CN113415721A

CN113415721A - Cover opening machine and method

Info

Publication number: CN113415721A
Application number: CN202110674407.2A
Authority: CN
Inventors: 陈嘉磊
Original assignee: Eurocrane China Co ltd
Current assignee: Eurocrane China Co ltd
Priority date: 2021-06-17
Filing date: 2021-06-17
Publication date: 2021-09-21
Also published as: LU503420B1; WO2022262267A1

Abstract

The invention discloses a cover opening door machine and a method, comprising a door frame, a lifting mechanism, a fetching mechanism, a running mechanism and a control system, wherein a guide track is arranged in the door frame, and the running mechanism can drive the door frame to run; the fetching mechanism comprises a bearing frame, fetching grippers and reverse roller groups, wherein the reverse roller groups are respectively arranged at two ends of the bearing frame and are arranged at two sides of the guide rail; the lifting mechanism comprises a pulling mechanism and a driving assembly for driving the pulling mechanism to act, and the pulling mechanism can drive the bearing frame to move on the guide rail; the control system comprises a detection device and a control device, the detection device is used for detecting the moving positions of the bearing frame and the running mechanism, and the control device is used for controlling the driving assembly and the running mechanism to start and stop. The automatic cover opening and closing device realizes automatic cover opening and closing operation, improves working efficiency, and reduces personnel cost and harm of heat radiation to operators.

Description

Cover opening machine and method

Technical Field

The invention relates to the field of hoisting machinery, in particular to a cover opening machine and a method.

Background

The existing heat treatment furnace is a single-layer furnace, the furnace door is opened vertically and vertically, and is mostly opened by a manual or manual crane, but the heat treatment furnace has the defects of great harm to a human body due to high-temperature radiation, low working efficiency of manual operation, difficult alignment, incapability of quickly and accurately realizing furnace cover opening, furnace cover covering, furnace cover moving and the like, so that the investment of enterprises on labor cost is increased.

Disclosure of Invention

The invention aims to provide a cover opening machine and a cover opening method, which are used for realizing automatic furnace cover operation, improving the working efficiency and reducing the personnel cost and the damage of heat radiation to operators.

In order to solve the technical problem, the invention provides a cover opening door machine which comprises a door frame, a lifting mechanism, a fetching mechanism, a running mechanism and a control system, wherein a guide track is arranged in the door frame, and the running mechanism can drive the door frame to run;

the fetching mechanism comprises a bearing frame, fetching grippers and reverse roller groups, the fetching grippers are mounted on the bearing frame, and the reverse roller groups are respectively mounted at two ends of the bearing frame and arranged at two sides of the guide rail;

the lifting mechanism comprises a pulling mechanism and a driving assembly for driving the pulling mechanism to act, and the pulling mechanism can drive the bearing frame to move on the guide rail;

the control system comprises a detection device and a control device, the detection device is used for detecting the moving positions of the bearing frame and the running mechanism, and the control device is used for respectively controlling the driving assembly and the running mechanism to start and stop according to the detection position of the detection device.

As a further improvement of the invention, the portal frame comprises bearing legs and connecting beams, wherein every two bearing legs are connected through the connecting beams and are in an H-shaped structure.

As a further improvement of the present invention, the driving assembly includes a lifting motor and a transmission mechanism, the lifting motor is mounted on the connecting beam, the transmission mechanism includes a universal coupling and a compensation shaft, the lifting motors on two opposite sides are connected with each other through the universal coupling and the compensation shaft in sequence, the pulling-up mechanisms are respectively arranged on the connecting beam on two sides of the gantry in the operation direction, and the lifting motor is connected with the pulling-up mechanism in a driving manner.

As a further improvement of the invention, the lifting mechanism comprises a winding drum, a pulley block and a steel wire rope, the pulley block is respectively arranged on the connecting beam and the bearing frame, and the winding drum and the pulley block are connected with the lifting motor through the steel wire rope.

As a further improvement of the invention, horizontal wheel sets are arranged at two ends of the bearing frame, and the bearing frame moves on the guide rails through the horizontal wheel sets.

As a further improvement of the invention, the reverse roller group comprises wheel frames mounted at two ends of the bearing frame, wherein rollers are symmetrically mounted at two ends of the wheel frames relative to the bearing frame, and the rollers are arranged at two sides of the guide rail and symmetrically arranged relative to the guide rail.

As a further improvement of the invention, the running mechanism comprises a walking motor which is arranged below the gantry and drives the gantry to run.

As a further improvement of the invention, the detection device comprises a hoisting mechanism detection device and an operating mechanism detection device, wherein the hoisting mechanism detection device comprises a hoisting height limiter, a weight sensor, a hoisting absolute value encoder and a travel proximity switch which are respectively connected with the control device; the running mechanism detection device comprises a position encoder and a code reader which are respectively connected with the control device.

As a further improvement of the invention, the hoisting mechanism, the operating mechanism and the control system are connected with a power supply through cables, a towline groove is arranged on a plant rail bearing beam above the gantry correspondingly, and the cables are arranged in the towline groove and can move along with the gantry.

A control method of a cover opening door machine controls the cover opening door machine, and comprises the following steps:

s1: the cover opening machine is opened, the control device controls the operation mechanism to drive the portal frame to start to operate, and when the detection device detects the position of the furnace cover, the operation mechanism stops and the hoisting mechanism is started;

s2: the control device controls the driving assembly to drive the pulling-up mechanism to act, and the pulling-up mechanism drives the bearing frame to act so as to drive the fetching gripper to act until the fetching gripper is contacted with the furnace cover;

s3: the fetching gripper drives the furnace cover to move upwards until the detection device detects the furnace cover in place and feeds the furnace cover back to the control device, and the control device controls the driving assembly to stop;

s4: the running mechanism is started to drive the furnace cover to a specified position, and the action of opening the furnace cover is completed.

The invention has the beneficial effects that: according to the invention, on the production line of the heat treatment furnaces, through the arrangement of the lifting mechanism, the material taking device and the operation mechanism, the automatic furnace cover opening, furnace cover covering, furnace cover moving and other work of each heat treatment furnace on the production line are realized, so that the labor intensity of workers is reduced, the damage of heat radiation to operators is reduced, and the health of the operators is protected; the automatic operation can be realized, the working efficiency is improved, the automatic operation can be realized by networking with a factory WMS system, the operation cost of an enterprise is greatly reduced, the output in unit hour is improved, the input of personnel cost is reduced, and the value is continuously created for the company; in the design of the fetching device, the loading condition of the bearing capacity is optimized, the wheel pressure of the whole machine is reduced, the self weight of the whole machine is reduced, and therefore the manufacturing cost is reduced.

Drawings

FIG. 1 is a schematic overall elevational view of the present invention;

FIG. 2 is a schematic side view of the present invention;

FIG. 3 is a schematic view of the picking mechanism of the present invention;

FIG. 4 is a schematic view of the gantry structure of the present invention;

FIG. 5 is a schematic top view of the present invention;

FIG. 6 is a cross-sectional view taken along A-A of FIG. 3 in accordance with the present invention;

FIG. 7 is a schematic view of the load-fetching mechanism of the present invention;

the reference numbers in the figures illustrate: 1. a gantry; 11. a load-bearing leg; 12. a connecting beam; 13. a guide rail; 2. a hoisting mechanism; 21. a hoisting motor; 22. a universal coupling; 23. a compensation shaft; 24. a reel; 25. a pulley block; 26. a wire rope; 3. a fetching mechanism; 31. a carrier; 32. fetching hand grips; 33. a reverse roller set; 331. a wheel carrier; 332. a roller; 34. a horizontal wheel set; 4. an operating mechanism; 5. a control device; 6. a power supply; 7. a furnace cover.

Detailed Description

The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.

Example one

Referring to fig. 1-3, an embodiment of the invention provides a cover opening door machine, which includes a door frame 1, a lifting mechanism 2, a fetching mechanism 3, a running mechanism 4 and a control system, wherein a guide track 13 is arranged in the door frame 1, and the running mechanism 4 can drive the door frame 1 to run;

the fetching mechanism 3 comprises a bearing frame 31, fetching grab handles 32 and reverse roller groups 33, the fetching grab handles 32 are installed on the bearing frame 31, and the reverse roller groups 33 are respectively installed at two ends of the bearing frame 31 and are arranged at two sides of the guide rail 13;

the hoisting mechanism 2 comprises a pulling mechanism and a driving component for driving the pulling mechanism to act, and the pulling mechanism can drive the bearing frame 31 to move on the guide rail 13;

the control system comprises a detection device and a control device 5, the detection device is used for detecting the moving positions of the bearing frame 31 and the running mechanism 4, and the control device 5 is used for respectively controlling the driving assembly and the running mechanism 4 to start and stop according to the detection positions of the detection device.

In the use and cover opening process, the cover opening door machine is opened, the control device 5 controls the operating mechanism 4 to drive the portal frame 1 to start to operate, and when the detection device detects the position of the furnace cover, the operating mechanism 4 stops and the hoisting mechanism 2 is started; the control device 5 controls the driving component to drive the pulling-up mechanism to act, and the pulling-up mechanism drives the bearing frame 31 to act so as to drive the fetching gripper 32 to act until the fetching gripper is contacted with the furnace cover; the fetching gripper 32 drives the furnace cover to move upwards until the detection device detects the furnace cover in place and feeds the detection result back to the control device 5, and the control device 5 controls the driving assembly to stop; the running mechanism 4 is started to drive the furnace cover to a specified position, and the action of opening the furnace cover is completed. The problem of manual hoist counterpoint difficult, high temperature radiation to human injury, can't realize the automation mechanized operation, can't realize unmanned chemical plant assembly line is solved, for the enterprise reduces the operation cost by a wide margin, improves the output in the unit hour, reduces personnel's cost's input, lasts for the company creates value.

As a further improvement of this embodiment, referring to fig. 4, the gantry 1 includes a supporting leg 11 and a connecting beam 12, and the supporting legs 11 are connected with each other by the connecting beam 12 and have an H-shaped structure. I.e. in the present embodiment, the gantry 1 part comprises the carrying legs 11 and the connecting beams 12, and also protective plates may be provided. Four bearing support legs 11 are selected, and every two bearing support legs are connected through a connecting beam 12 to form an H-shaped structure; and then the H-shaped beam is connected through the connecting beam 12 to form the Pi-shaped portal 1. The bearing support leg 11 is of a box-shaped structure, is formed by welding plates in a splicing manner, has enough strength and rigidity, and is internally provided with a guide rail 13 of the fetching mechanism 3; the connecting beam 12 is of a box-shaped structure, is formed by welding plates, and has sufficient strength and rigidity. A supporting body and a mounting base of the hoisting mechanism 2 are arranged on the connecting beam 12; the connecting beam 12 can be further provided with a buffer device for reducing the impact of the fetching mechanism 3 on the portal frame 1.

As a further improvement of this embodiment, referring to fig. 5, the driving assembly includes a hoisting motor 21 and a transmission mechanism, the hoisting motor 21 is installed on the connecting beam 12, the transmission mechanism includes a universal coupling 22 and a compensation shaft 23, the hoisting motors 21 on two opposite sides are connected sequentially through the universal coupling 22 and the compensation shaft 23, the pulling-up mechanisms are respectively arranged on the connecting beam 12 on two sides of the gantry 1 in the running direction, and the hoisting motors 21 are connected to the pulling-up mechanisms in a driving manner. The lifting mechanism comprises a winding drum 24, a pulley block 25 and a steel wire rope 26, the pulley block 25 is respectively arranged on the connecting beam 12 and the bearing frame 31, and the winding drum 24 and the pulley block 25 are connected with the lifting motor 21 through the steel wire rope 26. In this embodiment, the number of the hoisting mechanisms 2 is two, one hoisting mechanism is installed at each H-shaped frame, and the two hoisting mechanisms 2 are connected through the compensation shaft 23 and the universal coupling 22, so as to ensure the synchronism of the two hoisting mechanisms 2. The lifting mechanism 2 is connected with the fetching mechanism 3 through a steel wire rope 26, and the steel wire rope 26 wound on the winding drum 24 and the pulley block 25 starts to act through the rotation of the lifting mechanism 2 driven by the lifting motor 21, so that the fetching mechanism 3 can act up and down, and the cover opening and closing of the furnace cover of the heat treatment furnace can be realized.

Example two

Referring to fig. 1-3, an embodiment of the present invention provides a cover-opening door machine, in which, on the basis of the first embodiment, horizontal wheel sets 34 are provided at two ends of a carriage 31 in a fetching mechanism 3, and the carriage 31 moves on a guide rail 13 through the horizontal wheel sets 34. The reverse roller group 33 includes a roller frame 331 installed at both ends of the carrier frame 31, rollers 332 installed at both ends of the roller frame 331 with respect to the carrier frame 31 symmetrically, the rollers 332 being provided at both sides of the guide rail 13 and symmetrically with respect to the guide rail 13. Referring to fig. 6, the carriage 31 has a box-shaped structure, is made of plate materials by welding, and has sufficient strength and rigidity. The fetching gripper 32 is a rigid piece and is rigidly connected with the bearing frame 31, and the shape of the head of the gripper is matched with the hanging point of the furnace cover, so that the consistency of the furnace cover and the fetching mechanism 3 can be ensured without displacement in the hoisting process. The horizontal wheel set 34 is mounted at the end of the carriage 31 and runs along the guide rail 13 at the carrying leg 11, so as to maintain the precision and stability of the fetching mechanism 3 when running up and down. The reverse roller group 33 is installed on the side of the bearing frame 31 to operate, and is used for offsetting the bending moment of the fetching gripper 32 generated when the furnace cover is grabbed, transmitting the bending moment on the gripper to the bearing supporting leg 11, and optimizing the stress state of the fetching mechanism 3.

Referring to fig. 7, a diagram is shown: when the gravity G of the object is transmitted to the fetching handle 32, the carrier 31 will generate a bending moment M from the gravity G to the center b of the carrier 31, and the bending moment M will cause the carrier 31 to bend and twist, and then the counter roller sets 33 (the distance a) installed at the upper and lower ends of the carrier 31 will generate a couple to counteract the bending moment M generated by the gravity, so that the carrier 31 will not bend and twist, and a part of the force of the gravity (vertical force) G is converted into a horizontal force by the horizontal wheel set 34 and transmitted to the supporting leg 11. A large part of the vertical force is transmitted to the hoisting cable 26 of the hoisting mechanism 2 through the pulley block 25 mounted on the bearing frame 31, so that the loading condition of the bearing beam is optimized.

In implementation, when the fetching mechanism 3 is installed, a gap of 1.5mm is kept between the horizontal wheel set 34 (installed on both sides of the carriage 31) and the rail on the supporting leg, and a gap of 1mm is kept between the upper and lower reverse roller sets 33 and the rail on the supporting leg. Under the condition of no load, the weight of the fetching mechanism 3 is borne by the lifting steel wire rope 26, and the horizontal wheel group 34 and the reverse roller group 33 are not or slightly loaded; after the heavy object is lifted, the generated bending moment M is transmitted to the supporting leg by the reverse roller group 33, the gravity G is borne by the lifting steel wire rope 26, and the horizontal roller group 34 is used for offsetting the horizontal impact load generated when the cart moves, so that the stable operation of the fetching mechanism 3 is ensured, and the stable and safe work of the uncovering machine is ensured. The structure solves the problems of distortion of the bearing frame 31 caused by bending moment generated by outward extension of the fetching gripper 32 and swinging generated in the up-and-down operation of the fetching mechanism 3, also solves the problem of positioning precision of the fetching gripper 32 and an object, ensures that the device can operate stably, and lays a solid foundation for realizing the automation of the whole machine; the self weight of the whole machine is reduced by 15%, the wheel pressure of the whole machine is reduced by 10%, the construction cost of a plant foundation is reduced by 15%, a large amount of construction cost investment is saved for customers, and the fund utilization rate is improved.

EXAMPLE III

Referring to fig. 1-3, an embodiment of the present invention provides a cover-opening door machine, and on the basis of the first embodiment, the operating mechanism 4 includes a traveling motor, and the traveling motor is disposed below the door frame 1 and drives the door frame 1 to operate. In this embodiment, running gear 4 adopts trinity drive arrangement, installs and installs on end beam system, and this kind of structure can effectively guarantee the installation accuracy to can realize quick maintenance and part replacement. The standard three-in-one driving unit has excellent installation and running precision, so that the abrasion of the traveling wheels and the track is greatly reduced. Hoisting mechanism 2, running gear 4 and control system have power supply 6 through cable junction, are equipped with the tow chain groove on the factory building support rail roof beam of the corresponding top of portal 1, and the cable mounting just can follow portal 1 and remove in the tow chain groove. The power supply system adopts the tow chain device to supply power for the door opening machine, the main power supply cable is arranged in the tow chain and moves along the tow chain groove, the cable is prevented from being pulled, the service life of the cable is prolonged, the tow chain device is arranged at a rail bearing beam of a factory building by an overhead bracket, the safety during operation is guaranteed, the ground space is not occupied, and the utilization maximization of the ground area is guaranteed.

As a further improvement of this embodiment, the detection device includes a hoisting mechanism detection device and an operating mechanism detection device, the hoisting mechanism detection device includes a hoisting height limiter, a weight sensor, a hoisting absolute value encoder and a travel proximity switch, which are respectively connected with the control device 5; the running mechanism detection device comprises a position encoder and a code reader which are respectively connected with the control device 5. The detection device has the combined action, so that the use and operation safety of the cover opening machine is ensured, the positioning precision is ensured, the barrier is effectively avoided, and the production efficiency is improved.

Specifically, hoisting mechanism detection device: the lifting mechanism detection device is composed of a lifting height limiter, a weight sensor, a lifting absolute value encoder, an up-stroke proximity switch, a down-stroke proximity switch and control software, and ensures that the fetching mechanism 3 can effectively grab, lift, fix and lower the furnace cover in up-and-down actions, can monitor the furnace cover in real time when the furnace cover is separated from the furnace cover, feeds the furnace cover back to the main system and the control device 5, and ensures the effectiveness of fetching the materials. If a fault occurs, an alarm can be given in time to stop the operation. The lifting absolute value encoder calculates the number of turns of the winding drum and converts the number of turns into lifting height, and a lifting motor shaft incremental encoder is adopted to calculate the lifting position to serve as position redundancy protection.

The running mechanism detection device adopts a P + F position coding belt or an absolute value encoder + laser as a positioning mode, ensures that the consistency of the position of the portal frame 1 and the furnace cover fetching point is ensured in the running process of the cart, can monitor in real time when the steps of forward and backward movement of the portal frame, alignment of furnace cover fixed points and the like are carried out through the control of the detection device, and feeds back the monitoring result to the main system and the control screen to ensure the effectiveness of fetching. If a fault occurs, an alarm can be given in time to stop the operation. In this embodiment, a WCS position coding system can be adopted, and mainly comprises two parts: absolute coded information carrier-coding ruler and instrument for reading coded value in photoelectric form-code reader. The code scale must be mounted parallel to the side of the track to be measured, so that a specific position value can be assigned to each position point of the guide rail. The coding ruler can be installed only at the position needing positioning, and is also allowed to be installed in a bending or segmenting mode, and the coding ruler is made of stainless steel. Adopt the coding system, solve because the greasy dirt causes the wheel to skid, phenomenon such as unable drive walking, need not spend a large amount of manpowers and time again and wash the track, and the environmental pollution problem that the cleaner caused, do not influence the hoist and use the operating mode, do not influence the production operation, and cleaning device hides inside buffer support, occupation space not. Can improve the work efficiency for the owner, reduce the cost of enterprise's application.

The control device 5 comprises a frequency converter, a contactor, an air switch, a relay assembly, a PLC, a control program and the like, forms a whole electric control system, is provided with related interfaces, and can be interconnected with the Internet of things of a factory.

Example four

Referring to fig. 1 to fig. 3, an embodiment of the present invention provides a cover-opening door machine, and in the solutions of the first to third embodiments, the work flow of the cover-opening door machine may be implemented as follows: automatic mode, semi-automatic mode, manual mode. In the execution process, the sensors, the limit switches and the proximity switches of all parts act together to control the stepping precision of the gantry crane, ensure accurate alignment, improve the working efficiency, realize unmanned operation of a working area, reduce the labor intensity of workers and the thermal radiation damage and reduce the operation cost.

Automatic mode:

when the automatic mode is used, the plant WMS system is connected to the system project of the lid opener. The main system sends out an instruction, the uncovering door machine automatically operates to a corresponding furnace number position according to the instruction, and executes the automatic uncovering action, and the operation steps are as follows: 1) the cover opening door machine starts the system according to the instruction, the cart runs to drive the door machine to start to travel (20m/min), the cart starts to decelerate at a position 2m before the furnace number, the cart is in a low-speed traveling state (2m/min), when a furnace cover positioning point is approached, the cart coding belt reader and the proximity switch start to search a preset positioning point, when the cart motor and the proximity switch read the positioning point at the same time, the cart motor is powered off, and the system judges whether the positioning requirement is met according to the position of the coding belt and the position of the proximity switch; and if not, starting the cart motor, and finely adjusting the position until the positioning requirement is met. 2) The hoisting mechanism starts, the fetching device starts to move upwards, the detection device arranged on the detection device detects whether the catcher position of the furnace cover and the bracket of the fetching device are at the same position (acting simultaneously all around) preliminarily, and the position is detected through a connector signal. And if the loading sensor is in a load balance state, the cover opening machine is judged to completely lift the furnace cover. If not, an alarm is given, and an operator checks the alarm to judge whether the lifting can be continued; 3) the furnace cover continues to move upwards along with the material taking device until an upper limit switch is touched, and the action is stopped. At the moment, the furnace cover is lifted to the highest point, and the cart can run; 4) the cart is started to run, and the cart with the furnace cover runs to an adjacent position or other positions according to the instruction to complete the cover uncovering action instruction. 5) And (4) reversely running for 4-1 steps, and finishing the action of covering the furnace cover by the gantry crane.

Semi-automatic mode:

when a semi-automatic mode is adopted, an operator selects a station through a touch screen and sends a command signal to the PLC system, and the cover opening door machine automatically operates to a corresponding furnace number position according to the command to execute automatic cover opening and closing actions; in the execution process, the sensors, the limit switches and the proximity switches of all the parts act together to control the stepping precision of the gantry crane, ensure the accurate alignment and improve the working efficiency. The accurate positioning adopts a 2D position-speed algorithm, the optimal speed can be obtained at any distance, and the lifting and the large vehicle adopt double closed-loop PID regulation: fast, accurate and stable.

Manual mode:

when the manual mode is switched, the operator operates the door operator by operating the wireless remote controller. The wireless remote controller sends out a system instruction, the cover opening door machine runs to a corresponding furnace number position according to the instruction sent out by the remote controller, and then the cover opening and closing actions are executed according to the operation of the remote controller by an operator; in the execution process, the sensors, the limit switches and the proximity switches of all the parts act together to control the stepping precision of the gantry crane, so that the accurate alignment, safety and reliability are ensured.

The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.

Claims

1. The utility model provides a take off lid door machine which characterized in that: the automatic picking device comprises a portal frame, a lifting mechanism, a fetching mechanism, a running mechanism and a control system, wherein a guide track is arranged in the portal frame, and the running mechanism can drive the portal frame to run;

2. A cover opener according to claim 1, wherein: the portal frame comprises bearing support legs and connecting beams, wherein the bearing support legs are connected in pairs through the connecting beams and are of H-shaped structures.

3. A cover opener according to claim 2, wherein: the drive assembly comprises a lifting motor and a transmission mechanism, the lifting motor is installed on the connecting beam, the transmission mechanism comprises a universal coupling and a compensation shaft, the lifting motors on two opposite sides are connected with the compensation shaft sequentially through the universal coupling, the lifting mechanisms are arranged on the connecting beam on two sides of the running direction of the gantry respectively, and the lifting motors are connected with the lifting mechanisms in a driving mode.

4. A cover opener according to claim 3, wherein: the lifting mechanism comprises a winding drum, a pulley block and a steel wire rope, the pulley block is respectively arranged on the connecting beam and the bearing frame, and the winding drum and the pulley block are connected with the lifting motor through the steel wire rope.

5. A cover opener according to claim 1, wherein: and horizontal wheel sets are arranged at two ends of the bearing frame, and the bearing frame moves on the guide rail through the horizontal wheel sets.

6. A cover opener according to claim 1, wherein: the reverse roller group comprises wheel frames arranged at two ends of the bearing frame, rollers are symmetrically arranged at two ends of the wheel frames relative to the bearing frame, and the rollers are arranged on two sides of the guide rail and symmetrically arranged relative to the guide rail.

7. A cover opener according to claim 1, wherein: the running mechanism comprises a walking motor, and the walking motor is arranged below the door frame and drives the door frame to run.

8. A cover opener according to claim 1, wherein: the detection device comprises a hoisting mechanism detection device and an operating mechanism detection device, wherein the hoisting mechanism detection device comprises a hoisting height limiter, a weight sensor, a hoisting absolute value encoder and a travel proximity switch which are respectively connected with the control device; the running mechanism detection device comprises a position encoder and a code reader which are respectively connected with the control device.

9. A cover opener according to any one of claims 1 to 8, wherein: the lifting mechanism, the operating mechanism and the control system are connected with a power supply through cables, a towline groove is formed in a plant rail bearing beam above the corresponding gantry, and the cables are installed in the towline groove and can move along with the gantry.

10. A control method of a cover opening machine is characterized in that: a cover opener according to any one of claims 1 to 9, said control method comprising the steps of: