CN214878348U - Automatic feeding and discharging transfer device - Google Patents

Abstract

The utility model provides an automatic feeding and discharging transfer device, which comprises a carrying device, a transfer trolley and a control device; the carrying device comprises a rack, a clamp capable of being opened and closed and a clamp driving mechanism, wherein the clamp is arranged on the rack, and the clamp driving mechanism is used for driving the clamp to be opened and closed, horizontally move and vertically move so as to carry the waste barrel in the storage area to a temporary storage position through the clamp; the transfer trolley comprises a sliding table, a foldable gripper and a gripper driving mechanism, the gripper is arranged on the sliding table, and the gripper driving mechanism is used for driving the gripper to open and close, horizontally move and vertically move so as to transfer the waste barrel at the temporary storage position to a preset position through the gripper; the control device is electrically connected with the clamping and grabbing driving mechanism and the grabbing driving mechanism. The utility model provides an unloading transfer device in automation can transport another assigned position from a certain assigned position with the waste drum in the storage area to transport or transport the elevator through transporting the dolly, reduce the contact of staff to radioactive contamination.

Description

Automatic feeding and discharging transfer device

Technical Field

The utility model relates to a radioactive contamination raw materials transfer apparatus technical field especially relates to an automatic unloading transfer device of going up.

Background

The nuclear technology has wide research and application in the fields of military, scientific research and the like, the development and utilization of nuclear energy are also one of the main ways for solving the current energy crisis, and the application research of the deepening nuclear technology has a plurality of benefits, but the radioactive waste generated by the development and the utilization of the nuclear technology also seriously threatens the living environment of people. The cement solidification radioactive waste is a method which is firstly applied to the radioactive waste treatment process, wherein the radioactive waste and the cement are mixed together, are stirred into paste, lose fluidity after being coagulated, gradually harden into solid and then are temporarily stored or subsequently disposed. The curing factory building for curing the radioactive waste cement is adjacent to the temporary storage factory building, and the radioactive waste is cured into a specially-made barrel to form a waste barrel; then carry the factory building of keeping in with the garbage bin, the garbage bin in the factory building of keeping in sends into one side and is equipped with the transportation hoist, and the hoist hangs the garbage bin and keeps in the well that keeps in of temporary storage area, accomplishes the income well operation of garbage bin, when carrying out the garbage bin and go out the well transportation operation, relies on the hoist to hang out the solidification bucket from the well, transfers to special transport vechicle on, transports to the place of doing permanent processing. During this transfer of the waste bin, there is a risk that personnel will be exposed to radioactive contamination.

SUMMERY OF THE UTILITY MODEL

The utility model provides an automatic go up unloading transfer device for realize the automatic transportation of garbage bin, with the contact that reduces the staff to radioactive contamination.

The utility model provides an automatic feeding and discharging transfer device, which comprises a carrying device, a transfer trolley and a control device;

the carrying device comprises a rack, an openable clamp and a clamp driving mechanism, wherein the clamp is arranged on the rack, and the clamp driving mechanism is used for driving the clamp to open and close, horizontally move and move up and down so as to carry the waste barrel in the storage area to a temporary storage position through the clamp;

the transfer trolley comprises a sliding table, a foldable gripper and a gripper driving mechanism, the gripper is arranged on the sliding table, and the gripper driving mechanism is used for driving the gripper to be folded, unfolded, horizontally moved and vertically moved so as to transfer the waste barrel at the temporary storage position to a preset position through the gripper;

the control device is electrically connected with the clamping and grabbing driving mechanism and the grabbing driving mechanism.

According to the utility model, an automatic feeding and discharging transfer device is provided, wherein the frame comprises a transverse movable bracket, a longitudinal movable bracket and two cross beams;

the two cross beams are longitudinally spaced and arranged in parallel, the transverse movable bracket is erected on the two cross beams, and two ends of the transverse movable bracket in the longitudinal direction are respectively connected with the two cross beams in a transverse sliding manner;

the longitudinal movable support is longitudinally and slidably connected with the transverse movable support, and the hand grip is vertically and slidably connected with the longitudinal movable support;

the clamping and grabbing driving mechanism comprises a first transverse driving mechanism, a first longitudinal driving mechanism and a first vertical driving mechanism, the first transverse driving mechanism is used for driving the transverse movable support to transversely slide, the first longitudinal driving mechanism is used for driving the longitudinal movable support to longitudinally slide, and the first vertical driving mechanism is used for driving the grabbing hand to vertically slide.

According to the utility model provides an automatic feeding and discharging transfer device, the beam is provided with a first linear guide rail arranged along the transverse direction, and a sliding block of the first linear guide rail is connected with one end of the transverse movable bracket in the longitudinal direction; and/or the presence of a gas in the gas,

the transverse movable support is provided with two second linear guide rails which are arranged longitudinally in parallel, the two second linear guide rails are transversely spaced, and two ends of the longitudinal movable support in the transverse direction are respectively connected with the sliding blocks of the two second linear guide rails; and/or the presence of a gas in the gas,

the longitudinal movable support is parallelly provided with a plurality of third linear guide rails which are vertically arranged, the third linear guide rails are arranged along the circumferential direction of the clamping claw at intervals, and the sliding blocks of the third linear guide rails are connected with the clamping claw.

According to the utility model provides an automatic feeding and discharging transfer device, the transverse movable support is connected with the cross beam through the power coupling of a first gear rack transmission mechanism which is transversely arranged, the first transverse driving mechanism is a first servo motor, and a rotating shaft of the first servo motor is connected with a gear of the first gear rack transmission mechanism; and/or the presence of a gas in the gas,

the longitudinal movable support is in power coupling connection with the transverse movable support through a second gear rack transmission mechanism which is longitudinally arranged, the first longitudinal driving mechanism is a second servo motor, and a rotating shaft of the second servo motor is connected with a gear of the second gear rack transmission mechanism; and/or the presence of a gas in the gas,

the clamping claw is in power coupling connection with the longitudinal movable support through a third gear rack transmission mechanism which is vertically arranged, the first vertical driving mechanism is a third servo motor, and a rotating shaft of the third servo motor is connected with a gear in the third gear rack transmission mechanism.

According to the utility model provides an automatic feeding and discharging transfer device, the clamping claw comprises a fixed part, an installation column, a connecting rod and a butt joint block;

the fixing part is arranged in a vertically extending cylindrical shape, and the upper end of the fixing part is vertically connected with the longitudinal movable support in a sliding manner;

the upper end of the mounting column is connected with the lower end of the fixing part, and a plurality of mounting columns are arranged along the circumferential direction of the fixing part;

the connecting rods and the abutting blocks are arranged in a plurality of corresponding mounting columns, the upper end of each connecting rod is rotatably connected with the lower end of the corresponding mounting column, and the lower end of each connecting rod is connected with the corresponding abutting block;

the clamping and grabbing driving mechanism comprises a first rotating driving mechanism, the first rotating driving mechanism corresponds to a plurality of connecting rods, and the connecting rods are used for driving the connecting rods to rotate so as to drive the abutting blocks to be close to each other and clamp the waste barrel.

According to the utility model provides an automatic go up unloading transfer device, the lower extreme of connecting rod rotates to be connected the butt piece, the connecting rod with the junction of butt piece is equipped with the locating part, the connecting rod with the butt piece is equipped with first spacing hole and the spacing hole of second respectively, the both ends of locating part are inserted respectively and are located first spacing downthehole with the spacing downthehole of second.

According to the utility model, an automatic feeding and discharging transfer device is provided, wherein the sliding table comprises a base, a longitudinal sliding seat and a vertical sliding seat;

the longitudinal sliding seat is provided with a first mounting surface, the vertical sliding seat is provided with a second mounting surface, and the first mounting surface and the second mounting surface have the same orientation and are longitudinal;

the longitudinal sliding seat is longitudinally connected with the base in a sliding manner, and the vertical sliding seat is vertically connected with the first mounting surface in a sliding manner;

the gripper comprises two arm seats and two clips, the two arm seats are transversely connected with the second mounting surface in a sliding manner, the two arm seats are transversely opposite, the two arm seats are provided with inner side surfaces close to each other, the two clips are respectively arranged on the two arm seats, and each clip extends inwards to form the corresponding arm seat;

the gripper driving mechanism comprises a second transverse driving mechanism, a second longitudinal driving mechanism and a second vertical driving mechanism, the second transverse driving mechanism is used for driving the two arm seats to transversely slide, the second longitudinal driving mechanism is used for driving the longitudinal sliding seats to longitudinally slide, and the second vertical driving mechanism is used for driving the vertical sliding seats to vertically slide.

According to the utility model provides an automatic feeding and discharging transfer device, the second mounting surface is provided with two ball screw mechanisms which are transversely arranged, the two ball screw mechanisms are transversely spaced and opposite, and lead screw nuts of the two ball screw mechanisms are respectively connected with the two arm seats;

the second transverse driving mechanism is a fourth servo motor, and the fourth servo motor is connected with one end, close to each other, of the screw rods of the two ball screw mechanisms through a coupler so as to synchronously drive the screw rods of the two ball screw mechanisms to rotate through the fourth servo motor.

According to the utility model provides an automatic feeding and discharging transfer device, the clamp comprises two clamp arms, the first ends of the clamp arms are rotationally connected with the arm seats along a vertical axis, and the second ends of the clamp arms extend inwards out of the arm seats;

the arm seat is provided with a first abutting part and a second abutting part, the first abutting part is close to the inner side surface of the arm seat relative to the first ends of the two clamping arms, and the second abutting part is far away from the inner side surface of the arm seat relative to the first ends of the two clamping arms;

and when the two clamping arms are in the state of the minimum opening angle, the two clamping arms are abutted to the first abutting part, and when the two clamping arms are in the state of the maximum opening angle, the two clamping arms are abutted to the second abutting part.

According to the utility model provides an automatic go up unloading transfer device, two the first end of arm lock is equipped with first gear portion and second gear portion respectively, first gear portion with second gear portion meshes mutually.

According to the utility model, the base is provided with a fourth linear guide rail which is arranged along the longitudinal direction, and a sliding block of the fourth linear guide rail is connected with the longitudinal sliding seat; and/or the presence of a gas in the gas,

the first mounting surface is provided with a fifth linear guide rail which is vertically arranged, and a sliding block of the fifth linear guide rail is connected with the vertical sliding seat; and/or the presence of a gas in the gas,

and a sixth linear guide rail arranged along the transverse direction is arranged on the second mounting surface, and a sliding block of the sixth linear guide rail is connected with the two arm seats.

The utility model provides an unloading transfer device in automation can transport another assigned position from a certain assigned position with the waste drum in the storage area to transport or transport the elevator through transporting the dolly, reduce the contact of staff to radioactive contamination.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings required for the embodiments or the prior art descriptions, and obviously, the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural view of a handling device in an automatic loading/unloading transfer device provided by the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

FIG. 3 is a schematic structural view of the carrying device shown in FIG. 1 from another perspective;

FIG. 4 is a schematic view of a transfer cart associated with the handling apparatus of FIG. 1;

FIG. 5 is a schematic view of the transfer cart of FIG. 4 from another perspective;

FIG. 6 is a schematic view of the structure at the clip of FIG. 4;

fig. 7 to 11 are different display interfaces of a control device cooperating with the handling device of fig. 1;

reference numerals:

100: a carrying device; 110: a frame; 111: a transverse movable support;

112: a longitudinally movable support; 113: a cross beam; 114: a first linear guide rail;

115: a second linear guide; 116: a third linear guide rail; 120: clamping and grabbing;

121: a fixed part; 122: mounting a column; 123: a connecting rod;

124: a butting block; 125: a limiting member; 131: a first lateral drive mechanism;

132: a first longitudinal drive mechanism; 133: a first vertical drive mechanism; 134: a first rotary drive mechanism;

200: a transfer trolley; 210: a sliding table; 211: a base;

212: a longitudinal sliding seat; 213: a vertical sliding seat; 220: a gripper;

221: an arm base; 222: clamping; 223: clamping arms;

224: a first abutting portion; 225: a second abutting portion; 226: a first gear portion;

227: a second gear portion; 231: a second lateral drive mechanism; 232: a second longitudinal drive mechanism;

233: a second vertical drive mechanism; 234: a fourth linear guide; 235: a fifth linear guide rail;

236: a sixth linear guide; 240: a ball screw mechanism; 250: a coupling;

300: a waste bin; 400: a tray.

Detailed Description

To make the objects, technical solutions and advantages of the present invention clearer, the drawings of the present invention are combined to clearly and completely describe the technical solutions of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The automatic loading and unloading transfer device of the present invention is described with reference to fig. 1-6, and as shown in fig. 1 and 4, the automatic loading and unloading transfer device includes a handling device 100, a transfer cart 200 and a control device.

As shown in fig. 1-3, the carrying device 100 includes a frame 110, an openable gripper 120 and a gripper driving mechanism, the gripper 120 is disposed on the frame 110, the gripper driving mechanism is used for driving the gripper 120 to open, close, move horizontally and move up and down, so as to carry the waste bin 300 in the storage area to a temporary storage location through the gripper 120, the control device is electrically connected to the gripper driving mechanism, and various operations of the carrying device 100 are controlled and monitored by the control device. Alternatively, in a specific embodiment, the handling device 100 has a lifting capacity of 3t, a span of 5.5m, a power of 20kW, a maximum speed of 0.3m/s (continuously variable transmission), and an automatic positioning accuracy of ± 2 mm.

Specifically, as shown in fig. 1 and 3, in a particular embodiment, the frame 110 includes a transverse movable bracket 111, a longitudinal movable bracket 112, and two cross beams 113; the two beams 113 are longitudinally spaced and arranged in parallel, the transverse movable bracket 111 is erected on the two beams 113, and two ends of the transverse movable bracket 111 in the longitudinal direction are respectively connected with the two beams 113 in a transverse sliding manner; the longitudinal movable bracket 112 is longitudinally and slidably connected with the transverse movable bracket 111, and the gripper 220 is vertically and slidably connected with the longitudinal movable bracket 112; the clamping and grabbing driving mechanism comprises a first transverse driving mechanism 131, a first longitudinal driving mechanism 132 and a first vertical driving mechanism 133, wherein the first transverse driving mechanism 131 is used for driving the transverse movable support 111 to slide transversely, the first longitudinal driving mechanism 132 is used for driving the longitudinal movable support 112 to slide longitudinally, and the first vertical driving mechanism 133 is used for driving the grabbing hand 220 to slide vertically. The carrying device 100 adopts a numerical control crane as an executing mechanism for transferring the waste barrel, and mainly finishes the steps of lifting 200L empty barrels and 400L empty/full barrels from the transfer trolley 200 to be placed on corresponding storage racks, each storage rack has a unique coordinate value (taking the longitudinal direction as an X axis, the transverse direction as a Y axis and the vertical direction as a Z axis) after being positioned on a platform, so that a control system can calculate and drive the crane to stack; 200L empty barrels and full barrels are transferred back and forth from the storage rack to the barrel internal compactor according to requirements; 200L full buckets, 400L empty/full buckets are hoisted from the storage rack onto the transfer cart 200.

Furthermore, as shown in fig. 1, in a specific embodiment, the cross beam 113 is provided with a first linear guide 114 arranged along the transverse direction, a sliding block of the first linear guide 114 is connected with one end of the transverse movable bracket 111 in the longitudinal direction, and the first linear guide 114 can play a role of transverse guiding.

Similarly, as shown in fig. 1, the transverse movable bracket 111 is provided with two second linear guide rails 115 arranged in parallel along the longitudinal direction, the two second linear guide rails 115 are transversely spaced, two ends of the longitudinal movable bracket 112 in the transverse direction are respectively connected with the sliding blocks of the two second linear guide rails 115, and the second linear guide rails 115 can play a role in longitudinal guiding.

As shown in fig. 1, the longitudinal movable bracket 112 is provided with a plurality of third linear guide rails 116 arranged vertically in parallel, the plurality of third linear guide rails 116 are arranged at intervals along the circumferential direction of the clamping claw 120, the sliding blocks of the plurality of third linear guide rails 116 are connected with the clamping claw 120, and the third linear guide rails 116 can play a role in vertical guiding.

As shown in fig. 1 and 3, in a specific embodiment, the transverse movable bracket 111 is coupled to the cross beam 113 through a first rack-and-pinion mechanism disposed along the transverse direction, the first transverse driving mechanism 131 is a first servo motor, and a rotating shaft of the first servo motor is connected to a gear of the first rack-and-pinion mechanism; and/or the longitudinal movable support 112 is in power coupling connection with the transverse movable support 111 through a second gear rack transmission mechanism arranged along the longitudinal direction, the first longitudinal driving mechanism 132 is a second servo motor, and a rotating shaft of the second servo motor is connected with a gear of the second gear rack transmission mechanism; and/or the gripper 120 is in power coupling connection with the longitudinal movable support 112 through a third gear-rack transmission mechanism vertically arranged, the first vertical driving mechanism 133 is a third servo motor, and a rotating shaft of the third servo motor is connected with a gear in the third gear-rack transmission mechanism. The carrying device 100 can move in the X-axis, Y-axis and Z-axis three-coordinate directions as required, the X-axis is meshed with the guide rail rack through the servo motor driving gear, the rotary motion of the servo motor is converted into linear motion, the X-axis movement is realized, and the movement precision is ensured by a semi-closed loop control system of a control system and the transmission precision of a gear rack. The working principle of the Y axis is the same as that of the X axis. Because the floor height is limited by 2.9 meters, the Z-axis movement is difficult to realize by adopting a X, Y-axis movement mode, and in order to ensure the floor height and the hoisting load, the Z-axis movement is finally carried out by adopting two-stage electric cylinders, and the clamping claw 120 can adopt an electric servo gripper.

As shown in fig. 1 to 3, in one embodiment, the grab 120 includes a fixing portion 121, a mounting post 122, a connecting rod 123, and an abutment block 124; the fixing part 121 is arranged in a vertically extending cylindrical shape, and the upper end of the fixing part 121 is vertically connected with the longitudinal movable support 112 in a sliding manner; the upper end of the mounting column 122 is connected with the lower end of the fixing part 121, and a plurality of mounting columns 122 are arranged along the circumferential direction of the fixing part 121; the connecting rods 123 and the abutting blocks 124 are arranged in a plurality corresponding to the mounting columns 122, the upper end of each connecting rod 123 is rotatably connected with the lower end of the corresponding mounting column 122, and the lower end of each connecting rod 123 is connected with the corresponding abutting block 124; the clamping and grabbing driving mechanism comprises a first rotating and driving mechanism 134, the first rotating and driving mechanism 134 is provided with a plurality of connecting rods 123 corresponding to the connecting rods, and is used for driving the connecting rods 123 to rotate so as to drive the abutting blocks 124 to be close to each other and clamp the waste barrel 300. The mounting posts 122, the connecting rods 123 and the abutting blocks 124 constitute the clamping fingers of the clamping jaw 120, for example, the clamping jaw 120 is provided with four clamping fingers, and the four clamping fingers are distributed in a cross shape, which is beneficial to improving the stability of the waste bin 300. The catches 120 may be opened and closed to accommodate both a keg and a keg. The catches 120 catch the upper rim ledge of the trash can 300 to provide a counter force against gravity. The effective stroke of the Z-axis electric cylinder group is 1280mm, the installation height of the Z axis is 700mm, and the maximum lifting force is 3 tons. After the X axis and the Y axis of the carrying device 100 run to the preset positions, the Z axis goes downward, the clamping claw 120 clamps, the downward height is determined according to the heights of the large steel barrel and the small steel barrel, the clamping claw 120 is tightened after the large steel barrel and the small steel barrel are in place, and then the large steel barrel is lifted to the height of one large steel barrel, so that the operation is realized.

As shown in fig. 3, in an embodiment, a lower end of the connecting rod 123 is rotatably connected to the abutting block 124, a limiting member 125 is disposed at a connection position of the connecting rod 123 and the abutting block 124, the connecting rod 123 and the abutting block 124 are respectively provided with a first limiting hole and a second limiting hole, and two ends of the limiting member 125 are respectively inserted into the first limiting hole and the second limiting hole. This facilitates the abutment block 124 to conform to the waste bin 300 and the abutment block 124 has an arcuate abutment surface that conforms to the shape of the waste bin 300.

As shown in fig. 4 to 6, the transfer cart 200 includes a sliding table 210, an openable and closable gripper 220, and a gripper driving mechanism, wherein the gripper 220 is disposed on the sliding table 210, and the gripper driving mechanism is used for driving the gripper 220 to open and close, horizontally move, and move up and down, so as to transfer the waste bin 300 at the temporary storage position to a preset position through the gripper 220; the control device is electrically connected with the gripper driving mechanism, wherein the temporary storage position is provided with a tray 400, and all the work of the transfer trolley 200 is controlled and monitored by the control device. Alternatively, in one embodiment, the handling device 100 is designed for a load of 3t, a stroke of 5m, a lift height of 120mm, a power of 5kW, and a maximum speed of 0.3m/s (continuously variable transmission).

Specifically, as shown in fig. 4 and 5, in a specific embodiment, the sliding table 210 includes a base 211, a longitudinal sliding seat 212, and a vertical sliding seat 213; the longitudinal sliding seat 212 is provided with a first mounting surface, the vertical sliding seat 213 is provided with a second mounting surface, and the first mounting surface and the second mounting surface are in the same orientation and are in the longitudinal direction; the longitudinal sliding seat 212 is longitudinally and slidably connected with the base 211, and the vertical sliding seat 213 is vertically and slidably connected with the first mounting surface; the hand grip 220 comprises two arm seats 221 and two clips 222, the two arm seats 221 are connected with the second mounting surface in a transverse sliding mode, the two arm seats 221 are transversely opposite, the two arm seats 221 are provided with inner side surfaces close to each other, the two clips 222 are respectively arranged on the two arm seats 221, and each clip 222 extends inwards to form the corresponding arm seat 221; the gripper driving mechanism comprises a second transverse driving mechanism 231, a second longitudinal driving mechanism 232 and a second vertical driving mechanism 233, wherein the second transverse driving mechanism 231 is used for driving the two arm bases 221 to slide transversely, the second longitudinal driving mechanism 232 is used for driving the longitudinal sliding base 212 to slide longitudinally, and the second vertical driving mechanism 233 is used for driving the vertical sliding base 213 to slide vertically. Optionally, the second transverse driving mechanism 231, the second longitudinal driving mechanism 232 and the second vertical driving mechanism 233 may be all servo motors, and under the action of an X-axis motor, a Y-axis motor and a Z-axis motor of the transfer trolley 200, relevant components of the transfer trolley 200 may move axially along the X-axis, the Y-axis and the Z-axis, respectively corresponding to the advancing and retreating of the transfer trolley, the clamping and loosening of the trash can 300 and the raising and lowering of the trash can 300, thereby completing the transfer operation of the trash can 300 to be carried into or out of the transfer elevator.

As shown in fig. 4 and 5, in a specific embodiment, the base 211 is provided with a fourth linear guide 234 arranged along the longitudinal direction, a sliding block of the fourth linear guide 234 is connected with the longitudinal sliding seat 212, and the forward movement, the backward movement and the fixing of the transfer trolley 200 are realized by the fourth linear guide 234. A rack is arranged on the inner side of one side of the fourth linear guide rail 234 and is matched with a gear on an X-axis motor shaft arranged on the longitudinal sliding seat 212 to realize the movement of the longitudinal sliding seat 212, so that the waste bin 300 is taken and placed from the elevator. The X-axis motor shaft end is provided with a gear which is meshed with a rack on the guide rail, and the motor rotates forward and backward, so that the trolley is driven to move along the X-axis direction, and the forward and backward movement of the trolley is realized.

As shown in fig. 4 and 5, in a specific embodiment, the second mounting surface is provided with two ball screw mechanisms 240 arranged transversely, the two ball screw mechanisms 240 are transversely spaced and opposite, and screw nuts of the two ball screw mechanisms 240 are respectively connected with the two arm seats 221; the second transverse driving mechanism 231 is a fourth servo motor, the fourth servo motor is connected with one end, close to each other, of the screw rods of the two ball screw mechanisms 240 through a coupler 250 so as to synchronously drive the screw rods of the two ball screw mechanisms 240 to rotate through the fourth servo motor, the second mounting surface is provided with a sixth linear guide rail 236 arranged along the transverse direction, and a slide block of the sixth linear guide rail 236 is connected with the two arm seats 221. The Y-axis motor (i.e. the fourth servo motor) rotates in the forward and reverse directions to drive the two screw rods (one left-handed and one right-handed) at both sides to rotate in the forward and reverse directions and then drive the two arm bases 221 to open and close along the Y-axis, thereby clamping and releasing the waste bin 300 by the two clamps 222

As shown in fig. 4 and 5, in a specific embodiment, the first mounting surface is provided with a fifth linear guide rail 235 arranged vertically, a sliding block of the fifth linear guide rail 235 is connected to the vertical sliding seat 213, and a Z-axis motor of the transfer trolley 200 can drive the gripper 220 to move up and down along the Z-axis through a gear rack, so as to raise and lower the waste bin 300, and facilitate the transfer trolley 200 to take and place the waste bin 300 from the transfer elevator.

As shown in fig. 4 and 6, in a specific embodiment, the clip 222 includes two clip arms 223, a first end of the clip arm 223 is rotatably connected to the arm seat 221 along a vertical axis, and a second end of the clip arm 223 extends inward from the arm seat 221; the arm base 221 is provided with a first abutting portion 224 and a second abutting portion 225, the first abutting portion 224 is close to the inner side surface of the arm base 221 relative to the first ends of the two clamping arms 223, and the second abutting portion 225 is far away from the inner side surface of the arm base 221 relative to the first ends of the two clamping arms 223; when the two clamp arms 223 are in the state of the minimum opening angle, the two clamp arms 223 are both abutted against the first abutting portion 224, and when the two clamp arms 223 are in the state of the maximum opening angle, the two clamp arms 223 are both abutted against the second abutting portion 225, and the first ends of the two clamp arms 223 are respectively provided with the first gear portion 226 and the second gear portion 227, and the first gear portion 226 is engaged with the second gear portion 227, so that the clamp 222 can better clamp the waste barrel 300.

As shown in fig. 4, the buffer is provided with a tray 400, and the tray 400 serves as a buffer for the trash can 300. When the transfer trolley 200 takes the waste bin 300 out of the transfer elevator, the transfer trolley 200 puts the waste bin 300 on the tray 400, and then the waste bin 300 on the tray 400 is conveyed into the steel bin fixing frame through the conveying device 100; when the trash can 300 is out of the warehouse, the trash can 300 is transferred from the steel can holder to the tray 400 by the carrying device 100, and the trash can 300 is transferred into the elevator by the transfer cart 200 and then out of the warehouse.

The utility model provides an unloading transfer device in automation can transport another assigned position from a certain assigned position with waste drum 300 in the storage area to transport or transport the transport elevator through transporting dolly 200, reduce staff to radioactive contamination's contact.

Optionally, in an embodiment, the handling device 100 and the transfer trolley 200 are provided with stroke in-place sensors, and based on the servo motor control and the stroke in-place sensors, accurate positioning and position control of the handling device 100 and the transfer trolley 200 can be realized. Moreover, servo motors in the carrying device 100 and the transfer trolley 200 adopt an ethercat bus for communication, so that the risk of contact and adhesion is avoided, the bus is shut down in a whole line after falling to a station to keep the current state, and the bus can be automatically locked and fixed on a guide rail, so that the safety of equipment is ensured.

Optionally, in a specific embodiment, the control device is provided with an industrial human-machine interface (for example, HMI industrial human-machine interface), and the waste bin at the designated position can be put into and taken out of the warehouse through the control device, specifically as follows:

1. the waste barrel is put in storage at a designated position

When the garbage bin was arranged in the initial point, the transport action began, and the transport dolly snatchs, promotes and the level transports the garbage bin to the transportation point, carries out manual assigned position or automatic warehouse entry on controlling means's touch-sensitive screen, and handling device fixes a position the dolly and transports the dolly and snatch, snatchs the completion back, moves to the assigned position, puts down the garbage bin after the location is accomplished.

2. Discharging waste bin at designated position

The waste barrel needing to be delivered out of the warehouse is selected through the touch screen of the control device, the carrying device is positioned to a designated position to grab, the waste barrel is reliably grabbed and stably lifted after being locked, the waste barrel is conveyed to the transfer trolley, the waste barrel is conveyed to the initial position through the transfer trolley, and the gripper of the transfer trolley is loosened and returns to the original position to be locked and fixed.

The following method of operating the automatic loading and unloading transfer device may be as follows:

firstly, warehousing in a barrel: after a barrel warehousing button of the control device is clicked, as shown in fig. 7, the touch screen of the control device is switched to a barrel warehousing interface, and barrel warehousing operation can be realized in the switched interface, wherein warehousing is divided into 400L and 200L waste barrels.

1. As shown in fig. 7, after entering the screen display interface, 64 green buttons are displayed, which indicate that all of the 64 barrel positions are empty and that no barrel is stacked yet;

2. after any one button is clicked, a 400L barrel is placed in the elevator and sent to the storeroom at a fixed position, when the transfer elevator door is opened, the transfer trolley automatically senses that the barrel arrives through a sensor, automatically moves to the elevator opening to be in butt joint with an auxiliary device in the elevator, grabs the barrel onto the transfer trolley, then the transfer trolley automatically returns to the fixed position, and then the carrying device automatically grabs the 400L barrel and carries and stacks the barrel to the position indicated by the click button;

3. after the barrel is stacked, the clicked green button turns red, and after the button turns red, the position indicated by the button is indicated to stack an empty barrel;

4. after the position of the barrel is stacked, even if the operator mistakenly operates and clicks the button indicated by the position again, the carrying device and the transfer trolley do not respond and act;

5. the other buttons and the vacant barrel are carried and stacked on the same way;

6. and clicking a button of 'returning to the operation selection page', and switching the touch screen to an 'operation selection' interface.

II, taking the barrel out of the warehouse: after clicking a barrel ex-warehouse button of the control device, as shown in fig. 8, the touch screen of the control device is switched to a barrel ex-warehouse interface, and barrel ex-warehouse operation can be realized in the switched interface, wherein ex-warehouse is divided into 400L and 200L waste barrels.

1. As shown in fig. 8, after entering the screen interface, all the buttons corresponding to the buckets filled with waste are red buttons, and the rest are green buttons;

2. when any one of the buttons is clicked, the carrying device can automatically move to the position indicated by the button to grab the waste barrel, then the waste barrel is sent to the transfer trolley, the transfer trolley senses that the barrel is arranged and senses that the transfer elevator arrives and the elevator door is opened, the transfer trolley can automatically move to the elevator opening to be in butt joint with an auxiliary device in the elevator, then the barrel can be sent to an auxiliary mechanism in the elevator, and then the transfer trolley automatically returns to a fixed position;

3. at the moment, the operator can see the elevator through the monitoring system, and the elevator can be operated to transport the barrel out;

4. after the barrel is conveyed, even if the operator mistakenly operates and clicks the button indicated by the barrel again, the conveying device and the transfer trolley do not respond and act;

5. the other buttons and the waste barrel are carried as above;

6. and clicking a button of 'returning to the operation selection page', and switching the touch screen to an 'operation selection' interface.

Thirdly, debugging and setting: after the debugging and setting button of the control device is clicked, as shown in fig. 9, the touch screen of the control device is switched to a manual debugging and data setting selection interface, and the manual debugging and data setting selection operation can be realized in the switched interface.

The function of each button in fig. 9 is explained as follows:

and manual debugging, namely, after the button is clicked, the touch screen is automatically switched to a manual debugging interface. In the manual debugging interface, the manual debugging operation can be carried out on the whole conveying device, the transfer trolley and the compactor in the barrel; and (4) setting data, namely, automatically switching the touch screen to a data setting interface after clicking the button. In the data setting interface, some data setting operations can be carried out on the system; and returning to the operation selection page, wherein when the button is clicked, the touch screen can be automatically switched to the operation selection interface.

1. Manual commissioning

Fig. 10 is a manual debugging screen display interface, which is mainly used for debugging and transporting devices, transferring trolleys and compacting machine actions in barrels, and the functions of all buttons are explained as follows:

1.1, debugging a transfer trolley: when the button is clicked, the related mechanism of the transfer trolley can be manually debugged;

1.2, debugging a conveying device: when the button is clicked, manual debugging can be carried out on each mechanism corresponding to the carrying device;

1.3, debugging the compacting machine in the barrel: when the button is clicked, manual debugging can be carried out on each corresponding mechanism of the compacting machine in the barrel;

1.4, return operation selection page: when the button is clicked, the touch screen is automatically switched to the operation selection interface.

2. Data setting

Fig. 11 is a data setting screen display interface, which mainly sets some data required by the system during operation, and an operator does not need to enter the setting.

2.1, positioning by one key, displaying the position of each barrel on the touch screen in a test picture, selecting the next key in place, and driving to a specified position;

2.2, entering a warehouse by one key, clicking one key to enter the warehouse after selecting a position needing to be entered in the touch screen, and automatically grabbing and entering the warehouse;

2.3, one-key ex-warehouse, wherein after the position needing ex-warehouse is selected on the touch screen, one-key ex-warehouse is clicked, and the position is automatically captured and then ex-warehouse;

2.4, automatically warehousing, wherein in the automatic warehousing working condition, after the transfer trolley is detected to have a barrel, the warehousing rules are automatically installed and warehoused in sequence;

and 2.5, an automatic warehouse-out function, wherein in the working condition of automatic warehouse-out, warehouse-out is required, and warehouse-out rules are installed to automatically and sequentially warehouse-out, namely first-in first-out or last-in first-out.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims (10)

1. An automatic loading and unloading transfer device is characterized by comprising a carrying device, a transfer trolley and a control device;

the carrying device comprises a rack, an openable clamp and a clamp driving mechanism, wherein the clamp is arranged on the rack, and the clamp driving mechanism is used for driving the clamp to open and close, horizontally move and move up and down so as to carry the waste barrel in the storage area to a temporary storage position through the clamp;

the transfer trolley comprises a sliding table, a foldable gripper and a gripper driving mechanism, the gripper is arranged on the sliding table, and the gripper driving mechanism is used for driving the gripper to be folded, unfolded, horizontally moved and vertically moved so as to transfer the waste barrel at the temporary storage position to a preset position through the gripper;

the control device is electrically connected with the clamping and grabbing driving mechanism and the grabbing driving mechanism.

2. The automated loading and unloading transfer device of claim 1, wherein the frame includes a transverse movable support, a longitudinal movable support and two cross beams;

the two cross beams are longitudinally spaced and arranged in parallel, the transverse movable bracket is erected on the two cross beams, and two ends of the transverse movable bracket in the longitudinal direction are respectively connected with the two cross beams in a transverse sliding manner;

the longitudinal movable support is longitudinally and slidably connected with the transverse movable support, and the hand grip is vertically and slidably connected with the longitudinal movable support;

the clamping and grabbing driving mechanism comprises a first transverse driving mechanism, a first longitudinal driving mechanism and a first vertical driving mechanism, the first transverse driving mechanism is used for driving the transverse movable support to transversely slide, the first longitudinal driving mechanism is used for driving the longitudinal movable support to longitudinally slide, and the first vertical driving mechanism is used for driving the grabbing hand to vertically slide.

3. The automatic loading and unloading transfer device of claim 2, wherein the cross beam is provided with a first linear guide rail arranged along the transverse direction, and a sliding block of the first linear guide rail is connected with one end of the transverse movable bracket in the longitudinal direction; and/or the presence of a gas in the gas,

the transverse movable support is provided with two second linear guide rails which are arranged longitudinally in parallel, the two second linear guide rails are transversely spaced, and two ends of the longitudinal movable support in the transverse direction are respectively connected with the sliding blocks of the two second linear guide rails; and/or the presence of a gas in the gas,

the longitudinal movable support is parallelly provided with a plurality of third linear guide rails which are vertically arranged, the third linear guide rails are arranged along the circumferential direction of the clamping claw at intervals, and the sliding blocks of the third linear guide rails are connected with the clamping claw.

4. The automatic loading and unloading transfer device of claim 2, wherein the transverse movable support is connected to the cross beam through a first gear-rack transmission mechanism disposed along the transverse direction in a power coupling manner, the first transverse driving mechanism is a first servo motor, and a rotating shaft of the first servo motor is connected to a gear of the first gear-rack transmission mechanism; and/or the presence of a gas in the gas,

the longitudinal movable support is in power coupling connection with the transverse movable support through a second gear rack transmission mechanism which is longitudinally arranged, the first longitudinal driving mechanism is a second servo motor, and a rotating shaft of the second servo motor is connected with a gear of the second gear rack transmission mechanism; and/or the presence of a gas in the gas,

the clamping claw is in power coupling connection with the longitudinal movable support through a third gear rack transmission mechanism which is vertically arranged, the first vertical driving mechanism is a third servo motor, and a rotating shaft of the third servo motor is connected with a gear in the third gear rack transmission mechanism.

5. The automated feeding and discharging transfer device of claim 2, wherein the grab includes a fixed portion, a mounting post, a connecting rod, and an abutment block;

the fixing part is arranged in a vertically extending cylindrical shape, and the upper end of the fixing part is vertically connected with the longitudinal movable support in a sliding manner;

the upper end of the mounting column is connected with the lower end of the fixing part, and a plurality of mounting columns are arranged along the circumferential direction of the fixing part;

the connecting rods and the abutting blocks are arranged in a plurality of corresponding mounting columns, the upper end of each connecting rod is rotatably connected with the lower end of the corresponding mounting column, and the lower end of each connecting rod is connected with the corresponding abutting block;

the clamping and grabbing driving mechanism comprises a first rotating driving mechanism, the first rotating driving mechanism corresponds to a plurality of connecting rods, and the connecting rods are used for driving the connecting rods to rotate so as to drive the abutting blocks to be close to each other and clamp the waste barrel.

6. The automatic loading and unloading transfer device of claim 5, wherein the lower end of the connecting rod is rotatably connected with the abutting block, a limiting member is disposed at a joint of the connecting rod and the abutting block, the connecting rod and the abutting block are respectively provided with a first limiting hole and a second limiting hole, and two ends of the limiting member are respectively inserted into the first limiting hole and the second limiting hole.

7. The automatic loading and unloading transfer device of any one of claims 1-6, wherein the sliding table comprises a base, a longitudinal sliding seat and a vertical sliding seat;

the longitudinal sliding seat is provided with a first mounting surface, the vertical sliding seat is provided with a second mounting surface, and the first mounting surface and the second mounting surface have the same orientation and are longitudinal;

the longitudinal sliding seat is longitudinally connected with the base in a sliding manner, and the vertical sliding seat is vertically connected with the first mounting surface in a sliding manner;

the gripper comprises two arm seats and two clips, the two arm seats are transversely connected with the second mounting surface in a sliding manner, the two arm seats are transversely opposite, the two arm seats are provided with inner side surfaces close to each other, the two clips are respectively arranged on the two arm seats, and each clip extends inwards to form the corresponding arm seat;

the gripper driving mechanism comprises a second transverse driving mechanism, a second longitudinal driving mechanism and a second vertical driving mechanism, the second transverse driving mechanism is used for driving the two arm seats to transversely slide, the second longitudinal driving mechanism is used for driving the longitudinal sliding seats to longitudinally slide, and the second vertical driving mechanism is used for driving the vertical sliding seats to vertically slide.

8. The automatic loading and unloading transfer device of claim 7, wherein the second mounting surface is provided with two ball screw mechanisms arranged transversely and spaced from each other, and screw nuts of the two ball screw mechanisms are respectively connected with the two arm seats;

the second transverse driving mechanism is a fourth servo motor, and the fourth servo motor is connected with one end, close to each other, of the screw rods of the two ball screw mechanisms through a coupler so as to synchronously drive the screw rods of the two ball screw mechanisms to rotate through the fourth servo motor.

9. The automated loading and unloading transfer device of claim 7, wherein the clamp includes two clamp arms, a first end of the clamp arm is rotatably connected to the arm seat along a vertical axis, and a second end of the clamp arm extends inward from the arm seat;

the arm seat is provided with a first abutting part and a second abutting part, the first abutting part is close to the inner side surface of the arm seat relative to the first ends of the two clamping arms, and the second abutting part is far away from the inner side surface of the arm seat relative to the first ends of the two clamping arms;

and when the two clamping arms are in the state of the minimum opening angle, the two clamping arms are abutted to the first abutting part, and when the two clamping arms are in the state of the maximum opening angle, the two clamping arms are abutted to the second abutting part.

10. The automatic loading and unloading transfer device of claim 9, wherein the first ends of the two clamping arms are respectively provided with a first gear portion and a second gear portion, and the first gear portion is meshed with the second gear portion.

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