CN111003429B

CN111003429B - Transfer system

Info

Publication number: CN111003429B
Application number: CN201910613203.0A
Authority: CN
Inventors: 高阳; 王金田; 李新一; 孙强; 孙勇
Original assignee: CRRC Changchun Railway Vehicles Co Ltd
Current assignee: CRRC Changchun Railway Vehicles Co Ltd
Priority date: 2019-07-09
Filing date: 2019-07-09
Publication date: 2021-08-06
Anticipated expiration: 2039-07-09
Also published as: CN111003429A

Abstract

The present invention provides a transfer system for transporting articles to be transferred from one location to another, the system comprising: a chassis support structure; the swing type grabbing mechanism is rotatably arranged on the chassis supporting structure relative to the frame of the chassis supporting structure and is provided with a connecting lock tongue mechanism used for receiving an article to be transported; the driving device is used for driving the swing type grabbing mechanism to rotate relative to the frame of the chassis supporting structure; and the bearing and transporting mechanism is provided with a lifting structure moving along the vertical direction. The transfer system can perform a series of operations such as positioning, grasping, locking, lifting, adjusting, transporting, releasing and the like, and complete the whole process of grabbing the semi-anechoic chamber gate at a storage place, transporting the semi-anechoic chamber gate to the semi-anechoic chamber door frame, smoothly installing the semi-anechoic chamber gate, grabbing the semi-anechoic chamber gate from the door frame, and transporting the semi-anechoic chamber gate to the storage place for safe placement.

Description

Transfer system

Technical Field

The invention relates to the technical field of sound insulation gate transfer, in particular to a high-precision transfer system for a high-sound-insulation door of an acoustic laboratory of a railway passenger car.

Background

The railway car acoustic laboratory is a special test site for relevant acoustic experiments of railway vehicles, is a necessary condition for acoustic research and environmental acoustic research, and is required to provide an ideal and special controllable acoustic environment which is not polluted by external acoustic. The semi-anechoic chamber gate and the gate are used as the only path for entering and exiting the experimental vehicle, and are also communication spaces between the semi-anechoic chamber and the outside, so that the method is a path for introducing external acoustic pollution possibly, and in consideration of experimental effects, the gate and the gate are subjected to sound insulation reinforcement treatment, so that the semi-anechoic chamber gate is large in size and heavy in weight. The sound insulation effect is also considered, the existing semi-anechoic chamber gate adopts a split structure separated from the anechoic chamber gate, and the whole gate is moved when an experimental vehicle enters and exits. When an acoustic experiment is carried out, the whole gate is buckled on the doorway and fastened. Because of the above-mentioned reason, the switching and the operation of transporting access difficulty of semi-anechoic room gate, it is consuming time hard, greatly reduce experimental efficiency, the security can not guarantee moreover, is a huge hidden danger to a ray of operating personnel personal safety. Therefore, a special device is urgently needed to assist the opening and closing operation, the transferring and the storing of the semi-anechoic chamber gate, and the experimental efficiency and the operation safety are effectively improved.

Disclosure of Invention

In order to solve the problems, the transfer system provided by the invention can be matched with the existing AVT vehicle in a cooperative manner to perform a series of operations such as positioning, grasping, locking, lifting, adjusting, transporting, releasing and the like, and solves the problems that the opening, closing, transferring, storing and taking operations of a semi-anechoic chamber gate are difficult, time and labor are consumed, the experimental efficiency is reduced, and the safety cannot be ensured.

To achieve the above object, the present application provides a transfer system for transporting an article to be transferred (such as a high sound insulation door for a railway passenger car acoustic laboratory) from one location to another location, the transfer system comprising: a chassis support structure; the swing type grabbing mechanism is rotatably arranged on the chassis supporting structure relative to the frame of the chassis supporting structure and is provided with a connecting bolt mechanism used for receiving an article to be transported; a drive for driving the swing gripper mechanism to rotate relative to the chassis support structure frame; and the bearing and conveying mechanism is provided with a lifting structure moving along the vertical direction.

Further, the transfer system further includes a counterbalanced suspension structure disposed on the chassis support structure and rotatable within a predetermined range in a vertical plane relative to the chassis support structure.

Further, the swing type grab mechanism includes: an upper boom frame assembly disposed on the chassis support structure and rotating relative to the chassis support structure; a lower boom frame assembly disposed on the chassis support structure and below the upper boom frame assembly and rotating relative to the chassis support structure; and one end of the vertical frame assembly is rotationally connected with the upper suspension arm frame assembly, the other end of the vertical frame assembly is rotationally connected with the lower suspension arm frame assembly, the driving device is connected to the vertical frame assembly and drives the vertical frame assembly to move along the vertical direction, and the connecting spring bolt mechanism is arranged on the upper suspension arm frame assembly and/or the lower suspension arm frame assembly.

Further, the connection tongue mechanism includes a locking hook having an opening and a tongue assembly telescopically movable relative to the locking hook to expose or close the opening of the locking hook.

Further, the transfer system further comprises a mass block, wherein the mass block is detachably arranged on the chassis supporting structure and is opposite to the connecting bolt mechanism so as to balance the articles to be transferred.

Further, the chassis supporting structure is provided with a positioning pin plate, the bearing and transporting mechanism is provided with a plurality of clamping grooves, and the positioning pin plate is selectively clamped in one of the clamping grooves.

Further, the lower boom frame assembly is movably disposed on the chassis support structure along an X-axis relative to the chassis support structure.

Further, the chassis support structure includes a sliding structure movably disposed along an X-axis, and the lower boom frame assembly is disposed on the sliding structure.

Furthermore, the connecting bolt mechanism also comprises a resetting device which is arranged in parallel with the bolt assembly, and the resetting device is used for enabling the bolt assembly to close the opening of the lock hook.

Further, the transfer system further comprises a limiting plate, wherein the limiting plate is arranged on the chassis supporting structure and used for limiting the balanced suspension structure to rotate within a preset range.

The transfer system can perform a series of operations such as positioning, grasping, locking, lifting, adjusting, transporting, releasing and the like, and complete the whole process of grabbing the semi-anechoic chamber gate at a storage place, transporting the semi-anechoic chamber gate to the semi-anechoic chamber door frame, smoothly installing the semi-anechoic chamber gate, grabbing the semi-anechoic chamber gate from the door frame, and transporting the semi-anechoic chamber gate to the storage place for safe placement.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 shows a schematic structural diagram of a transfer system according to a preferred embodiment of the present application;

FIG. 2 shows a schematic view of a chassis support structure according to a preferred embodiment of the present application;

FIG. 3 illustrates a schematic structural view of an upper/lower boom frame assembly in accordance with a preferred embodiment of the present application;

FIG. 4 illustrates a schematic structural view of a vertical frame assembly according to a preferred embodiment of the present application;

FIG. 5 illustrates a schematic structural view of a vertical frame assembly with a drive according to a preferred embodiment of the present application;

FIG. 6 is a schematic view showing a detailed structure of the driving apparatus shown in FIG. 5;

FIG. 7a shows a schematic structural view of a lower load-bearing portion of a load-bearing transport mechanism according to a preferred embodiment of the present application;

FIG. 7b shows a schematic structural view of an upper load-bearing portion of the load-bearing transport mechanism according to a preferred embodiment of the present application;

fig. 8a and 8b show a perspective view and a side view of a universal wheel according to a preferred embodiment of the present application.

Wherein the figures include the following reference numerals:

100. chassis support structure/load bearing transfer chassis assembly; 101. an upper frame; 102. a first connecting bearing block; 103. a sliding bearing seat; 104. a support frame; 105. a first connecting bearing block; 106. a chute; 107. a locating pin plate; 108. a hydraulic cylinder; 109. a limiting plate; 110. a lower frame; 111. a bottom frame;

200. an upper boom frame assembly; 201. an upper boom frame; 202. a second connecting bearing seat; 203. a first connecting ball bearing; 204. a latch bolt assembly; 205. a latch hook; 206. a resetting device; 207. a hydraulic cylinder; 208. an oil cylinder counter-force seat;

300. a lower boom frame assembly;

400. a vertical frame assembly; 401. a frame structure; 402. a second connecting ball bearing; 403. a driving device connecting seat;

500. a drive device; 501. a hydraulic cylinder body; 502. a piston rod; 503. a hydraulic cylinder earring pin shaft; 504. a lug ring pin shaft at the tail part of the hydraulic cylinder;

600. a balanced suspension structure;

700. a transition chassis; 701. a lower chassis frame; 702. a groove; 703. a card slot; 704. an upper chassis frame; 705. a protrusion;

800. a mass block; 900. a universal wheel; 901. installing a shaft; 902. a restraint plate; 903. restraining the lock tongue; 903' restraining the bolt.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The present invention provides a transit system for transporting an item to be transported (such as a high sound insulation door for a railway car acoustic laboratory) from one location to another, the transit system comprising: a chassis support structure; the swing type grabbing mechanism is rotatably arranged on the chassis supporting structure relative to the frame of the chassis supporting structure and is provided with a connecting bolt mechanism used for receiving an article to be transported; a drive for driving the swing gripper mechanism to rotate relative to the chassis support structure frame; and the bearing and conveying mechanism is provided with a lifting structure moving along the vertical direction.

The transfer system is matched with the existing AVT vehicle in a cooperative manner to perform a series of operations such as positioning, grasping, locking, lifting, adjusting, transporting, releasing and the like, and solves the problems that the opening and closing, transferring, storing and taking operations of a semi-anechoic chamber gate are difficult, time and labor are consumed, the experimental efficiency is reduced, and the safety cannot be guaranteed.

Fig. 1 shows a schematic diagram of a high precision transit system of a high soundproof door for a railway car acoustic laboratory according to a preferred embodiment of the present application. As shown in fig. 1, the transfer system includes a load-bearing transfer chassis assembly (i.e., chassis support structure) 100, an upper boom frame assembly 200, a lower boom frame assembly 300, a vertical frame assembly 400, a drive device 500, a counterbalancing suspension structure 600, and a load-bearing transport mechanism. Bear formula and transport chassis assembly 100 and be provided with the universal wheel and bear on bearing the transport mechanism, bear the transport mechanism and be provided with the elevation structure who removes along vertical direction to bear the transport mechanism and still be provided with transition chassis 700, bear the transition chassis 700 of bearing formula and transport chassis assembly 100 through bearing on the ATV car, thereby realize AVT car and the cooperation of movement system.

As shown in fig. 1, the upper and lower

boom frame assemblies

200 and 300 are disposed on the load-bearing transfer chassis assembly 100, and the lower boom frame assembly 300 is disposed below the upper boom frame assembly 200 and in parallel with the upper boom frame assembly 200, the upper and lower

boom frame assemblies

200 and 300 being rotatable about the Z-axis relative to the load-bearing transfer chassis assembly 100. Also, the vertical frame assembly 400 connects the upper and lower

boom frame assemblies

200 and 300, and the vertical frame assembly 400 can rotate with respect to the upper and lower

boom frame assemblies

200 and 300. The driving device 500 is used for driving the vertical frame assembly 400 to move up and down along the vertical direction (i.e., the Y-axis direction).

The load bearing transfer chassis assembly 100 is also provided with a mass receiving portion for receiving a mass, such as a counterweight 800, which is fixedly attached to the frame of the transfer chassis assembly 100 by bolts. If desired, a plurality of masses of the same mass can be provided. According to a preferred embodiment of the invention, 8 counterweight weights are provided, each cell having a mass of 1 t. Through setting up the quality piece as the counter weight, can prevent in the transportation, the focus skew is too big, and the transfer system topples.

The counterbalancing suspension arrangement 600 is provided on the load carrying transfer chassis assembly 100 and is rotatable in a vertical plane about the X-axis within a predetermined range relative to the load carrying transfer chassis assembly 100. For example, the counterbalanced suspension structure 600 is provided with a rotating shaft, and the frame of the load-carrying type transfer chassis assembly 100 is provided with a shaft bushing receiving the rotating shaft, in which the rotating shaft can rotate about the X-axis. Further, the balanced suspension structure 600 is provided with a universal wheel, and the universal wheel can be adjusted to move along a straight line as required, or can be adjusted to move freely as required.

The details of the structure of the various components are described in greater detail below in conjunction with the accompanying drawings.

As shown in fig. 2, the load-bearing transfer chassis assembly 100 is formed by a frame structure, and the transfer chassis assembly 100 includes an upper frame 101, a lower frame 110 parallel to the upper frame 101, and a support frame 104, and the upper frame 101 is provided with a first connecting bearing seat 102. The transfer chassis assembly 100 further includes a sliding structure disposed on the lower frame 110 parallel to the upper frame 101 and sliding along the X-axis direction, and the sliding structure is connected to the support frame 104. The sliding structure is provided with a sliding chute 106 and a sliding bearing seat 103 capable of sliding back and forth in the sliding chute, and the sliding bearing seat 103 is connected with a hydraulic cylinder 108, and the sliding bearing seat 103 is driven by the hydraulic cylinder 108 to reciprocate in the sliding chute. The sliding bearing seat 103 is provided with a first connecting bearing seat 105. The lower boom frame assembly 300 is disposed on the sliding bearing block 103 through the first connecting bearing block 105. According to the present application, when the sliding bearing seat 103 slides along the sliding slot 106 along the X axis, the first connecting bearing seat 105 connected thereto is driven to move, so as to drive the lower boom frame assembly 300 to move along the X axis.

The transfer chassis assembly 100 also includes a dowel pin plate 107, as shown, the dowel pin plate 107 is disposed on the side frame of the transfer chassis assembly 100, and the dowel pin plate 107 is selectively coupled to a detent 703 (described below) on the transition chassis 700 carrying the transport mechanism.

When the transfer system is under two different working conditions of no-load and transportation gate, the positions of the AVT vehicle and the transition chassis 700 relative to the transfer chassis assembly 100 are different, and the positions of the AVT vehicle and the transition chassis 700 relative to the transfer chassis assembly 100 are determined by calculating the gravity center position of the system after no-load and full-load, namely, the clamping grooves 703 to be combined by the positioning pin plates 107 are determined, so that which clamping groove of the transition chassis 700 the positioning pin plates 107 are clamped on is determined. That is, the card slots to be combined by the dowel pin plate 107 are different in the no-load and full-load states of the transfer system, and the dowel pin plate 107 is respectively engaged with different card slots in the no-load and full-load states.

Further, a limiting plate 109 is provided on the bottom frame 111 of the transfer chassis assembly 100 to limit the rotation of the counterbalanced suspension structure 600 about the X-axis within a predetermined range. The stopper plates 109 are provided on the bottom frame of the chassis support structure 100 symmetrically with respect to the cross member of the balanced suspension structure 600, and specifically, the stopper plates 109 are provided on both end portions of the bottom frame 111, and are located directly above both end portions of the balanced suspension structure 600, and are spaced apart from the balanced suspension structure 600 in the vertical direction (i.e., the Y-axis direction).

By providing the limit plate 109, the balanced suspension structure 600 can rotate about the X-axis direction within a certain range. The balancing of the entire transfer system is achieved by the rotation of the counterbalanced suspension arrangement 600. When the ground is uneven, for example, the ground on which the two universal wheels of the balanced suspension structure 600 are located is not on the same horizontal plane, the balanced suspension structure 600 rotates by a certain angle around the rotation axis (X-axis direction), but the transfer system does not rotate together with the balanced suspension structure 600, does not tilt, and still maintains a horizontal state. Through the structure, the inclination of the high-precision transfer system of the high-sound-insulation door caused by the uneven ground in the walking process of the high-precision transfer system of the high-sound-insulation door is eliminated, the whole stability of the high-precision transfer system of the high-sound-insulation door is maintained to the maximum extent, and the running stability of the high-precision transfer system of the high-sound-insulation door is realized.

As shown in fig. 3, the upper boom frame assembly 200 comprises an upper boom frame 201, the upper boom frame 201 is provided with a first connecting ball bearing 203, the first connecting ball bearing 203 is used for being mounted in the first connecting bearing seat 102 of the carrying type transfer chassis assembly 100, so that the upper boom frame assembly 200 is rotatably connected with the carrying type transfer chassis assembly 100, specifically, the upper boom frame assembly 200 rotates around the Z axis with a ball bearing as a support. Also, the upper boom frame assembly 200 further comprises a second connecting bearing seat 202 disposed on the upper boom frame 201, the second connecting bearing seat 202 for receiving a second connecting ball bearing 402 of the vertical frame assembly 400, such that the upper boom frame assembly 200 is rotatably connected to the vertical frame assembly 400.

In addition, the upper boom frame assembly 200 is further provided with a gripping portion which is in fit connection with the piece to be gripped. As shown in fig. 3, which shows an embodiment of the gripping part, the structure of the gripping part can be changed as desired in order to be connected with the piece to be gripped in a mating manner. In this embodiment, the catch is designed as a connecting tongue mechanism comprising a locking hook 205 with an opening and a tongue assembly 204 located above the locking hook 205 and telescopically movable relative to the locking hook 205 to expose or close the opening of the locking hook. Furthermore, a reset device 206 is provided on both sides of the latch bolt assembly 204, and the reset device 206 is parallel to the latch bolt assembly 204 so as to be able to be extended in the extension and contraction direction of the latch bolt assembly 204. This spring bolt subassembly 204 can stretch out and draw back along the length of last davit frame assembly 200's frame, and when spring bolt subassembly 204 withdraws back, the opening of latch hook 205 exposes, and at this moment, resetting means 206 is compressed, and this latch hook 205 and the handle round pin hub connection on the high soundproof door is used in railway vehicle acoustics laboratory, and later, spring bolt subassembly 204 passes through the restoring force of resetting means 206 and resumes to stretching out the state, seals the opening of latch hook 205 to ensure lock state, guarantee safety.

The structure of the lower boom frame assembly 300 is identical to that of the upper boom frame assembly 200, and a description thereof will not be repeated.

Referring to fig. 4 and 5, a schematic view of the vertical frame assembly 400 with the driving device 500 is shown.

As shown in fig. 4, the vertical frame assembly includes a frame structure 401, and a second connecting ball bearing 402 is disposed on the frame structure 401. In this embodiment, four second connecting ball bearings 402 are shown, the four second connecting ball bearings 402 being disposed at the four corners of the frame structure 401 and being mounted in the second connecting bearing seats 202 of the upper

boom frame assembly

200 and 300, respectively, so that the vertical frame assembly 400 can rotate relative to the upper boom frame assembly 200 and the lower boom frame assembly 300. As shown in fig. 5, the vertical frame assembly 400 is further provided with a driving device connecting seat 403, and one end of the driving device 500 is installed in the driving device connecting seat 403, and the other end is installed on the transfer chassis assembly 100.

The driving device 500 is shown as an operating cylinder assembly according to an embodiment of the present application, and fig. 6 shows a structural view of the operating cylinder assembly. The hydraulic cylinder assembly comprises a hydraulic cylinder body 501, a piston rod 502 which reciprocates in the hydraulic cylinder body, and a hydraulic cylinder lug pin shaft 503 and a hydraulic cylinder tail lug pin shaft 504 which are arranged at two ends of the piston rod. The piston rod 502 reciprocates in the cylinder housing, and one end of the piston rod 502 is connected to the driving device connecting base 403 (i.e., the cylinder connecting base) of the vertical frame assembly via a cylinder ear pin 503, and the other end is connected to a cylinder connecting base (not shown) of the transfer chassis assembly 100 via a cylinder tail ear pin 504. The piston rod 502 reciprocates in the cylinder housing 501, thereby moving the vertical frame assembly 400 up and down along the Y-axis. The vertical frame assembly 400 has upper and lower ends rotatably connected to the upper and lower

boom frame assemblies

200 and 300, respectively, so that the upper boom frame assembly 200 rotates about the upper frame 101 and the lower boom frame assembly 300 rotates about the lower frame 110 as the vertical frame assembly 400 moves along the Y-axis.

When the piston rod 502 drives the vertical frame assembly 400 to move upwards, the upper boom frame assembly 200 rotates counterclockwise around the upper frame 101, the lower boom frame assembly 300 rotates counterclockwise around the lower frame 110, and the lower boom frame assembly 300 retracts in the direction away from the lower frame 110 along the X-axis direction; when the piston rod 502 drives the vertical frame assembly 400 to move downward, the upper boom frame assembly 200 rotates clockwise around the upper frame 101, the lower boom frame assembly 300 rotates clockwise around the lower frame 110, and the lower boom frame assembly 300 moves along the X-axis direction toward the lower frame 110, and pushes the sliding bearing seat 103 to slide along the sliding slot 106.

Figures 7a and 7b show schematic structural views of an AVT vehicle and transition chassis. As shown in fig. 7a, a transition chassis 700 is fixedly attached to the AVT vehicle, the transition chassis 700 comprising a lower chassis frame 701 and an upper chassis frame 704. The upper chassis frame 704 and the lower chassis frame 701 are coupled together by inserting the protrusion 705 of the upper chassis frame 704 into the groove 702 of the lower chassis frame 701. In addition, a plurality of slots 703 are also provided on the transition chassis 700. When the carrying type transfer chassis assembly 100 is carried on the transition chassis 700, under the condition that the transfer system is under two different working conditions of no-load and transportation gate, the positioning pin plates 107 of the carrying type transfer chassis assembly 100 are respectively combined with different clamping grooves 703, so that the transfer system is reliably located on the AVT vehicle.

Fig. 8a and 8b show a schematic structural view of a universal wheel 900, wherein two states of the restraining tongues are shown, reference numeral 903 shows the restraining tongue in a released state and reference numeral 903' shows the restraining tongue in a restrained state. The universal wheel 900 is provided with a mounting shaft 901 mounted on the balanced suspension structure 600, and the universal wheel 900 is further provided with a restraining latch 903 and a restraining plate 902 matched with the restraining latch 903, and the restraining plate 902 is provided with a slot. When the constraint bolt 903 is accommodated in the slot of the constraint plate 902 (in a constraint state shown as 903' in the figure), the universal wheel 900 cannot rotate, and the motion of the universal wheel is constrained and can only perform linear motion; when the restraining latch 903 is not in the slot of the restraining plate 902 (the release state is shown as 903 in fig. 8a and 8 b), the universal wheel 900 can move freely, and the walking direction is not restrained.

When the high-precision transfer system for transferring the high-sound-insulation door grabs the door or puts down the door, the position of the high-precision transfer system for the high-sound-insulation door needs to be adjusted accurately in a short distance, and the high-precision transfer system for the high-sound-insulation door is required to run linearly, according to the structure of the invention, the high-precision transfer system can be easily realized by simply adjusting the restraining lock tongues of four sets of bearing universal wheels to be in the restraining positions.

The operation of the transfer system according to the present application when working is briefly described below.

The semi-anechoic chamber gate is positioned at the storage place and depends obliquely on the portal frame. The AVT car is in the empty load transport state of equipment, lifts 60mm, drives the high accuracy transport system of high sound-proof door and wholly promotes 30mm (transport equipment bears universal wheel liftoff 30mm promptly), and the AVT car bears the high accuracy transport system whole weight of high sound-proof door.

The high-precision transfer system of the AVT vehicle loaded high-sound-insulation door reaches the storage position of the gate, the connecting spring bolt mechanisms of the upper suspension arm frame assembly and the lower suspension arm frame assembly are in a release state, and hook locks of the high-precision transfer system of the high-sound-insulation door are aligned with four handle pin shafts of the gate of the semi-anechoic chamber one by one in the transverse direction to the greatest extent.

The AVT vehicle descends by 60mm, the high-precision transfer system of the high-sound-insulation door bears the universal wheels and lands, the upper suspension arm frame assembly swings counterclockwise by 5 degrees, the hook head of the handle is lower than the handle pin shaft of the door, meanwhile, the lower suspension arm frame assembly retracts by 50mm, and the upper handle pin shaft is guaranteed to be firstly grasped under the condition that the door inclines inwards.

The AVT vehicle drags the high-precision transfer system with the high soundproof door to move forward; the hook lock on the upper and lower suspension arm frame assemblies can simultaneously grasp the handle pin shaft, and the straight-going restraining lock tongue of the universal wheel borne by the high-precision transfer system of the high-sound-insulation door can be put down in the process, so that the equipment can only run in a straight line.

And (3) putting the connecting bolt mechanism of the upper suspension arm frame assembly and the lower suspension arm frame assembly into a locking state, grasping the gate, and swinging the upper suspension arm frame assembly clockwise and downwards by 3 degrees to enable the handle hook head to drive the gate to be lifted and leave the ground by about 20 mm.

The lower boom frame assembly extends forward 50mm, causing the gate to tilt clockwise.

After the large door is grabbed, the AVT vehicle is moved to the left side, so that the AVT vehicle reaches the corresponding position.

The AVT vehicle is lifted by 60mm, the high-precision transfer system of the high-sound-insulation door is driven to be integrally lifted by 30mm (namely the high-precision transfer system of the high-sound-insulation door bears the universal wheels and is 30mm away from the ground), the AVT vehicle is in an equipment loading transfer state, the high-precision transfer system of the high-sound-insulation door and the overall quality of the gate are borne, the gate is smoothly grabbed and lifted, and the gate is ready to leave a gate storage place.

And the lower suspension arm frame assembly retracts by 50mm, so that the gate returns to the vertical state.

The AVT vehicle bears a high-precision transfer system of the high-sound-insulation door and the gate reaches the door opening of the semi-sound-insulation door, the gate is kept in a vertical state, the AVT vehicle descends by 60mm, the high-precision transfer system of the high-sound-insulation door bears universal wheels and lands, and the height of the bottom edge of the gate from the ground is 20mm (a roller at the bottom of the gate extends out to serve as an auxiliary support).

The AVT vehicle drags the whole transfer device and the gate to slowly lean against the gate large door frame, and the straight-going constraint lock tongue of the transfer equipment bearing universal wheels can be put down in the process, so that the equipment can only run in a straight line.

The upper boom frame assembly is swung counterclockwise, the gate support roller is retracted, the bottom edge of the gate is seated on the ground, and at this time, the gate moves approximately 45 degrees forward and downward. And when the gate is tightly attached to the door frame, the connecting bolt mechanisms of the upper suspension arm frame assembly and the lower suspension arm frame assembly are in a release state, the gate is released, and the four-corner door lock is closed.

After confirming that the gate is locked, the AVT drags the high-precision transfer system of the high-sound-insulation gate to leave the gate.

And the AVT vehicle moves and adjusts to the gravity center position of the equipment in the no-load transfer state, lifts the high-precision transfer system carrying the no-load high-sound-insulation door upwards, and transports the high-precision transfer system carrying the no-load high-sound-insulation door.

The invention relates to a sound insulation gate for a semi-anechoic chamber of a transfer acoustic laboratory, which is matched with an existing AVT vehicle in a cooperative manner to perform a series of operations such as positioning, grasping, locking, lifting, adjusting, transporting, releasing and the like, and the whole process of grabbing and transporting the semi-anechoic chamber gate at a storage place to a semi-anechoic chamber door frame and smoothly installing the semi-anechoic chamber gate and grabbing and transporting the semi-anechoic chamber gate from the door frame to the storage place for safe placement is completed.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A transfer system for transporting items to be transferred from one location to another, the transfer system comprising: a chassis support structure (100); a swing gripper mechanism which is rotatably arranged on the chassis support structure (100) relative to the frame of the chassis support structure (100) and which is provided with a connecting tongue mechanism for receiving an item to be transported; a drive (500), the drive (500) being configured to drive the swing gripper mechanism in rotation relative to the frame of the chassis support structure (100); and a load-bearing transport mechanism on which the chassis support structure (100) is arranged and which is provided with a lifting structure moving in a vertical direction;

wherein the transfer system further comprises a counterbalanced suspension arrangement (600), the counterbalanced suspension arrangement (600) being arranged on the chassis support structure (100) and being rotatable in a vertical plane within a predetermined range relative to the chassis support structure (100);

wherein, the swing type grabbing mechanism comprises: an upper boom frame assembly (200) disposed on the chassis support structure (100) and rotatable relative to the chassis support structure (100); a lower boom frame assembly (300) disposed on the chassis support structure (100) and below the upper boom frame assembly (200) and rotating relative to the chassis support structure (100); and a vertical frame assembly (400), one end of the vertical frame assembly (400) is rotatably connected with the upper boom frame assembly (200), the other end of the vertical frame assembly is rotatably connected with the lower boom frame assembly (300), the driving device (500) is connected to the vertical frame assembly (400) and drives the vertical frame assembly (400) to move along the vertical direction, and the connecting bolt mechanism is arranged on the upper boom frame assembly (200) and/or the lower boom frame assembly (300).

2. The transfer system of claim 1, wherein the connection latch mechanism includes a latch hook (205) having an opening and a latch bolt assembly (204) telescopically movable relative to the latch hook (205) to expose or close the opening of the latch hook (205).

3. Transfer system according to claim 1, further comprising a mass (800), the mass (800) being detachably arranged on the chassis support structure (100) and being arranged opposite the connecting tongue mechanism for balancing the items to be transferred.

4. Transfer system according to claim 1, wherein the chassis support structure (100) is provided with a dowel pin plate (107), the load-carrying transport means being provided with a plurality of clamping slots, the dowel pin plate (107) being selectively snapped into one of the plurality of clamping slots.

5. The transfer system of claim 3, wherein the lower boom frame assembly (300) is movably arranged on the chassis support structure (100) along an X-axis with respect to the chassis support structure (100).

6. The transfer system of claim 5, wherein the chassis support structure (100) comprises a sliding structure movably arranged along the X-axis, the lower boom frame assembly (300) being arranged on the sliding structure.

7. The transfer system of claim 2, wherein the connecting latch mechanism further comprises a reset device (206) disposed parallel to the latch bolt assembly (204), the reset device (206) being configured to cause the latch bolt assembly (204) to close the opening of the latch hook (205).

8. The transfer system of claim 1, further comprising a limit plate (109), the limit plate (109) being disposed on the chassis support structure (100) for limiting rotation of the counterbalanced suspension structure (600) within a predetermined range.