, the conveying device being disposed along the first direction on the lower frame and corresponding to each robot, the conveying device being used to convey locking pins to each robot; and multiple locking pin frames, multiple locking pin frames being disposed on the upper frame, at both ends of the conveying device along the first direction, and at positions corresponding to each robot, each locking pin frame being used to store locking pins. In one embodiment of the present invention, the lower frame includes: a base, which is disposed along a first direction; a plurality of first support columns, which are disposed vertically on the base; the upper frame is detachably connected to each of the first support columns; and a conveying device and each robot are disposed on the base. In one embodiment of the present invention, the upper frame includes: two side frames, which are symmetrically disposed at both ends of the upper frame along the first direction and are disposed vertically; two crossbeams, which are disposed along the first direction and positioned between the two side frames; the two ends of the two crossbeams along the first direction are respectively connected to the two side frames; and a plurality of second support columns are sequentially and spaced apart at the bottom of each crossbeam along the first direction; each second support column is disposed vertically; a first support column corresponds to a second support column; and each first support column is connected to its corresponding second support column via a pivot mechanism. The system comprises two side frames and two crossbeams forming a placement area for containers. The tops of each second support column are flush with the top of the container and provide support for the container within the placement area. Each robot is located below the placement area. In one embodiment of the invention, the second support columns on the two crossbeams correspond one-to-one. Corresponding second support columns on the two crossbeams are connected by longitudinal beams. Each longitudinal beam is positioned along a second direction, with its top flush with the top of the second support column. The second direction is perpendicular to the first direction, and thus perpendicular to the vertical direction. In one embodiment of the present invention, the upper frame further includes: two first placement platforms, which are disposed on the side of the two side frames away from the placement area, the first placement platforms being used to place multiple locking pin frames, a conveying device being located below the placement area and extending to the outside of the two side frames at both ends along a first direction, and the two side frames being respectively provided with a clearance area for the conveying device to pass through; and multiple second placement platforms, which are located below the placement area and between the two side frames, each second placement platform being used to place multiple locking pin frames, two adjacent robots corresponding to the same second placement platform, and each second placement platform being connected to multiple second support columns adjacent to it via a connecting frame. In one embodiment of the present invention, each side frame is provided with a guide block for guiding the container on the side near the placement area, and each crossbeam is provided with a guide ramp for guiding the container at its upper end on the side near the placement area; the base is provided with guide posts corresponding to each side frame, each guide post is arranged vertically, and the top of each guide post is provided with a guide ramp for guiding the side frame; the base is provided with guide cones corresponding to each side frame, each guide cone is arranged vertically, the bottom of each side frame is provided with guide holes that cooperate 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 crossbeam is provided with a clearance part corresponding to the corner of the container. In one embodiment of the present invention, the pivot mechanism includes: a mounting plate, which is provided at the lower end of the second support column, and has a mounting hole that penetrates vertically; a pivot pin, which is arranged vertically and passes through the mounting hole, the pivot pin is rotatably connected to the mounting hole, and a limiting member is provided on the pivot pin, the limiting member being used to axially fix the pivot pin to the mounting plate; A keyhole plate is mounted on a first support column and has a vertically penetrating keyhole located below and engaging with a pivot pin. A handle is mounted on the pivot pin and is used to drive the pivot pin to rotate. A stop assembly is mounted on a second support column and engages with the handle. When the pivot pin's head passes through the keyhole, the handle rotates the pivot pin to fix it in place with the keyhole, and the stop assembly then secures the handle. In one embodiment of the invention, the handle has an operating part extending vertically and having a connecting hole. The stop assembly includes: a bracket mounted on the second support column and having a retaining ring; and a stop member mounted on the bracket, which is inserted into the connecting hole to secure the handle and connected to the retaining ring via a chain. In one embodiment of the present invention, the top of each first support column is abutted against the bottom of its corresponding second support column. Each first support column is further provided with a first detector and a second detector at its upper end. The first detector is used to detect the rotational position of the handle, and the second detector is used to detect the abutment state of the corresponding first and second support columns. In another embodiment of the present invention, each first support column has a top plate at its top, and each second support column has a bottom plate at its bottom. Each top plate is abutted against its corresponding bottom plate, and each top plate is provided with a flexible pad. The above-described technical solution of the present invention has at least one of the following beneficial effects: The automatic disassembly and assembly system for a transfer platform of the present invention, by separately arranging multiple lock pin frames in the upper frame and detachably connecting the upper and lower frames, allows the robot to work continuously during lock pin removal until all lock pin frames for lock pin retrieval are filled with lock pins. Then, the connection between the upper and lower frames is released, and a crane lifts the entire upper frame to the ground. After removing all lock pins from the lock pin frames, the crane lifts the upper frame back onto the lower frame. During lock pin installation, the robot can work continuously until all lock pins in the lock pin frames containing installation lock pins are removed. Then, a crane lifts the upper frame to the ground, refills the lock pin frames containing installation lock pins, and the crane lifts the upper frame back onto the lower frame. The robot is then moved to the lower frame. Therefore, the robot only needs to stop once during the entire lock assembly and disassembly process, effectively improving the efficiency of container lock assembly and disassembly. Figure 1 is a structural schematic diagram of the automatic disassembly and assembly system for a transfer platform in some embodiments of the present invention; Figure 2 is a structural schematic diagram along direction AA in Figure 1; Figure 3 is another structural schematic diagram of the automatic disassembly and assembly system for a transfer platform in some embodiments of the present invention; Figure 4 is a structural schematic diagram of the lower frame of the automatic disassembly and assembly system for a transfer platform in some embodiments of the present invention; Figure 5 is a structural schematic diagram along direction B in Figure 1; Figure 6 is a structural schematic diagram of the upper frame of the automatic disassembly and assembly system for a transfer platform in some embodiments of the present invention; Figure 7 is a structural schematic diagram along direction CC in Figure 6; Figure 8 is a structural schematic diagram along direction DD in Figure 6; Figure 9 is a structural schematic diagram along direction EE in Figure 6; Figure 10 is a structural schematic diagram of the transfer pin mechanism in the automatic disassembly and assembly system for a transfer platform in some embodiments of the present invention; Figure 11 is a structural schematic diagram of the automatic disassembly and assembly system for a transfer platform installed on the transfer platform in some embodiments of the present invention; Figure 12 is an enlarged schematic diagram of a portion of the structure in Figure 11. Figure 13 is a schematic diagram of the structure of the automatic disassembly and assembly system for the transfer platform during disassembly in some embodiments of the invention. Figure 14 is a schematic diagram of the structure of the automatic disassembly and assembly system for the detachable locking pin used in the transfer platform in some embodiments of the present invention, showing the upper frame being lifted to the ground; Figure 15 is an enlarged schematic diagram of part of the structure in Figure 14; Figure 16 is a schematic diagram of the structure of the crane lifting device lifting the upper frame to the ground in some embodiments of the present invention. Reference numerals:

[0002] 100. Upper frame; 101. Container; 110. Side frame; 111. Guide block; 120. Crossbeam; 121. First support column; 122. Longitudinal beam; 123. Clearance section; 124. Clearance zone; 125. Lifting lug; 130. First placement platform; 140. Second placement platform;

[0003] 200. Lower frame; 210. Base; 211. Guide column; 212. Guide cone; 220. First support column; 221. Flexible pad;

[0004] 300. Robot; 400. Conveying device; 500. Locking pin frame;

[0005] 600. Turning pin mechanism; 610. Mounting plate; 620. Turning pin; 630. Locking hole plate; 640. Handle; 650. Stop assembly; 651. Bracket; 652. Stop component;

[0006] 700, First detector; 800, Second detector; 900, Transfer platform; 910, Lifting device. Detailed Description: To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by those skilled in the art are within the scope of protection of the present invention. The following is a detailed description, with reference to the accompanying drawings, of a detachable locking pin automatic disassembly and assembly system applied to a transfer platform according to an embodiment of the present invention. Figures 1 and 2 respectively show structural schematic diagrams of a detachable automatic locking pin assembly / disassembly system for a transit platform in some embodiments of the present invention and a structural schematic diagram along direction AA in Figure 1. As shown in Figures 1 and 2, the detachable automatic locking pin assembly / disassembly system for a transit platform of the present invention may include: an upper frame 100, a lower frame 200, multiple robots 300, a conveying device 400, and multiple locking pin frames 500. The upper frame 100 is used to place the container 101. The upper frame 100 is arranged along a first direction in the lower frame 200, and the upper frame 100 is provided with lifting lugs 125. The lower frame 200 is detachably connected to the upper frame 100 and is used to be mounted on the transit platform 900. Multiple robots 300 are sequentially and spaced apart on the lower frame 200 along a first direction, corresponding to the upper frame 100. Each robot 300 is used to remove or install locking pins on the container 101 placed on the upper frame 100. The first direction is perpendicular to the vertical direction. A 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 to convey locking pins to each robot 300. Multiple locking pin frames 500 are arranged on the upper frame 100. Locking pin frames 500 are distributed at both ends of the conveying device 400 along the first direction and at the corresponding positions of each robot 300. Each locking pin frame 500 is used to store locking pins. It should be noted that the first direction refers to the y-axis direction of the upper frame 100, the y-axis direction of the lower frame 200, and the y-axis direction of the conveying device 400. The width direction of the upper frame 100 is the second direction. Both the first and second directions are horizontal, the first direction is perpendicular to the second direction, and both the first and second directions are perpendicular to the vertical direction. In this embodiment of the invention, the lower frame 200 and the upper frame 100 are detachably connected, and multiple locking pin frames 500 are respectively arranged on the upper frame 100. During the locking pin removal operation, the robot 300 can work continuously until all the locking pin frames 500 used for locking pin recovery are full of locking pins. 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 by a crane. After all the locking pins in all the locking pin frames 500 used for locking pin recovery are removed, the crane then hoists the upper frame 100 back onto the lower frame 200.During the installation of the locking pins, the robot 300 can work continuously until all the locking pins stored in the locking pin frame 500 for installation have been removed. Then, the crane lifts the upper frame 100 to the ground, refills the locking pin frame 500 with locking pins, and then the crane lifts the upper frame 100 to the lower frame 200. When removing or replenishing lock pins from the lock pin frame 500, the robot 300 only needs to stop once, thus effectively improving the efficiency of lock pin removal and installation operations on container 101. Specifically, taking lock pin removal as an example, during lock pin removal operations, the upper frame 100, along with the lower frame 200, can be lifted and transported to the transfer platform by passing the lifting lug 125 on the upper frame 100 through the spreader 910. 900. Then, the spreader 910 of the quay crane can lift container 101 onto the upper frame 100. At this time, robot 300, in conjunction with the container type detection system and the locking pin positioning system, can accurately locate and remove the locking pins. Robot 300 will then send the removed locking pins into the locking pin frame 500. After several dismantling operations, once the locking pin frame 500 is full of dismantled locking pins, the connection between the upper frame 100 and the lower frame 200 can be manually disconnected. The upper frame 100 can then be lifted to the ground by the spreader, and the locking pins in the locking pin frame 500 can be removed or a new locking pin frame 500 can be directly replaced. Subsequently, the spreader can lift the upper frame 100 onto the lower frame 200, and the upper frame 100 and lower frame 200 can be manually closed and locked. The process for installing locking pins is the reverse of the above process and will not be described in detail here. Figures 3 and 4 respectively show another structural schematic diagram of the detachable locking pin automatic disassembly and assembly system for a transfer platform in some embodiments of the present invention, and a structural schematic diagram of the lower frame of the detachable locking pin automatic disassembly and assembly system. As shown in Figures 3 and 4, 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 vertically along the base 210. The upper frame 100 is detachably connected to each of the first support columns 220. The conveying device 400 and each robot 300 are arranged on the base 210. In this embodiment of the present invention, by arranging a plurality of first support columns 220 along a first direction and supporting the upper frame 100 through the first support columns 220, the load 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. Therefore, the stability of the upper frame 100 when carrying the container 101 can be effectively improved. Figures 5 and 6 respectively illustrate the structural schematic diagram of direction B in the configuration shown in Figure 1 and the structural schematic diagram of the upper frame of the automatic disassembly and assembly system for the transfer platform in some embodiments of the present invention. As shown in Figures 5 and 6, 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 the first direction, and the two side frames 110 are arranged along the vertical direction.Two crossbeams 120 are respectively arranged along a first direction and located between two side frames 110. The two ends of the two crossbeams 120 along the first direction are connected to the two side frames 110 respectively. Multiple first support columns 121 are sequentially and spaced apart at the bottom of each crossbeam 120 along the first direction. Each second support column 121 is arranged vertically. A one-to-one correspondence is formed between the first support column 220 and the second support column 121. Each first support column 220 is connected to its corresponding second support column 121 via a pivot pin 620 mechanism 600. The two side frames 110 and the two crossbeams 120 enclose a placement area for the container 101. The various second support columns 121... The top of each second support column 121 is flush with the ground and provides support for the container 101 in the placement area. Each robot 300 is located below the placement area. In this embodiment, the top of each second support column 121 has a support surface facing the placement area. That is, when the second support column 220 corresponds to the first support column 121, the support surface on the top of the second support column 121 can provide support for the container 101 in the placement area. Furthermore, the placement area formed by the two side frames 110 and the two crossbeams 120 can guide and limit the container 101, preventing it from shifting at high altitudes and effectively improving safety. Furthermore, depending on the specific circumstances, the placement area can also accommodate containers 101 of different sizes. For example, it can accommodate a single 20-foot container 101, a single 40-foot container 101, a single 45-foot container 101, or two 10-foot containers 101 side by side. As shown in Figures 3 and 5, the second support columns 121 on the two crossbeams 120 correspond one-to-one. The two corresponding second support columns 121 on the two crossbeams 120 are connected by longitudinal beams 122. Each longitudinal beam 122 is set along a 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 perpendicular to the vertical direction. That is to say, the longitudinal beam 122 between the two crossbeams 120 can also provide support for the container 13 in the placement area. The load of the container 101 can be transferred to the first support column 220 through the protrusions on the top of the longitudinal beam 122 and the first support column 121. This further improves the stability of the upper frame 100 when carrying the container 101. Figures 7 and 8 respectively show the structural schematic diagrams of the CC direction and the DD direction in the configuration shown in Figure 6. As shown in Figures 6-8, the upper frame 100 of the present invention may further include: two first placement platforms 130 and multiple second placement platforms 140. The two first placement platforms 130 are located on the side of the two side frames 110 away from the placement area. The first placement platforms 130 are used to place multiple locking pin frames 500. The conveying device 400 is located on the side of the placement area 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 a clearance area 124 for the conveying device 400 to pass through.Multiple second placement platforms 140 are located below the placement area and between two side frames 110. Each first placement platform 140 is equipped with multiple locking 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 via a connecting frame. In this embodiment of the invention, multiple locking pin frames 500 are detachably installed on their respective first placement platforms 130 and 140±. The locking pin frames 500 on the first placement platform 130 are used to hold the locking pins for installation. The locking pins can be manually removed from the locking pin frames 500 on the first placement platform 130 and placed on the conveying device 400 to replenish the locking pins for the robot 300. The operator's working area is at both ends of the upper frame 100, outside the range where the container falls, thus ensuring the safety of the operator. The locking pin frames 500 on the second placement platform 140 are used to retrieve the locking pins disassembled by the robot 300. By setting up the first placement platform 130 and the first placement platform 140 respectively, and detachably installing the locking pin frames 500 on the first placement platform 130 and the second placement platform 140±, the placement stability of the locking pin frames 500 can be improved. On the other hand, when the upper frame 100 is hoisted to the ground to replace the tilting pin frame 500, the replacement efficiency of the tilting pin frame 500 can be effectively improved. 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 to say, the vertical load of the upper frame 100 and the container 101 will only be transmitted through the second support column 121 and the first support column 220. Thus, the load can be avoided from affecting the side frame 110, causing deformation of the side frame 110 or the clearance section 124 on the side frame 110, thereby avoiding any impact on the conveying device 400 conveying the tilting pin through the clearance section 124. As shown in Figure 4, the base 210 is provided with guide posts 211 corresponding to each side frame 110. Each guide post 211 is arranged vertically, and the top of each guide post 211 is provided with a guide slope for guiding the upper frame 100. In this embodiment of the invention, when the upper frame 100 is hoisted to the upper part of the lower frame 200, the guide posts 211 with guide slopes can provide initial guidance for the upper frame 100, allowing the upper frame 100 to be inserted into the lower frame 200 via the guide slopes, thereby effectively improving the positioning accuracy of the upper frame 100. As shown in Figure 4, the base 210 is provided with guide cones 212 corresponding to each side frame 110. Each guide cone 212 is arranged vertically, and the bottom of each side frame 110 is provided with guide holes that cooperate with the guide cones 212.In this embodiment of the invention, after the guide post 211 provides initial guidance to the upper frame 100, the guide cone 212 can be inserted into the guide hole on the side frame 110 to provide secondary guidance to the upper frame 100. This further improves the positioning accuracy of the upper frame 100. As shown in Figures 3 and 4, each first support column 220 has a top plate at its top and each second support column 121 has a bottom plate at its bottom. Each top plate is designed to fit against its corresponding bottom plate, and each top plate is equipped with a flexible pad 221. Therefore, by providing the flexible pad 221, the impact force on the first support columns 220 and second support columns 121 can be effectively reduced when the upper frame 100 is hoisted onto the lower frame 200, thus improving the service life of the device. As shown in Figure 5, each side frame 110 has a guide block 111 for guiding the container 101 on its side near the placement area, and each crossbeam 120 has a guide ramp for guiding the container 101 on its upper end near the placement area. In other words, the guide block 111 and the guide ramp on the crossbeam 120 can guide and limit the container 101 hoisted by the quay crane spreader 910 entering the placement area. This effectively improves the placement accuracy of the container 101. Figure 9 shows a structural schematic diagram of the EE direction in the configuration shown in Figure 6. As shown in Figure 9, each crossbeam 120 has a clearance portion 123 at its lower end corresponding to the corner of the container 101. Specifically, the clearance portion 123 at the lower end of each crossbeam 120 is formed as a chamfer that bends outward from the placement area. This prevents the bottom of the container 101 from hooking onto the upper frame 100, thus avoiding damage to the container 101 or the upper frame 100. Figure 10 shows a structural schematic diagram of the transfer pin mechanism in a separate locking pin automatic disassembly and assembly system for a transfer platform in some embodiments of the present invention. As shown in Figure 10, the transfer pin 620 mechanism 600 in the embodiments of the present invention may include: a mounting plate 610, a transfer pin 620, a locking hole plate 630, a handle 640, and a stop assembly 650. The mounting plate 610 is located at the lower end of the second support column 121, and the mounting plate 610 has a mounting hole that penetrates vertically. A pivot pin 620 is vertically positioned and passes through a mounting hole, rotatably connecting to the mounting hole. A limiting element is provided above the pivot pin 620 to axially fix the pivot pin 620 to the mounting plate 610. A locking plate 630 is mounted on the first support post 220, and has a vertically penetrating locking hole located below the pivot pin 620 for engagement with it. A handle 640 is mounted on the pivot pin 620 and drives the pivot pin 620 to rotate. A stop assembly 650 is mounted on the second support post 121 and engages with the handle 640.In this embodiment of the invention, after the upper frame 100 is hoisted onto the lower frame 200, the pin head of the pivot pin 620 passes through the lock hole. The pivot pin 620 is then rotated using the handle 640 to lock its head into the lock hole on the lock hole plate 630. The handle 640 is then fixed by the stop assembly 650 to prevent rotation. This allows for quick locking of the upper frame 100 or unlocking of the upper frame 100 from the lower frame 200, effectively improving operational efficiency. As shown in Figure 10, the handle 640 has an operating part that extends vertically and has a connecting hole. The stop assembly 650 includes a bracket 651 and a stop member 652. The bracket 651 is mounted on the first support column 121 and has a fixing ring and a through hole corresponding to the connecting hole. The stop member 652 is mounted on the bracket 651 and connected to the fixing ring via a chain. The stop member 652 is used to be inserted into both the through hole and the connecting hole to fix the handle 640. Therefore, by inserting the stop member 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, preventing rotation. This improves the locking strength of the upper frame 100 and the lower frame 200. As shown in Figure 10, the top of each first support column 220 is abutted against the bottom of its corresponding second support column 121. Each first support column 220 is also equipped with a first detector 700 and a second detector 800 at its upper end. The first detector 700 detects the rotational position of the handle 640, and the second detector 800 detects the abutment state of the corresponding first support column 220 and second support column 121. In this embodiment, the first detector 700 and the second detector 800 can be photoelectric sensors. 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, causing the end of the operating part to shift to be coaxial with the transmitting end of the first detector 700, the first detector 700 can emit a locking signal. The locking signal indicates that the handle 640 has rotated to the locked position, and the upper frame 100 and lower frame 200 have been locked in place. This prevents the robot 300 from starting work before the upper frame 100 and lower frame 200 are locked, or from lifting the upper frame 100 before the lifting device 910 is unlocked between the upper frame 100 and lower frame 200, effectively improving operational safety. The second detector 800 can detect the distance between its own transmitter and the crossbeam 120 in real time. When this distance is equal to the preset distance, the second detector 800 can send a positioning signal. The preset distance refers to the distance between the transmitter of the second detector 800 and the crossbeam 120 when the first support column 220 and the second support column 121 are in a fitted state. The positioning signal indicates that the first support column 220 and the second support column 121 are in a fitted state. Thus, the upper frame 100 and lower frame 200 can be fully aligned.The following describes the workflow of the automatic disassembly and assembly system for the detachable locking pins in the transfer platform according to specific embodiments of the present invention. Figures 11 and 12 respectively show schematic diagrams of the detachable automatic disassembly and assembly system for the transfer platform installed on the transfer platform in some embodiments of the present invention, and enlarged schematic diagrams of part of the structure in Figure 11. (See Figures 11 and 12.) As shown, during the removal of the locking pins, the upper frame 100, along with the lower frame 200, can be lifted onto the transfer platform 900 by the spreader 910 passing through the lifting lugs 125 on the upper frame 100, and the power supply to the robot 300 on the lower frame 200 can be connected. Figure 13 shows a schematic diagram of the structure of the automatic locking pin removal system for the transfer platform in some embodiments of the present invention during the removal process. As shown in Figure 13, the spreader 910 of the quay crane can lift the container from the container ship onto the lower frame 100. The container type detection system can detect the container type and position, and the locking pin positioning system can accurately locate the locking pin of the container. Then, the robot 300 can accurately locate and remove the locking pin on the container based on the information provided by the container type detection system and the locking pin positioning system. After the robot completes the removal operation, the locking pin positioning system will confirm the removal status. After confirming that the locking pin has been successfully removed, the auxiliary trolley will move the container away from the upper frame. Figures 14-16 respectively illustrate the structural schematic diagram of the upper frame being hoisted to the ground in the automatic dismantling and assembly system for a transfer platform in some embodiments of the present invention, a partially enlarged structural schematic diagram in Figure 14, and a structural schematic diagram of the upper frame being hoisted to the ground by a crane in some embodiments of the present invention. As shown in Figures 14-16, after several unloading and unlocking cycles, the locking pin frame 500 is filled with dismantled locking pins. At this time, the connection between the upper frame 100 and the lower frame 200 can be manually released. The upper frame 100 is then hoisted to the ground by the lifting device 910 to replace the new locking pin frame 500. Then, the lifting device 910 hoists the upper frame carrying the empty locking pin frame 500 onto the lower frame 200, and the upper frame 100 and the lower frame 200 are manually closed and locked. Unless otherwise defined, the technical or scientific terms used in this invention should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms "a" or "one," etc., do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "connected" or "linked," etc., are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up," "down," "left," "right," etc., are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship also changes accordingly.The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

Claims 1. A separate locking pin automatic disassembly and assembly system using a transfer platform, characterized in that, include: The system comprises: an upper frame for placing containers; a lower frame, the upper frame mounted on the lower frame along a first direction, the lower frame being detachably connected to the upper frame and used for mounting on a transfer platform; multiple robots, the robots being sequentially and spaced apart along the first direction on the lower frame and corresponding to the upper frame, each robot using a lever to unlock or lock containers placed on the upper frame, the first direction being perpendicular to the vertical direction; a conveying device, the conveying device being mounted on the lower frame along the first direction and corresponding to each robot, the conveying device being used to convey locking pins to each robot; and multiple locking pin frames, the locking pin frames being mounted on the lower frame, the locking pin frames being distributed at both ends of the conveying device along the first direction and at positions corresponding to each robot, each locking pin frame being used to store locking pins.

2. The automatic disassembly and assembly system for a transfer platform according to claim 1, characterized in that, The lower frame includes: a base, which is arranged along the first direction; a plurality of first support columns, which are arranged vertically 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.

3. The automatic disassembly and assembly system for a transfer platform according to claim 2, characterized in that, The upper frame includes: two side frames, which are symmetrically arranged at both ends of the upper frame along the first direction and are arranged along the vertical direction; Two crossbeams are respectively arranged along the first direction and located between 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 sequentially and spaced apart along the first direction with a plurality of second support columns. Each second support column is arranged vertically. The first support column and the second support column correspond one-to-one. Each first support column and its corresponding second support column are connected by a pivot pin mechanism. The two side frames and the two crossbeams form a placement area for placing containers. The tops of each second support column are flush and used to support the containers in the placement area. Each robot is located to the left of the placement area.

4. The automatic disassembly and assembly system for a transfer platform according to claim 3, characterized in that, The second support columns on the two crossbeams correspond one-to-one. The two corresponding second support columns on the two crossbeams are connected by longitudinal beams. Each longitudinal beam is arranged along a second direction. 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 is perpendicular to the vertical direction.

5. The automatic disassembly and assembly system for a transfer platform according to claim 3, characterized in that, The upper frame further includes: two first placement platforms, each disposed on the side of the two side frames away from the placement area, each first placement platform for placing multiple locking pin frames; the conveying device is located below the placement area, extending from both ends of the device along the first direction to the outside of the two side frames; each of the two side frames has a clearance area for the conveying device to pass through; and multiple second placement platforms, each second placement platform located below the placement area and between the two side frames, each second placement platform for placing multiple locking pin frames; two adjacent robots correspond to the same first placement platform; and each first placement platform is connected to multiple first support columns adjacent to it via a connecting frame.

6. The automatic disassembly and assembly system for a transfer platform according to claim 3, characterized in that, Each of the side frames is provided with a guide block for guiding the container on the side closest to the placement area, and each of the crossbeams is provided with a guide ramp for guiding the container at the upper end of the side closest to the placement area. The base is provided with guide posts corresponding to each of the side frames. Each guide post is arranged vertically, and the top of each guide post 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 guide cone is arranged vertically, and the bottom of each side frame is provided with guide holes that cooperate with the guide cones. The bottom of the side frame is higher than the upper surface of the base. The lower end of each crossbeam is provided with a clearance part corresponding to the corner of the container.

7. The automatic disassembly and assembly system for a transfer platform according to claim 4, characterized in that, The pivot mechanism includes: a mounting plate disposed at the lower end of the second support column, the mounting plate having a vertically penetrating mounting hole; a pivot pin disposed vertically and passing through the mounting hole, the pivot pin being rotatably connected to the mounting hole, the pivot pin having a limiting member for axially fixing the pivot pin to the mounting plate; a locking hole plate disposed on the first support column, the locking hole plate having a vertically penetrating locking hole located below the pivot pin and used to engage with the pivot pin; a handle disposed on the pivot pin for driving the pivot pin to rotate; and a stop assembly disposed on the second support column for engaging with the handle; wherein, when the pin head of the pivot pin passes through the locking hole, the pivot pin is rotated by the handle to lock the pivot pin to the locking hole, and then the handle is fixed by the stop assembly.

8. The automatic disassembly and assembly system for a transfer platform according to claim 7, characterized in that, The handle has an operating part that extends vertically and has a connecting hole. The stop assembly includes: a bracket mounted on the second support column and having a fixing ring on it; and a stop member disposed on the bracket. The stop member is inserted into the connecting hole to fix the handle and is connected to the fixing ring via a chain. 16 9. The automatic disassembly and assembly system for a transfer platform according to claim 7, characterized in that, The top of each first support column is attached to the bottom of its corresponding first support column. Each first support column is also provided with a first detector and a second detector at its upper end. The first detector is used to detect the rotation position of the handle, and the second detector is used to detect the attachment state of the corresponding first support column and the second support column.

10. The automatic disassembly and assembly system for a transfer platform according to claim 7, characterized in that... Each of the first support columns is provided with a top plate at its top, and each of the second support columns is provided with a bottom plate at its bottom. Each top plate is used to fit against its corresponding bottom plate, and each top plate is provided with a flexible pad. 17

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