CN114171230B - Centering four corners adjusting device and transfer system - Google Patents
Centering four corners adjusting device and transfer system Download PDFInfo
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- CN114171230B CN114171230B CN202111439862.0A CN202111439862A CN114171230B CN 114171230 B CN114171230 B CN 114171230B CN 202111439862 A CN202111439862 A CN 202111439862A CN 114171230 B CN114171230 B CN 114171230B
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- 240000004282 Grewia occidentalis Species 0.000 claims abstract description 17
- 239000000463 material Substances 0.000 claims description 9
- 230000002285 radioactive effect Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 230000001050 lubricating effect Effects 0.000 claims description 2
- 230000003139 buffering effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 238000004513 sizing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000941 radioactive substance Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
- G21F5/00—Transportable or portable shielded containers
- G21F5/06—Details of, or accessories to, the containers
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
- G21F5/00—Transportable or portable shielded containers
- G21F5/06—Details of, or accessories to, the containers
- G21F5/14—Devices for handling containers or shipping-casks, e.g. transporting devices loading and unloading, filling of containers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Machine Tool Units (AREA)
Abstract
The invention discloses a centering four-corner adjusting device, which comprises a first spring hydraulic adjusting unit, a second spring hydraulic adjusting unit, a third spring hydraulic adjusting unit, a fourth spring hydraulic adjusting unit and a centralized control system, wherein the first spring hydraulic adjusting unit, the second spring hydraulic adjusting unit, the third spring hydraulic adjusting unit and the fourth spring hydraulic adjusting unit are the same units and are used for supporting objects, each of the first spring hydraulic adjusting unit, the second spring hydraulic adjusting unit, the third spring hydraulic adjusting unit and the fourth spring hydraulic adjusting unit can move along a first direction, a second direction perpendicular to the first direction and a third direction perpendicular to both the first direction and the second direction, and the centralized control system is used for uniformly controlling the movement of the first spring hydraulic adjusting unit, the second spring hydraulic adjusting unit, the third spring hydraulic adjusting unit and the fourth spring hydraulic adjusting unit.
Description
Technical Field
The invention belongs to the technical field of nuclear facilities, and particularly relates to a centering four-corner adjusting device and a transfer system.
Background
The nuclear engineering field often involves the leveling and docking of a transport container, and due to the specificity of the radioactive transport material, the transport container is usually large in size and weight because of the shielding and sealing requirements, and in order to prevent the radioactive transport material from being damaged and the radioactive substances from being diffused, certain requirements are provided for deviation of the transport container, and in the transport process, the transport container needs to be adjusted in levelness or corner.
The existing adjusting mode is a traditional sizing block adjusting method, in the adjusting process, the transferring containers need to be lifted repeatedly, the number and the positions of the sizing blocks are adjusted, the adjusting efficiency and the adjusting precision are low, and the repeated utilization of the transferring containers is not facilitated. In order to improve the transport efficiency of radioactive transport materials and the adjustment accuracy thereof, a rapid and convenient device for centering and adjusting transport containers is needed.
Disclosure of Invention
The invention provides a centering four-corner adjusting device aiming at the defects in the prior art.
According to the present invention, there is provided a centering four-corner adjustment device comprising a first spring hydraulic pressure adjustment unit, a second spring hydraulic pressure adjustment unit, a third spring hydraulic pressure adjustment unit, a fourth spring hydraulic pressure adjustment unit, and a centralized control system, wherein the first spring hydraulic pressure adjustment unit, the second spring hydraulic pressure adjustment unit, the third spring hydraulic pressure adjustment unit, and the fourth spring hydraulic pressure adjustment unit are the same units for supporting an object, wherein each of the first spring hydraulic pressure adjustment unit, the second spring hydraulic pressure adjustment unit, the third spring hydraulic pressure adjustment unit, and the fourth spring hydraulic pressure adjustment unit is movable in a first direction, a second direction perpendicular to the first direction, and a third direction perpendicular to both the first direction and the second direction, and wherein the centralized control system is electrically connected to the first spring hydraulic pressure adjustment unit, the second spring hydraulic pressure adjustment unit, the third spring hydraulic pressure adjustment unit, and the fourth spring hydraulic pressure adjustment unit, respectively, and movement of the first spring hydraulic pressure adjustment unit, the second spring hydraulic pressure adjustment unit, the third spring hydraulic pressure adjustment unit, and the fourth spring hydraulic pressure adjustment unit are uniformly controlled by the centralized control system.
Each of the first spring hydraulic pressure adjusting unit, the second spring hydraulic pressure adjusting unit, the third spring hydraulic pressure adjusting unit, and the fourth spring hydraulic pressure adjusting unit includes: the connecting bottom plate is provided with a connecting block at the center and a guide rail at the periphery; the first direction first hydraulic component and the first direction second hydraulic component are arranged along the first direction, the two ends of the first direction first hydraulic component and the first direction second hydraulic component are respectively connected with the connecting block and the guide rail, and the first direction first hydraulic component and the first direction second hydraulic component are respectively arranged on the two sides of the connecting block by taking the connecting block as the center; the first hydraulic component in the second direction and the second hydraulic component in the second direction are arranged along the second direction, two ends of the first hydraulic component in the second direction are respectively connected with the connecting block and the guide rail, and the first hydraulic component in the second direction and the second hydraulic component in the second direction are respectively arranged on the other two sides of the connecting block by taking the connecting block as the center; the third direction adjusting piece is arranged at the center of the connecting block, wherein the first direction first hydraulic component, the first direction second hydraulic component, the second direction first hydraulic component, the second direction second hydraulic component and the third direction adjusting piece are all connected to the centralized control system, the first direction first hydraulic component and the first direction second hydraulic component are controlled by the centralized control system to realize the movement of the connecting block along the first direction, the second direction first hydraulic component and the second direction second hydraulic component are controlled by the centralized control system to realize the movement of the connecting block along the second direction, and the third direction adjusting piece is controlled by the centralized control system to realize the movement of the connecting block along the third direction.
The centralized control system comprises a signal processing unit, a control unit, an oil supply system, a proportion control unit, a reversing unit and a sensor, wherein: a sensor is connected to each of the first, second, third, and fourth spring hydraulic adjustment units, collecting position and motion feedback signals of their connection blocks; the signal processing unit is respectively and electrically connected with the sensor and the control unit and is used for processing the position and motion feedback signals and sending an adjusting signal to the control unit after processing the position and motion feedback signals; the control unit is respectively and electrically connected with the oil supply system, the proportional control unit and the reversing unit, and respectively sends instructions to the oil supply system, the proportional control unit and the reversing unit according to the adjustment signals sent by the signal processing unit so as to control the driving of the oil supply system, the proportional control unit and the reversing unit, thereby realizing the adjustment of the first spring hydraulic pressure adjusting unit, the second spring hydraulic pressure adjusting unit, the third spring hydraulic pressure adjusting unit and the fourth spring hydraulic pressure adjusting unit; the reversing unit is used for converting the movement of the supporting plate into the movement of the first hydraulic component in the first direction, the second hydraulic component in the first direction, the first hydraulic component in the second direction, the second hydraulic component in the second direction and the third direction adjusting piece according to the instruction of the control unit; the oil supply system supplies oil according to the instruction of the control unit; the proportional control unit adjusts the first hydraulic component in the first direction, the second hydraulic component in the first direction, the first hydraulic component in the second direction, the second hydraulic component in the second direction and the third direction adjusting piece according to the instruction of the control unit so as to change the positions of the connecting blocks of the spring hydraulic adjusting units in the first direction, the second direction and the third direction, and further adjust the displacement, the levelness or the rotation angle of the supporting plate.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that: according to the centering four-corner adjusting device, the hydraulic components capable of adjusting the first direction, the second direction and the third direction are arranged on the periphery of the fixed base, so that the centering four-corner adjusting device has the multi-degree-of-freedom adjusting capability of adjusting the supporting plate horizontally, vertically, rotationally and the like, closed-loop centralized control is performed by feeding signals back to the centralized control system, the application range is wide, the adjusting efficiency is high, and the leveling and docking efficiency of the transfer container is improved.
Drawings
Fig. 1 is a schematic view of a centering four-corner adjustment device according to an embodiment of the present invention.
Fig. 2 is a schematic view of a centering four-corner adjustment device according to an embodiment of the present invention, not shown, of a support plate.
Fig. 3 is a schematic view of a spring hydraulic pressure adjustment unit according to an embodiment of the invention.
Fig. 4 is a bottom schematic view of a spring hydraulic adjustment unit according to an embodiment of the invention.
Fig. 5 is a schematic view of a ball head support of a support plate according to an embodiment of the invention.
Fig. 6 is a block diagram of a centralized control system according to an embodiment of the present invention.
In the figure: 10-a first spring hydraulic adjustment unit; 20-a second spring hydraulic adjustment unit; 30-a third spring hydraulic adjustment unit; 40-a fourth spring hydraulic pressure adjustment unit; 50-fixing a base; 60-a centralized control system; 70-supporting plates; 11-connecting a bottom plate; 12-X direction first hydraulic component; 13-X direction second hydraulic component; 14-Y direction first hydraulic component; 15-Y direction second hydraulic component; 16-Z direction adjusting piece; 17-a guide rail; 18-connecting blocks; 19-lubricating rubber; 61-a signal processing unit; 62-a control unit; 63-an oil supply system; 64-a proportional control unit; 65-reversing units; 66-sensor.
Detailed Description
The present invention will be described in further detail below with reference to the drawings and examples for better understanding of the technical scheme of the present invention to those skilled in the art.
As shown in fig. 1 to 3, the present invention provides a centering four-corner adjustment apparatus, which mainly includes a first spring hydraulic pressure adjustment unit 10, a second spring hydraulic pressure adjustment unit 20, a third spring hydraulic pressure adjustment unit 30, a fourth spring hydraulic pressure adjustment unit 40, a fixed base 50, a centralized control system 60, and a support plate 70.
The fixing base 50 according to the embodiment of the present invention is a rectangular flat plate, and the first, second, third, and fourth spring hydraulic pressure adjusting units 10, 20, 30, and 40 are connected to the fixing base 50 through corresponding connection base plates, respectively, and are fixed to four corners of the fixing base 50. The support plate 70 is placed above the first, second, third, and fourth spring hydraulic pressure adjustment units 10, 20, 30, 40, and the fixed base 50, and is supported by the first, second, third, and fourth spring hydraulic pressure adjustment units 10, 20, 30, and 40. The first, second, third, and fourth spring hydraulic pressure adjusting units 10, 20, 30, and 40 may be adjusted by the centralized control system 60, and thus the inclination and position of the support plate 70 may be adjusted.
Since the first spring hydraulic pressure adjusting unit 10, the second spring hydraulic pressure adjusting unit 20, the third spring hydraulic pressure adjusting unit 30, and the fourth spring hydraulic pressure adjusting unit 40 are the same units, they will be collectively described herein by taking the first spring hydraulic pressure adjusting unit 10 as an example.
Fig. 3 is a schematic view of a spring hydraulic pressure adjustment unit according to an embodiment of the invention. As shown in fig. 3, the first spring hydraulic pressure adjustment unit 10 includes a connection base plate 11, an X-direction first hydraulic pressure member 12, an X-direction second hydraulic pressure member 13, a Y-direction first hydraulic pressure member 14, a Y-direction second hydraulic pressure member 15, a Z-direction adjustment member 16, a guide rail 17, and a connection block 18. According to the present specification, the X direction may be referred to as a first direction and the Y direction may be referred to as a second direction.
The connection base plate 11 is rectangular for connection with the fixing base 50 in such a manner that the side surface of the connection base plate 11 is connected and fixed with the side surface of the fixing base 50 so that the connection base plate 11 and the fixing base 50 are located on the same plane.
The connection block 18 is provided at the center of the connection base plate 11. One guide rail is provided along each of four sides of the connection base plate, and as shown in fig. 3, two pairs of guide rails are parallel to the X-direction and the Y-direction, respectively (see fig. 1).
The connection block 18 is a rectangular block, as shown in fig. 3, and preferably, but not necessarily, four corners of the connection block 18 are rounded according to an embodiment of the present invention. A circular hole is provided in the center of the connection block 18, and the Z-direction adjuster 16 is provided in the circular hole. At the center of the Z-direction adjustment member 16 is provided a spherical recess for cooperation with the support plate 70 to effect positioning of the support plate 70 relative to the stationary base 50, as will be described in detail below. The four sides of the connection block 18 are parallel to the four guide rails, respectively. The X-direction first hydraulic member 12, the X-direction second hydraulic member 13, the Y-direction first hydraulic member 14, and the Y-direction second hydraulic member 15 are respectively provided between one side surface of the connection block 18 and one rail for connecting the connection block 18 with four rails. According to the embodiment of the invention, the connection block 18 is connected with the first hydraulic component 12 in the X direction, the second hydraulic component 13 in the X direction, the first hydraulic component 14 in the Y direction and the second hydraulic component 15 in the Y direction in a threaded manner.
According to the embodiment of the invention, the X-direction first hydraulic member 12, the X-direction second hydraulic member 13, the Y-direction first hydraulic member 14, and the Y-direction second hydraulic member 15 are connected to the connection block 18 at one end and to the guide rail 17 at the other end, respectively. The first hydraulic component 12 in the X direction and the second hydraulic component 13 in the X direction are arranged on two sides of the connecting block in a straight shape. Guide wheels are arranged at the joints of the X-direction first hydraulic component 12, the X-direction second hydraulic component 13, the Y-direction first hydraulic component 14 and the Y-direction second hydraulic component 15 and the guide rail 17. The guide rail 17 is provided with a limit groove, and the X-direction first hydraulic member 12, the X-direction second hydraulic member 13, the Y-direction first hydraulic member 14, and the Y-direction second hydraulic member 15 can move only in the horizontal direction.
According to an embodiment of the present invention, the X-direction first hydraulic component 12, the X-direction second hydraulic component 13, the Y-direction first hydraulic component 14, the Y-direction second hydraulic component 15, and the Z-direction adjuster 16 are all connected to the centralized control system 60.
Fig. 4 is a bottom schematic view of a spring hydraulic adjustment unit according to an embodiment of the invention. As shown in fig. 4, a lubricant rubber 19 is adhered to the back surface of the connection block 18. The lubricating rubber 19 can act as a cushion when the connection block 18 is subjected to a force in the Z direction (see fig. 1).
Fig. 5 is a schematic view of a ball head support of a support plate according to an embodiment of the invention. As shown in fig. 5, ball-head supports 80 are provided at four corners of the side of the support plate 70 facing the fixed base 50, which are respectively engaged with spherical grooves in the centers of the Z-direction adjusting pieces 16 in the first, second, third, and fourth spring hydraulic pressure adjusting units 10, 20, 30, and 40, thereby achieving positioning of the support plate 70 with respect to the fixed base 50.
When a weight is placed on the support plate 70, for example, a transfer container of radioactive transfer material is placed according to an embodiment of the present invention, the support plate 70 is subjected to pressure in the Z direction and forces are transmitted to the first, second, third and fourth spring hydraulic pressure adjustment units 10, 20, 30 and 40 through four ball bearings 80 of the bottom surface thereof, respectively. The first, second, third and fourth spring hydraulic pressure adjusting units 10, 20, 30 and 40 are adjusted when being stressed by the centralized control system 60, and the positions of the corresponding Z-direction adjusting members are adjusted, so that the first, second, third and fourth spring hydraulic pressure adjusting units 10, 20, 30 and 40 are stressed equally, thereby realizing centering adjustment, and enabling a transfer container of a radioactive transfer material to be placed stably.
Fig. 6 is a block diagram of a centralized control system according to an embodiment of the present invention. As shown in fig. 6, the centralized control system 60 includes a signal processing unit 61, a control unit 62, an oil supply system 63, a proportion control unit 64, a reversing unit 65, a sensor 66, and the like.
In accordance with an embodiment of the present invention, during actual implementation, a transport container of radioactive transport material is placed on the support plate 70, the centralized control system 60 measures the initial positional deviation of the transport container and sends a deviation signal to the control unit 62, and the control unit 62 sends a control command. The oil supply system 63 supplies oil according to a command from the control unit 62. The proportional control unit 64 adjusts the first, second, third, and fourth spring hydraulic pressure adjusting units 10, 20, 30, and 40 according to a command from the control unit 62, changing the positions of the Z-direction adjusting members in the X-direction, the Y-direction, and the Z-direction, and thus adjusting the displacement, levelness, or rotation angle of the support plate 70. This will be described in detail below.
According to the embodiment of the present invention, the control unit 62 drives the reversing unit 65 to adjust the hydraulic components of the first spring hydraulic pressure adjusting unit 10, the second spring hydraulic pressure adjusting unit 20, the third spring hydraulic pressure adjusting unit 30, and the fourth spring hydraulic pressure adjusting unit 40, respectively.
When the support plate 70 needs to move in the X direction, the reversing unit 65 converts the movement into movement of the first hydraulic component 12 in the X direction and the second hydraulic component 13 in the X direction of the spring hydraulic adjusting units 10, 20, 30, 40, and the proportional control unit 64 controls coordinated movement of the corresponding first hydraulic component 12 in the X direction and second hydraulic component 13 in the X direction to realize displacement of each Z direction adjusting piece 16 in the X direction, so as to drive the support plate 70 to realize displacement in the X direction. Similarly, when the support plate 70 needs to perform the movement of the Y-direction movement, the movement is converted into the movement of the Y-direction first hydraulic component 14 and the Y-direction second hydraulic component 15 of the spring hydraulic pressure adjusting units 10, 20, 30, 40 by the reversing unit 65, and the coordinated movement of the corresponding Y-direction first hydraulic component 14 and Y-direction second hydraulic component 15 is controlled by the proportional control unit 64 to realize the displacement of each Z-direction adjusting piece 16 in the Y-direction, thereby driving the support plate 70 to realize the displacement in the Y-direction.
When the support plate 70 needs to move in the Z direction, the reversing unit 65 converts the movement into the movement of the Z direction adjusting member 16 of the corresponding spring hydraulic pressure adjusting unit 10, 20, 30, 40, and the proportional control unit controls the coordinated movement of the corresponding Z direction adjusting member, so that the height adjustment of the four corners of the support plate 70 is realized, and the object above the support plate 70 (the transport container of the radioactive transport material) is satisfied with the stable placement requirement.
In order to precisely control the movement of each spring hydraulic pressure adjustment unit 10, 20, 30, 40, a sensor may be installed on each spring hydraulic pressure adjustment unit 10, 20, 30, 40, respectively. When the spring hydraulic pressure adjusting units 10, 20, 30 and 40 move, the sensors thereof measure and feed back signals to the signal processing unit 61, the signal processing unit 61 processes the signals and sends the signals to the control unit 62, the control unit 62 controls the oil supply system 63, the proportion control unit 64 and the reversing unit 65 to adjust the spring hydraulic pressure adjusting units 10, 20, 30 and 40, thereby realizing the adjustment of four angles of the supporting plate in the four-angle adjusting device in the X direction, the Y direction and the Z direction, and further realizing the adjustment of multiple degrees of freedom such as the horizontal, the vertical, the rotation and the like of the transferring container of the radioactive transferring material placed on the transferring container.
It is to be understood that the above embodiments are merely illustrative of the application of the principles of the present invention, but not in limitation thereof. Various modifications and improvements may be made by those skilled in the art without departing from the spirit and substance of the invention, and are also considered to be within the scope of the invention.
Claims (9)
1. A centering four-corner adjusting device is characterized by being used for realizing the adjustment of multiple degrees of freedom of the horizontal, vertical and rotation of a transfer container of radioactive transfer materials placed on a supporting plate, and comprises a first spring hydraulic adjusting unit, a second spring hydraulic adjusting unit, a third spring hydraulic adjusting unit, a fourth spring hydraulic adjusting unit and a centralized control system, wherein,
The supporting plate is arranged at the top of the first spring hydraulic pressure adjusting unit, the second spring hydraulic pressure adjusting unit, the third spring hydraulic pressure adjusting unit and the fourth spring hydraulic pressure adjusting unit and is used for directly contacting an object,
The first spring hydraulic pressure adjusting unit, the second spring hydraulic pressure adjusting unit, the third spring hydraulic pressure adjusting unit, the fourth spring hydraulic pressure adjusting unit are the same unit for supporting the object, wherein each of the first spring hydraulic pressure adjusting unit, the second spring hydraulic pressure adjusting unit, the third spring hydraulic pressure adjusting unit, the fourth spring hydraulic pressure adjusting unit is movable in a first direction, a second direction perpendicular to the first direction, and a third direction perpendicular to both the first direction and the second direction, and wherein,
The centralized control system is electrically connected with the first spring hydraulic pressure adjusting unit, the second spring hydraulic pressure adjusting unit, the third spring hydraulic pressure adjusting unit and the fourth spring hydraulic pressure adjusting unit respectively, and the movement of the first spring hydraulic pressure adjusting unit, the second spring hydraulic pressure adjusting unit, the third spring hydraulic pressure adjusting unit and the fourth spring hydraulic pressure adjusting unit is uniformly controlled through the centralized control system;
Wherein each of the first spring hydraulic pressure adjusting unit, the second spring hydraulic pressure adjusting unit, the third spring hydraulic pressure adjusting unit, the fourth spring hydraulic pressure adjusting unit includes:
The connecting bottom plate is provided with a connecting block at the center and a guide rail at the periphery;
the first direction first hydraulic component and the first direction second hydraulic component are arranged along the first direction, the two ends of the first direction first hydraulic component and the first direction second hydraulic component are respectively connected with the connecting block and the guide rail, and the first direction first hydraulic component and the first direction second hydraulic component are respectively arranged on the two sides of the connecting block by taking the connecting block as the center;
The first hydraulic component in the second direction and the second hydraulic component in the second direction are arranged along the second direction, two ends of the first hydraulic component in the second direction are respectively connected with the connecting block and the guide rail, and the first hydraulic component in the second direction and the second hydraulic component in the second direction are respectively arranged on the other two sides of the connecting block by taking the connecting block as the center;
A third direction adjusting piece arranged at the center of the connecting block,
The first direction first hydraulic component, the first direction second hydraulic component, the second direction first hydraulic component, the second direction second hydraulic component and the third direction adjusting piece are all connected to a centralized control system, the first direction first hydraulic component and the first direction second hydraulic component are controlled by the centralized control system to realize the movement of the connecting block along the first direction, the second direction first hydraulic component and the second direction second hydraulic component are controlled by the centralized control system to realize the movement of the connecting block along the second direction, and the third direction adjusting piece is controlled by the centralized control system to realize the movement of the connecting block along the third direction;
the centralized control system comprises a signal processing unit, a control unit, an oil supply system, a proportion control unit, a reversing unit and a sensor, wherein:
A sensor is connected to each of the first, second, third, and fourth spring hydraulic adjustment units, collecting position and motion feedback signals of their connection blocks;
The signal processing unit is respectively and electrically connected with the sensor and the control unit and is used for processing the position and motion feedback signals and sending an adjusting signal to the control unit after processing the position and motion feedback signals;
The control unit is respectively and electrically connected with the oil supply system, the proportional control unit and the reversing unit, and respectively sends instructions to the oil supply system, the proportional control unit and the reversing unit according to the adjustment signals sent by the signal processing unit so as to control the driving of the oil supply system, the proportional control unit and the reversing unit, thereby realizing the adjustment of the first spring hydraulic pressure adjusting unit, the second spring hydraulic pressure adjusting unit, the third spring hydraulic pressure adjusting unit and the fourth spring hydraulic pressure adjusting unit;
The reversing unit is used for converting the movement of the supporting plate into the movement of the first hydraulic component in the first direction, the second hydraulic component in the first direction, the first hydraulic component in the second direction, the second hydraulic component in the second direction and the third direction adjusting piece according to the instruction of the control unit;
The oil supply system supplies oil according to the instruction of the control unit;
The proportional control unit adjusts the first hydraulic component in the first direction, the second hydraulic component in the first direction, the first hydraulic component in the second direction, the second hydraulic component in the second direction and the third direction adjusting piece according to the instruction of the control unit so as to change the positions of the connecting blocks of the spring hydraulic adjusting units in the first direction, the second direction and the third direction, and further adjust the displacement, the levelness or the rotation angle of the supporting plate.
2. The centering four-angle adjustment apparatus according to claim 1, wherein each of the first spring hydraulic pressure adjusting unit, the second spring hydraulic pressure adjusting unit, the third spring hydraulic pressure adjusting unit, and the fourth spring hydraulic pressure adjusting unit further comprises:
and the lubricating component is arranged on the bottom surface of the connecting block and is used for buffering the downward movement of the connecting block in the third direction.
3. The centering four-corner adjustment apparatus of claim 1, wherein said centering four-corner adjustment apparatus further comprises:
the fixed base, first spring hydraulic pressure adjustment unit, second spring hydraulic pressure adjustment unit, third spring hydraulic pressure adjustment unit, fourth spring hydraulic pressure adjustment unit set up respectively on the fixed base to be in fixed base's four corners respectively.
4. The centering four-corner adjustment apparatus of claim 3, wherein four ball-head supports are provided around the bottom of the support plate, and a spherical recess is provided at the center of the third direction adjusting piece of the connection block of each of the first, second, third, and fourth spring hydraulic adjusting units, each of the ball-head supports being respectively engaged with one of the spherical recesses to achieve positioning of the support plate with respect to the fixing base.
5. The centering four-corner adjustment device according to claim 3, wherein,
The fixed base is rectangular plate-shaped, and the connecting bottom plates of the first spring hydraulic adjusting unit, the second spring hydraulic adjusting unit, the third spring hydraulic adjusting unit and the fourth spring hydraulic adjusting unit are rectangular plate-shaped.
6. The centering four-corner adjustment device according to claim 5, wherein,
The connection mode of the connection bottom plate and the fixed base is that the edge of the connection bottom plate is flush with the edge of the fixed base.
7. The centering four-corner adjustment device according to claim 1, wherein,
The connecting block is rectangular block-shaped, four edges of the connecting block are respectively arranged in parallel with the four guide rails, and four side faces of the connecting block are respectively provided with fixing threaded holes for respectively connecting a first hydraulic component in the first direction, a second hydraulic component in the first direction, a first hydraulic component in the second direction and a second hydraulic component in the second direction.
8. The centering four-corner adjustment apparatus of claim 7, wherein a guide wheel is provided at a junction of each of the first-direction first hydraulic member, the first-direction second hydraulic member, the second-direction first hydraulic member, and the second-direction second hydraulic member with a corresponding guide rail, and both ends of each guide rail are provided with limit grooves for limiting movement of the guide wheel.
9. A transfer system comprising a transfer container, further comprising a centering quadrangle adjustment device according to any one of claims 1-8 for centering the transfer container during transfer.
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| CN202111439862.0A CN114171230B (en) | 2021-11-30 | 2021-11-30 | Centering four corners adjusting device and transfer system |
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| CN202111439862.0A CN114171230B (en) | 2021-11-30 | 2021-11-30 | Centering four corners adjusting device and transfer system |
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