CN113734575A - Container transfer ground rail device used in sealing box body - Google Patents
Container transfer ground rail device used in sealing box body Download PDFInfo
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- CN113734575A CN113734575A CN202110948152.4A CN202110948152A CN113734575A CN 113734575 A CN113734575 A CN 113734575A CN 202110948152 A CN202110948152 A CN 202110948152A CN 113734575 A CN113734575 A CN 113734575A
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- 238000007789 sealing Methods 0.000 title description 6
- 230000033001 locomotion Effects 0.000 claims abstract description 96
- 238000006243 chemical reaction Methods 0.000 claims abstract description 64
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002285 radioactive effect Effects 0.000 description 2
- 230000003245 working effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/02—Internal fittings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/02—Internal fittings
- B65D25/10—Devices to locate articles in containers
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a container transfer ground rail device used in a sealed box, which comprises a clamp holder and a driving assembly, wherein the driving assembly comprises a first driving module, a second driving module and a third driving module; the second driving module comprises a second driver and a second motion conversion unit, the second driver is arranged outside the sealed box body, and the second motion conversion unit is positioned in the sealed box body, connected with the second driver and fixed on the first motion conversion unit; the third driving module comprises a third driver and a third motion conversion unit, and the third motion conversion unit is positioned in the sealed box body, connected with the third driver and fixed on the second motion conversion unit; the gripper is fixed on the third motion conversion unit and used for gripping the container. The invention can facilitate maintenance.
Description
Technical Field
The invention relates to the technical field of nuclear engineering, in particular to a container transfer ground rail device used in a sealed box body.
Background
When carrying out transport operations in enclosed spaces with radioactive or extremely harsh environments, it is often necessary to employ automated transport equipment to reduce human intervention. However, all driving elements of the currently adopted automatic transfer equipment are located in a sealed space, and the problems of low reliability, difficult maintenance and the like exist.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art, and provides a container transfer ground rail device used in a sealed box body, which can improve the reliability and is convenient to maintain.
The invention provides a container transfer ground rail device used in a sealed box body, which adopts the following technical scheme:
a container transfer ground rail device used in a sealed box comprises a holder and a driving assembly, wherein the driving assembly comprises a first driving module, a second driving module and a third driving module, the first driving module comprises a first driver and a first motion conversion unit, the first driver is arranged outside the sealed box and used for driving the first motion conversion unit to rotate, and the first motion conversion unit is positioned inside the sealed box and connected with the first driver and used for converting the rotation motion of the first driver into linear motion in a first direction;
the second driving module comprises a second driver and a second motion conversion unit, the second driver is arranged outside the sealed box body and used for driving the second motion conversion unit to rotate, the second motion conversion unit is positioned inside the sealed box body, connected with the second driver and fixed on the first motion conversion unit and used for converting the rotation motion of the second motion conversion unit into linear motion in a second direction, and the second direction is vertical to the first direction;
the third driving module comprises a third driver and a third motion conversion unit, the third motion conversion unit is positioned in the sealed box body, connected with the third driver and fixed on the second motion conversion unit, the third driver is arranged in the sealed box body and used for driving the third motion conversion unit to rotate, the third motion conversion unit is used for converting the rotation motion of the third motion conversion unit into linear motion in a third direction, and the third direction is vertical to the first direction and the second direction;
the gripper is positioned in the sealed box body, is fixed on the third motion conversion unit and is used for gripping the container.
Preferably, the first motion conversion unit includes a first lead screw-nut pair, the first lead screw-nut pair includes a first lead screw and a first nut seat, the first lead screw is connected with the first driver and is arranged along the first direction, the first nut seat is matched with the first lead screw and moves on the first lead screw along with the rotation of the first lead screw, and a first slider is fixedly arranged on the first nut seat;
the second motion conversion unit comprises a second lead screw and nut pair, the second lead screw and nut pair is fixedly arranged on the first sliding block and comprises a second lead screw and a second nut seat, the second lead screw is arranged along the second direction, the second nut seat is matched with the second lead screw and moves on the second lead screw along with the rotation of the second lead screw, and a second sliding block is fixedly arranged on the second nut seat;
the third motion conversion unit comprises a third lead screw and nut pair, the third lead screw and nut pair comprises a third lead screw and a third nut seat, the third nut seat is fixedly arranged on the second sliding block, the third lead screw is arranged on the third nut seat, is connected with the third driver and is arranged along the third direction, the third driver drives the third lead screw to rotate so as to enable the third lead screw to move along the third direction, and the clamper is fixedly arranged on the third lead screw.
Preferably, the first driver and the second driver are located at the same side outside the sealed box, and the rotation planes where the rotation motions output by the first driver and the second driver are located are the same plane or a parallel plane, the second motion conversion unit further comprises a power transmission mechanism, the power transmission mechanism comprises a ball spline pair, a first gear and a second gear, the ball spline pair comprises a spline shaft and a spline housing, the spline shaft is arranged along the first direction and is connected with the output end of the second driver, the spline housing is sleeved on the spline shaft and is movably connected with the first slider, the first gear is fixedly arranged on the spline housing, the second gear is fixedly arranged on the second lead screw and is engaged with the first gear, the rotation planes of the first gear and the second gear are perpendicular to each other.
Preferably, the first gear and the second gear are both bevel gears.
Preferably, the third driving module further comprises a hand wheel, and the hand wheel is connected with the third lead screw so as to enable the hand wheel and the third lead screw to rotate synchronously.
Preferably, the device further comprises a control assembly, wherein the control assembly comprises a controller, a first detector, a second detector and a third detector, the first detector is electrically connected with the controller and is used for detecting the position of the first sliding block in real time and sending a first position signal to the controller according to the position of the first sliding block detected in real time;
the second detector is electrically connected with the controller and used for detecting the position of the second sliding block in real time and sending a second position signal to the controller according to the position of the second sliding block detected in real time;
the third detector is electrically connected with the controller and is used for detecting the position of the gripper in real time and sending a third position signal to the controller according to the position of the gripper detected in real time;
the controller is electrically connected with the first driver, the second driver and the third driver respectively and is used for controlling the first driver, the second driver and the third driver to work respectively according to an input target position and controlling the first driver, the second driver and the third driver to stop working respectively according to a first position signal, a second position signal and a third position signal received in real time.
Preferably, the first driver, the second driver, and the third driver are all servo motors.
Preferably, the holder is detachably connected to the third screw, the first direction and the third direction are arranged in a horizontal plane, and the second direction is in a vertical plane.
The container transfer ground rail device used in the sealed box body can be maintained conveniently, can reduce the influence of radioactivity or extremely severe environment in the sealed box body on the working performance and the service life of the device, and is suitable for transferring containers in the sealed box body with the radioactive or extremely severe environment in the inner space.
Drawings
FIG. 1 is a schematic structural view of a container transfer ground rail device for sealing a container in a box body according to an embodiment of the invention;
FIG. 2 is a schematic view of an alternate angle of the container transfer ground rail apparatus for sealing a container within a container according to an embodiment of the present invention;
fig. 3 is a side view of a container transfer ground rail apparatus for sealing a container within a box in an embodiment of the present invention.
In the figure: 1-a gripper; 2-a first driving module; 21-a first driver; 22-a first slider; 3-a second driving module; 31-a second driver; 32-a power transmission mechanism; 33-a splined shaft; 34-a spline housing; 35-a first gear; 36-a second slider; 37-a second gear; 4-a third driving module; 41-hand wheel; 42-third driver.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are a part of the embodiments of the present invention, and not all embodiments. 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.
In the description of the present invention, it should be noted that the indication of orientation or positional relationship, such as "on" or the like, is based on the orientation or positional relationship shown in the drawings, and is only for convenience and simplicity of description, and does not indicate or imply that the device or element referred to must be provided with a specific orientation, constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected," "disposed," "mounted," "fixed," and the like are to be construed broadly, e.g., as being fixedly or removably connected, or integrally connected; either directly or indirectly through intervening media, or through the interconnection of two elements. The specific meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art.
Example 1
As shown in fig. 1, fig. 2 and fig. 3, the present embodiment discloses a container transfer ground rail device for sealing a container inside a container body, which includes a holder 1 and a driving assembly, wherein the driving assembly includes a first driving module 2, a second driving module 3 and a third driving module 4, wherein: the first driving module 2 comprises a first driver 21 and a first motion conversion unit, the first driver 21 is arranged outside the sealed box body and used for driving the first motion conversion unit to rotate, and the first motion conversion unit is positioned inside the sealed box body, connected with the first driver 21 and used for converting the rotation motion of the first driver into linear motion in a first direction; the second driving module 3 comprises a second driver 31 and a second motion conversion unit, the second driver 31 is arranged outside the sealed box body and used for driving the second motion conversion unit to rotate, the second motion conversion unit is positioned inside the sealed box body, connected with the second driver 31 and fixed on the first motion conversion unit and used for converting the rotation motion of the second driver into linear motion in a second direction, and the second direction is vertical to the first direction; the third driving module 4 comprises a third driver and a third motion conversion unit, the third motion conversion unit is positioned in the sealed box body, connected with the third driver and fixed on the second motion conversion unit, the third driver is arranged in the sealed box body and used for driving the third motion conversion unit to rotate, the third motion conversion unit is used for converting the rotation motion of the third motion conversion unit into linear motion in a third direction, and the third direction is vertical to the first direction and the second direction; the holder 1 is arranged in the sealed box body and fixed on the third motion conversion unit and used for holding the container, so that the holder can hold the container to move in the sealed box body under the driving action of the first driving module 2, the second driving module 3 and the third driving module 4, and the container in the sealed box body is transferred.
Compare in prior art, the outside of sealed box is located to first driver 21 and second driver 31 of this embodiment device, not only can conveniently maintain, can also promote the reliability of this device, even the inner space of sealed box is radioactivity or extremely abominable environment, also can avoid the influence of the atmosphere in the sealed box to the working property and the life of first driver 21, second driver 31. That is to say, this device not only can be applicable to the container transportation in ordinary airtight box, can also be applicable to the container transportation in the airtight box that the inner space is radioactivity or extremely harsh environment.
It should be noted that the gripper in the apparatus of this embodiment can be used for gripping other objects besides the container, that is, the apparatus can be used for transferring other objects besides the container, and is not limited to transferring containers.
In this embodiment, the first motion conversion unit includes a first lead screw-nut pair, the first lead screw-nut pair includes a first lead screw and a first nut seat, the first lead screw is connected to the first driver 21 and is arranged along a first direction, the first driver 21 drives the first lead screw to rotate, the first nut seat is matched with the first lead screw, for example, the first nut seat is arranged on the first lead screw, the first lead screw and the first nut seat are rotatably connected to cooperate, the first nut seat moves along the first direction on the first lead screw along with the rotation of the first lead screw, a first slider 22 is fixedly arranged on the first nut seat, and the first nut seat and the first slider 22 may be an integrated structure or connected by a bolt or other connection means;
the second motion conversion unit includes a second screw-nut pair, the second screw-nut pair is fixed on the first slider 22 through fasteners such as screws or bolts, and includes a second screw and a second nut seat, the second screw is arranged along the second direction, the second nut seat is matched with the second screw, for example, the second nut seat is arranged on the second screw, the second screw and the second nut seat are rotatably connected and matched, the second nut seat moves on the second screw along the second direction along with the rotation of the second screw, and the second slider 36 is fixed on the second nut seat;
the third motion conversion unit comprises a third screw-nut pair, the third screw-nut pair comprises a third screw and a third nut seat, the third nut seat is fixedly arranged on the second slider 36, the third screw is rotatably arranged on the third nut seat, is connected with the third driver 42 and is arranged along a third direction, the third driver 42 drives the third screw to rotate so as to enable the third screw to move along the third direction, and the clamper 1 is fixedly arranged on the third screw and moves along with the third screw in the third direction.
In this embodiment, through setting up first drive module 2, the rotary motion who exports first driver 21 converts the rectilinear motion along the first direction into, thereby realize holder 1 and remove in the first direction, through setting up second drive module 3, convert the rotary motion that second driver 31 exported into along the rectilinear motion of second direction, thereby realize holder 1 and remove in the second direction, through setting up third drive module 4, convert the rotary motion that third driver exported into the rectilinear motion along the third direction, thereby realize holder 1 and remove in the third direction, and then realize the container in the airtight box and transport.
In this embodiment, the holder 1 is designed in a modular manner, and is detachably connected to the third lead screw in a manner of bolt fastening, a quick-release structure, and the like, so as to be integrally disassembled and assembled.
In this embodiment, the first direction and the third direction are provided in a horizontal plane, and the second direction is in a vertical plane.
In this embodiment, the first driver 21 and the second driver 31 are preferably located on the same side outside the sealed box, which makes the device more reasonable in structure and more convenient for operation and maintenance, and the rotation planes where the rotation motions output by the first driver 21 and the second driver 31 are located are the same plane or parallel planes, the second motion conversion unit further includes a power transmission mechanism 32, the power transmission mechanism 32 includes a ball spline pair, a first gear, and a second gear, the ball spline pair includes a spline shaft 33 and a spline housing 34, where: the spline shaft 33 is arranged along a first direction and is parallel to the first lead screw, the spline shaft 33 is connected with the output end of the second driver 31, the spline sleeve 34 is sleeved on the spline shaft 33, and the spline sleeve 34 is rotatably connected with the first sliding block 22 through bearings such as a sliding bearing or a rolling bearing; the first gear 35 is fixed on the spline housing 34, the second gear 37 is fixed on the second lead screw and meshed with the first gear 35, the rotation planes of the first gear and the second gear are perpendicular to each other, the second driver 31 outputs rotation power to drive the spline shaft 33 to rotate, the spline housing 34 and the first gear 35 are driven to rotate, and then the second lead screw is driven to rotate by meshing of the second gear 37. When the first driver 21 outputs the rotational power, the second screw-nut pair, the second gear 37, the spline housing 34, and the first gear 35 all move linearly in the first direction along with the first slider 22, and the spline shaft 33 does not rotate. The ball spline pair can slide relatively and rotate synchronously, when the second driver 31 outputs rotating power, the spline shaft 33 is driven to rotate and drives the spline housing 34 to rotate, then the power input in the horizontal direction is converted into the vertical direction movement (namely, the linear movement in the second direction) of the second screw nut pair through the first gear 35 fixedly connected with the spline housing 34 and the second gear 37 fixedly connected with the second screw, the second driver 31 can be conveniently arranged outside the sealed box body, and the precision is high.
In the present embodiment, the first gear 35 and the second gear 37 are preferably both bevel gears. The rotation directions of the two are mutually vertical.
In some embodiments, the third driving module 4 further includes a hand wheel 41, the hand wheel 41 is connected to the third lead screw by a key connection or the like so as to rotate synchronously, and the hand wheel 41 may be provided with patterns for operation. Specifically, the patterns may be recessed into the hand wheel 41, or may protrude outward from the hand wheel 41. Through setting up hand wheel 41, can make third drive module 4 have manual operation ability, still can manually accomplish the operation of transporting under the power failure condition, further optimized the performance of this device.
In some embodiments, the apparatus further comprises a control assembly (not shown in the figures) comprising a controller, a first detector, a second detector, and a third detector, wherein: the first detector is electrically connected with the controller and is used for detecting the position of the first sliding block 22 in real time and sending a first position signal to the controller according to the position of the first sliding block 22 detected in real time; the second detector is electrically connected with the controller and is used for detecting the position of the second sliding block 36 in real time and sending a second position signal to the controller according to the position of the second sliding block 36 detected in real time; the third detector is electrically connected with the controller and is used for detecting the position of the clamper 1 in real time and sending a third position signal to the controller according to the real-time detection of the position of the clamper 1; the controller is electrically connected with the first driver 21, the second driver 31 and the third driver respectively, and is used for controlling the first driver 21, the second driver 31 and the third driver to work respectively according to the input target position to be reached by the container, and controlling the first driver 21, the second driver 31 and the third driver to stop working respectively according to the first position signal, the second position signal and the third position signal received in real time.
In some embodiments, the first driver 21, the second driver 31, and the third driver are all preferably servo motors, which have good driving performance and can improve the precision of the device.
The following details the working process of the device of this embodiment, specifically as follows:
assuming that a target position to be transferred by a container is represented by coordinates (X, Y, Z), wherein the first motion direction is an X-axis direction, the second motion direction is a Z-axis direction, and the third motion direction is a Y-axis direction, the gripper 1 grips the container, the first driver 21 is activated to drive the first lead screw to rotate, so that the first nut seat moves in the first direction and drives the gripper to move in the first direction, and meanwhile, the first detector detects a real-time position of the gripper in real time and sends first position information to the controller according to the real-time detected gripper position;
when the clamper moves to reach the x coordinate position, the first driver 21 stops working, the second driver 31 starts to drive the spline shaft 33 to rotate, so as to drive the second lead screw to rotate, further to enable the second nut seat to move in the second direction and drive the clamper to move in the second direction, and meanwhile, the second detector detects the real-time position of the clamper in real time and sends second position information to the controller according to the real-time detected position of the clamper;
when the gripper moves to reach the second designated position of the z coordinate, the second driver 31 stops working, the third driver starts to drive the third lead screw to rotate, the third lead screw is matched with the third nut seat, so that the third lead screw moves in the third direction and drives the gripper to move in the third direction, meanwhile, the third detector detects the real-time position of the gripper in real time and sends third position information to the controller according to the real-time detected gripper position, when the gripper moves to reach the y coordinate position, the third driver stops working and enables the gripper 1 to put down the container, and the container transfer is completed.
The container transportation ground rail device for in the seal box of this embodiment not only can conveniently maintain, can also reduce the radioactivity in the seal box or extremely abominable environment to device working property and life's influence, applicable in the container transportation in the seal box that the inner space is radioactivity or extremely abominable environment, in addition, this device simple structure, convenient operation can reduce production, use cost.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (8)
1. A container transfer ground rail device used in a sealed box is characterized by comprising a clamper and a driving component, wherein the driving component comprises a first driving module, a second driving module and a third driving module,
the first driving module comprises a first driver and a first motion conversion unit, the first driver is arranged outside the sealed box body and used for driving the first motion conversion unit to rotate, and the first motion conversion unit is positioned inside the sealed box body, connected with the first driver and used for converting the rotation motion of the first motion conversion unit into linear motion in a first direction;
the second driving module comprises a second driver and a second motion conversion unit, the second driver is arranged outside the sealed box body and used for driving the second motion conversion unit to rotate, the second motion conversion unit is positioned inside the sealed box body, connected with the second driver and fixed on the first motion conversion unit and used for converting the rotation motion of the second motion conversion unit into linear motion in a second direction, and the second direction is vertical to the first direction;
the third driving module comprises a third driver and a third motion conversion unit, the third motion conversion unit is positioned in the sealed box body, connected with the third driver and fixed on the second motion conversion unit, the third driver is arranged in the sealed box body and used for driving the third motion conversion unit to rotate, the third motion conversion unit is used for converting the rotation motion of the third motion conversion unit into linear motion in a third direction, and the third direction is vertical to the first direction and the second direction;
the gripper is positioned in the sealed box body, is fixed on the third motion conversion unit and is used for gripping the container.
2. The device according to claim 1, wherein the first motion conversion unit comprises a first screw-nut pair, the first screw-nut pair comprises a first screw and a first nut seat, the first screw is connected with the first driver and is arranged along the first direction, the first nut seat is matched with the first screw and moves on the first screw along with the rotation of the first screw, and a first sliding block is fixedly arranged on the first nut seat;
the second motion conversion unit comprises a second lead screw and nut pair, the second lead screw and nut pair is fixedly arranged on the first sliding block and comprises a second lead screw and a second nut seat, the second lead screw is arranged along the second direction, the second nut seat is matched with the second lead screw and moves on the second lead screw along with the rotation of the second lead screw, and a second sliding block is fixedly arranged on the second nut seat;
the third motion conversion unit comprises a third lead screw and nut pair, the third lead screw and nut pair comprises a third lead screw and a third nut seat, the third nut seat is fixedly arranged on the second sliding block, the third lead screw is arranged on the third nut seat, is connected with the third driver and is arranged along the third direction, the third driver drives the third lead screw to rotate so as to enable the third lead screw to move along the third direction, and the clamper is fixedly arranged on the third lead screw.
3. The apparatus according to claim 2, wherein the first and second drivers are located on the same side of the sealed box, and the rotation planes of the rotation motions output by the first and second drivers are the same plane or parallel planes,
the second motion conversion unit further comprises a power transmission mechanism, the power transmission mechanism comprises a ball spline pair, a first gear and a second gear, the ball spline pair comprises a spline shaft and a spline housing,
the spline shaft is arranged along the first direction and is connected with the output end of the second driver, the spline sleeve is sleeved on the spline shaft and is movably connected with the first sliding block,
the first gear is fixedly arranged on the spline sleeve, the second gear is fixedly arranged on the second lead screw and meshed with the first gear, and rotating planes of the first gear and the second gear are perpendicular to each other.
4. The apparatus of claim 3, wherein the first gear and the second gear are bevel gears.
5. The device of claim 2, wherein the third driving module further comprises a hand wheel connected to the third lead screw for synchronous rotation.
6. The apparatus of claim 2, further comprising a control assembly including a controller, a first detector, a second detector, and a third detector,
the first detector is electrically connected with the controller and used for detecting the position of the first sliding block in real time and sending a first position signal to the controller according to the position of the first sliding block detected in real time;
the second detector is electrically connected with the controller and used for detecting the position of the second sliding block in real time and sending a second position signal to the controller according to the position of the second sliding block detected in real time;
the third detector is electrically connected with the controller and is used for detecting the position of the gripper in real time and sending a third position signal to the controller according to the position of the gripper detected in real time;
the controller is electrically connected with the first driver, the second driver and the third driver respectively and is used for controlling the first driver, the second driver and the third driver to work respectively according to an input target position and controlling the first driver, the second driver and the third driver to stop working respectively according to a first position signal, a second position signal and a third position signal received in real time.
7. The apparatus of claim 2, wherein the first, second, and third drives are servo motors.
8. The device of claim 2, wherein the gripper is removably coupled to a third lead screw, the first and third directions being oriented in a horizontal plane, and the second direction being oriented in a vertical plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110948152.4A CN113734575A (en) | 2021-08-18 | 2021-08-18 | Container transfer ground rail device used in sealing box body |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110948152.4A CN113734575A (en) | 2021-08-18 | 2021-08-18 | Container transfer ground rail device used in sealing box body |
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| CN113734575A true CN113734575A (en) | 2021-12-03 |
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| CN202110948152.4A Pending CN113734575A (en) | 2021-08-18 | 2021-08-18 | Container transfer ground rail device used in sealing box body |
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Application publication date: 20211203 |