CN112722611A

CN112722611A - Container cover lifting machine and operation method thereof

Info

Publication number: CN112722611A
Application number: CN202011644675.1A
Authority: CN
Inventors: 于建; 刘义; 罗龙聪
Original assignee: Sichuan East Spring Machinery Equipment Manufacturing Co ltd
Current assignee: Sichuan East Spring Machinery Equipment Manufacturing Co ltd
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2021-04-30

Abstract

The invention discloses a container cover lifting machine and an operation method thereof, and relates to the technical field of mechanical manufacturing, wherein the container cover lifting machine comprises two carrying trolleys, a lifting mechanism is arranged on each of the two carrying trolleys, each lifting mechanism comprises a lifting platform and a lifting driving mechanism for driving the lifting platform to move up and down, a material taking and placing paw is arranged on each lifting platform, each material taking and placing paw comprises a material taking and placing plate fixedly connected with the lifting platform, and lifting rods corresponding to clamping hooks on the upper edge and the lower edge of a container cover are respectively arranged on the upper side and the lower side of the tail end of each material taking and placing plate; the carrying trolley comprises a frame, four transport wheels are arranged at four corners of the bottom of the frame, each carrying trolley is provided with a magnetic stripe navigation module, each magnetic stripe navigation module comprises a magnetic sensor group and a magnetic stripe paved at the bottom of the carrying trolley, and the magnetic sensor group, the first driving motor, the second driving motor and the lifting driving mechanism are all uniformly controlled by a control processor; the invention can flexibly and efficiently realize the cover lifting and the carrying of the container cover.

Description

Container cover lifting machine and operation method thereof

Technical Field

The invention relates to the technical field of mechanical manufacturing, in particular to a container cover lifting machine and an operation method thereof.

Background

Container, english name container. The container is a large container with certain strength, rigidity and specification and specially used for turnover. The goods can be directly loaded in the warehouse of a shipper and unloaded in the warehouse of a consignee by using the container for transferring the goods, when vehicles and ships are changed in midway, the goods do not need to be taken out from the container for changing, and the standardization of the products and the whole set of transportation system established by the standardization enable the goods to be applied to the logistics system matched with ships, ports, airlines, roads, transfer stations, bridges, tunnels and multi-mode intermodal transportation in the global range. When unloading and loading, the container cover sleeved on the container needs to be removed.

In traditional operation, need artifically open the container lid with the help of other appurtenance, because container volume and weight are all big partially, it is big to adopt the manual work to lift and cover intensity of labour, and lifts and cover the difficult inefficiency of operation, is difficult to satisfy present increasingly quick, intelligent, nimble production transportation system requirement.

In addition, because the volume and the weight of the container are both larger, if the box cover falls off due to improper operation in the process of lifting the cover of the container, serious property loss can be caused, and personal injury can be caused to operators on site; moreover, the containers are not easy to frequently move on site, and the operation stations of the containers cannot be unified, so that the efficient and safe cover lifting of a plurality of containers in an operation site without manual work is particularly important.

Disclosure of Invention

The invention aims to: the invention provides a container cover lifting machine and an operation method thereof, and the container cover lifting machine can flexibly and efficiently realize the cover lifting and the carrying of a container cover.

The invention specifically adopts the following technical scheme for realizing the purpose: a container cover lifting machine comprises two carrying trolleys, wherein each of the two carrying trolleys is provided with a lifting mechanism, each lifting mechanism comprises a lifting platform and a lifting driving mechanism for driving the lifting platform to move up and down, each lifting driving mechanism comprises a lifting support, a chain wheel and a chain assembly are vertically erected on each lifting support, each chain wheel is connected with a rotary driving mechanism, each chain is connected with a connecting plate, each connecting plate is fixedly connected with the corresponding lifting platform, each lifting platform is provided with a material taking and placing paw, each material taking and placing paw comprises a material taking and placing plate fixedly connected with the corresponding lifting platform, and the upper side and the lower side of the tail end of each material taking and placing plate are respectively provided with a lifting rod corresponding to a clamping hook at the upper edge and the lower edge of a container; the carrying trolley comprises a frame, four connecting columns are arranged at four corners of the bottom of the frame, a transport wheel is rotatably arranged on each connecting column, at least two transport wheels positioned on the same side of the frame are connected with a first drive motor for driving the transport wheels to rotate in a vertical plane, the four transport wheels are connected with a second drive motor for driving the transport wheels to rotate in a horizontal plane, and the second drive motor drives the connecting column where the transport wheels are positioned to rotate in the horizontal plane; each carrying trolley is provided with a magnetic stripe navigation module, each magnetic stripe navigation module comprises a magnetic sensor group and a magnetic stripe paved at the bottom of the carrying trolley, and the magnetic sensor group, the first driving motor, the second driving motor and the lifting driving mechanism are uniformly controlled by a control processor.

Preferably, an anti-falling device is arranged between the lifting platform and the movable lifting driving mechanism, the anti-falling device comprises a pawl which is rotatably connected with the lifting platform, the bottom end of the connecting plate is fixedly connected with the tail end of the transmission chain, the upper end of the connecting plate is connected with a compression spring, the upper end of the compression spring is connected with a connecting column, and the connecting column is connected with the head end of the transmission chain; the lifting support is provided with a rack capable of accommodating the pawl to be clamped in, the pawl is hinged with a connecting rod capable of driving the pawl to rotate and clamping the rack, and the other end of the connecting rod is hinged with the connecting column.

Preferably, connecting plate fixedly connected with guide bar, it is connected with the leading wheel to rotate on the guide bar, the leading wheel and lifting support roll connection, the last fixedly connected with balancing weight that lies in the link chain of connecting plate offside of lifting support, the last gliding spout from top to bottom including holding the balancing weight that is equipped with of lifting support.

Preferably, be equipped with self-balancing mechanism on the carrying trolley, self-balancing mechanism is including rotating the balancing pole that sets up on the frame, and two free ends of balancing pole are isometric and all rotate and be connected with a guide pin bushing, and two are said and all wear to be equipped with one diameter that can be on the frame vertical elevating movement from last guide arm to increasing progressively down, two in the cover all fixed cover is equipped with a stop collar on the guide arm, and the top of two stop collars is connected with the bottom ball of the guide pin bushing on its place guide arm respectively, and the bottom surface that the lower extreme of two guide arms stretched out the frame is respectively with the spliced pole fixed connection of a travelling wheel, and the top surface that the frame was all stretched out to the upper end of two guide arms is connected.

An operation method of a container cover lifting machine is provided, the container cover lifting machine is adopted, and the step of container cover lifting comprises the following steps:

(1) the control processor drives the two carrying trolleys to move to the cover lifting station, the two carrying trolleys are symmetrically positioned at two ends of the container, and the two material taking and placing claws are opposite;

(2) the lifting driving mechanism drives the two material taking and placing claws to descend to the lower end;

(3) the two carrying trolleys move linearly in opposite directions for a certain distance, so that the lifting rods on the upper side and the lower side of the two driving claws are correspondingly positioned below the openings of the clamping hooks at the upper end and the lower end of the edge of the container cover;

(4) the control processor controls the lifting mechanisms of the two carrying trolleys to lift the container cover to a preset height;

(5) the control processor controls the two carrying trolleys to synchronously move to the cover placing station under the guidance of the magnetic strips;

(6) the lifting driving mechanism drives the two material taking and placing claws to descend to the bottom end, so that the lower edge of the container cover contacts the material placing plane;

(7) the control processor drives the two carrying trolleys to retreat for a preset distance under the guidance of the magnetic strips, so that the material taking and placing paw leaves a clamping hook on the side of the container cover to complete one container cover lifting operation.

Furthermore, when the control processor drives the two carrying trolleys to move, the magnetic sensor group detects and calculates magnetic strip position signals and sends the magnetic strip position signals to the control processor, and the control processor receives the magnetic strip position signals and controls the first driving motor and the second driving motor to operate so as to enable the two carrying trolleys to move.

Further, when the control processor controls the lifting mechanisms of the two carrying trolleys to lift the container cover to a preset height, the method comprises the following steps:

(1) synchronously starting the two rotary driving motors to rotate in the same direction, driving chain wheels of the two lifting mechanisms to rotate in the same direction at a constant speed, driving the connecting plate to vertically and linearly move upwards on the lifting bracket, and enabling the two material taking and placing claws to synchronously move upwards;

(2) lifting rods of the two material taking and placing claws are clamped into corresponding clamping hooks along with the rising of the connecting plate to lift the container;

(3) and after the preset height is reached, the rotary driving motor is controlled to stop rotating and lock, the chain wheel stops rotating, and the container cover is lifted to the preset height.

Further, the step of controlling the movement of the carrying trolley by the control processor comprises the following steps:

(1) when the carrying trolley needs to be controlled to walk linearly, the control processor starts a second driving motor, the second driving motor drives the connecting column to rotate, the four transport wheels are enabled to keep consistent with the walking direction, and then the first driving motor is started to drive the transport wheels to rotate to realize the linear walking of the carrying trolley;

(2) when the carrying trolley is controlled to turn, the second driving motor is controlled through the control processor, the four transport wheels are rotated to the target turning angle, the transport wheels are driven to rotate through the first driving motor, and the carrying trolley is controlled to walk.

Further, the travelling wheel department of carrying trolley is equipped with the steering sensor, and steering sensor electric connection to control processor, the step that control processor control carrying trolley turned to includes:

(1) the control processor receives external steering and speed signals and converts the external steering and speed signals into corner signals and rotating speed signals of each transport wheel;

(2) the control processor sends the rotating speed signals to each first driving motor through the motor driver to control the rotating speed;

(3) and the control processor sends the rotation angle signals to each second driving motor through the motor driver to perform rotation angle control.

The invention has the following beneficial effects:

1. according to the container cover lifting machine, the two lifting carrying trolleys act on two opposite sides of the same container cover in opposite directions, the container cover is lifted up from a container by the lifting mechanism, and the container cover is transferred to other places by the carrying trolleys in cooperation, so that the traditional manual labor-saving and efficient container cover lifting carrying operation is replaced, the automation degree of the whole structure is high, the labor is saved efficiently, and the potential safety hazard is reduced; the container cover lifting machine is convenient to flexibly move in an operation field so as to meet the container operation requirements of different positions, and has strong flexibility and applicability; and every carrying trolley all is furnished with the magnetic stripe navigation module, and in actual operation, the container lifts the lid machine and can carry out systematization, multiplex station collaborative work in planning the operation place of magnetism guide in advance, realizes remote control, further uses manpower sparingly, reduces the manual interference degree and controls the degree of difficulty when improving degree of automation, and effectively guarantees that the manual work keeps away from the operation place, ensures manual operation safety.

2. The container cover lifting machine is designed according to the carrying clamping hook structure of the container cover, has a simple structure, strong rigidity and low cost, has a simple butt joint action requirement with the container cover, and has stable and reliable acting force acting on the container cover in the carrying process.

3. The container cover lifting machine is divided into two independent movable individuals, the restriction of a field and space is small during movement scheduling, and compared with large-scale equipment with a fixed structure, the container cover lifting machine realizes a large-scale carrying function through cooperative operation of two flexible monomer structures, does not need to be installed and fixed, can realize multi-station operation, and has strong universality and practicability; when the two lifting carrying trolleys carry out the lifting of the container, the planning path can be controlled to travel uniformly through the controller and the magnetic guidance, so that the large carrying operation of lifting the container is completed; the independent lifting carrying trolley can independently control to freely walk, so that the trolley body is convenient to transfer and allocate on site; and the material taking and placing paw is changed, so that the material taking and placing paw can be flexibly moved for other purposes, and the universality is strong.

4. The anti-falling device is arranged on the lifting mechanism, so that the container falling damage and the personal safety damage caused by the breakage of the driving belt of the lifting mechanism are avoided; the safety and stability of the whole container transporter are effectively ensured;

5. the self-balancing mechanism is arranged, two free ends of the balancing rod are equal in length and are sleeved on the guide rods connected with the two transport wheels, the two guide rods are fixedly sleeved with the limiting sleeves, the top ends of the two limiting sleeves are respectively connected with bottom balls of the guide sleeves on the guide rods where the two limiting sleeves are located, when a road surface is uneven, the heights of the two wheels on two sides of the balancing rod are automatically adjusted according to the road surface condition, and when one transport wheel is raised or lowered, the balancing rod is driven to rotate, so that the transport wheel on the other side is driven to reversely adjust and is combined with the other two transport wheels with fixed extension lengths, a vehicle body is kept in three-point balance, the structure is simple.

Drawings

FIG. 1 is a schematic structural diagram of a container lid lifting machine according to the present invention;

FIG. 2 is a schematic perspective view of FIG. 1;

FIG. 3 is a partial enlarged view of portion B of FIG. 1;

FIG. 4 is a schematic structural view of the lift truck of the present invention;

FIG. 5 is an enlarged partial pawl mounting view of section A of FIG. 4;

FIG. 6 is a schematic view of the overall construction of the fall arrest device of FIG. 5;

FIG. 7 is a schematic view of the structure of the carrying cart of the present invention;

fig. 8 is a schematic diagram of a self-balancing mechanism of the carrying trolley.

Description of the drawings: the device comprises a frame 1, a connecting column 2, a transport wheel 3, a guide rod 4, a limiting sleeve 5, a guide sleeve 6, a return spring 7, a balancing rod 8, a second driving motor 9, a first driving motor 10, a lifting support 11, a chain 12, a guide wheel 13, a connecting plate 14, a pawl 15, a lifting table 16, a connecting rod 17, a rack 18, an installation cavity 19, a compression spring 20, a counterweight 21, a guide rod 22, a container cover 23, a lifting rod 24, a clamping hook 25 and a taking and placing plate 26.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "upper", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally arranged when products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be constructed in specific orientations, and operated, and thus, cannot be construed as limiting the present invention.

Example 1

As shown in fig. 1 to 8, a container lid lifting machine comprises two carrying trolleys, each of the two carrying trolleys is provided with a lifting mechanism, the lifting mechanism comprises a lifting platform 16 and a lifting driving mechanism for driving the lifting platform 16 to move up and down, the lifting driving mechanism comprises a lifting support 11, a chain wheel and a chain 12 assembly are vertically erected on the lifting support 11, the chain wheel is connected with a rotary driving mechanism, the chain 12 is connected with a connecting plate 14, the connecting plate 14 is fixedly connected with the lifting platform 16, the lifting platform 16 is provided with a material taking and placing paw, the material taking and placing paw comprises a material taking and placing plate 26 fixedly connected with the lifting platform 16, and the upper side and the lower side of the tail end of the material taking and placing plate 26 are respectively provided with a lifting rod 24 corresponding to a clamping hook 25 on the upper edge and the lower edge of a container lid 23; the carrying trolley comprises a trolley frame 1, four connecting columns 2 are arranged at four corners of the bottom of the trolley frame 1, a transport wheel 3 is rotatably arranged on each connecting column 2, at least two transport wheels 3 positioned on the same side of the trolley frame 1 are connected with a first drive motor 10 for driving the transport wheels 3 to rotate in a vertical plane, the four transport wheels 3 are all connected with a second drive motor 9 for driving the transport wheels 3 to rotate in a horizontal plane, and the second drive motor 9 drives the connecting column 2 where the transport wheels 3 are positioned to rotate in the horizontal plane; each carrying trolley is provided with a magnetic stripe navigation module, each magnetic stripe navigation module comprises a magnetic sensor group and a magnetic stripe paved at the bottom of the carrying trolley, and the magnetic sensor group, the first driving motor 10, the second driving motor 9 and the lifting driving mechanism are all controlled by a control processor in a unified mode.

An anti-falling device is arranged between the lifting platform 16 and the mobile lifting driving mechanism, the anti-falling device comprises a pawl 15 which is rotatably connected with the lifting platform 16, the bottom end of the connecting plate 14 is fixedly connected with the tail end of the transmission chain 12, the upper end of the connecting plate 14 is connected with a compression spring 20, the upper end of the compression spring 20 is connected with a connecting column 2, and the connecting column 2 is connected with the head end of the transmission chain 12; the lifting support 11 is provided with a rack 18 capable of accommodating the pawl 15, the pawl 15 is hinged with a connecting rod 17 capable of driving the pawl 15 to rotate and clamping the rack 18, and the other end of the connecting rod 17 is hinged with the connecting column 2.

Wherein, connecting plate 14 fixedly connected with guide bar 22, it is connected with leading wheel 13 to rotate on the guide bar 22, leading

wheel

13 and 11 roll connection of lifting support, fixedly connected with balancing weight 21 on the 14 offside chains 12 of connecting plate on the lifting support 11, be equipped with on the lifting support 11 and hold gliding spout from top to bottom including balancing weight 21.

Wherein, be equipped with self-balancing mechanism on the carrying trolley, self-balancing mechanism is including rotating balancing pole 8 that sets up on frame 1, and two isometric and all rotation of two free ends of balancing pole 8 are connected with a guide pin bushing 6, and two are said and all wear to be equipped with one diameter that can go up vertical elevating movement on frame 1 from last guide arm 4 that increases progressively down, two all the fixed cover is equipped with a stop collar 5 on the guide arm 4, and the top of two stop collars 5 is connected with the bottom ball of guide pin bushing 6 on its place guide arm 4 respectively, and the bottom surface that the frame 1 was stretched out to the lower extreme of two guide arms 4 is respectively with a spliced pole 2 fixed connection of haulage wheel 3, and the top surface that the frame 1 was all stretched out to the upper end of two guide arms 4 is connected with the stop gear.

In this embodiment, the frame 1 is of a [ "type, four transport wheels 3 are rotatably arranged at the bottoms of two top corners and two free ends of the frame 1 through four connecting posts 2, a self-balancing mechanism is arranged between the two transport wheels 3 corresponding to one side of the frame 1, a concave cavity is formed in the side of the frame 1, the length center of the balancing rod 8 is rotatably connected to the center of the concave cavity, the upper surface of the balancing rod 8 is in an arc shape with an upward protrusion in the middle, it is ensured that the balancing rod 8 can swing up and down within a certain range in the concave cavity, the diameter of the guide rod 4 is increased from top to bottom, so that the guide sleeve 6 has an inclined space within a certain range on the guide rod 4, and meanwhile, the lower end of the guide sleeve 6 is in ball connection with the limiting sleeve 5, so that the central point of the guide sleeve 6 is prevented from being deviated along. The upper ends of the two guide rods 4 extend out of the upper surface of the frame 1 from the concave cavity, the tail ends of the two guide rods are fixedly provided with limiting pieces with diameters larger than the upper opening of the concave cavity, the guide rods 4 are prevented from sliding out, and the lower ends of the guide rods 4 extend out of the bottom surface of the frame 1 from the concave cavity and are fixedly connected with the connecting columns 2.

In this embodiment, four second driving motors 9 are installed on the upper surface of the frame 1, the upper ends of the connecting columns 2 corresponding to the two transport wheels 3 without the self-balancing mechanism are fixedly connected with driving shafts rotating relative to the frame 1, the two second driving motors 9 respectively drive the driving shafts to rotate, the other two second driving motors 9 respectively drive the guide rod 4 to rotate, specifically, the upper end rod of the guide rod 4 is provided with a spline and is provided with a driving sleeve, the guide rod 4 moves up and down in the driving sleeve, the second driving motors 9 drive the driving sleeve to rotate, and therefore the guide rod 4 is driven to rotate.

As a preferred embodiment of the present embodiment, the rod bodies of the two guide rods 4 between the guide sleeve 6 and the top surface of the frame 1 are sleeved with return springs 7 to assist the inclined balancing rods 8 to quickly balance and return after the acting force disappears.

The carrying trolley is convenient for realizing straight line walking and turning control under the driving of the first driving motor 10 and the second driving motor 9, when the carrying trolley runs, the heights of two wheels on two sides of the balancing rod 8 are automatically adjusted according to the road condition, one transport wheel 3 drives the balancing rod 8 to swing up and down when being raised or lowered, so that the transport wheel 3 on the other side is driven to reversely adjust, the two transport wheels 3 with the self-balancing mechanism are combined with the transport wheels 3 of other two conventional installations, the trolley body can keep three-point balance in the running process, and the trolley body is effectively prevented from inclining or turning on one side.

A vertically arranged sliding rod is fixedly connected between the upper end and the lower end of the lifting support 11, the wheel surface of the guide wheel 13 is I-shaped and clamped on the rod body of the sliding rod and rolls up and down on the sliding rod along with the connecting plate 14, and a balancing weight 21 is arranged to balance the lifting platform 16 on the lifting support 11 and improve the lifting stability of the lifting platform 16; the guide wheels 13 play a further limiting and guiding role in the position and the movement direction of the lifting platform 16 relative to the lifting support 11, and the stability of the lifting platform 16 in the whole lifting operation on the lifting support 11 is effectively improved.

Compared with the mode that the connecting rod 17 is hinged to other positions on the pawl 15, the mode effectively ensures that when the connecting rod 17 is subjected to downward acting force, enough pulling force is generated on the pawl 15 to enable the pawl to rotate for enough angles, and the phenomenon that the connecting rod 17 and the pawl 15 are abnormally interlocked to cause anti-falling failure can be avoided. The connecting rod 17 is positioned right below the rotating shaft axis of the pawl 15 relative to the lifting platform 16 relative to the rotating shaft axis of the connecting column 2 and is vertical and horizontal, so that the acting force direction of the connecting rod 17 and the rotating shaft axis of the pawl 15 are positioned on the same vertical line, and the stable pulling force is ensured.

In this embodiment, the connecting rod 17 is hinged right to the rotating axial lead of the pawl 15, the tip of the pawl 15 faces downward and the acting end faces the rack 18 leftwards, the rod body of the connecting rod 17 is arc-shaped, the lower end of the connecting rod 17 and the hinged axial lead of the connecting column 2 are located right below the rotating axial lead of the pawl 15, when the chain 12 is broken, the connecting column 2 moves downwards to drive the upper end of the connecting rod 17 to generate pulling force on the pawl 15, the pawl 15 rotates clockwise to be clamped into the rack 18, and the connecting plate 14 and the lifting platform 16 are prevented from falling.

Wherein, the upper end of connecting plate 14 is equipped with installation cavity 19, and the top of installation cavity 19 is equipped with the direction guide, and compression spring 20 sets up in installation cavity 19, and the upper end of spliced pole 2 stretches out the direction guide and articulated with chain 12, and the direction guide plays the guide effect to spliced pole 2, avoids the drive belt fracture, and the direction takes place great deflection and to connecting rod 17 losing force when spliced pole 2 atress is kick-backed.

When the lifting mechanism is in a normal operation state, the connecting column 2 is connected with the chain 12, the connecting column 2 does not generate acting force on the connecting rod 17, the connecting rod 17 does not generate rotating acting force on the pawl 15, the pawl 15 moves up and down along with the connecting plate 14 and is not clamped into the rack 18, and the anti-falling device does not influence the normal lifting of the lifting mechanism; when the transmission belt is broken, the compression spring 20 drives the connecting column 2 to rebound downwards with large force, the connecting column 2 pulls the connecting rod 17, the connecting rod 17 generates acting force on the pawl 15 to drive the pawl 15 to rotate, the pawl 15 is clamped into the rack 18 to realize interlocking, the connecting plate 14 is prevented from falling downwards, the integral device adopts the pawl 15 and a ratchet structure to perform mechanical interlocking to achieve the purpose of preventing falling, the starting acting force of the pawl 15 comes from mechanical force which is inevitably generated when the transmission belt is broken, the influence of other driving mechanisms or human factors is avoided, and the timely response of preventing falling is ensured; and (4) restoring the position of the connecting column 2 after the hidden danger is eliminated, driving the position of the connecting rod 17 to be restored, and enabling the pawl 15 to rotate and restore.

The magnetic stripe navigation module comprises a magnetic sensor group and a magnetic stripe paved at the bottom of the carrying trolley (paved according to the requirements of running and operation position tracks of an actual application field); the magnetic sensor group comprises a front-end magnetic sensor and a rear-end magnetic sensor; the front-end magnetic sensor is arranged at the front end of the carrying trolley, and the rear-end magnetic sensor is arranged at the rear end of the carrying trolley; when the carrying trolley advances, the front-end magnetic sensor detects and calculates a magnetic strip position signal at the bottom of the equipment and sends the magnetic strip position signal to the control processor; when the carrying trolley retreats, the rear-end magnetic sensor detects and calculates a magnetic strip position signal at the bottom of the moving trolley and sends the magnetic strip position signal to the control processor; laying of the magnetic strips, and signal transmission control of the magnetic sensors and the control processor are all customized and planned according to the track requirement by using the existing mature technology, and the detailed description is omitted.

During operation, the control processor performs unified control on the container cover lifting machine, drives the two carrying trolleys to two opposite sides of the container under the magnetic guide, enables the two execution ends to act on two ends of the container cover 23, then synchronously drives the two lifting mechanisms to lift the container cover 23 from the container to a height which does not interfere with the container, and then can drive the carrying trolleys to transfer the container cover 23 to other places according to actual needs, so as to replace the traditional labor-saving and efficient container cover lifting and carrying operation of the container cover 23, the automation degree of the whole structure is high, the manpower is saved efficiently, and the potential safety hazard is reduced; and be convenient for remove in the flexible of operation place to satisfy the container operation demand of different positions, flexibility and suitability are strong.

Example 2

(3) the two carrying trolleys move linearly in opposite directions for a certain distance, so that the lifting rods 24 on the upper side and the lower side of the two driving claws are correspondingly positioned below the openings of the clamping hooks 25 on the upper end and the lower end of the edge of the container cover 23;

(4) the control processor controls the lifting mechanisms of the two carrying trolleys to lift the container cover 23 to a preset height;

(6) the lifting driving mechanism drives the two material taking and placing claws to descend to the bottom end, so that the lower edge of the container cover 23 contacts the material placing plane;

(7) the control processor drives the two carrying trolleys to retreat for a preset distance under the guidance of the magnetic strips, so that the material taking and placing paw leaves the clamping hook 25 at the side of the container cover 23, and one container cover lifting operation is completed.

When the control processor drives the two carrying trolleys to move, the magnetic sensor group detects and calculates magnetic strip position signals and sends the magnetic strip position signals to the control processor, the control processor receives the magnetic strip position signals, and controls the first driving motor 10 and the second driving motor 9 to operate according to path requirements, so that the two carrying trolleys move on a magnetic strip guide track.

Wherein, when the control processor controls the lifting mechanisms of the two carrying trolleys to lift the container cover 23 to a preset height, the method comprises the following steps:

(1) synchronously starting the two rotary driving motors to rotate in the same direction, driving chain wheels of the two lifting mechanisms to rotate in the same direction at a constant speed, and driving the connecting plate 14 to vertically and linearly move upwards on the lifting bracket 11, so that the two material taking and placing claws synchronously move upwards;

(2) the lifting rods 24 of the two material taking and placing claws are clamped into corresponding clamping hooks 25 along with the rising of the connecting plate 14 to lift the container;

(3) and after the preset height is reached, the rotary driving motor is controlled to stop rotating and lock, the chain wheel stops rotating, and the container cover 23 is lifted to the preset height.

Wherein, the step that the control treater control carrier trolley removed includes:

(1) when the carrying trolley needs to be controlled to walk linearly, the control processor starts the second driving motor 9, the second driving motor 9 drives the connecting column 2 to rotate, the four transport wheels 3 are enabled to keep consistent with the walking direction, and then the first driving motor 10 is started to drive the transport wheels 3 to rotate to realize the linear walking of the carrying trolley;

(2) when the carrying trolley is controlled to turn, the second driving motor 9 is controlled through the control processor, the four transport wheels 3 are rotated to the target turning angle, the transport wheels 3 are driven to rotate through the first driving motor 10, and the carrying trolley is controlled to walk in a turning mode.

In order to further facilitate the accurate and closed-loop control of the steering angle of the transport wheels 3, a steering sensor (not shown in the figure) is arranged at the transport wheels 3 of the carrying trolley, the steering sensor is electrically connected to the control processor, and the step of controlling the carrying trolley to steer by the control processor comprises:

(1) the control processor receives external steering and speed signals and converts the steering angle signals and the rotating speed signals of the transport wheels 3;

(2) the control processor sends the rotating speed signals to each first driving motor 10 through the motor driver to control the rotating speed;

(3) the control processor sends the rotation angle signals to each second driving motor 9 through the motor driver to carry out rotation angle control.

Claims

1. A container cover lifting machine comprises two carrying trolleys and is characterized in that the two carrying trolleys are respectively provided with a lifting mechanism, the lifting mechanism comprises a lifting platform (16) and a lifting driving mechanism for driving the lifting platform (16) to move up and down, the lifting driving mechanism comprises a lifting support (11), a chain wheel and chain (12) assembly is vertically erected on the lifting support (11), the chain wheel is connected with a rotary driving mechanism, a connecting plate (14) is connected on the chain (12), the connecting plate (14) is fixedly connected with a lifting platform (16), the lifting platform (16) is provided with a material taking and placing paw, the material taking and placing paw comprises a material taking and placing plate (26) fixedly connected with the lifting platform (16), the upper side and the lower side of the tail end of the taking and placing plate (26) are respectively provided with a lifting rod (24) corresponding to a clamping hook (25) at the upper edge and the lower edge of the container cover (23); the carrying trolley comprises a trolley frame (1), four connecting columns (2) are arranged at four corners of the bottom of the trolley frame (1), a conveying wheel (3) is rotatably arranged on each connecting column (2), at least two conveying wheels (3) positioned on the same side of the trolley frame (1) are connected with a first driving motor (10) for driving the conveying wheels (3) to rotate in a vertical plane, the four conveying wheels (3) are respectively connected with a second driving motor (9) for driving the conveying wheels (3) to rotate in a horizontal plane, and the second driving motor (9) drives the connecting column (2) where the conveying wheels (3) are positioned to rotate in the horizontal plane; each carrying trolley is provided with a magnetic stripe navigation module, each magnetic stripe navigation module comprises a magnetic sensor group and a magnetic stripe paved at the bottom of the carrying trolley, and the magnetic sensor group, the first driving motor (10), the second driving motor (9) and the lifting driving mechanism are all controlled by the control processor in a unified mode.

2. The container cap lifting machine according to claim 1, wherein a falling prevention device is arranged between the lifting platform (16) and the movable lifting driving mechanism, the falling prevention device comprises a pawl (15) rotatably connected with the lifting platform (16), the bottom end of the connecting plate (14) is fixedly connected with the tail end of the transmission chain (12), the upper end of the connecting plate (14) is connected with a compression spring (20), the upper end of the compression spring (20) is connected with the connecting column (2), and the connecting column (2) is connected with the head end of the transmission chain (12); be equipped with rack (18) that can hold pawl (15) card and go into on lifting support (11), articulated on pawl (15) have connecting rod (17) that can drive pawl (15) rotation and card and go into rack (18), the other end and spliced pole (2) of connecting rod (17) are articulated.

3. The container cover lifting machine according to claim 1, wherein the connecting plate (14) is fixedly connected with a guide rod (22), the guide rod (22) is rotatably connected with a guide wheel (13), the guide wheel (13) is connected with the lifting support (11) in a rolling manner, a balancing weight (21) is fixedly connected to the chain (12) on the opposite side of the connecting plate (14) on the lifting support (11), and a sliding groove for accommodating the balancing weight (21) to slide up and down is formed in the lifting support (11).

4. The container lid lifting machine according to claim 1, wherein the carrying trolley is provided with a self-balancing mechanism, the self-balancing mechanism comprises a balancing rod (8) rotatably disposed on the frame (1), two free ends of the balancing rod (8) are equal in length and are rotatably connected with a guide sleeve (6), a guide rod (4) which can vertically move up and down on the frame (1) and has a diameter increasing from top to bottom is respectively arranged in the two guide sleeves (4), two limit sleeves (5) are respectively fixedly sleeved on the guide rods (4), the top ends of the two limit sleeves (5) are respectively connected with the bottom balls of the guide sleeves (6) on the guide rods (4) where the two limit sleeves are disposed, the bottom surfaces of the two guide rods (4) extending out of the frame (1) are respectively fixedly connected with the connecting column (2) of one transport wheel (3), and the top surfaces of the two guide rods (4) extending out of the frame (1) are respectively connected with a limit mechanism for preventing the guide rods (4) from slipping off the .

5. A method for operating a container cover lifting machine, wherein the step of lifting a container cover using the container cover lifting machine according to any one of claims 1 to 4 comprises:

(3) the two carrying trolleys move linearly in opposite directions for a certain distance, so that the lifting rods (24) on the upper side and the lower side of the two driving claws are correspondingly positioned below the openings of the clamping hooks (25) on the upper end and the lower end of the edge of the container cover (23);

(4) the control processor controls the lifting mechanisms of the two carrying trolleys to lift the container cover (23) to a preset height;

(6) the lifting driving mechanism drives the two material taking and placing claws to descend to the bottom end, so that the lower edge of the container cover (23) contacts with a material placing plane;

(7) the control processor drives the two carrying trolleys to retreat for a preset distance under the guidance of the magnetic strips, so that the material taking and placing paw leaves a clamping hook (25) on the side of the container cover (23) to finish one container cover lifting operation.

6. The method as claimed in claim 5, wherein when the control processor drives the two carrying trolleys to move, the magnetic sensor set detects and calculates magnetic strip position signals and sends the magnetic strip position signals to the control processor, and the control processor receives the magnetic strip position signals and controls the first driving motor (10) and the second driving motor (9) to operate, so that the two carrying trolleys move.

7. The method for operating a container lifting machine according to claim 5, wherein the control processor controls the lifting mechanisms of the two carrying carts to lift the container cover (23) to a preset height, and comprises the following steps:

(1) synchronously starting the two rotary driving motors to rotate in the same direction, driving chain wheels of the two lifting mechanisms to rotate in the same direction at a constant speed, and driving the connecting plate (14) to vertically and linearly move upwards on the lifting bracket (11), so that the two material taking and placing claws synchronously move upwards;

(2) lifting rods (24) of the two material taking and placing claws are clamped into corresponding clamping hooks (25) along with the rising of the connecting plate (14) to lift the container;

(3) and after the preset height is reached, the rotary driving motor is controlled to stop rotating and lock, the chain wheel stops rotating, and the container cover (23) is lifted to the preset height.

8. The method as claimed in claim 5, wherein the step of the control processor controlling the movement of the carrier vehicle comprises:

(1) when the carrying trolley needs to be controlled to walk linearly, the control processor starts a second driving motor (9), the second driving motor (9) drives the connecting column (2) to rotate, so that the four transport wheels (3) are consistent with the walking direction, and then the first driving motor (10) is started to drive the transport wheels (3) to rotate to realize the linear walking of the carrying trolley;

(2) when the carrying trolley is controlled to turn, the second driving motor (9) is controlled through the control processor, the four transport wheels (3) are rotated to the target turning angle, the transport wheels (3) are driven to rotate through the first driving motor (10), and the carrying trolley is controlled to walk.

9. The method as claimed in claim 8, wherein the transportation wheels (3) of the carrying trolley are provided with steering sensors, the steering sensors are electrically connected to the control processor, and the step of the control processor controlling the carrying trolley to steer comprises:

(1) the control processor receives external steering and speed signals and converts corner signals and rotating speed signals of each transport wheel (3);

(2) the control processor sends the rotating speed signals to each first driving motor (10) through the motor driver to control the rotating speed;

(3) the control processor sends the rotation angle signals to each second driving motor (9) through the motor driver to carry out rotation angle control.