CN111591749A

CN111591749A - Conveying device

Info

Publication number: CN111591749A
Application number: CN202010490082.8A
Authority: CN
Inventors: 王荣东; 姚泽文; 谢淳; 杨文�; 杨红义; 朴君; 申凤阳; 杜海鸥; 韩新梅; 常一狄
Original assignee: China Institute of Atomic of Energy
Current assignee: China Institute of Atomic of Energy
Priority date: 2020-06-02
Filing date: 2020-06-02
Publication date: 2020-08-28

Abstract

An embodiment of the present invention provides a carrying device, including a moving chassis; the first end of the mechanical arm is rotatably arranged on the movable chassis; the clamping assembly is arranged at the second end of the mechanical arm and is used for clamping dangerous objects to be carried; the first sensor is arranged on the mechanical arm and used for detecting the position of the dangerous object to be carried and the distance between the dangerous object to be carried and the clamping assembly, so that the clamping assembly can accurately clamp the dangerous object to be carried. The carrying device provided by the embodiment of the invention can carry dangerous objects with large volume and heavy weight, so as to solve the problems of high labor intensity and unsafe manual operation.

Description

Conveying device

Technical Field

The invention relates to a conveying device, in particular to a conveying device for conveying dangerous objects.

Background

At present, dangerous goods are mostly treated in a manual operation mode, so that the method is unsafe and low in operation efficiency. Aiming at the characteristics and the requirements of dangerous goods treatment, the unmanned carrying device technology is very necessary to be applied to the treatment of dangerous goods.

The unmanned conveying device generally depends on the installed mechanical arms to grab and convey objects, however, the number of the mechanical arms installed in the existing unmanned conveying device is generally multiple, the installation is complex, the use cost is high, the existing unmanned conveying device can only swing simply, and the existing unmanned conveying device cannot be adjusted or turned over in a large range, so that the existing unmanned conveying device is not suitable for conveying dangerous objects with large volume and heavy mass.

Disclosure of Invention

It is an object of embodiments of the present invention to provide a handling device whereby, for example, bulky, heavy hazardous materials can be handled conveniently and safely.

According to an embodiment of the present invention, there is provided a carrying device including a moving chassis; the first end of the mechanical arm is rotatably arranged on the movable chassis; the clamping assembly is arranged at the second end of the mechanical arm and is used for clamping dangerous objects to be carried; the first sensor is arranged on the mechanical arm and used for detecting the position of the dangerous object to be carried and the distance between the dangerous object to be carried and the clamping assembly, so that the clamping assembly can accurately clamp the dangerous object to be carried.

According to an embodiment of the invention, the first end of the robot arm is provided with a plate comprising a first plate extending in the extension direction of the robot arm and a second plate extending in a direction perpendicular to the extension direction of the robot arm, wherein the first plate is fixedly connected to the robot arm.

According to an embodiment of the invention, the second plate has a recess therein, and the first sensor is arranged in the recess.

According to an embodiment of the present invention, the carrying device further comprises a support fixed to the moving chassis and arranged such that the robot arm is supported by the support after the clamping assembly clamps the hazardous object to be carried back to the carrying device.

According to an embodiment of the invention, the carrying device further comprises a support part fixed on the moving chassis and arranged such that the dangerous object to be carried is supported by the support part after the clamping assembly clamps the dangerous object to be carried and returns to the carrying device.

According to an embodiment of the invention, the upper end of the support part is arranged in a V-shape.

According to the embodiment of the invention, a clamping driving motor of the clamping assembly is arranged on the mechanical arm, and the clamping driving motor is used for driving the clamping operation of the clamping assembly so as to clamp the dangerous object to be transported or release the dangerous object to be transported.

According to the embodiment of the invention, the carrying device further comprises second sensors, the second sensors are arranged at the front part and the rear part of the moving chassis and are arranged to detect the position of the carrying device so as to carry out obstacle avoidance, route identification and positioning.

According to an embodiment of the invention, the carrying device further comprises anti-collision beams arranged at the front part and the rear part of the moving chassis and used for contacting with a collided object when the carrying device is accidentally impacted, so that the damage to the carrying device is reduced.

According to an embodiment of the present invention, the carrying device further includes a third sensor and a third sensor supporting device, the third sensor supporting device is disposed on the moving chassis, the third sensor supporting device supports the third sensor, and the third sensor is disposed to acquire the ambient environment information of the carrying device.

According to the embodiment of the invention, the carrying device further comprises a mechanical arm driving motor, and the mechanical arm driving motor is arranged on the moving chassis; the multi-stage speed reducer is connected with the mechanical arm and the mechanical arm driving motor is connected with the multi-stage speed reducer, so that the mechanical arm driving motor drives the multi-stage speed reducer, and the multi-stage speed reducer drives the mechanical arm to move.

According to the technical scheme of the embodiment of the invention, for example, dangerous goods with large volume and heavy weight can be flexibly and safely transported by utilizing the overturning of the mechanical arm in the transporting device.

Drawings

Fig. 1 is a schematic structural view of a carrying device of an embodiment of the present invention;

fig. 2, 3 and 4 are schematic views illustrating the operation of the carrying device according to the embodiment of the present invention;

fig. 5 is a front view of a robot of the carrying device of the embodiment of the present invention;

fig. 6 is a side view of a robot of the carrying device of the embodiment of the present invention;

fig. 7 is a front view of a robot arm of the carrying device of the embodiment of the present invention;

FIG. 8 is a side view of a robotic arm of a handling device of an embodiment of the present invention;

fig. 9 is a schematic view of the robot arm of the carrying device of the embodiment of the present invention gripping a dangerous object to be carried at two angles;

FIG. 10 is a front view of a mobile chassis of a handling device of an embodiment of the present invention;

fig. 11 is a side view of a moving chassis of the carrying device of the embodiment of the present invention.

Detailed Description

The invention is further described with reference to the following drawings and detailed description.

As shown in fig. 1 to 4, 7 to 11, a carrying device according to an embodiment of the present invention includes a moving chassis 10; a mechanical arm 30, wherein a first end 31 of the mechanical arm 30 is rotatably arranged on the moving chassis 10; the clamping assembly 20 is arranged at the second end 32 of the mechanical arm 30, and the clamping assembly 20 is used for clamping dangerous objects to be carried; the first sensor is arranged on the mechanical arm 30 and used for detecting the position of the dangerous object to be carried and the distance between the dangerous object to be carried and the clamping assembly 20, so that the clamping assembly 20 can accurately clamp the dangerous object to be carried.

In some embodiments of the present invention, the mobile chassis 10 may adopt four-wheel drive, four driving wheels 12 are mounted on a base 14 of the mobile chassis 10 for carrying other equipment and goods, so as to implement pivot steering, obstacle crossing and climbing functions, and the mobile chassis 10 can carry 300KG of goods for normal driving for 4-6 hours. The first end 31 of the robot arm 30 is rotatably mounted to the moving chassis 10 via a bearing and bearing housing. The gripping assembly 20 may include a mounting portion 21, an opening and closing portion 22, and a gripping portion 23, the mounting portion 21 being fixed to the second end 32 of the robot arm 30, for example, by bolts, the opening and closing portion 22 controlling the opening and closing of the gripping portion 23. The hazardous material to be handled may be a waste hazardous tank, for example weighing about 300 KG. The first sensor may be an infrared ranging sensor.

The embodiment of the invention does not limit the material of the mechanical arm, for example, the mechanical arm is made of aluminum alloy, so that the tipping moment can be reduced (the tipping moment is prevented from being too large to affect the overturning), and the bearing effect is ensured so as to be matched with the weight of the object to be clamped.

As shown in fig. 1 to 4 and 9, in the handling apparatus according to the embodiment of the present invention, the first end 31 of the robot arm 30 is provided with a plate 70, and the plate 70 includes a first plate extending in the extending direction of the robot arm 30 and a second plate extending in a direction perpendicular to the extending direction of the robot arm 30, wherein the first plate is fixedly connected to the robot arm 30. The second plate is provided with a groove, and the first sensor is arranged in the groove.

In some embodiments, the first plate and the second plate included in the plate-shaped object 70 are disposed in a substantially "L" shape, and the second plate in the plate-shaped object 70 can be used to support the dangerous object to be handled after the clamping assembly 20 clamps the dangerous object to be handled, so as to prevent the dangerous object to be handled from falling off under the action of gravity when the robot arm is turned over, i.e., to stabilize and support the dangerous object to be handled, and to ensure the safety of the handling device during the operation. The plate 70 is connected to the robot arm 30 by, for example, welding.

The first sensor is convenient for positioning the mechanical arm and identifying the position of the article to be carried, so that the mechanical arm and the clamping assembly can accurately and quickly grab and turn over the article to be carried, and the working efficiency is improved; meanwhile, the first sensor is arranged in the groove of the second plate, so that the occupied space is reduced, and the overall configuration of the device is compact.

As shown in fig. 1 to 4, the carrying device of the embodiment of the present invention further includes a support 60, the support 60 is fixed to the moving chassis 10, and is configured such that the robot arm 30 is supported by the support 60 after the holding assembly 20 holds the hazardous material to be carried back to the carrying device.

In some embodiments of the present invention, the carrying device further comprises a support portion 60, the support portion 60 is fixed to the moving chassis 10, and is configured such that after the clamping assembly 20 clamps the to-be-carried dangerous object to return to the carrying device, the to-be-carried dangerous object is supported by the support portion 60. The upper end of the support portion 60 is provided in a V shape.

The supporting portion 60 may stabilize the robot 30 after the robot 30 is turned back to the transportation device, or stabilize the dangerous object to be transported after the clamping assembly 20 clamps the dangerous object to be transported and returns to the transportation device, so as to ensure stable operation of the transportation device during movement. The support 60 provides a distance between the robot arm 30 or the dangerous object to be carried held by the holding assembly 20 and the moving chassis 10, so as to reduce the vibration influence of the moving chassis during the traveling process. In some embodiments of the present invention, the supporting portion 60 may include a substantially "V" shaped bracket and three rods, one end of each rod is connected to the moving chassis, and the other end is connected to three end points formed by the "V" shaped bracket, although the supporting portion 60 may be other structures capable of supporting, and is not limited thereto.

As shown in fig. 1 to 9, in the embodiment of the present invention, a gripping driving motor of the gripping assembly 20 is provided on the robot arm 30, and the gripping driving motor is used for driving the gripping operation of the gripping assembly 20 so that it grips the hazardous material to be handled or releases the hazardous material to be handled.

Referring to fig. 5, for example, the clamping driving motor drives the two sides of the opening and closing part 22 to move towards two sides in parallel, and drives the clamping jaws of the clamping part 23 connected with the opening and closing part 22 to open or close, so as to realize the purpose of clamping the dangerous object to be carried. In some embodiments of the present invention, the clamping driving motor may be a normally closed motor, which is automatically closed when power is off, so as to achieve self-locking, so as to prevent accidents caused by falling of dangerous objects to be carried due to loosening of the clamping part 23.

As shown in fig. 1 to 4 and fig. 10 to 11, the carrying device further includes second sensors 40, where the second sensors 40 are disposed at the front and the rear of the moving chassis 10, and are configured to detect the position of the carrying device, so as to perform obstacle avoidance, route identification, and positioning.

For example, the second sensor 40 may be a laser radar navigation system, which performs navigation using a laser radar and binocular vision, the laser radar scans the surrounding environment while the transportation device travels, compares the scanned environment with an established map, determines the exact position of the robot (i.e., the transportation device), scans the map in the travel path to generate a path map, and the robot automatically travels according to the planned path map. The second sensor 40 is provided to enable autonomous navigation, autonomous obstacle avoidance, and station identification of the carrying apparatus. The number of the second sensors 40 may be two, and two second sensors 40 may be disposed on opposite corners of the moving chassis 10, so that scanning detection of the moving chassis 10 in a 360 ° direction can be achieved.

As shown in fig. 1 to 4 and 10 to 11, the carrying device according to the embodiment of the present invention further includes anti-collision beams 90, which are disposed at the front and rear portions of the moving chassis 10, and are used for contacting with a collided object when the carrying device is accidentally collided, so as to reduce damage to the carrying device.

As shown in fig. 1 to 4 and 10 to 11, the conveying device according to the embodiment of the present invention further includes a third sensor 50 and a third sensor supporting device, the third sensor supporting device is disposed on the moving chassis 10, the third sensor supporting device supports the third sensor 50, and the third sensor 50 is disposed to acquire the ambient environment information of the conveying device.

For example, the third sensor 50 may be a camera, and the third sensor supporting device may be a cradle head, which carries the camera and is used to observe the surrounding environment, monitor the operation condition of the carrying device in real time, and realize intelligent inspection of the carrying device.

As shown in fig. 1 to 4, the carrying device according to the embodiment of the present invention further includes a robot driving motor 80, wherein the robot driving motor 80 is disposed on the moving chassis 10; and the multistage speed reducer is connected with the mechanical arm 30 and the mechanical arm driving motor 80 is connected with the multistage speed reducer, so that the mechanical arm driving motor drives 80 the multistage speed reducer, and the multistage speed reducer drives the mechanical arm 30 to move.

In some embodiments of the present invention, the multi-stage speed reducer includes a first-stage speed reducer 81 and a second-stage speed reducer 82, the second-stage speed reducer 82 may be a planetary gear speed reducer, the robot arm 30 is connected to the second-stage speed reducer 82 by means of a bushing, the second-stage speed reducer 82 is connected to the first-stage speed reducer 81 by means of a bushing, the multi-stage speed reducer is driven by the robot arm driving motor 80, and the robot arm driving motor 80 may be a servo motor. The multi-stage speed reducer can increase the output torque of the motor and reduce the overturning speed, and meanwhile, enough overturning force is provided for overturning the mechanical arm 30 after clamping the heavy object.

In the embodiment of the invention, the carrying device is remotely controlled by a control system to move, and the control system can also be used for video transmission and video display; the carrying device can be charged through a charging pile; the carrying device is provided with an instrument control electric system and is used for controlling normal running of the carrying device, overturning and grabbing of the mechanical arm and related information transmission. In addition, in some embodiments of the present invention, an organic casing is further disposed on the moving chassis of the handling apparatus for protecting the instrumentation electrical system and other devices on the handling apparatus, and the material is, for example, 304 stainless steel, which can prevent impact on the instrumentation electrical system and other devices when the hazardous material to be gripped explodes.

The carrying process of the carrying device in the embodiment of the invention can comprise the following steps: 1. placing the dangerous objects to be carried at the appointed positions of the transfer platform; 2. the carrying device moves to a designated place, the mechanical arm driving motor 80 drives the mechanical arm 30 to turn a certain angle towards the dangerous object to be carried, the position of the dangerous object to be carried and the distance between the dangerous object to be carried and the clamping assembly 20 are detected through an infrared distance measuring sensor arranged on the first end 31 of the mechanical arm 30, when the clamping assembly 20 reaches a proper position above the dangerous object to be carried, the opening and closing part 22 of the clamping assembly 20 is opened to a certain angle through the clamping driving motor, the dangerous object to be carried is clamped by the clamping part 23, and then the mechanical arm 30 is driven by the mechanical arm driving motor 80 to turn towards the carrying device until the mechanical arm 30 or the dangerous object to be carried is just clamped at the upper end of the supporting part 60; 3. after the overturning is finished, the control system controls the carrying device to travel to the designated storage position of the dangerous objects, and long-distance carrying and uniform collection of the dangerous objects are achieved. The carrying device provided by the embodiment of the invention has the characteristics of convenience and rapidness in operation, stability in operation, flexibility in mechanical arm grabbing, autonomous site identification, autonomous navigation, autonomous obstacle avoidance, intelligent routing inspection and the like.

The carrying device in the embodiment of the invention can be applied to carrying the waste tank body dismantled in an alkali metal related test loop, the waste tank body is internally provided with a mixture of alkali metals such as sodium-potassium alloy and other impurities, the activity is extremely high, and the risk of leakage, combustion or explosion exists.

The above embodiments are only for illustrating the invention and are not to be construed as limiting the invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention, therefore, all equivalent technical solutions also belong to the scope of the invention, and the scope of the invention is defined by the claims.

Claims

1. A handling device, comprising:

a mobile chassis (10);

a mechanical arm (30), wherein a first end (31) of the mechanical arm (30) is rotatably arranged on the movable chassis (10);

a clamping assembly (20), wherein the clamping assembly (20) is arranged at the second end (32) of the mechanical arm (30), and the clamping assembly (20) is used for clamping dangerous objects to be carried;

the first sensor is arranged on the mechanical arm (30) and used for detecting the position of the dangerous object to be carried and the distance between the dangerous object to be carried and the clamping assembly (20), so that the clamping assembly (20) can accurately clamp the dangerous object to be carried.

2. The handling apparatus according to claim 1, wherein:

the first end (31) of the robot arm (30) is provided with a plate (70), the plate (70) comprising a first plate extending in the extension direction of the robot arm (30) and a second plate extending in a direction perpendicular to the extension direction of the robot arm (30),

wherein the first plate is fixedly connected with the mechanical arm (30).

3. The handling apparatus according to claim 2, wherein:

the second plate is provided with a groove, and the first sensor is arranged in the groove.

4. The handling device according to claim 1,

the mechanical arm is characterized by further comprising a support part (60), wherein the support part (60) is fixed on the movable chassis (10) and is arranged in a way that after the clamping assembly (20) clamps the dangerous object to be conveyed and returns to the conveying device, the mechanical arm (30) is supported by the support part (60).

5. The handling device according to claim 1,

the carrying device further comprises a supporting part (60), wherein the supporting part (60) is fixed on the moving chassis (10) and is arranged in a way that after the clamping assembly (20) clamps the dangerous object to be carried and returns to the carrying device, the dangerous object to be carried is supported by the supporting part (60).

6. The handling device according to claim 4 or 5,

the upper end of the supporting part (60) is arranged in a V shape.

7. The handling device according to claim 1,

the clamping driving motor of the clamping assembly (20) is arranged on the mechanical arm (30) and used for driving the clamping operation of the clamping assembly (20) to clamp the dangerous object to be carried or release the dangerous object to be carried.

8. The handling apparatus according to claim 1, further comprising:

and the second sensors (40) are arranged at the front part and the rear part of the moving chassis (10) and are used for detecting the positions of the carrying devices so as to avoid obstacles, identify routes and position.

9. The handling apparatus according to claim 1, further comprising:

and the anti-collision beams (90) are arranged at the front part and the rear part of the moving chassis (10) and are used for contacting with a collided object when the carrying device is accidentally impacted so as to reduce the damage to the carrying device.

10. The handling apparatus according to claim 1, further comprising:

the third sensor supporting device is arranged on the moving chassis (10) and supports the third sensor (50), and the third sensor (50) is arranged to acquire surrounding environment information of the carrying device.

11. The handling apparatus according to claim 1, further comprising:

a mechanical arm driving motor (80), wherein the mechanical arm driving motor (80) is arranged on the movable chassis (10);

the multi-stage speed reducer is connected with the mechanical arm (30) and the mechanical arm driving motor (80) is connected with the multi-stage speed reducer, so that the mechanical arm driving motor (80) drives the multi-stage speed reducer, and the multi-stage speed reducer drives the mechanical arm (30) to move.