CN115451697A

CN115451697A - Automatic online trolley replacing system and method

Info

Publication number: CN115451697A
Application number: CN202211147205.3A
Authority: CN
Inventors: 赵海波; 韩基祥; 李祥; 庄伟斌; 张旦; 李艳军
Original assignee: Beijing Zhonghonglian Engineering Technology Co ltd; Sinosteel Equipment and Engineering Co Ltd
Current assignee: Beijing Zhonghonglian Engineering Technology Co ltd; Sinosteel Equipment and Engineering Co Ltd
Priority date: 2022-09-20
Filing date: 2022-09-20
Publication date: 2022-12-09

Abstract

The invention discloses a trolley on-line automatic replacement system and a method, wherein the system comprises: the trolley track door opening device is characterized in that two moving tracks are arranged on the outer track of each head wheel and connected with a transverse telescopic mechanism; two platform truck withdrawal devices, platform truck withdrawal device includes: the lifting mechanism comprises a first lifting rail, a lifting rail slide rail and a vertical telescopic mechanism; the dragging mechanism comprises a vehicle outlet track and a first trolley track, wherein a first trolley is arranged on the first trolley track, and the vertical telescopic mechanism can enable the first lifting track to descend to be embedded into the vehicle outlet track; two upset systems, the upset system includes: each track assembly comprises a pair of straight tracks, a second lifting track and a pair of limiting columns; a pusher assembly including a pair of pushers, a drive mechanism, and a retraction mechanism. The invention can realize automatic opening and closing of the movable track and automatic moving out of the old trolley, saves manpower, does not stop the replacement of the trolley and does not occupy production time.

Description

Automatic online trolley replacing system and method

Technical Field

The invention relates to the field of roasting machines. More particularly, the present invention relates to a system and method for automatic online pallet changing.

Background

The belt roasting machine is a thermal device for producing pellets for a blast furnace, and a main body of the belt roasting machine is an annular chain breaking mechanism consisting of trolleys, wherein a head large gear (a head wheel 1) drives the trolleys 2 to move, a tail large gear (a tail wheel 3) is followed, and fixed tracks (comprising inner tracks and outer tracks) are arranged outside the head large gear and the tail large gear in a surrounding manner, wherein the inner tracks comprise a head wheel inner track 4, a tail wheel inner track 5 and a trolley upper track 6 connected between the head wheel inner track and the tail wheel inner track, and the outer tracks comprise a head wheel outer track 7, a tail wheel outer track 8 and a trolley lower track 9 connected between the head wheel inner track and the tail wheel outer track) so as to limit and guide the wheels of the trolleys. Because the trolley of the belt type roasting machine operates in a high-temperature environment all the year round, the grate bars, the breast boards and the wheels of the trolley are easy-to-wear parts and are easy to wear and deform, so that the trolley needs to be detached from the fixed track for maintenance and replacement.

Disclosure of Invention

The invention aims to provide an online automatic trolley replacing system and method, which can realize automatic opening and closing of a moving track and automatic removal of an old trolley, save labor, avoid shutdown of trolley replacement, avoid production time occupation, overturn the removed old trolley and facilitate maintenance.

To achieve these objects and other advantages and in accordance with the purpose of the invention, as embodied and broadly described herein, there is provided an on-line automatic pallet changing system, the outer pallet track including a pair of head-wheel outer tracks, the pallet including a pair of first wheels at one end of a body and a pair of second wheels at the other end, comprising:

the trolley track door opening device comprises a plurality of moving tracks and a plurality of transverse telescopic mechanisms, wherein two moving tracks are arranged on each head wheel outer track and respectively comprise an upper moving track and a lower moving track, the lower moving track is positioned at the lower part of the head wheel outer track, the upper moving track is positioned at the upper part of the head wheel outer track, a sliding block is arranged at the end part of the moving track, and the transverse telescopic mechanisms are connected with the moving tracks so as to drive the moving tracks to be separated from the head wheel outer tracks and further enable the head wheel outer tracks to form gaps or be embedded on the head wheel outer tracks;

two platform truck withdrawal devices, it moves the track one-to-one with two down, and platform truck withdrawal device includes:

the lifting mechanism comprises a first lifting track, a lifting track sliding rail and a vertical telescopic mechanism, and the vertical telescopic mechanism is connected with the first lifting track and is used for driving the first lifting track to vertically slide along the lifting track sliding rail so that the first lifting track rises to a notch at the lower part of the head wheel outer track to bear the head wheel outer track;

the dragging mechanism comprises a vehicle outlet track and a first trolley track which are parallel to each other and extend along the transverse direction, a first trolley driven by a driving device is arranged on the first trolley track, the first trolley can push the trolley to move along the vehicle outlet track, and the vertical telescopic mechanism can enable the first lifting track to descend to be embedded into the vehicle outlet track;

two upset systems, it moves the track one-to-one with two down, and the upset system includes:

each track assembly comprises a pair of straight tracks arranged at intervals, a second lifting track arranged between the straight tracks and a pair of limiting columns arranged below the straight tracks and positioned on two sides of the second lifting track, the straight tracks are formed by extending the vehicle outlet track along the transverse direction, and when the second lifting tracks correspondingly support a pair of first wheels, the second lifting tracks can drive the first wheels to do vertical reciprocating linear motion between the limiting columns from a height equal to the straight tracks downwards under the driving of the telescopic piece;

the push block assembly comprises a pair of push blocks corresponding to the pair of second wheels, a driving mechanism for driving the pair of push blocks to do linear motion along a straight track, and a pair of retraction mechanisms which correspond to the push blocks and promote the corresponding push blocks to avoid the first wheels;

the joint of the end part of the head wheel outer track, which is provided with the sliding block, and the moving track is provided with a slide way matched with the sliding block, and the slide way is arranged along the axial direction of the head wheel so as to separate the moving track from the head wheel outer track;

the maximum descending height of the second lifting track is not greater than the distance between the circle centers of the first wheel and the second wheel on the same side, the reciprocating linear motion of the second lifting track is matched with the linear motion of the push block, so that in the process that the first wheel descends to the lowest point and then ascends to the highest point from the height equal to the straight track along with the corresponding second lifting track, the push block pushes the corresponding second wheel to move from one side to the other side of the second lifting track, and the trolley is turned over.

Preferably, the online automatic pallet truck replacement system further includes:

two platform truck devices of packing into, it moves the track one-to-one with two, and the platform truck device of packing into includes:

a frame;

a pair of new trolley storage rails which are fixedly arranged on the rack at intervals along the longitudinal direction, and any new trolley storage rail extends along the transverse direction; the trolley wheels at the two sides of the new trolley can be respectively placed on a pair of new trolley storage rails;

the front end of a new trolley storage track is correspondingly provided with a transverse moving track on an extension line of the front end, any transverse moving track is arranged on the rack in a transverse sliding mode, the transverse moving track can transversely move to the position where the front end of the transverse moving track is butted with a gap of an upper moving track, and when a new trolley is arranged on the transverse moving track, a front-end wheel of the new trolley can enter a tooth groove between wheel teeth of the head wheel;

a pair of movable brackets, wherein one movable bracket is correspondingly and fixedly arranged on the inner side of one transverse moving track;

the trolley frame is arranged on the rack in a transverse sliding mode, the two sides of the trolley frame in the longitudinal direction are respectively provided with a pushing mechanism used for pushing and pulling the corresponding moving brackets in the transverse direction, and the front end of the middle of the trolley frame is provided with a buckling mechanism used for being clamped with the rear end of a new trolley.

Preferably, the online automatic pallet changing system further includes:

the first proximity switches are respectively arranged on two sides of a wheel path of the trolley in front of the front end of each moving track, one of the two first proximity switches corresponding to each moving track is used for sensing wheel teeth of a head wheel so as to judge whether a damaged and old trolley arrives, and the other one of the two first proximity switches is used for sensing wheels of the trolley so as to judge whether the trolley is in place;

a second proximity switch disposed on the first lifting rail;

the third proximity switch is arranged on the vehicle outlet track, and when the trolley moves from the first lifting track to the vehicle outlet track and triggers the third proximity switch, the trolley leaves the head wheel outer track;

the fourth proximity switch is arranged on the straight track, when the trolley triggers the fourth proximity switch, each first wheel is positioned on the corresponding second lifting track, each second wheel is positioned on the straight track on one side of the corresponding second lifting track, and each push block is positioned on one side, far away from the first wheel, of the corresponding second wheel;

the fifth proximity switch is arranged at one end, far away from the car outlet track, of the straight track, and when the trolley triggers the fifth proximity switch, the trolley stops on an old trolley storage track formed at one end, far away from the car outlet track, of the straight track;

the first weighing sensor is arranged on the first lifting track, and when the trolley triggers the second proximity switch and the first weighing sensor simultaneously, the trolley is positioned on the first lifting track;

the second weighing sensor is arranged on the departure track;

and the PLC is respectively connected with the first proximity switch, the second proximity switch, the third proximity switch, the fourth proximity switch, the fifth proximity switch, the first weighing sensor, the second weighing sensor, the transverse telescopic mechanism, the vertical telescopic mechanism, the telescopic piece, the driving device and the driving mechanism.

Preferably, in the online automatic trolley replacement system, a pair of straight rails corresponds to a pair of limiting columns, each straight rail and the corresponding limiting column form an integrally formed L-shaped structure, two ends of the second lifting rail are respectively connected with the vertical sections of the corresponding L-shaped structures in a sliding manner, and the telescopic end of the telescopic part is fixedly connected with the bottom of the second lifting rail so as to drive the second lifting rail to vertically reciprocate between the pair of limiting columns.

Preferably, in the online automatic trolley replacement system, the driving mechanism includes a second trolley, a pair of second trolley rails parallel to the straight rails, and a driving member for driving the second trolley to move linearly along the second trolley rails, the second trolley includes a horizontal plate and side plates disposed at two sides of the horizontal plate, each side plate is provided with a pulley, the pair of pulleys corresponds to the pair of second trolley rails, the pulleys are slidably connected with the corresponding second trolley rails, the bottom of each side plate is provided with the push block, the driving member includes a chain-rod type conveyor belt and a connecting rod fixedly connected with one of the chain rods of the chain-rod type conveyor belt, and the other end of the connecting rod is fixedly connected with the horizontal plate, so that the horizontal plate moves along with the chain-rod type conveyor belt and finally drives the push block to move.

Preferably, in the online automatic trolley replacement system, the specific way for the retraction mechanism to urge the push block to avoid the first wheel is as follows: the curb plate lateral wall is equipped with the fixed axle, the ejector pad with the fixed axle rotates to be connected and winds the fixed axle rotates, the curb plate still is equipped with the stopper, the stopper is located one side of keeping away from the second wheel of ejector pad, in order to restrict the ejector pad rotates towards one side of keeping away from the second wheel.

Preferably, in the online automatic trolley replacement system, the diameters of the first wheel and the second wheel are the same, the length of the second lifting rail is slightly greater than the diameter of the first wheel, and the maximum descending height of the second lifting rail is equal to the distance between the centers of circles of the first wheel and the second wheel on the same side; the second lifting track makes reciprocating linear motion at a constant speed in the vertical direction, and the push block makes linear motion at a variable speed matched with the second lifting track in the horizontal direction.

Preferably, in the online automatic trolley replacement system, the bottom of the storage track of the old trolley is provided with a first weighing sensor and a plurality of first laser distance meters; a second weighing sensor and a plurality of second laser range finders are arranged at the bottom of the new trolley storage track;

the online automatic trolley replacing system further comprises:

handling system, it includes:

a crane rail;

the crane is arranged on the crane rail in a transverse sliding mode;

the lifting appliance is connected with the crane and is driven by the crane to move;

the bottom of the old trolley placing frame is provided with a third weighing sensor and a plurality of third laser range finders;

and the bottom of the new trolley placing frame is provided with a weighing sensor IV and a plurality of laser range finders IV.

Preferably, in the online automatic trolley replacement system, the lifting appliance is provided with a lifting appliance main body, two clamps positioned at two sides of the lifting appliance main body and four target plates symmetrically arranged at the outer sides of the two clamps, and the two target plates positioned at the outer side of any clamp are symmetrically arranged at intervals; each clamp comprises two groups of semicircular clamping arms matched with wheels of the trolley, and the four groups of clamping arms of the two clamps are respectively clamped on the peripheries of the wheels of the trolley positioned on the two sides of the trolley in a matched manner; the two target plates on each clamp are positioned between the two groups of clamp arms, and the bottom of each target plate is of an arc-shaped structure; the crane slides transversely along the crane track to drive the lifting appliance to move transversely, the crane is connected with the lifting appliance through a mechanical arm, the mechanical arm drives the lifting appliance to move longitudinally, and the PLC is further connected with the crane, the lifting appliance and the mechanical arm respectively.

Preferably, in the online automatic trolley replacement system, the PLC is further respectively connected with the first weighing sensor, the first plurality of laser range finders, the second weighing sensor, the second plurality of laser range finders, the third weighing sensor, the third plurality of laser range finders, the fourth weighing sensor and the fourth plurality of laser range finders.

The online automatic trolley replacing method comprises the following steps:

step one, connecting a camera device with a trolley management system, respectively photographing and numbering all trolleys on a belt type roasting machine, numbering all trolleys according to an actual connection sequence by a PLC (programmable logic controller), enabling each trolley to have a sequence number, corresponding the serial numbers of the trolleys with the sequence numbers in the PLC, setting a first trolley, determining the position of any one trolley (for example, determining the position of the first trolley, specifically, when the first trolley passes through a pair of first proximity switches, explaining the position of the first trolley which can be sensed by the pair of first proximity switches, so as to determine the position of the first trolley), interlocking the PLC with the roasting machine speed, and performing time sequence counting to determine the position of the trolleys;

secondly, when the PLC receives a bad and old trolley number sent by the trolley management system (when the bad trolley passes through the range which can be shot by the camera, the trolley management system judges whether a trolley grate gap is enlarged or not and whether the trolley grate gap exceeds a preset value or not through shot pictures, if the bad trolley passes through the range which can be shot by the camera, the camera can immediately shoot an identification pattern on the trolley, the pattern corresponds to a number, the trolley management system sends the number to the PLC, the number corresponds to a sequence number on the PLC, the PLC compares the sequence number of the current trolley and knows the position of the bad trolley, the PLC records the number of the bad and old trolley, then determines the sequence number of the bad and old trolley according to the number, the PLC determines the position of the bad trolley through comparing the sequence number of the current trolley, the PLC tracks the position of the trolley according to the instant speed of a baking machine, when the trolley moves to the front end of a lower moving track, two first proximity switches are triggered, the PLC sends a shooting command to the trolley management system, the camera shooting device carries out the shooting of the trolley, the shot pictures are generated by the PLC, and the shooting is compared with the bad and whether the old trolley is judged by the next step, if the picture is matched with the bad trolley, the old trolley is stored by the next step; if the two first proximity switches are not matched, when the next trolley triggers the two first proximity switches in front of the front end of the lower moving track, the camera shooting equipment shoots again, the trolley management system identifies the pictures and finds the corresponding numbers, the numbers are transmitted to the PLC, the PLC compares the numbers, and if the numbers are matched, the next step is carried out; if not, circulating to the next period and advancing by one trolley, and then judging;

step three, when the old damaged trolley approaches two first proximity switches in front of the front end of the lower moving track, if the gear teeth of the head wheel trigger one of the first proximity switches and the old damaged trolley triggers the other first proximity switch, the door opening action is carried out, otherwise, the door opening action is not carried out; when the lower moving track performs door opening action, a transverse telescoping mechanism corresponding to the lower moving track drives the lower moving track to move to the outer side of the roasting machine along a slide way after receiving a door opening instruction of the PLC, a space is reserved for the wheels of the old damaged trolley, then the teeth of the first wheel push the old damaged trolley to move to a first lifting track, when a second proximity switch and a first weighing sensor are triggered simultaneously, a vertical telescoping mechanism drives the first lifting track to move downwards along a lifting track slide rail, the old damaged trolley falls onto a discharging track, then a second weighing sensor under the discharging track is triggered, the first trolley pushes the old damaged trolley to advance along the discharging track, when the trolley triggers a third proximity switch, the old damaged trolley leaves an outer track of the first wheel, the first trolley pushes the old damaged trolley to continue to move forwards onto the straight track, when the old damaged trolley triggers a fourth proximity switch, each first wheel of the old damaged trolley is positioned on the corresponding second lifting track, each second wheel is positioned on the straight track on one side of the corresponding second lifting track and is close to the discharging track, and each pushing block of the second wheel is positioned on one side of the corresponding second wheel; the first wheel descends along with the corresponding second lifting track, meanwhile, the push block pushes the corresponding second wheel to move towards the other side of the second lifting track under the driving of the driving mechanism so as to be matched with the first wheel to descend, when the first wheel descends to the lowest point, the second wheel is positioned right above the first wheel, then the first wheel ascends along with the corresponding second lifting track, meanwhile, the push block continues to push the corresponding second wheel to move under the driving of the driving mechanism so as to be matched with the first wheel to ascend, and transits to a straight track on the other side of the second lifting track, when the first wheel ascends to the highest point, the second lifting track is flush with the straight track, the old trolley is turned over, then the push block continues to push the old trolley forwards under the driving of the driving mechanism until a fifth approach switch is triggered and then stops on the old trolley storage track, and finally the push block returns to the original position in the direction far away from the second wheel, so that the push block is retracted to avoid the first wheel, so that the trolley is separated from the limit of the push block, and waits for unloading task;

when the old trolley leaves the gap space of the head wheel outer tracks, the transverse telescopic mechanisms corresponding to the lower moving tracks receive a door closing instruction of the PLC, the lower moving tracks are driven to move to the roasting machine along the slide ways, and after the lower moving tracks are embedded into the pair of head wheel outer tracks, the trolley tracks form a closed loop again;

when the old and bad trolley is separated from the first lifting track, the first weighing sensor on the first lifting track is triggered, and the vertical telescopic mechanism pushes the first lifting track to return to the original position upwards to wait for the next trolley unloading task;

when the head wheel gear teeth trigger one of the first proximity switches in front of the front end of the upper moving track and the trolley does not trigger the other first proximity switch, the door is opened, otherwise, the door is not opened; when the upper moving track performs door opening action, after a transverse telescopic mechanism corresponding to the upper moving track receives a door opening instruction of the PLC, the upper moving track is driven to move towards the outer side of the roasting machine along the slide way to make room for a new trolley wheel, and the new trolley wheel enters a tooth groove between wheel teeth of the head wheel and then enters the trolley track under the pushing of the wheel teeth of the head wheel; when a new trolley enters the trolley track, the transverse telescopic mechanism corresponding to the upper moving track receives a door closing instruction of the PLC, the upper moving track is driven to move towards the roasting machine along the slide way, and after the upper moving track is embedded into the outer tracks of the pair of head wheels, the trolley track forms a closed loop again.

Preferably, in the method for automatically replacing the trolley online, a specific method for a new trolley wheel to enter a tooth space between wheel teeth of the head wheel is as follows:

the trolley frames move forwards continuously to drive the transverse moving rails and the new trolleys on the transverse moving rails to move forwards continuously, the transverse moving rails move forwards until the front ends of the transverse moving rails are butted with the notches of the upper moving rails, and the front end wheels of the new trolleys on the transverse moving rails can enter tooth grooves between the head wheel teeth.

Preferably, in the method for automatically replacing the trolley on line, after the wheel of the new trolley enters the tooth space between the wheel teeth of the head wheel, the method further comprises the following steps:

the trolley frame moves backwards along the transverse direction, the transverse moving rail is pulled backwards under the action of the pushing mechanism, so that the transverse moving rail is moved away from the notch of the upper moving rail, the transverse moving rail returns to the position contacted with the new trolley storage rail under the driving of the trolley frame, and the connection between the moving bracket and the pushing mechanism is released;

and the trolley frame continuously moves backwards until the buckling mechanism is clamped with the rear end of the next new trolley, the trolley frame continuously moves forwards to push the next new trolley, and the process is repeated to load the next new trolley into the trolley track.

Preferably, the online automatic pallet truck replacement method further includes:

when the PLC receives information transmitted by the first weighing sensor, the PLC controls the first laser range finders to measure the distance between the lifting appliance and the storage track of the old trolley, controls the mechanical arm to drive the lifting appliance to move downwards for a certain distance to stop, controls the lifting appliance to clamp the wheels of the old trolley, clamps the first weighing sensor to weigh, confirms that clamping is successful, controls the mechanical arm to drive the lifting appliance to lift, and repeats the action again if clamping is not successful until clamping is successful;

the PLC controls the mechanical arm to drive the lifting appliance to lift a certain distance to stop, the PLC controls the crane to slide along the crane rail to drive the lifting appliance to move transversely, the crane stops when moving right above an old trolley placing frame, the plurality of laser distance measuring instruments measure the distance between the lifting appliance and the old trolley placing frame, the mechanical arm is controlled to drive the lifting appliance to descend for a certain distance to stop, the PLC controls the lifting appliance to release the old trolley, the weighing sensor weighs three after the release, the successful release is confirmed, the mechanical arm is controlled to drive the lifting appliance to lift, the old trolley is lifted, and meanwhile, the PLC reminds the old trolley on the old trolley placing frame to be taken away;

the PLC controls the mechanical arm to drive the lifting appliance to lift for a certain distance to stop, when the PLC receives a signal that a new trolley is arranged on a new trolley arranging frame and is monitored by the weighing sensor IV, the PLC controls the crane to slide along a crane rail to drive the lifting appliance to move transversely, the PLC stops when the PLC is positioned right above the new trolley arranging frame, the distance between the lifting appliance and the new trolley arranging frame is measured by the plurality of laser range finders IV, the mechanical arm drives the lifting appliance to descend for a certain distance to stop, the PLC controls the lifting appliance to clamp the new trolley, the weighing sensor IV weighs after clamping, clamping success is confirmed, the mechanical arm is controlled to drive the lifting appliance to lift, and the action is repeated again if clamping success does not occur until clamping success occurs;

the PLC controls the mechanical arm to drive the lifting appliance to lift for a certain distance to stop, the PLC controls the crane to slide along the crane rail to drive the lifting appliance to move transversely, the crane stops when moving to a position right above a new trolley storage rail, the plurality of laser range finders measure the distance between the lifting appliance and the new trolley storage rail and control the mechanical arm to drive the lifting appliance to descend for a certain distance to stop, the PLC controls the lifting appliance to release the new trolley, the weighing sensor II weighs after release, the successful release is confirmed, the PLC controls the mechanical arm to drive the lifting appliance to lift, the action of supplementing the new trolley in place is completed, and meanwhile, the PLC reminds the new trolley to be supplemented on the new trolley storage frame;

the PLC controls the mechanical arm to drive the lifting appliance to lift for a certain distance to stop, the PLC controls the crane to slide along the crane rail to drive the lifting appliance to move transversely, the crane stops when moving right above the old trolley storage rail, the mechanical arm drives the lifting appliance to descend for a certain distance to stop, and the lifting appliance returns to the original position to wait for the next period instruction of the PLC.

The invention at least comprises the following beneficial effects:

according to the invention, part of the segments of the head wheel outer track are set as the movable tracks, and the movable tracks are driven by the transverse telescopic mechanisms to be separated from the head wheel outer track or embedded into the head wheel outer track, so that the full-mechanical door opening and closing of the trolley track are realized, and the manpower and the time are saved;

according to the invention, the first proximity switch and the PLC are arranged, the door opening signal is triggered by the first proximity switch, so that the PLC automatically controls the movable track to be separated from the head wheel outer track, when the next time sequence comes, the PLC automatically controls the movable track to be embedded on the head wheel outer track, and the full-automatic door opening and closing of the trolley track is realized.

According to the invention, the upper moving track and the lower moving track are arranged, so that when a bad and old trolley needs to be moved out and a new trolley needs to be hung on the trolley track, the upper moving track and the lower moving track can respectively carry out door opening or door closing operation without mutual interference, the moving-out of the bad and old trolleys and the hanging-in of the new trolley are carried out synchronously, and the working efficiency is improved.

The invention automatically pushes the new trolley into the host track by building the track system which can be connected with the host track (trolley track), thereby realizing the automatic loading of the new trolley under the production condition that the belt roasting machine does not stop; the track system for loading the new trolley comprises a new trolley storage track, a transverse moving track and a moving bracket, wherein before the trolley is pushed, the transverse moving track and the new trolley storage track are transversely positioned on the same straight line, the rear end of the transverse moving track is contacted with the front end of the new trolley storage track, the transverse moving track is associated with a trolley frame through the moving bracket and a pushing mechanism, so that the trolley frame can drive the transverse moving track to move forwards and backwards along the transverse direction, and the trolley frame is associated with the trolley to be loaded through a buckling mechanism, so that the trolley to be loaded can be pushed to move forwards on the new trolley storage track and the transverse moving track by the forward movement of the trolley frame.

The trolley withdrawing device comprises a lifting mechanism and a dragging mechanism, realizes the locking of a damaged and old trolley, the automatic 'door opening' of a track, the automatic separation of the trolley from the track and the automatic 'door closing' of the track by switch control and time sequence positioning technology, improves the working efficiency, solves the problems of speed reduction, shutdown, production reduction and the like caused by the manual replacement of the trolley during the production of the formula roasting machine, and simultaneously reduces the labor cost of maintenance.

The lifting system comprises a crane, a lifting appliance, laser range finders, weighing sensors and the like, realizes accurate positioning through a plurality of groups of laser range finders, realizes lifting of new and old trolleys through the crane and the lifting appliance, improves the replacement efficiency of the trolleys, does not influence the normal production of the roasting machine, can run at normal production speed, does not need any process system operation, saves manpower, improves the production efficiency, ensures the production operation rate, and really realizes continuous production without stopping.

The trolley loading device comprises a trolley frame, a transverse moving track, a trigger and a trigger block, wherein a new trolley is pushed onto a host track from a stop position through the matching of the trolley frame and the transverse moving track, so that the purpose of automatically pushing and receiving the trolley continuously is achieved, the replacement efficiency of the trolley is improved, the transverse moving track is selectively linked with the trolley frame through the trigger, the moving stroke of the transverse moving track can be shortened, an expensive hydraulic rod in the conventional technology is replaced, the equipment cost is reduced, and the purpose of automatically pushing and receiving the trolley continuously is achieved.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

FIG. 1 is a side view of a head wheel, a tail wheel, a fixed track and a trolley of a belt type roasting machine in the prior art;

fig. 2 is a schematic side view of a door opener for a track of a trolley according to an embodiment of the present invention;

FIG. 3 is a schematic side view of a portion of the lower moving rail according to an embodiment of the present invention;

FIG. 4 is a schematic side view of a portion of the upper moving rail according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of the lifting mechanism and the dragging mechanism according to an embodiment of the present invention;

FIG. 6 is a schematic side view of the lifting mechanism and the towing mechanism according to one embodiment of the present invention;

fig. 7 is a schematic view illustrating the first lifting rail descending according to an embodiment of the present invention;

FIG. 8 is a schematic view of the trolley of one embodiment of the present invention moving along a first lifting track;

FIG. 9 is a schematic view of the present invention in one embodiment as the trolley travels along the departure track;

fig. 10 is a schematic view illustrating the first lifting rail according to an embodiment of the present invention when it is lifted;

fig. 11 is a schematic structural view of a carriage loading device according to an embodiment of the present invention;

fig. 12 is a schematic structural view of the trolley loading device in a state that the trolley frame pushing trolley moves forwards according to another technical scheme of the invention;

fig. 13 is a schematic structural view of a carriage assembly device according to another embodiment of the present invention, in a state where the carriage enters the track of the main machine;

fig. 14 is a schematic structural view of a carriage loading device according to another embodiment of the present invention in a carriage loading completion state;

fig. 15 is a schematic structural view of a trolley loading device in a backward moving state of a trolley frame according to another embodiment of the present invention;

fig. 16 is a schematic structural view of the carriage assembly device according to another embodiment of the present invention, in which the carriage frame is moved backward to be engaged with a new carriage;

fig. 17 is a schematic structural view of the carriage assembly device in another embodiment of the present invention in a state where the carriage frame is moved forward again;

fig. 18 is a perspective view of a carriage loading device according to another embodiment of the present invention;

fig. 19 is a plan view of a carriage assembly according to another embodiment of the present invention;

fig. 20 is a schematic structural view of the fastening mechanism according to another embodiment of the present invention;

FIG. 21 is a schematic structural diagram of a pushing mechanism in another embodiment of the present invention, wherein the pushing mechanism drives the movable carriage to move forward;

FIG. 22 is a schematic structural diagram of a pushing mechanism in another embodiment of the present invention, in which the trolley frame drives the movable bracket to move backward;

FIG. 23 is a schematic structural view of the pushing mechanism in another embodiment of the present invention, wherein the pushing mechanism triggers the movable block to rotate when the carriage moves backward;

fig. 24 is a schematic structural view of the pushing mechanism driven by the backward movement of the cart frame in a state of completely passing through the touch block according to another embodiment of the present invention;

FIG. 25 is a schematic structural view of the pushing mechanism in another embodiment of the present invention, in which the trigger block drives the movable block to rotate when the carriage moves forward again;

FIG. 26 is a schematic view of a sprocket drive mechanism according to another embodiment of the present invention;

fig. 27 is a schematic structural diagram of a push-type trolley turning system according to one embodiment of the present invention;

fig. 28 is a schematic view of the push-type trolley turning system according to one embodiment of the present invention;

fig. 29 is a schematic view of a push-type trolley overturning system for overturning the trolley according to one embodiment of the present invention;

fig. 30 is a schematic view of a push-type trolley overturning system for overturning the trolley according to one embodiment of the present invention;

fig. 31 is a schematic view illustrating a trolley turning completion of the push-type trolley turning system according to one embodiment of the present invention;

fig. 32 is a schematic view of the push-type trolley turning system according to one embodiment of the present invention after the trolley is turned to complete the return of the push block;

fig. 33 is a schematic structural diagram of a push-type trolley turning system according to one embodiment of the present invention;

FIG. 34 is a schematic view of a retraction mechanism according to one embodiment of the present invention;

FIG. 35 is a schematic structural view of the trolley lifting system in one embodiment of the present invention;

fig. 36 is a schematic structural view of the clamp gripping the old trolley on the old trolley storage rail according to another embodiment of the present invention;

fig. 37 is a schematic structural view illustrating that the old pallet truck moves upward according to another embodiment of the present invention;

fig. 38 is a schematic structural view of the clamp for clamping the old trolley in another embodiment of the present invention when moving laterally;

fig. 39 is a schematic structural view illustrating that the clamp grips an old trolley and moves downwards to a position above an old trolley placing frame according to another embodiment of the present invention;

fig. 40 is a schematic structural view illustrating a state where the jig releases the old dolly onto the old dolly placing frame according to another embodiment of the present invention;

fig. 41 is a schematic structural view illustrating the clamp moving above a new trolley placing frame according to another embodiment of the present invention;

fig. 42 is a schematic structural view of the clamp clamping a new trolley on a new trolley placing frame according to another embodiment of the present invention;

fig. 43 is a schematic structural view of the new pallet truck moving upward with the gripper according to another embodiment of the present invention;

fig. 44 is a schematic structural view illustrating that the clamping device clamps a new trolley and moves to a position above a new trolley storage rail according to another embodiment of the present invention;

FIG. 45 is a schematic view of the clamp moving a new cart downward according to another embodiment of the present invention;

FIG. 46 is a schematic view of another embodiment of the present invention wherein the clamp releases a new trolley onto the new trolley storage track;

FIG. 47 is a schematic view of the clamp of another embodiment of the present invention as it moves laterally into the empty position;

FIG. 48 is a front view of the clamp according to another embodiment of the present invention;

fig. 49 is a right side view of the clamp according to another embodiment of the present invention.

Description of reference numerals: a head pulley 1; a transverse telescoping mechanism 101; a first lifting rail 102; a first lifting rail slide 103; a vertical telescoping mechanism 104; a departure track 105; a trolley rail 106; a first trolley 107; a pusher plate 108; a first proximity switch 109; a lower moving rail 100; a first support wheel 111; a first chassis 112; a first support wheel track 113; a second support wheel 114; a second frame 115; a second support wheel track 116; a slider 117; the new trolley storage track 301; a trolley 2; a tail pulley 3; a head-wheel inner rail 4; a tail wheel inner track 5; a trolley upper track 6; head-wheel outer rails 7; a tail wheel outer track 8; a trolley lower rail 9; a frame 10; a crane rail 11; a traversing rail 12; a moving carriage 13; a stopper 131; a trolley frame 14; a third cart rail 141; trolley wheels 142; a connecting member 143; a catch wheel 144; a chain transmission mechanism 15; a sprocket 151; a chain 152; a second motor 153; a tensioning member 154; a pushing mechanism 16; a push block 161; a movable block 162; a first pin 163; a plate fastener 164; a trigger block 165; a snap mechanism 17; a push rod 171; a second pin 172; a buckle 173; a second weight 174; to be loaded into the trolley 18; a host track 19; a worn-out trolley 20; a straight rail 21; a second lifting rail 22; a hydraulic rod 23; a third support frame 24; a fourth support frame 25; a first wheel 26; a second wheel 27; a push block 28; a pulley 29; a chain bar type conveyor belt 30; a second trolley rail 31; side panels 32; a connecting rod 33; a void 34; a fixed shaft 35; a restraint post 36.

Detailed Description

The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.

It should be noted that in the description of the present invention, the terms "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

As shown in fig. 1 to 49, the present invention provides an online automatic pallet changing system, in which a pallet outer rail includes a pair of head-wheel outer rails, and a pallet includes a pair of first wheels at one end of a body and a pair of second wheels at the other end, including:

the trolley track door opening device comprises a plurality of moving tracks and a plurality of transverse telescopic mechanisms, wherein two moving tracks are arranged on each head wheel outer track and respectively comprise an upper moving track and a lower moving track, the lower moving track is positioned at the lower part of the head wheel outer track, the upper moving track is positioned at the upper part of the head wheel outer track, a sliding block is arranged at the end part of each moving track, and the transverse telescopic mechanisms are connected with the moving tracks so as to drive the moving tracks to be separated from the head wheel outer tracks, so that gaps are formed on the head wheel outer tracks or the head wheel outer tracks are embedded on the head wheel outer tracks;

the lifting mechanism comprises a first lifting rail, a lifting rail slide rail and a vertical telescopic mechanism, and the vertical telescopic mechanism is connected with the first lifting rail and used for driving the first lifting rail to vertically slide along the lifting rail slide rail so that the first lifting rail rises to a notch at the lower part of the head wheel outer rail and is connected with the head wheel outer rail;

the dragging mechanism comprises a car outlet track and a first trolley track which are parallel to each other and extend along the transverse direction, wherein the first trolley track is provided with a first trolley driven by a driving device, the first trolley can push the trolley to move along the car outlet track, and the vertical telescopic mechanism can enable the first lifting track to descend to be embedded into the car outlet track;

the joint of the head pulley outer track and the end part of the moving track with the sliding block is provided with a slide way matched with the sliding block, and the slide way is arranged along the axial direction of the head pulley so as to be convenient for the moving track to be separated from the head pulley outer track;

The online automatic trolley replacing method comprises the following steps:

when the damaged and old trolley is positioned at the door opening position corresponding to the lower moving track, performing door opening action, otherwise, not performing door opening action; when the lower moving track performs door opening action, after receiving a door opening instruction of the controller, the transverse telescopic mechanism corresponding to the lower moving track drives the lower moving track to move towards the outer side of the roasting machine along the slide way to make room for the wheels of the old damaged trolley, then the wheel teeth of the head wheel push the old damaged trolley to move onto the first lifting track, the vertical telescopic mechanism drives the first lifting track to move downwards along the sliding rail of the lifting track, the old damaged trolley falls onto the discharging track, then the first trolley pushes the old damaged trolley to continue to move forwards onto the straight track and stay at the overturning position, at the moment, each first wheel of the old damaged trolley is located on the corresponding second lifting track, each second wheel is located on the straight track on one side corresponding to the second lifting track and is close to the discharging track, and each pushing block is located on one side of the corresponding second wheel far away from the first wheel; the first wheel descends along with the corresponding second lifting track, meanwhile, the push block pushes the corresponding second wheel to move towards the other side of the second lifting track under the driving of the driving mechanism so as to be matched with the first wheel to descend, when the first wheel descends to the lowest point, the second wheel is positioned right above the first wheel, then the first wheel ascends along with the corresponding second lifting track, meanwhile, the push block continues to push the corresponding second wheel to move under the driving of the driving mechanism so as to be matched with the first wheel to ascend, and transits to a straight track on the other side of the second lifting track, when the first wheel ascends to the highest point, the second lifting track is flush with the straight track, the old trolley is turned over, then the push block continues to push the old trolley to stop on the old trolley storage track formed on one end, far away from the trolley exit track, of the straight track, and finally, the push block returns to the original push position in the direction far away from the second wheel, the push block retracts to the first wheel, so that the old trolley is free from the first wheel, and the next unloading task is waited;

when the old trolley leaves the gap space of the head wheel outer tracks, the transverse telescopic mechanisms corresponding to the lower moving tracks receive a door closing instruction of the controller to drive the lower moving tracks to move to the roasting machine along the slide ways, and after the lower moving tracks are embedded into the pair of head wheel outer tracks, the trolley tracks form a closed loop again;

when the old and damaged trolley is separated from the first lifting track, the vertical telescopic mechanism pushes the first lifting track to return to the original position upwards to wait for the next trolley unloading task.

When a new trolley needs to be loaded and no trolley exists at the door opening position corresponding to the upper moving track, the door opening action is carried out, otherwise, the door opening action is not carried out; when the upper moving track performs door opening action, after a transverse telescopic mechanism corresponding to the upper moving track receives a door opening instruction of the controller, the upper moving track is driven to move towards the outer side of the roasting machine along the slide way to make room for a new trolley wheel, and the new trolley wheel enters a trolley track under the pushing of a head wheel tooth after entering a tooth groove between the head wheel tooth spaces; when a new trolley enters the trolley track, the transverse telescopic mechanism corresponding to the upper moving track receives a door closing instruction of the controller, the upper moving track is driven to move towards the roasting machine along the slide way, and after the upper moving track is embedded into the outer tracks of the pair of head wheels, the trolley track forms a closed loop again.

In another technical solution, the online automatic pallet changing system further includes:

a frame;

a pair of moving brackets, wherein one moving bracket is correspondingly and fixedly arranged on the inner side of one transverse moving track;

the two sides of the wheel path of the trolley in front of the front end of each moving track are respectively provided with one first proximity switch, one of the two first proximity switches corresponding to each moving track is used for sensing wheel teeth of a head wheel so as to judge whether a bad and old trolley arrives, and the other first proximity switch is used for sensing wheels of the trolley so as to judge whether the trolley is in place;

a second proximity switch disposed on the first lifting rail;

the second weighing sensor is arranged on the departure track;

and the PLC is respectively connected with the first proximity switch, the second proximity switch, the third proximity switch, the fourth proximity switch, the fifth proximity switch, the first weighing sensor, the second weighing sensor, the transverse telescopic mechanism, the vertical telescopic mechanism, the telescopic piece, the driving device and the driving mechanism, and can control the telescopic mechanism corresponding to the first proximity switch to act based on time sequence counting after receiving a signal sent by the first proximity switch.

In another technical scheme, in the online automatic trolley replacing system, a pair of straight rails corresponds to a pair of limiting columns, each straight rail and the corresponding limiting column form an integrally formed L-shaped structure, two ends of the second lifting rail are respectively in sliding connection with the vertical sections of the corresponding L-shaped structures, and the telescopic end of the telescopic part is fixedly connected with the bottom of the second lifting rail so as to drive the second lifting rail to vertically move in a reciprocating manner between the pair of limiting columns.

In another technical scheme, in the online automatic trolley replacement system, the driving mechanism includes a second trolley, a pair of second trolley rails parallel to the straight rails, and a driving member for driving the second trolley to move linearly along the second trolley rails, the second trolley includes a horizontal plate and side plates disposed at two sides of the horizontal plate, each side plate is provided with a pulley, the pair of pulleys corresponds to the pair of second trolley rails, the pulleys are slidably connected with the corresponding second trolley rails, the bottom of each side plate is provided with the push block, the driving member includes a chain-rod type conveyor belt and a connecting rod fixedly connected with one of the chain rods of the chain-rod type conveyor belt, and the other end of the connecting rod is fixedly connected with the horizontal plate, so that the horizontal plate moves along with the chain-rod type conveyor belt and finally drives the push block to move.

In another technical solution, in the online automatic pallet changing system, the specific manner in which the retraction mechanism urges the push block to avoid the first wheel is as follows: the curb plate lateral wall is equipped with the fixed axle, the ejector pad with the fixed axle rotates to be connected and winds the fixed axle rotates, the curb plate still is equipped with the stopper, the stopper is located one side of keeping away from the second wheel of ejector pad, in order to restrict the ejector pad rotates towards one side of keeping away from the second wheel.

In another technical solution, in the online automatic trolley replacement system, the diameters of the first wheel and the second wheel are the same, the length of the second lifting rail is slightly greater than the diameter of the first wheel, and the maximum descending height of the second lifting rail is equal to the distance between the centers of circles of the first wheel and the second wheel on the same side; the second lifting rail makes reciprocating uniform linear motion in the vertical direction, and the push block makes variable-speed linear motion matched with the second lifting rail in the horizontal direction.

In another technical scheme, in the online automatic trolley replacing system, a first weighing sensor and a plurality of first laser range finders are arranged at the bottom of an old trolley storage track; a second weighing sensor and a plurality of second laser range finders are arranged at the bottom of the new trolley storage track;

the online automatic trolley replacing system further comprises:

handling system, it includes:

a crane rail;

the crane is arranged on the crane rail in a transverse sliding mode;

In another technical scheme, in the online automatic trolley replacement system, the lifting appliance is provided with a lifting appliance main body, two clamps positioned at two sides of the lifting appliance main body and four target plates symmetrically arranged at the outer sides of the two clamps, and the two target plates positioned at the outer sides of any one clamp are symmetrically arranged at intervals; each clamp comprises two groups of semicircular clamping arms matched with wheels of the trolley, and the four groups of clamping arms of the two clamps are respectively clamped on the peripheries of the wheels of the trolley positioned on the two sides of the trolley in a matched manner; the two target plates on each clamp are positioned between the two groups of clamping arms, and the bottom of each target plate is of an arc structure; the crane slides transversely along the crane track to drive the lifting appliance to move transversely, the crane is connected with the lifting appliance through a mechanical arm, the mechanical arm drives the lifting appliance to move longitudinally, and the PLC is further connected with the crane, the lifting appliance and the mechanical arm respectively.

In another technical scheme, in the online automatic trolley replacement system, the PLC is further respectively connected with the first weighing sensor, the first laser distance meters, the second weighing sensor, the second laser distance meters, the third weighing sensor, the third laser distance meters, the fourth weighing sensor and the fourth laser distance meters.

The online automatic trolley replacing method comprises the following steps:

step one, connecting camera equipment with a trolley management system, respectively photographing and numbering all trolleys on a belt type roasting machine, numbering all trolleys by a PLC according to an actual connection sequence, enabling each trolley to have a sequence number, corresponding the serial number of the trolley with the sequence number in the PLC, setting a first trolley, determining the position of any one trolley (for example, determining the position of the first trolley, specifically, when the first trolley passes through a pair of first proximity switches, explaining the position of the first trolley which can be sensed by the pair of first proximity switches so as to determine the position of the first trolley), interlocking the PLC with the roasting machine at the same time, and counting time sequences to determine the position of the trolleys; after the initial position of any trolley is determined, the position of the trolley at any time can be known according to the speed, and after the position of any trolley is determined, other trolleys are connected in sequence, so that the positions of other trolleys can be naturally known.

step three, when the old and bad trolley approaches two first proximity switches in front of the front end of the lower moving track, if the gear teeth of the head wheel trigger one of the first proximity switches and the old and bad trolley triggers the other first proximity switch, the door opening action is carried out, otherwise, the door opening action is not carried out; when the lower moving track performs door opening action, after a transverse telescoping mechanism corresponding to the lower moving track receives a door opening instruction of the PLC, the lower moving track is driven to move towards the outer side of the roasting machine along the slide way, a space is reserved for the wheels of the old damaged trolley, then the wheel teeth of the first wheel push the old damaged trolley to move onto the first lifting track, when the second proximity switch and the first weighing sensor are triggered simultaneously, the vertical telescoping mechanism drives the first lifting track to move downwards along the sliding rail of the lifting track, the old damaged trolley falls onto the discharging track, then the second weighing sensor under the discharging track is triggered, the first trolley pushes the old damaged trolley to advance along the discharging track, when the trolley triggers the third proximity switch, the old damaged trolley leaves the outer track of the first wheel, the first trolley pushes the old damaged trolley to continue to move forwards onto the straight track, when the old damaged trolley triggers the fourth proximity switch, each first wheel of the old damaged trolley is positioned on the corresponding second lifting track, each second wheel is positioned on the straight track on one side of the corresponding second lifting track, and is positioned close to the pushing block of each second wheel; the first wheel descends along with the corresponding second lifting track, meanwhile, the push block pushes the corresponding second wheel to move towards the other side of the second lifting track under the driving of the driving mechanism so as to be matched with the first wheel to descend, when the first wheel descends to the lowest point, the second wheel is positioned right above the first wheel, then the first wheel ascends along with the corresponding second lifting track, meanwhile, the push block continues to push the corresponding second wheel to move under the driving of the driving mechanism so as to be matched with the first wheel to ascend, and transits to a straight track on the other side of the second lifting track, when the first wheel ascends to the highest point, the second lifting track is flush with the straight track, the old trolley is turned over, then the push block continues to push the old trolley forwards under the driving of the driving mechanism until a fifth approach switch is triggered and then stops on the old trolley storage track, and finally the push block returns to the original position in the direction far away from the second wheel, so that the push block is retracted to avoid the first wheel, so that the trolley is separated from the limit of the push block, and waits for unloading task;

when the head wheel gear teeth trigger one of the first proximity switches in front of the front end of the upper moving track and the trolley does not trigger the other first proximity switch, the door is opened, otherwise, the door is not opened; when the upper moving track performs door opening action, after a transverse telescopic mechanism corresponding to the upper moving track receives a door opening instruction of the PLC, the upper moving track is driven to move towards the outer side of the roasting machine along the slide way to make room for a new trolley wheel, and the new trolley wheel enters a tooth groove between wheel teeth of the head wheel and then enters the trolley track under the pushing of the wheel teeth of the head wheel; when a new trolley enters the trolley track, the transverse telescopic mechanism corresponding to the upper moving track receives a door closing instruction of the PLC, the upper moving track is driven to move towards the roasting machine along the slide way, and after the upper moving track is embedded into the pair of head wheel outer tracks, the trolley track forms a closed loop again.

In another technical scheme, in the method for automatically replacing the trolley online, a specific method for a new trolley wheel to enter a tooth space between wheel teeth of a head wheel comprises the following steps:

In another technical scheme, in the method for automatically replacing the trolley on line, after the wheel of the new trolley enters the tooth space between the wheel teeth of the head wheel, the method further comprises the following steps:

In another technical solution, the online automatic pallet changing method further includes:

the PLC controls the mechanical arm to drive the lifting appliance to lift a certain distance to stop, when the PLC receives a new trolley detected by the weighing sensor to be on a new trolley placing frame, the PLC controls the crane to slide along the crane rail to drive the lifting appliance to move transversely, the PLC stops when the new trolley placing frame is directly above the new trolley placing frame, the plurality of laser range finders measure the distance between the lifting appliance and the new trolley placing frame, the mechanical arm drives the lifting appliance to descend for a certain distance to stop, the PLC controls the lifting appliance to clamp the new trolley, the weighing sensor to weigh after clamping is completed, the clamping success is confirmed, the mechanical arm is controlled to drive the lifting appliance to lift, and the action is repeated again if the clamping success is not completed until the clamping success is realized;

the PLC controls the mechanical arm to drive the lifting appliance to lift a certain distance to stop, the PLC controls the crane to slide along the crane rail to drive the lifting appliance to move transversely, the crane stops when moving right above a new trolley storage rail, the plurality of laser range finders measure the distance between the lifting appliance and the new trolley storage rail, the mechanical arm is controlled to drive the lifting appliance to descend for a certain distance to stop, the PLC controls the lifting appliance to release the new trolley, the weighing sensor weighs the new trolley after the release, the successful release is confirmed, the PLC controls the mechanical arm to drive the lifting appliance to lift, the action of supplementing the new trolley in place is completed, and meanwhile, the PLC reminds the new trolley to be supplemented on the new trolley placing frame;

As shown in fig. 2 to 4, the door opening device for a track of a bogie includes: a pair of head wheel outer rails 7, at least one section of each head wheel outer rail 7 is a moving rail, the moving rails respectively positioned on the pair of head wheel outer rails 7 are oppositely arranged, a sliding block is arranged at the end part of each moving rail, a slide way matched with the sliding block is arranged at the joint of the head wheel outer rail 7 and the end part of each moving rail with the sliding block, and the slide way is axially arranged along the head wheel 1 so that the moving rails can move to the outer side of the head wheel 1, and a gap is formed on each head wheel outer rail 7;

and a transverse telescopic mechanism is arranged on the outer side of each moving track, and each transverse telescopic mechanism is connected with the corresponding moving track so as to drive the corresponding moving track to be separated from the head wheel outer track 7 or be embedded on the head wheel outer track 7.

Specifically, each head wheel outer rail 7 may be provided with two moving rails, which are an upper moving rail and a lower moving rail 100, respectively, the lower moving rail being located at a lower portion of the head wheel outer rail 7, and the upper moving rail being located at an upper portion of the head wheel outer rail 7.

Specifically, the transverse telescopic mechanism may be an electric cylinder or a hydraulic cylinder, where the transverse telescopic mechanism 101 may be mounted on a steel frame on both sides of the roasting machine.

Specifically, the cross section of the sliding block 117 is in a T shape, the vertical part of the T shape is vertically connected to the end surface of the moving track, and the cross section of the sliding way is in a T shape matched with the sliding block. When the moving rail is embedded in the head wheel outer rail 7, the T-shaped slide block and the T-shaped slide way are connected and matched to play a role in positioning in four directions of up, down, left and right, and bear the load brought by the trolley. When the movable track needs to move, the T-shaped sliding block and the T-shaped slide way can be connected and matched to play a role in limiting and guiding.

In the use process of the embodiment, part of the segments of the head wheel outer track 7 are set as the moving tracks, and the moving tracks are driven by the transverse telescopic mechanisms to be separated from the head wheel outer track 7 or embedded into the head wheel outer track 7, so that the full-mechanical door opening and closing of the trolley track are realized, and the labor and the time are saved. Furthermore, by arranging the upper moving track and the lower moving track, when the old damaged trolley on the trolley track needs to be moved out and the new trolley needs to be hung, the upper moving track and the lower moving track can be respectively opened or closed without mutual interference, so that the old damaged trolley is moved out and the new trolley is hung in synchronously, and the working efficiency is improved.

In another embodiment, the trolley rail door opening device further comprises:

the first proximity switches 109 are respectively arranged on two sides of a wheel path of the trolley in front of the front end of each moving track, and the front end of each moving track refers to one end, which is firstly contacted with the trolley, of the moving track in the movement process of the trolley;

and the PLC is respectively connected with the first proximity switch and the transverse telescopic mechanism and is used for controlling the transverse telescopic mechanism to act based on time sequence counting after receiving the signal sent by the first proximity switch.

When the embodiment is used, all the trolleys on the belt type roasting machine can be numbered respectively, an annular numbering chain is established, a first trolley is set, and meanwhile, the PLC and the speed of the roasting machine are interlocked to perform time sequence counting so as to determine the numbers and the positions of the trolleys;

for two first proximity switches in front of the front end of the lower moving track, one first proximity switch is used for sensing the wheel teeth of the head wheel 1 to judge whether the old damaged trolley 20 arrives, the other first proximity switch is used for sensing the wheels of the trolley to judge whether the old damaged trolley is in place, when the trolley is unloaded, the serial number and the position of the old damaged trolley 20 needing unloading are determined through a PLC (programmable logic controller), when the position of the numbered trolley is close to the first proximity switch in front of the front end of the lower moving track, the wheel teeth of the head wheel 1 trigger one first proximity switch, the other first proximity switch judges whether the trolley is arranged between the teeth, the trolley is opened when the trolley is arranged, and the trolley is not opened when the trolley is not arranged. When the door is opened, the electric cylinder or the hydraulic cylinder drives the lower moving rails to move laterally towards the roasting machine along the slide ways after receiving a PLC door opening command, the two lower moving rails move to the left side and the right side of the roasting machine to make room for the wheels of the damaged old trolley, and the damaged old trolley 20 leaves the trolley rails under the pushing of the first wheel 1. When the old damaged trolley 20 leaves the lower moving track, the PLC controls the lower moving track to realize the action of closing the door, after the electric cylinder or the hydraulic cylinder receives the PLC command of closing the door, the lower moving track is driven to move to the roasting machine along the slide way, and after the two lower moving tracks are respectively embedded into the pair of head wheel outer tracks 7, the trolley tracks form a closed loop again.

For two first proximity switches in front of the front end of the upper moving track, one of the two first proximity switches is used for sensing the wheel teeth of the head wheel 1 to judge whether the trolley 2 arrives, the other one senses the wheels of the trolley to judge whether the trolley is in place, when the trolley is loaded, the wheel teeth of the head wheel 1 trigger one of the first proximity switches, the other one of the first proximity switches judges whether the trolley exists between the two teeth, if the trolley does not exist, the door opening action is carried out, and if the trolley exists, the door opening action is not carried out. When the door is opened, the electric cylinder or the hydraulic cylinder drives the upper moving track to move laterally to the roasting machine along the slide way after receiving a PLC door opening command, the two upper moving tracks move to the left side and the right side of the roasting machine to make room for new trolley wheels, and the new trolley wheels enter the trolley track under the pushing of the teeth of the head wheel 1 after entering the tooth grooves between the teeth of the head wheel 1. When a new trolley enters the trolley track, the PLC controls the upper moving track to realize the action of closing the door, the electric cylinder or the hydraulic cylinder drives the upper moving track to move to the roasting machine along the slide way after receiving the PLC door closing command, and the trolley track forms a closed loop again after the two upper moving tracks are respectively embedded into the pair of head wheel outer tracks 7.

In the use process of the embodiment, the first proximity switch and the PLC are arranged, the door opening signal is triggered by the first proximity switch, the PLC automatically controls the moving track to be separated from the head wheel outer track 7, when the next time sequence comes, the PLC automatically controls the moving track to be embedded into the head wheel outer track 7, and the full-automatic door opening and closing of the trolley track is achieved.

The lower rail door opening device comprises a section of lower moving rail 100 arranged on the head wheel outer rail 7, wherein a transverse telescopic mechanism 101 is arranged on the outer side of the lower moving rail 100 along the axial direction of the head wheel 1 and drives the lower moving rail 100 to be separated from the head wheel outer rail 7, and then a gap is formed in the head wheel outer rail 7.

As shown in fig. 2, 3, and 5 to 10, the carriage withdrawing device includes:

the lifting mechanism comprises a first lifting rail 102, a first lifting rail slide rail 103 and a vertical telescopic mechanism 104, wherein the vertical telescopic mechanism 104 is arranged between the first lifting rail 102 and the first lifting rail slide rail 103 and drives the first lifting rail 102 to vertically slide in the first lifting rail slide rail 103;

a dragging mechanism which comprises a car discharging track 105 and a trolley track 106 which are parallel to each other, wherein a first trolley 107 driven by a driving device, such as a first motor, is arranged on the trolley track 106 and pushes the trolley to move along the car discharging track 105;

the vertical telescopic mechanism 104 drives the first lifting rail 102 to ascend to a gap to receive the head wheel outer rail 7, or descend to be embedded into the vehicle discharging rail 105.

In the above technical scheme, the trolley withdrawal device is provided with a lifting mechanism and a dragging mechanism, the lower rail door opening device is composed of a lower moving rail 100 and a transverse telescopic mechanism 101, the lower moving rail 100 is driven by the transverse telescopic mechanism 101 to be separated from the head wheel outer rail 7 or embedded into the head wheel outer rail 7, so that the full-mechanized door opening and closing of the trolley is realized, and the transverse telescopic mechanism 101 can be installed on steel structure frames on two sides of the roasting machine. The lifting mechanism consists of a first lifting rail 102, a vertical telescopic mechanism 104 and a first lifting rail slide rail 103; the first lifting rail 102 is located inside the lower moving rail 100, and supports trolley engaging wheels (the trolley engaging wheels are engaged with the head wheels 1 inside the wheel wheels); the first lifting rail slide rail 103 plays a guiding role; the vertical telescoping mechanism 104 is used to provide a source of power for lifting the old trolley. The dragging mechanism consists of a vehicle outlet track 105, a first trolley 107, a trolley track 106 and a first motor. The exit track 105 is used to receive the old trolley from the first lifting track, and the first trolley 107 is used to push the old trolley away from the first lifting track 102. In addition, the technical scheme is also provided with a PLC, and proximity switches are installed at different positions of the rack and used for measuring gear teeth of the large gear to judge whether an old trolley arrives or measuring wheels of the trolley to judge whether the trolley is in place. This technical scheme is through removing track 100 under horizontal telescopic machanism 101 drive, realize the automatic "door opening" of head wheel outer rail 7 of platform truck and "close the door", utilize vertical telescopic machanism 104 and elevating system simultaneously, shift out the platform truck head wheel outer rail 7, the track 105 of deuterogamying out, realize the full-automatic process of unloading that moves back of platform truck, whole process need not the old platform truck position of artifical observation, need not manual shut down, artifical unblock track and dismantlement platform truck, the speed reduction because artifical change platform truck caused during the production of belt roasting machine has been solved, shut down, the scheduling problem of reducing production, time saving and labor saving, production efficiency has effectively been improved.

In another technical scheme, two ends of the first trolley 107 are both connected with chains, and the first motor is connected with a chain wheel meshed with the chains. In this technical solution, the chain is connected to and pulls the first cart 107, and the first motor drives the sprocket to rotate and drive the chain.

In another technical scheme, a push plate 108 is fixed on the first trolley 107 and pushes the trolley to move. The push plate 108 is arranged in the technical scheme, so that the trolley is stably pushed to move, and the stability of the device is improved.

In another technical scheme, the transverse telescopic mechanism 101 and the vertical telescopic mechanism 104 are electric cylinders or hydraulic cylinders.

In another technical scheme, two sides of a wheel path of the trolley in front of the front end of each moving track are respectively provided with a first proximity switch 109, and a second proximity switch and a third proximity switch are respectively arranged on the first lifting track 102 and the car outgoing track 105. Set up among this technical scheme first proximity switch for measure the gear teeth of a big gear and judge whether old platform truck arrives, or measure platform truck wheel, judge whether the platform truck targets in place.

In another technical solution, the first lifting rail 102 and the departure rail 105 are both provided with a weighing sensor 110.

In another technical scheme, it is provided with first supporting wheel 111 to move track 100 front end bottom down, first supporting wheel below is provided with first frame 112, be provided with in the first frame with first supporting wheel track 113 of first supporting wheel 111 adaptation, first supporting wheel track 113 sets up along head pulley 1 axial, it is provided with horizontally second supporting wheel 114 to move track 100 rear end convex surface down, be provided with on the outer track 7 of head pulley with the second frame 115 that the second supporting wheel is relative, be provided with in the second frame with second supporting wheel track 116 of second supporting wheel adaptation, second supporting wheel track also follows head pulley 1 axial sets up. In this technical scheme, because the lower moving rail 100 needs to bear the weight load of the trolley, the slideway is easy to deform under stress after long-term use, and therefore the first supporting wheel 111 and the second supporting wheel 114 are arranged to bear the weight load of the trolley, and prevent the slideway from deforming under stress.

In another technical scheme, a T-shaped sliding block 117 is arranged at the end of the lower moving track 100, a slide adapted to the sliding block is arranged at the joint of the head pulley outer track 7 and the end of the lower moving track 100 having the sliding block 117, and the slide is arranged along the axial direction of the head pulley 1, so that the lower moving track 100 moves to the outer side of the head pulley 1. When the lower rail 100 is fitted to the head wheel outer rail 7, the coupling engagement between the slider 117 and the slide rail serves to position the carriage in four directions, i.e., up, down, left, and right directions, and also bears the load of the carriage. When the lower moving track 100 needs to move, the connection and cooperation of the sliding block 117 and the sliding way can play a role in limiting and guiding.

When the system is used, the system establishes an annular numbering chain for all trolleys on the roasting machine equipment in sequence, and sets a first trolley; all trolleys correspond to the serial numbers of a trolley management system (another set of system); meanwhile, the system is interlocked with the speed of the roasting machine to perform time sequence counting to determine the serial number and the position of the trolley, and all actions are controlled by a PLC time sequence. When the trolley is unloaded, the opening and closing of the movable track 100 can be accurately controlled. The teeth of the head wheel trigger a proximity switch, and whether a trolley exists between the teeth is judged through the other proximity switch; the vacant position does not need to carry out the action of opening the door; if the door is not vacant, the door is opened; the "door opening" action is completed by the moving rail 100 pushed by the lateral telescopic mechanism 101. Specifically, after receiving a PLC door opening command, the transverse telescopic mechanism 101 drives the lower moving rail 100 to move towards the outer side of the roasting machine along the transverse direction, so as to make room for wheels; the head gear teeth push the old trolley to move onto the first lifting rail 102. After the proximity switch and the weighing sensor on the first lifting rail 102 are triggered simultaneously, the vertical telescopic mechanism 104 acts downwards, the first lifting rail 102 moves downwards along the lifting rail slide rail 103, and the old trolley falls onto the trolley outlet rail 105. When the trolley falls onto the exit track 105, the weighing sensor under the exit track 105 is triggered, and the first trolley 107 pushes the old trolley to advance along the exit track 105 away from the head-wheel outer track 7. When the worn trolley 20 triggers the proximity switch on the departure track 105, it indicates that the worn trolley has left the off-head-wheel track 7. When the old trolley leaves the gap space of the head wheel outer track 7, the PLC controls the lower moving track 100 to realize the action of closing the door; when the old trolley is separated from the first lifting track 102, the weighing sensor on the vertical telescopic mechanism 104 is triggered, and the vertical telescopic mechanism 104 pushes the first lifting track 102 to return to the original position upwards to wait for the next trolley unloading task.

As shown in fig. 11 to 26, the carriage loading device includes:

a frame 10;

a pair of new trolley storage rails 301 fixed to the frame 10 at intervals in the longitudinal direction, and any one of the new trolley storage rails extends in the lateral direction; trolley wheels at two sides of a trolley to be loaded are respectively placed on a pair of new trolley storage rails;

a pair of traverse rails 12, one traverse rail 12 is correspondingly arranged on the extension line of the front end of a new trolley storage rail, and any traverse rail 12 is arranged on the rack 10 in a transverse sliding manner;

a pair of moving brackets 13, one moving bracket 13 is correspondingly and fixedly arranged on the inner side of one transverse moving track 12;

the trolley frame 14 is arranged on the rack 10 in a transverse sliding mode, two sides of the trolley frame 14 in the longitudinal direction are respectively provided with a pushing mechanism 16 used for pushing and pulling the corresponding moving brackets 13 in the transverse direction, and the front end of the middle of the trolley frame 14 is provided with a buckling mechanism 17 used for being buckled with the rear end of a trolley 18 to be loaded.

In the technical scheme, the new trolley is automatically pushed into the host machine track 19 by building the track system which can be connected with the host machine track 19, so that the automatic loading of the new trolley is realized under the production condition that the belt roasting machine does not stop.

The track system is composed of a new trolley storage track, a transverse moving track 12 and a moving bracket 13, before the trolley is pushed, the transverse moving track 12 and the new trolley storage track are transversely positioned on the same straight line, the rear end of the transverse moving track 12 is contacted with the front end of the new trolley storage track, the transverse moving track 12 is associated with a trolley frame 14 through the moving bracket 13 and a pushing mechanism 16, so that the trolley frame 14 can drive the transverse moving track 12 to move forwards and backwards along the transverse direction, the trolley frame 14 is associated with a trolley 18 to be loaded through a buckling mechanism 17, and the trolley frame 14 can drive the trolley 18 to be loaded to move forwards on the new trolley storage track and the transverse moving track 12 through the forward movement;

specifically, the method comprises the following steps: in the initial state, the trolley 18 to be loaded (new trolley) is stored on the new trolley storage rail, the front end of the new trolley storage rail is contacted with the rear end of the transverse moving rail 12, the trolley 18 to be loaded can slide on the new trolley storage rail along the transverse direction (taking figure 1 as an example, the direction parallel to the screen is the transverse direction, the direction from left to right is the transverse direction, the direction from right to left is the transverse direction, the direction vertical to the screen is the longitudinal direction), the buckling mechanism 17 on the trolley frame 14 is buckled with the rear end of the trolley 18 to be loaded, the trolley frame 14 moves forwards along the transverse direction, and can drive the trolley 18 to be loaded to move forwards along the transverse direction, under the driving of the trolley frame 14, the trolley 18 to be loaded moves forwards to the transverse moving track 12, the trolley frame 14 continues to move forwards and pushes the moving bracket 13 through the pushing mechanism 16, so that the trolley frame 14 continuously moves forwards to drive the cross sliding rail 12 and the trolley 18 to be loaded on the cross sliding rail 12 to continuously move forwards, and after the cross sliding rail 12 moves forwards in place, the front end of the traverse rail 12 is just butted with a host machine rail 19 (a door opening position), the front end trolley wheel to be loaded into the trolley 18 on the traverse rail 12 can enter between the saw teeth of the host machine big gear, further, the trolley 18 to be loaded is brought into the main machine track 19 under the driving of the main machine big gear, after the carriage 18 to be loaded has fully entered the main machine rail 19, the carriage frame 14 is moved laterally rearward, under the action of the pushing mechanism 16, the traverse rail 12 is pulled backwards, so that the traverse rail 12 is moved away from the host machine rail 19, the traverse rail 12 is driven by the backward movement of the trolley frame 14 to move and return to a position in contact with a new trolley storage rail, and the connection between the moving bracket 13 and the pushing mechanism 16 is released;

the trolley frame 14 continuously moves backwards to the clamping mechanism 17 to be clamped with the rear end of the next trolley 18 to be loaded, the trolley frame 14 continuously moves forwards to push the next trolley 18 to be loaded, the process is repeated, and the next trolley 18 to be loaded is loaded into the host track 19.

In another technical solution, the trolley loading device further includes a pair of third trolley rails 141 fixed to the frame 10 at intervals along the longitudinal direction and located between the pair of new trolley storage rails, and any one of the third trolley rails 141 extends along the transverse direction; the trolley wheels 142 on both sides of the trolley frame 14 are respectively arranged on a pair of third trolley rails 141 in a sliding manner along the transverse direction. A third cart rail 141 is provided to provide a rail for the cart frame 14 to move in the lateral direction.

In another technical scheme, the trolley is arranged in a device, and the trolley frame 14 is connected with the machine frame 10 in a sliding mode through a chain transmission mechanism 15. The sliding connection between the trolley frame 14 and the frame 10 is realized through the chain transmission mechanism 15, and the chain transmission mechanism 15 drives the trolley frame 14 to move along the transverse direction, so that the automation degree of the invention is improved.

In another solution, the trolley loading device, the chain transmission mechanism 15 includes:

two chain wheels 151 arranged on the frame 10 at intervals along the transverse direction, wherein any chain wheel 151 is rotatably arranged on the frame 10 through a wheel shaft, and a rotating shaft horizontally extends along the longitudinal direction; the two chain wheels 151 are connected through a chain 152, and the trolley frame 14 is connected with the chain 152; the trolley frame 14 is connected with the chain 152 through a connecting piece 143;

and the second motor 153 is fixedly arranged on the frame 10, and an output shaft of the second motor 153 is coaxially arranged with one of the rotating shafts and fixedly connected with the rotating shaft. The other sprocket for the shaft is provided with a tensioning member 154 to tension the chain.

In the above technical solution, the second motor 153 drives one of the chain wheels 151 to rotate, so as to drive the chain 152 to rotate, so as to drive the trolley frame 14 to move along the transverse direction, as shown in fig. 26, if the second motor 153 drives one of the rotating shafts to rotate clockwise, the chain 152 is driven to rotate clockwise, so as to drive the trolley frame 14 to move forward along the transverse direction, if the second motor 153 drives one of the rotating shafts to rotate counterclockwise, the chain 152 is driven to rotate counterclockwise, so as to drive the trolley frame 14 to move backward along the transverse direction. In practical applications, in order to ensure the linear movement of the wheels of the trolley along the transverse direction, a side catch wheel 144 can be arranged on the outer side of the chain 152;

in another embodiment, in the trolley loading apparatus, any one of the pushing mechanisms 16 includes:

a push block 161 having an L-shaped configuration, a first straight edge of the push block 161 extending upward in a vertical direction, and a second straight edge extending horizontally in a lateral direction toward a direction approaching the traverse rail 12; one side of the first straight edge of the pushing block 161 is fixedly connected with the side part of the trolley frame 14; a first straight edge of the push block 161 partially overlaps with the moving bracket 13 in the transverse direction;

a movable block 162, one side of which close to the first straight edge of the pushing block 161 is rotatably connected with the second straight edge of the pushing block 161 through a first pin 163, and the other side of which far away from the first straight edge of the pushing block 161 is arranged on the first balancing weight; the bottom of the movable block 162 is an arc-shaped flange structure protruding downwards; the first pin 163 extends horizontally in the longitudinal direction;

a plate buckle 164, the lower end of which is fixedly connected to one side of the movable block 162, and the upper end of which extends upward in an inclined manner toward a direction close to the first straight edge of the push block 161;

the trigger block 165 is fixedly arranged on the frame 10 and located below the push block 161, both sides of the top of the trigger block 165 are rounded, both sides of the trigger block 165 can touch the bottom of the movable block 162 and drive the movable block 162 to rotate from a first position to a second position, when the movable block 162 rotates to the first position, the plate buckle 164 can be hooked with the movable bracket 13, and when the movable block 162 rotates to the second position, the plate buckle 164 and the movable bracket 13 do not interfere with each other.

In the above technical solution, the present invention discloses a specific structure of the pushing mechanism 16, the pushing mechanism 16 is composed of a pushing block 161, a movable block 162, a board buckle 164 and a trigger block 165, and under the action of the trigger block 165, the movable block 162 and the board buckle 164, the automatic switching of hooking and releasing of the pushing mechanism 16 and the moving bracket 13 is realized, and further the selective association of the traverse rail 12 and the trolley frame 14 is realized;

the operation principle of the pushing mechanism 16 will be described with reference to fig. 21 to 25:

a. as shown in fig. 21, the movable block 162 is in the first position state and is located on the side of the trigger block 165 close to the host track 19, the trolley 18 to be loaded is supported on the upper surface of the traverse track 12, the trolley frame 14 drives the push block 161 to move forward (forward towards the right of the screen and backward towards the left of the screen), the first straight edge of the push block 161 is abutted to the rear end of the moving bracket 13, the trolley frame 14 moves forward to drive the moving bracket 13, the traverse track 12 and the trolley 18 to be loaded to move forward, when the traverse track 12 moves to contact with the host track 19 (before the host track 19 is opened), the trolley frame 14 stops moving forward, the trolley 18 to be loaded is brought into the host track 19 by the host gearwheel, and the loading of the trolley is completed;

b. as shown in fig. 22, the trolley frame 14 travels backwards, which drives the pushing block 161 to move backwards, the plate buckle 164 hooks the moving bracket 13, so that the trolley frame 14 travels backwards to drive the transverse moving rail 12 to move backwards, and after the transverse moving rail 12 exits, the main machine rail 19 is closed;

c. as shown in fig. 23, the trolley frame 14 continues to move backwards with the traverse rail 12 until the flange of the movable block 162 contacts with the trigger block 165, the trigger block 165 generates thrust on the flange of the movable block 162, the movable block 162 rotates counterclockwise around the axis of the first pin 163, and then drives the buckle 164 to rotate counterclockwise and downwards, the buckle 164 can be rotated to a position where the top of the buckle 164 is lower than the rail bracket under the action of the trigger block 165, that is, the movable block 162 rotates to the second position, the trolley frame 14 continues to move backwards, drives the buckle 164 to pass under the moving bracket 13, and the buckle 164 releases the hooking of the moving bracket 13, that is, the traverse rail 12 is separated from the trolley frame 14;

d. as shown in fig. 24, after the traverse rail 12 is detached from the trolley frame 14, the traverse rail 12 stops moving (at this time, the traverse rail 12 returns to the initial position of the butt joint with the new trolley storage rail), the trolley frame 14 continues to move rightward, and drives the movable block 162 to move to a position completely passing through the trigger block 165 and not interfering with the trigger block 165, the movable block 162 rotates clockwise around the axis of the first pin 163 under the action of the self-gravity of the first counter weight block and the movable block 162, and automatically resets from the second position to the first position, and the plate buckle 164 rotates clockwise upward to a position where the plate buckle 164 is partially overlapped with the moving bracket 13 in the vertical direction; the trolley frame 14 continues to move backwards until the buckling mechanism 17 on the trolley frame 14 is buckled with the rear end of the next new trolley, and the trolley frame 14 stops moving backwards;

e. as shown in fig. 25, the trolley frame 14 carries the next new trolley stored on the new trolley storage rail to continue to move forward, in the process of moving forward, the flange of the movable block 162 is touched by the trigger block 165 again, based on that both sides of the trigger block 165 are set to be rounded, the flange is also arc-shaped, the trigger block 165 is in contact with the flange, under the action of continuing to move forward of the trolley frame 14, the trigger block 165 generates a driving force on the movable block 162 to drive the movable block 162 to rotate counterclockwise around the axis of the first pin 163, further drive the plate buckle 164 to rotate until the top of the plate buckle is lower than the moving bracket 13, the plate buckle 164 moves forward from the lower direction of the moving bracket 13 to the front side of the moving bracket 13, and the trolley frame 14 continues to move forward;

returning to the state shown in fig. 21 again, the first straight edge of the trolley frame 14 is again abutted against the rear end of the moving bracket 13 to drive the traverse rail 12 to move forward, the movable block 162 moves to a position where the movable block does not interfere with the trigger block 165 and automatically resets to the first position under the action of the counterweight, and under the action of forward pushing of the trolley frame 14, the next new trolley is pushed onto the traverse rail 12 from the new trolley storage rail, and a loading operation of the next new trolley is repeated, and b-d pushing operation of the next new trolley is repeated.

In another technical solution, in the device for loading a trolley, the locking mechanism 17 includes:

a push rod 171, which is rotatably disposed at the front end of the middle part of the trolley frame 14 through a second pin shaft 172, wherein the second pin shaft 172 horizontally extends along the longitudinal direction;

the buckle 173 is fixedly arranged at the front end of the push rod 171, the vertical section of the buckle 173 is of an L-shaped structure, and the front end of the buckle 173 can be abutted against the rear end of the middle part of the trolley 18 to be loaded;

and a second weight block 174 fixedly disposed at a rear end of the push rod 171.

In the above technical solution, the present invention provides a fastening mechanism 17 composed of a push rod 171, a fastener 173, and a second weight 174, which can realize automatic fastening of the trolley frame 14 with a trolley on a new trolley storage track, and enable the trolley frame 14 to push the trolley to move forward along a transverse direction.

Specifically, as shown in fig. 20, under the action of the second weight block 174, the initial state (or natural state) of the push rod 171 is in a state of high front end and low rear end, the buckle 173 of the L-shaped structure at the front end forms an L-shaped step, the vertical portion of the buckle 173 abuts against the rear end of the trolley, and under the action of the second weight block 174, the buckle 173 can always abut against the rear end of the trolley, so that the forward movement of the trolley frame 14 can drive the trolley to move forward until the trolley is pushed into the host track 19; after the loading operation of one trolley is completed, as shown in fig. 15, the trolley frame 14 moves backwards, when the trolley frame moves to the front end position of the next new trolley, the push rod 171 is driven by the cross beam of the next new trolley, the push rod 171 rotates clockwise around the second pin 172, so that the front end of the push rod 171 rotates downwards to a position lower than the cross beam of the next new trolley, the push rod 171 moves backwards integrally from the lower part of the cross beam of the new trolley under the driving of the continuous backward movement of the trolley frame 14, when the push rod 171 completely moves through the new trolley (from fig. 15 to fig. 16), under the action of the second counter weight 174, the push rod 171 automatically rotates anticlockwise around the second pin 172 to the initial position (the front end is high and the rear end is low), the trolley frame 14 stops moving backwards, when the host track 19 has the empty position 34, and the next new trolley needs to be sent to the host track 19, as shown in fig. 17, the trolley frame 14 moves forwards again, and at this time, the buckle 173 at this time can abut against the next new trolley, so that the front end of the push rod 171 can be clamped with the new trolley 14, so that the front end of the next new trolley can move forwards.

In another technical solution, in the trolley loading device, a stopper 131 hooked with the plate buckle 164 is provided on one side of any one of the moving brackets 13 away from the corresponding traverse rail 12. A stop 131 is provided to effect hooking of the catch 164 to the mobile carriage 13.

In another technical scheme, in the trolley loading device, the front end surface of any transverse moving track 12 is an inclined surface structure inclining downwards from top to bottom to the rear end. So that the front end of the traverse rail 12 can enter the host rail 19 without interfering with the normal operation of the host rail 19 when the traverse rail 12 is butted against the host rail 19.

As shown in fig. 27 to 34, the push-up carriage turning system in which the carriage 2 includes a pair of first wheels 26 located at one end of a vehicle body and a pair of second wheels 27 located at the other end thereof includes:

each track assembly comprises a pair of straight tracks 21 arranged at intervals along the conveying direction, a second lifting track 22 arranged between the pair of straight tracks 21 and a pair of limiting columns 36 arranged below the pair of straight tracks 21 and positioned at two sides of the second lifting track 22, wherein the pair of second lifting tracks 22 correspondingly support a pair of first wheels 26, and the pair of second lifting tracks 22 drive the pair of first wheels 26 to do vertical reciprocating linear motion between the pair of limiting columns 36 from a height equal to that of the straight tracks 21 downwards;

a push block assembly, which comprises a pair of push blocks 28 corresponding to the pair of second wheels 27, a driving mechanism for driving the pair of push blocks 28 to do linear motion along the straight track 21, and a pair of retraction mechanisms corresponding to the push blocks 28 and promoting the corresponding push blocks 28 to avoid the first wheels 26;

the maximum descending height of the second lifting rail 22 is not greater than the distance between the centers of the first wheel 26 and the second wheel 27 on the same side, the reciprocating linear motion of the second lifting rail 22 is matched with the linear motion of the push block 28, so that in the process that the first wheel 26 descends to the lowest point and then ascends to the highest point along with the corresponding second lifting rail 22 from a height equal to the height of the straight rail 21, the push block 28 pushes the corresponding second wheel 27 to move from one side to the other side of the second lifting rail 22, and the trolley 2 is turned;

in the above technical solution, the pair of pushing blocks 28 corresponds to the pair of second wheels 27, and the pair of pushing blocks 28 pushes the pair of second wheels 27 to move from the straight rail 21 on one side of the second lifting rail to the straight rail on the other side; when the second lifting rail 22 is lifted to the highest point (i.e. the position of the second lifting rail when the first wheel 26 of the trolley is initially placed on the second lifting rail), the top surfaces of the second lifting rail and the pair of straight rails are flush, so that the trolley can walk; the two ends of the second lifting rail correspond to a pair of straight rails, the two ends of the second lifting rail 22 are attached to the corresponding straight rails 21, the straight rails 21 are installed on the ground or other supporting surfaces through third supporting frames 24 according to actual conditions, a pair of limiting columns 36 are respectively arranged at the bottoms of the pair of straight rails 21 close to one ends of the second lifting rail 22, telescopic parts are arranged at the bottoms of the second lifting rail 22, the telescopic ends of the telescopic parts are fixedly connected with the bottoms of the second lifting rail 22, the fixed ends of the telescopic parts are installed on the ground or other supporting surfaces, the telescopic parts can be hydraulic rods 23 or electric push rods so as to drive the second lifting rail 22 to make vertical reciprocating linear motion between the pair of limiting columns 36, and the pair of limiting columns 36 are designed to prevent the second lifting rail 22 from derailing in the horizontal direction;

the driving mechanism may be a second trolley provided with a driving part, such as a motor-driven second trolley, and a traveling rail of the second trolley, the second trolley is provided with the pair of pushing blocks 28, the traveling rail is located above the straight rail 21, when the second trolley travels along the traveling rail, the pushing blocks 28 are driven to move, and further the pushing blocks 28 are driven to push the second wheels 27, and when the driving mechanism is actually used, the traveling rail of the second trolley is supported on the ground or other supporting surfaces through the fourth supporting frame 25 according to the situation;

the retraction mechanism may be implemented in such a manner that the pushing block 28 is a retractable pushing block 28, if the pushing block 28 is connected to a retractable end of a retractable rod, a fixed end of the retractable rod is disposed on the second trolley, the retractable rod may be a hydraulic retractable rod or an electric retractable rod, when the trolley 2 is turned over and the second trolley is retracted and meets the first wheel 26, the pushing block 28 is retracted to be not in contact with the first wheel 26, and then the second trolley is retracted continuously to separate the trolley 2 from the limit of the pushing block 28;

the maximum descending height of the second ascending and descending track 22 is not greater than the distance between the centers of the first wheel 26 and the second wheel 27 on the same side, that is, the maximum descending height of the second ascending and descending track 22 is equal to or less than the distance between the center of the first wheel 26 and the center of the second wheel 27 on the same side, preferably, the maximum descending height of the second ascending and descending track 22 is equal to or slightly less than (for example, 1 to 5cm less than) the distance between the center of the first wheel 26 and the center of the second wheel 27 on the same side, and can be designed according to actual conditions;

the reciprocating linear motion of the second lifting rail 22 is matched with the linear motion of the pushing block 28, for example, the second lifting rail 22 makes reciprocating linear motion, the pushing block 28 makes variable-speed linear motion, or the second lifting rail 22 makes reciprocating variable-speed linear motion, the pushing block 28 makes uniform-speed linear motion, and the design can be made according to actual conditions when in use;

in the technical scheme, in the using process, when the trolley 2 needs to be turned over, the trolley 2 to be replaced enters the straight track 21 under the pushing of the first trolley, so that the trolley 2 is in a position, wherein the position state of the trolley 2 is as follows: each first wheel 26 is located on the corresponding second lifting rail 22, each second wheel 27 is located on the straight rail 21 on one side of the corresponding second lifting rail 22, each push block 28 is located on one side of the corresponding second wheel 27 far away from the first wheel 26, the first wheel 26 descends along the corresponding second lifting rail 22, meanwhile, the push block 28 pushes the corresponding second wheel 27 to move towards the other side of the second lifting rail 22 under the driving of the driving mechanism so as to cooperate with the first wheel 26 to descend, when the first wheel 26 descends to the lowest point, the second wheel 27 is located right above the first wheel 26, then the first wheel 26 ascends along the corresponding second lifting rail 22, and at the same time, the pushing blocks 28 continue to push the corresponding second wheels 27 to move under the driving of the driving mechanism so as to be matched with the first wheels 26 to ascend, and transition to the straight rails 21 on the other side of the second lifting rails 22, when the first wheels 26 ascend to the highest point, the second lifting rails 22 are flush with the straight rails 21, the trolley 2 is turned over, finally the pushing blocks 28 retreat away from the second wheels 27, the retracting mechanism prompts the pushing blocks 28 to avoid the first wheels 26, so that the trolley 2 is separated from the limit of the pushing blocks 28, as shown in fig. 27-32, fig. 27-32 show the process that the lower plane of the trolley 2 is turned over from the initial upward direction to the downward direction (when in actual use, the trolley 2 hung on the straight rails 21 from the belt roasting machine is likely to have the upward upper plane and the upward plane);

by adopting the technical scheme, the beneficial effects that the automatic overturning of the trolley 2 is realized through the design of the second trolley track 31, the second lifting track 22, the push block 28, the driving mechanism and the retracting mechanism and the matching of the linear motion of the push block 28 and the reciprocating linear motion of the second lifting track 22 are achieved, the operation is convenient, time and labor are saved, and the operation safety of constructors is improved.

In another technical scheme, a pair of straight rails 21 corresponds to a pair of limiting posts 36, each straight rail 21 and the corresponding limiting post 36 form an integrally formed L-shaped structure, two ends of the second lifting rail 22 are respectively connected with a vertical section of the corresponding L-shaped structure in a sliding manner, a hydraulic rod 23 is arranged below the second lifting rail 22, and a telescopic end of the hydraulic rod 23 is fixedly connected with the bottom of the second lifting rail 22 so as to drive the second lifting rail 22 to make reciprocating linear motion in the vertical direction;

in the above technical solution, the vertical sections of the pair of L-shaped structures are arranged oppositely, that is, the vertical section in each L-shaped structure is close to the second lifting rail 22, each end of the second lifting rail 22 is slidably connected to the corresponding vertical section of the L-shaped structure, and the fixed end of the hydraulic rod 23 is installed on the ground or other supporting surface; in the technical scheme, when the trolley 2 is in place, the hydraulic rod 23 and the driving mechanism are synchronously started to ensure that the second lifting track 22 is matched with the pushing block 28 in the horizontal linear motion in the vertical reciprocating linear motion to complete the overturning of the trolley 2; by adopting the technical scheme, the obtained beneficial effects are that a mode that the second lifting track 22 does reciprocating linear motion in the vertical direction is provided by designing the hydraulic rod 23, the structure is simple, and the operation is easy.

In another technical scheme, the driving mechanism includes a second trolley, a pair of second trolley rails 31 parallel to the straight rails 21, and a driving member for driving the second trolley to move linearly along the second trolley rails 31, the second trolley includes a horizontal plate, and side plates 32 disposed on both sides of the horizontal plate, each side plate 32 is provided with a pulley 29, the pair of pulleys 29 corresponds to the pair of second trolley rails 31, the pulleys 29 are slidably connected to the corresponding second trolley rails 31, the bottom of each side plate 32 is provided with the push block 28, the driving member includes a chain-rod type conveyor belt 30 and a connecting rod 33 fixedly connected to one of the chain rods of the chain-rod type conveyor belt 30, and the other end of the connecting rod 33 is fixedly connected to the horizontal plate, so that the horizontal plate moves along with the chain-rod type conveyor belt 30 and finally drives the push block 28 to move;

in the above technical solution, specifically, a pair of second cart rails 31 is mounted on the ground or other supporting surface (the ground or supporting surface is not shown in the figures) through a fourth supporting frame 25, the second cart rails 31 are preferably located above the straight rails 21, a pair of side plates 32 correspond to the pair of rails, the chain bar type conveyor belt 30 is a conveyor belt driven by an assembled motor reducer, which is common to those skilled in the art, and the belt body of the chain bar type conveyor belt 30 is composed of a plurality of chain bars, and the belt body of the chain bar type conveyor belt 30 is supported and mounted on the fourth supporting frame 25; one end of the connecting rod 33 is fixedly connected with one of the chain rods of the chain rod type conveyer belt 30, and the other end is fixedly connected with the horizontal plate so as to drive the horizontal plate and the push block 28 to move along with the movement of the chain rods;

by adopting the technical scheme, the obtained beneficial effects are that the structure of the driving mechanism is provided by designing the second trolley track 31, the horizontal plate, the side plate 32, the pulley 29, the chain rod type conveying belt 30 and the connecting rod 33, the materials are convenient to obtain, the driving mechanism can be installed and used on site, and the driving mechanism is convenient to use, simple and good in driving effect.

In another technical solution, the specific way for the retraction mechanism to urge the push block 28 to avoid the first wheel 26 is: a fixed shaft 35 is arranged on the side wall of the side plate 32, the push block 28 is rotatably connected with the fixed shaft 35 and rotates around the fixed shaft 35, a limit block 33 is further arranged on the side plate 32, and the limit block 33 is positioned on one side of the push block 28, which is far away from the second wheel 27, so as to limit the push block 28 to rotate towards one side, which is far away from the second wheel 27; specifically, a pair of annular limiting discs is coaxially arranged on the fixed shaft 35, the top of the push block 28 is serially arranged on the fixed shaft 35 between the pair of annular limiting blocks 33, and the length of the fixed shaft 35 between the pair of annular limiting discs is slightly larger (for example, 3-5 mm larger) than the thickness of the top of the push block 28, so as to limit the push block 28 to move on the fixed shaft 35 along the axial direction of the fixed shaft 35 to a large extent; the push block 28 in the present technical solution is similar to a one-way valve, when in use, the push block 28 is in a vertical state under the action of gravity in a natural state, when the trolley 2 needs to be turned over, the push block 28 is located on one side corresponding to the second wheel 27, due to the heavy weight of the trolley 2 and the limitation of the limit block 33, the push block 28 directly pushes the trolley 2 to move along the straight rail 21 under the driving of the driving mechanism, and matches the speed of the second lifting rail 22, so that the trolley 2 is turned over, when the trolley 2 is turned over, the push block 28 meets the first wheel 26 in the process of backing, at this time, since the backing direction is opposite to the advancing direction, the push block 28 can rotate around the fixing shaft 35 to avoid the first wheel 26 until being separated from the first wheel 26, and at this time, the trolley 2 is also separated from the limitation of the push block 28; by adopting the technical scheme, the beneficial effects that the structure of the retracting mechanism is provided by designing the fixed shaft 35 and the limiting block 33, the structure is simple, the pushing block 28 can be automatically promoted to avoid the first wheel 26, the use is convenient, and the effect is good.

In another technical solution, the diameters of the first wheel 26 and the second wheel 27 are the same, the length of the second lifting track 22 is slightly greater than the diameter of the first wheel 26, and the maximum height of the second lifting track 22 descending is equal to the distance between the centers of the first wheel 26 and the second wheel 27 on the same side;

in the above technical solution, the diameters of the first wheel 26 and the second wheel 27 are the same, the maximum descending height of the second lifting track 22 is equal to the distance between the circle center of the first wheel 26 and the circle center of the second wheel 27 on the same side, the length of the second lifting track 22 is slightly greater than the diameter of the first wheel 26, and if the length of the second lifting track 22 is 2-4 mm greater than the diameter of the first wheel 26, it is convenient for the second wheel 27 to transition from one side of the second lifting track 22 to the other side, and when in actual use, the length of the second lifting track 22 is designed according to the diameters of the first wheel 26 and the second wheel 27, so that the second wheel 27 smoothly transitions from one side of the second lifting track 22 to the other side; adopt this technical scheme, the beneficial effect who obtains is that, provides the length of a first wheel 26, second wheel 27, second lift track 22 and the maximum size design standard of height that second lift track 22 descends, and each part cooperatees, realizes the upset of platform truck 2 more easily.

In another technical solution, the second lifting rail 22 makes reciprocating linear motion at a constant speed in the vertical direction, and the push block 28 makes linear motion at a variable speed in the horizontal direction, which is matched with the second lifting rail 22; by adopting the technical scheme, the beneficial effect is that the combination is easier to operate and realize in practical use.

The trolley 2 overturning method is characterized in that the trolley 2 is overturned by the push-type trolley overturning system, and the method specifically comprises the following steps:

the in-position state of the trolley 2 is as follows: each first wheel 26 is located on the corresponding second lifting rail 22, each second wheel 27 is located on the straight rail 21 on one side of the corresponding second lifting rail 22, each pushing block 28 is located on one side of the corresponding second wheel 27 away from the first wheel 26, the first wheel 26 first descends along the corresponding second lifting rail 22, the pushing block 28 pushes the corresponding second wheel 27 to move towards the other side of the second lifting rail 22 under the driving of the driving mechanism to cooperate with the descending of the first wheel 26, when the first wheel 26 descends to the lowest point, the second wheel 27 is located right above the first wheel 26, then the first wheel 26 ascends along the corresponding second lifting rail 22, and simultaneously, the pushing block 28 continues to push the corresponding second wheel 27 to move to cooperate with the ascending of the first wheel 26 under the driving of the driving mechanism, and transits to the straight rail 21 on the other side of the second lifting rail 22, when the first wheel 26 ascends to the highest point, the second lifting rail 22 and the straight rail 21 are flush, when the pushing block 2 overturns to the straight rail 28, the pushing block 28 is completely overturned to move upwards, and the pushing block 28 retracts to the straight rail 21 away from the upper plane, and the straight rail 21, and the pushing block can possibly retract to the upper plane, and the upper plane 2, and the pushing block can possibly retract to the upper plane, and the lifting rail 21 can possibly retract to the upper side of the pushing block 32.

As shown in fig. 35 to 49, the trolley handling system includes:

a crane rail 11;

a crane 501 provided on the crane rail 11 to slide in a lateral direction;

the lifting appliance 200 is connected with the crane 501 and driven by the crane 501 to move, the lifting appliance 200 is provided with a lifting appliance main body 201, two clamps 202 positioned at two sides of the lifting appliance 200 main body, and four target plates 203 symmetrically arranged at the outer sides of the two clamps 202, and the two target plates 203 positioned at the outer sides of any one clamp 202 are symmetrically arranged at intervals;

and the two pairs of storage rails comprise a pair of old trolley storage rails 300 and a pair of new trolley storage rails 301, the bottom of each old trolley storage rail 300 is provided with a first weighing sensor 302 and a plurality of first laser distance measuring instruments 303, and the bottom of each new trolley storage rail 301 is provided with a second weighing sensor 304 and a plurality of second laser distance measuring instruments 305.

In the technical scheme, a transversely extending crane rail 11 is arranged above one side of a host rail of the belt type roasting machine, a crane 501 capable of sliding along the crane rail 11 is installed on the crane rail, a lifting appliance 200 is connected below the crane 501, clamps 202 used for clamping trolley tires are arranged on two sides of the lifting appliance 200, a plurality of target plates 203 are installed on the outer sides of the clamps 202 and used for receiving laser emitted by a laser range finder, in addition, a pair of old trolley storage rails 300 and a pair of new trolley storage rails 301 are respectively extended outwards from one side of the host rail of the belt type roasting machine and used for placing old trolleys and new trolleys, a first weighing sensor 302 and a plurality of first laser range finders 303 are installed at the bottom of the old trolley storage rails 300, a second weighing sensor 304 and a plurality of laser range finders 305 are installed at the bottom of the new trolley storage rails 301 and used for accurately positioning and judging whether the new and old trolleys are clamped or not, and the automatic process of lifting the new and old trolleys is realized. When the lifting appliance is used, the first laser range finder 303 measures the distance between the lifting appliance 200 and the wheel of the old trolley, and the lifting appliance 200 descends for a certain distance and stops; the lifting appliance 200 clamps the wheels by micro-motion, a first weighing sensor 302 weighs after clamping, successful clamping is confirmed, and lifting is carried out; the action is not successfully repeated again until the clamping is successful; lifting the spreader 200 for a certain distance and stopping, and transversely moving the crane 501; the crane 501 moves to the old trolley transfer position and stops, and the spreader 200 starts to descend; the distance between the lifting appliance 200 and the ground is measured by the laser distance measuring instrument III, the lifting appliance 200 descends for a certain distance and stops, the lifting appliance 200 releases the trolley in a micro-motion mode, and the lifting is carried out, so that the action of lifting the old trolley is realized; the lifting appliance 200 is lifted to a certain height and stopped, the crane 501 continues to move forwards and transversely for a certain distance, the positioning is stopped when a new trolley is supplemented, and the lifting appliance 200 descends; measuring the distance between the lifting appliance 200 and the ground by the laser range finder IV, and stopping when the lifting appliance 200 descends for a certain distance; the lifting appliance 200 is clamped by micro motion, after clamping, the weighing sensor IV weighs, the clamping is confirmed to be successful, and the lifting is carried out; the action is not successfully repeated again until the clamping is successful; when the crane is lifted to a certain height, the crane 501 moves transversely and reversely; the crane 501 moves a certain distance, positions and stops above the new trolley track, and the spreader 200 descends; the spreader 200 is stopped by descending a certain distance; the lifting appliance 200 releases the new trolley in a micro-motion manner, the second weighing sensor 304 weighs after release, the release is confirmed to be successful, the lifting is carried out, and the action of supplementing the new trolley in place is completed; the lifting of the lifting appliance 200 is stopped at a certain height, and the crane 501 moves forwards and transversely; the crane 501 moves a certain distance, and is positioned and stopped at the position above the old trolley stop position, and the spreader 200 descends to the original position to wait for the next cycle command.

In another technical scheme, the novel automatic weighing device further comprises an old trolley placing frame 400 and a new trolley placing frame 401, wherein the bottom of the old trolley placing frame 400 is provided with a third weighing sensor 402 and a plurality of third laser distance measuring instruments 403, and the bottom of the new trolley placing frame 401 is provided with a fourth weighing sensor 404 and a plurality of fourth laser distance measuring instruments 405. In this technical scheme, two are put shelf location weighing sensor and are used for judging the state of putting on the frame, a plurality of laser range finder be convenient for survey and the hoist 200 between the distance.

In another technical scheme, the third weighing sensor 402 and the fourth weighing sensor 404 are respectively arranged in the middle of the bottoms of the old trolley placing frame 400 and the new trolley placing frame 401. Among this technical scheme weighing sensor sets up in the middle of putting the bottom of frame, and the survey is put the distance of mark target board 203 on frame and hoist 200, guarantees the accuracy of range finding.

In another technical solution, an old trolley to be disassembled is placed on the old trolley storing track 300, and a new trolley to be loaded is placed on the new trolley storing track 301. In the technical scheme, the old trolley is placed on the old trolley storage track 300, so that the old trolley is convenient to detach, and the new trolley storage track 301 is used for placing the new trolley, so that the new trolley is convenient to load.

In another technical scheme, each clamp 202 comprises two sets of semicircular clamping arms matched with wheels of the trolley, and the four sets of clamping arms of the two clamps 202 are respectively matched and clamped on the peripheries of the wheels of the trolley positioned on two sides of the trolley. In the technical scheme, the clamping arms are arranged, so that the new trolley and the old trolley can be clamped and released conveniently, the automatic clamping and placing function is realized, and the automation is improved.

In another technical solution, two target plates 203 on each clamp 202 are located between two sets of clamp arms, and the bottom of each target plate 203 is an arc-shaped structure. Through the different distances of a plurality of laser range finders and the cambered surface of the bottom of the target plate 203, the accuracy of ranging is improved, and accurate positioning is realized.

In another technical solution, the crane 501 slides transversely along the crane rail 11 to drive the spreader 200 to move transversely, the crane 501 and the spreader 200 are connected by a mechanical arm (not shown), and the mechanical arm drives the spreader 200 to move longitudinally. In the technical scheme, the crane 501 is matched with the mechanical arm to move the lifting appliance 200 in the horizontal direction and the vertical direction, so that the flexibility of the device is improved,

in another technical scheme, the system further comprises a PLC (programmable logic controller), wherein the PLC is respectively connected with the crane 501, the lifting appliance 200, the mechanical arm, the first weighing sensor 302, the first laser distance meters 303, the second weighing sensor 304, the second laser distance meters 305, the third weighing sensor 402, the third laser distance meters 403, the fourth weighing sensor 404 and the fourth laser distance meters 405;

when the PLC receives the fact that the first weighing sensor 302 monitors that the old trolley is placed on the old trolley storage track 300, the PLC controls the first laser range finders 303 to measure the distance between the lifting appliance 200 and the old trolley storage track 300 and controls the mechanical arm to drive the lifting appliance 200 to move downwards for a certain distance to stop, the PLC controls the lifting appliance 200 to clamp wheels of the old trolley, the first weighing sensor 302 after clamping is used for weighing, the clamping success is confirmed, the mechanical arm is controlled to drive the lifting appliance 200 to lift, and the action is repeated again if the clamping is not successful until the clamping is successful;

the PLC controls the mechanical arm to drive the lifting appliance 200 to lift a certain distance to stop, the PLC controls the crane 501 to slide along the crane rail 11 to drive the lifting appliance 200 to transversely move, the crane 501 stops when moving to the position right above an old trolley placing frame 400, the plurality of laser distance measuring instruments III 403 measure the distance between the lifting appliance 200 and the old trolley placing frame 400, the mechanical arm is controlled to drive the lifting appliance 200 to descend for a certain distance to stop, the PLC controls the lifting appliance 200 to release the old trolley, the weighing sensor III 402 weighs after the release, the successful release is confirmed, the mechanical arm is controlled to drive the lifting appliance 200 to lift, the old trolley is lifted to move, meanwhile, the PLC reminds the old trolley to be taken away from the old trolley placing frame 400, for example, the PLC is connected with an alarm or a voice player, and the alarm or the voice player sounds after the old trolley is lifted to move;

the PLC controls the mechanical arm to drive the lifting appliance 200 to lift a certain distance to stop, when the PLC receives a situation that a new trolley is arranged on a new trolley placing frame 401 monitored by a fourth weighing sensor 404, the PLC controls the crane 501 to slide along a crane rail 11 to drive the lifting appliance 200 to move transversely, the PLC stops when the new trolley placing frame 401 is directly above the new trolley placing frame, a plurality of laser range finders 405 measure the distance between the lifting appliance 200 and the new trolley placing frame 401, the mechanical arm drives the lifting appliance 200 to descend for a certain distance to stop, the PLC controls the lifting appliance 200 to clamp the new trolley, the clamping sensor 404 weighs after clamping, the clamping success is confirmed, the mechanical arm is controlled to drive the lifting appliance 200 to lift, and if the clamping is not successful, the action is repeated again until the clamping is successful;

the PLC controls the mechanical arm to drive the lifting appliance 200 to lift a certain distance to stop, the PLC controls the crane 501 to slide along the crane rail 11 to drive the lifting appliance 200 to transversely move, the crane 501 stops when moving right above a new trolley storage rail 301, the plurality of laser range finders II 305 measure the distance between the lifting appliance 200 and the new trolley storage rail 301, the mechanical arm is controlled to drive the lifting appliance 200 to descend for a certain distance to stop, the PLC controls the lifting appliance 200 to release a new trolley, the weighing sensor II 304 weighs after the release, the release is confirmed to be successful, the PLC controls the mechanical arm to drive the lifting appliance 200 to lift, the action of supplementing the new trolley in place is completed, meanwhile, the PLC reminds the new trolley to be supplemented on the new trolley placing frame 401, for example, the PLC is connected with an alarm or a voice player, and the alarm or the voice player rings after the action of supplementing the new trolley in place is completed;

the PLC controls the mechanical arm to drive the lifting appliance 200 to lift for a certain distance to stop, the PLC controls the crane 501 to slide along the crane track 11 to drive the lifting appliance 200 to move transversely, the crane 501 stops when moving right above the old trolley storage track 300, the mechanical arm drives the lifting appliance 200 to descend for a certain distance to stop, and the lifting appliance 200 returns to the original position to wait for the next cycle instruction of the PLC.

The working principle of the invention is explained by figures 35-47, and the following actions are all completed by PLC control:

a. as shown in fig. 35 to 37, an old trolley to be transferred is placed on the old trolley storage track 300, a plurality of first laser range finders 303 measure the distance between the lifting appliance 200 and the old trolley storage track 300, the lifting appliance 200 moves downwards, the clamp 202 clamps the peripheries of the wheels of the old trolley to drive the old trolley to move upwards, and whether clamping is successful is judged through the weight change monitored by the first weighing sensor 302;

b. as shown in fig. 38 to 40, the crane 501 drives the spreader 200 and the old trolley to move left to right above the old trolley placing frame 400, the plurality of laser distance measuring devices three 403 measure the distance between the spreader 200 and the old trolley placing frame 400, the spreader 200 moves down, the clamp 202 releases the old trolley to place on the old trolley placing frame 400, the spreader 200 moves up, and whether the release is successful is judged through the weight change monitored by the weighing sensor three 402;

c. as shown in fig. 41 to 43, the crane 501 drives the spreader 200 to move laterally to a position right above the new trolley placing frame 401, the plurality of laser range finders four 405 measure the distance between the spreader 200 and the new trolley placing frame 401, the spreader 200 moves downward, the clamp 202 clamps the periphery of the trolley wheels of the new trolley, drives the new trolley to move upward, and whether clamping is successful is judged through the weight change monitored by the weighing sensor four 404;

d. as shown in fig. 44 to 46, the crane 501 drives the spreader 200 to move transversely to a position right above the new trolley storage rail 301, the plurality of second laser distance measuring devices 305 measure the distance between the spreader 200 and the new trolley storage rail 301, the spreader 200 moves downwards, the clamp 202 releases to place the new trolley on the new trolley placing frame 401, the spreader 200 moves upwards, and whether the release is successful is judged through the weight change monitored by the second weighing sensor 304;

e. as shown in fig. 47, the crane 501 drives the spreader 200 to move laterally above the vacant position, and returns to the initial position, and repeats the above operations to perform the next trolley lifting operation.

While embodiments of the invention have been described above, it is not intended to be limited to the details shown, described and illustrated herein, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed, and to such extent that such modifications are readily available to those skilled in the art, and it is not intended to be limited to the details shown and described herein without departing from the general concept as defined by the appended claims and their equivalents.

Claims

1. The online automatic replacement system of platform truck, the outer track of platform truck include the outer track of a pair of head pulley, and the platform truck is including a pair of second wheel that is located a pair of first wheel of automobile body one end and the other end, and its characterized in that includes:

two platform truck withdrawal devices, it moves the track one-to-one under with two, and platform truck withdrawal device includes:

the push block assembly comprises a pair of push blocks corresponding to the pair of second wheels, a driving mechanism for driving the pair of push blocks to do linear motion along a straight track, and a pair of retraction mechanisms corresponding to the push blocks and promoting the corresponding push blocks to avoid the first wheels;

2. The trolley on-line automatic changing system as claimed in claim 1, further comprising:

a frame;

a pair of new trolley storage rails which are fixedly arranged on the rack at intervals along the longitudinal direction, and any new trolley storage rail extends along the transverse direction; trolley wheels at two sides of the new trolley can be respectively placed on a pair of new trolley storage rails;

the front end of a new trolley storage track is correspondingly provided with one transverse rail along the extension line, any transverse rail is arranged on the rack in a transverse sliding mode, the transverse rail can transversely move to the position where the front end of the transverse rail is butted with the notch of the upper moving rail, and when a new trolley is arranged on the transverse rail, the front end wheel of the new trolley can enter the tooth groove between the wheel teeth of the head wheel;

3. The online automatic pallet changing system of claim 2, further comprising:

a second proximity switch disposed on the first lifting rail;

the second weighing sensor is arranged on the departure track;

4. The online automatic trolley replacing system according to claim 1, wherein a pair of straight rails corresponds to a pair of limiting posts, each straight rail and the corresponding limiting post form an integrally formed L-shaped structure, two ends of the second lifting rail are slidably connected with a vertical section of the corresponding L-shaped structure, respectively, and a telescopic end of the telescopic member is fixedly connected with the bottom of the second lifting rail so as to drive the second lifting rail to make a vertical reciprocating linear motion between the pair of limiting posts.

5. The automatic online trolley changing system according to claim 1, wherein the driving mechanism includes a second trolley, a pair of second trolley rails parallel to the straight rails, and a driving member for driving the second trolley to move linearly along the second trolley rails, the second trolley includes a horizontal plate, and side plates disposed on both sides of the horizontal plate, each side plate has a pulley corresponding to one pair of second trolley rails, the pulley is slidably connected to the corresponding second trolley rail, the bottom of each side plate has a pushing block, the driving member includes a link-type conveyor belt and a connecting rod fixedly connected to one of the links of the link-type conveyor belt, and the other end of the connecting rod is fixedly connected to the horizontal plate, so that the horizontal plate moves along with the link-type conveyor belt and finally drives the pushing block to move.

6. The automatic online trolley changing system of claim 5, wherein the retraction mechanism urges the push block to avoid the first wheel by: the curb plate lateral wall is equipped with the fixed axle, the ejector pad with the fixed axle rotates to be connected and winds the fixed axle rotates, the curb plate still is equipped with the stopper, the stopper is located one side of keeping away from the second wheel of ejector pad, in order to restrict the ejector pad rotates towards one side of keeping away from the second wheel.

7. The online automatic trolley replacing system according to claim 1, wherein the first wheel and the second wheel have the same diameter, the length of the second lifting track is slightly greater than the diameter of the first wheel, and the maximum descending height of the second lifting track is equal to the distance between the centers of the first wheel and the second wheel on the same side; the second lifting rail makes reciprocating uniform linear motion in the vertical direction, and the push block makes variable-speed linear motion matched with the second lifting rail in the horizontal direction.

8. The trolley online automatic replacing system as claimed in claim 3, wherein the bottom of the old trolley storing track is provided with a first weighing sensor and a plurality of first laser distance measuring instruments; a second weighing sensor and a plurality of second laser range finders are arranged at the bottom of the new trolley storage track;

the online automatic trolley replacing system further comprises:

handling system, it includes:

a crane rail;

the crane is arranged on the crane rail in a transverse sliding mode;

and the bottom of the new trolley placing frame is provided with a fourth weighing sensor and a fourth plurality of laser range finders.

9. The online automatic trolley replacing system according to claim 8, wherein the hanger is provided with a hanger main body, two clamps positioned at both sides of the hanger main body, and four target plates symmetrically arranged at the outer sides of the two clamps, the two target plates positioned at the outer sides of any one clamp are symmetrically arranged at intervals; each clamp comprises two groups of semicircular clamping arms matched with wheels of the trolley, and the four groups of clamping arms of the two clamps are respectively clamped on the peripheries of the wheels of the trolley positioned on the two sides of the trolley in a matched manner; the two target plates on each clamp are positioned between the two groups of clamp arms, and the bottom of each target plate is of an arc-shaped structure; the crane slides transversely along the crane track to drive the lifting appliance to move transversely, the crane is connected with the lifting appliance through a mechanical arm, the mechanical arm drives the lifting appliance to move longitudinally, and the PLC is further connected with the crane, the lifting appliance and the mechanical arm respectively.

10. The online automatic trolley replacing system according to claim 8, wherein the PLC is further connected with a first weighing sensor, a plurality of first laser distance meters, a second weighing sensor, a plurality of second laser distance meters, a third weighing sensor, a third laser distance meters, a fourth weighing sensor and a fourth laser distance meters respectively.

11. The online automatic trolley replacing method is characterized by comprising the following steps:

step one, connecting a camera device with a trolley management system, respectively photographing and numbering all trolleys on a belt type roasting machine, numbering all trolleys according to an actual connection sequence by a PLC (programmable logic controller), enabling each trolley to have a sequence number, corresponding the serial numbers of the trolleys with the sequence numbers in the PLC, setting a first trolley, determining the position of any one trolley, interlocking the PLC with the speed of the roasting machine, and performing time sequence counting to determine the position of the trolley;

secondly, when the PLC receives a bad and old trolley number sent by the trolley management system, the bad and old trolley number is recorded, then the sequence number of the bad and old trolley is determined according to the bad and old trolley number, the PLC determines the position of the bad and old trolley by comparing the sequence number of the current trolley, the position of the trolley is tracked according to the instant machine speed of the roasting machine, when the trolley moves to the front of the front end of the downward moving track, two first proximity switches are triggered, the PLC sends a photographing command to the trolley management system, the camera device photographs the trolley, the photographed pictures are compared through the trolley management system, the generated numbers are transmitted to the PLC, the PLC compares the stored numbers to judge whether the trolley is a bad and the next step is carried out if the numbers are consistent; if the two first proximity switches are not matched, when the next trolley triggers the two first proximity switches in front of the front end of the lower moving track, the camera shooting equipment shoots again, the trolley management system identifies the pictures and finds the corresponding numbers, the numbers are transmitted to the PLC, the PLC compares the numbers, and if the numbers are matched, the next step is carried out; if not, circulating to the next period and advancing by one trolley, and then judging;

step three, when the old damaged trolley approaches two first proximity switches in front of the front end of the lower moving track, if the gear teeth of the head wheel trigger one of the first proximity switches and the old damaged trolley triggers the other first proximity switch, the door opening action is carried out, otherwise, the door opening action is not carried out; when the lower moving track performs door opening action, after a transverse telescoping mechanism corresponding to the lower moving track receives a door opening instruction of the PLC, the lower moving track is driven to move towards the outer side of the roasting machine along the slide way, a space is reserved for the wheels of the old damaged trolley, then the wheel teeth of the first wheel push the old damaged trolley to move onto the first lifting track, when the second proximity switch and the first weighing sensor are triggered simultaneously, the vertical telescoping mechanism drives the first lifting track to move downwards along the sliding rail of the lifting track, the old damaged trolley falls onto the discharging track, then the second weighing sensor under the discharging track is triggered, the first trolley pushes the old damaged trolley to advance along the discharging track, when the trolley triggers the third proximity switch, the old damaged trolley leaves the outer track of the first wheel, the first trolley pushes the old damaged trolley to continue to move forwards onto the straight track, when the old damaged trolley triggers the fourth proximity switch, each first wheel of the old damaged trolley is positioned on the corresponding second lifting track, each second wheel is positioned on the straight track on one side of the corresponding second lifting track, and is positioned close to the pushing block of each second wheel; the first wheel descends along with the corresponding second lifting track, the pushing block pushes the corresponding second wheel to move towards the other side of the second lifting track under the driving of the driving mechanism to be matched with the first wheel to descend, when the first wheel descends to the lowest point, the second wheel is positioned right above the first wheel, then the first wheel ascends along with the corresponding second lifting track, the pushing block continues to push the corresponding second wheel to move to be matched with the first wheel to ascend under the driving of the driving mechanism and transition to a straight track on the other side of the second lifting track, when the first wheel ascends to the highest point, the second lifting track is flush with the straight track, the old trolley is turned over, then the pushing block continues to push the old trolley forwards under the driving of the driving mechanism until the old trolley is stored on the old trolley storage track after triggering a fifth approach switch, and finally the pushing block returns to the original position in the direction far away from the second wheel, and the retracting mechanism prompts the pushing block to avoid the first wheel, so that the trolley is separated from the limit of the pushing block and waits for unloading task of the next trolley;

when the old trolley leaves the gap space of the outer tracks of the head wheels, the transverse telescopic mechanisms corresponding to the lower moving track receive a door closing instruction of the PLC to drive the lower moving track to move to the roasting machine along the slide ways, and after the lower moving track is embedded into the outer tracks of the head wheels, the trolley tracks form a closed loop again;

12. The method for automatically replacing a trolley on line according to claim 11, wherein the specific method for the new trolley wheel to enter the tooth space between the wheel teeth of the head wheel is as follows:

13. The method for automatically exchanging a dolly according to claim 12, wherein after a new dolly wheel enters the tooth space between the wheel teeth of the head wheel, the method further comprises the steps of:

and the trolley frame continuously moves backwards to the buckling mechanism to be clamped with the rear end of the next new trolley, the trolley frame continuously moves forwards to push the next new trolley, and the process is repeated to load the next new trolley into the trolley track.

14. The method for automatically replacing a dolly according to claim 11, further comprising:

when the PLC receives information transmitted by the first weighing sensor, the PLC controls the first laser range finders to measure the distance between the lifting appliance and the storage track of the old trolley, controls the mechanical arm to drive the lifting appliance to move downwards for a certain distance to stop, controls the lifting appliance to clamp wheels of the old trolley, controls the first weighing sensor to weigh after clamping, confirms that clamping is successful, controls the mechanical arm to drive the lifting appliance to lift, and repeats the action again if clamping is not successful until clamping is successful;

the PLC controls the mechanical arm to drive the lifting appliance to lift a certain distance to stop, the PLC controls the crane to slide along the crane rail to drive the lifting appliance to move transversely, the crane stops when moving right above the old trolley storage rail, the mechanical arm drives the lifting appliance to descend for a certain distance to stop, and the lifting appliance returns to the original position to wait for the next cycle instruction of the PLC.