A gripper and a preferred loading and unloading component

Abstract

The present invention discloses a gripper and a preferred loading and unloading assembly, which are related to the grasping of medium and low-level radioactive solid waste compression barrel cakes in the nuclear power field. It includes a top plate; a leaf spring; fixed to the lower end face of the top plate; the leaf spring is configured as an arc-shaped structure to form an inner cavity; two free ends of the leaf spring are arranged oppositely to form an opening in front of the inner cavity; and a telescopic mechanism, fixedly connected to the leaf spring; the telescopic mechanism is configured to apply a force to the leaf spring to cause the opening to contract or expand, so as to change the size of the inner cavity. The structure of this solution is simple, and the component directly performing the "grasping" action is an arc-shaped leaf spring made of a whole steel structure; making full use of the characteristics of the arc-shaped leaf spring, since the "grasping" action is completed according to the deformation of the leaf spring itself, any cylindrical barrel cake within the designed diameter range and of the designed required height can be grasped. The arc-shaped leaf spring gripper has low requirements for the cylindricity and flatness of the upper surface of the compression barrel cake, and the reliability of grasping is greatly enhanced, effectively reducing the transportation risk.

Description

Technical Field

[0001] The present invention relates to the grasping of medium and low-level radioactive solid waste compression barrel cakes in the field of nuclear power, and realizes the position transfer of barrel cakes. Background Art

[0002] The super compression technology is the mainstream technology for volume reduction of medium and low-level radioactive solid waste in the world at present. After the solid waste is pre-treated and put into a barrel, the waste together with the barrel is compressed into a cake shape by a super press, which is called a compression barrel cake. Thereafter, it is necessary to transfer and load the compression barrel cake, and at this time, the transfer tool is essential.

[0003] Since the shape after compression and volume reduction is roughly a round cake structure, but the shape of the barrel cake is difficult to control, and there are often compression barrel cakes with irregular shapes. Especially when encountering barrel cakes with poor cylindricity, low flatness of the upper surface or other severely abnormal shapes, the multi-claw structure grippers commonly used in the prior art often fail to achieve a stable grasping effect, resulting in transportation risks.

[0004] In view of the above situation, it is imperative to design a compression barrel cake gripper to solve the above problems for transportation. Summary of the Invention

[0005] Aiming at the problems existing in the prior art, the present invention proposes an adaptable gripper for the shape of the barrel cake, and uses the gripper scheme proposed in this solution to grasp the compression barrel cake with an irregular shape, so as to achieve stable transportation and transfer.

[0006] Specifically, the detailed solution proposed by the present invention is as follows:

[0007] A gripper, comprising

[0008] a top plate;

[0009] a leaf spring; fixed to the lower end face of the top plate; the leaf spring is configured to be an arc structure to form an inner cavity; two free ends of the leaf spring are arranged oppositely to form an opening in front of the inner cavity; and

[0010] a telescopic mechanism, fixedly connected to the leaf spring; the telescopic mechanism is configured to apply a force to the leaf spring to make the opening contract or expand, so as to change the size of the inner cavity.

[0011] Further, the top plate is a circular plate, and the leaf spring is fixed around the edge of the top plate to form an arc structure.

[0012] Further, the leaf spring is fixed to the top plate through a first mounting seat and a second mounting seat;

[0013] The first mounting seat includes a first fixing plate. The side of the first fixing plate is fixed to the inner wall of the leaf spring and is located behind the inner cavity. A fixing hole is provided in the plate surface of the first fixing plate. A fastening bolt passes through the fixing hole to fasten the first fixing plate to the lower end surface of the top plate.

[0014] The second mounting seat includes a second fixing plate. The side of the second fixing plate is fixed to the inner wall of the leaf spring. The second fixing plates are respectively located on the left and right sides of the inner cavity. A strip-shaped hole is provided in the plate surface of the second fixing plate. A limiting bolt passes through the strip-shaped hole to limit the first fixing plate to the lower end surface of the top plate.

[0015] The leaf spring deforms through the strip-shaped holes on the left and right sides.

[0016] Furthermore, an anti-slip portion is provided at the bottom of the inner wall of the leaf spring.

[0017] Furthermore, the anti-slip portion is anti-slip cross stripes.

[0018] Furthermore, a limiting block is also fixed on the inner wall of the leaf spring. The limiting block is above the anti-slip portion and protrudes in the radial direction of the inner cavity. The limiting block and the anti-slip portion together form a grasping space.

[0019] Furthermore, the telescopic mechanism includes an adapter plate and a hydraulic cylinder. The adapter plates are fixed on the left and right sides of the inner wall of the leaf spring. Both ends of the hydraulic cylinder are respectively hinged to the corresponding adapter plates. The telescopic movement of the hydraulic cylinder changes the size of the inner cavity.

[0020] Furthermore, the hydraulic cylinder is a hydraulic cylinder with a self-locking protection function.

[0021] Furthermore, a guiding mechanism is also provided in the inner cavity of the leaf spring. The guiding mechanism is configured to guide the two free ends of the leaf spring to approach or move away from each other.

[0022] Furthermore, the guiding mechanism includes a guiding sleeve and guiding rods that can be inserted into both ends of the guiding sleeve. The distal end of each guiding rod is hinged to the adapter plate.

[0023] Furthermore, a compression spring mechanism is also provided in the inner cavity of the leaf spring. The compression spring mechanism includes a connecting shaft and a spring sleeved on the connecting shaft. Both ends of the connecting shaft are movably connected to the mounting seats fixed on the adapter plates.

[0024] Both ends of the spring respectively abut against the mounting seats.

[0025] The beneficial effects achieved by adopting this technical solution are as follows:

[0026] 1. The structure of this solution is simple. The component that directly performs the "grabbing" action is an arc-shaped leaf spring made of a whole piece of steel structure. By making full use of the characteristics of the arc-shaped leaf spring, since the "grabbing" action is completed according to the deformation of the leaf spring itself, any cylindrical barrel cake within the designed diameter range and with the designed height requirement can be grabbed, even if there are some irregular areas on the barrel cake. Compared with the multi-claw structure gripper in the prior art, the arc-shaped leaf spring gripper has less requirements for the cylindricity of the compressed barrel cake and the flatness of the upper surface, greatly enhancing the reliability of grabbing and effectively reducing the transportation risk.

[0027] 2. At the same time, the hydraulic cylinder is designed as a hydraulic cylinder with a self-locking function. In the state of power failure of the equipment, the compressed barrel cake grabbed by the gripper will not suddenly slide down or fall.

[0028] Meanwhile, for the gripper proposed in the above solution, we also provide an optimized loading and unloading assembly, including a gripper as described above; the optimized loading and unloading assembly further includes a loading roller path, an optimization table, and an unloading roller path; the gripper is configured to grab the barrel cake from the loading roller path to the optimization table; the gripper is also configured to grab the optimized barrel cake on the optimization table into the unloading roller path.

[0029] Furthermore, it also includes a support frame, on which a horizontal walking mechanism and a vertical lifting mechanism are provided; the vertical lifting mechanism is fixed on the horizontal walking mechanism; the gripper is fixed to the vertical lifting mechanism;

[0030] The cooperation between the vertical lifting mechanism and the horizontal walking mechanism enables the gripper to complete the optimized loading and unloading of the barrel cake.

[0031] Applying the gripper in the optimized loading and unloading assembly has a great promoting effect on improving the efficiency of transfer and transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a top view plan of the gripper.

[0033] Figure 2 It is Figure 1 the sectional view at A - A in

[0034] Figure 3 It is a three-dimensional structure diagram of the gripper.

[0035] Figure 4 It is a plan structure diagram of the loading and unloading assembly.

[0036] Wherein: 10 is the top plate, 11 is the first fixed plate, 12 is the second fixed plate, 13 is the reinforcing rib, 20 is the leaf spring, 21 is the opening, 22 is the anti-slip portion, 23 is the limit block, 24 is the guide sleeve, 25 is the guide rod, 26 is the connecting shaft, 27 is the spring, 31 is the adapter plate, 32 is the hydraulic cylinder, 100 is the loading roller path, 200 is the optimization table, 300 is the unloading roller path, 400 is the support frame, 410 is the horizontal walking mechanism, and 420 is the vertical lifting mechanism. Detailed implementation manners

[0037] The principles and features of the present invention will be described below in conjunction with the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0038] This embodiment provides a gripper, which is used to grasp the barrel cake. Especially when the shape of the barrel cake is irregular, the gripper here can be used to achieve stable grasping.

[0039] Specifically, referring to Figures 1 - 3 , the gripper proposed in this embodiment includes a top plate 10, a leaf spring 20 and a telescopic mechanism; wherein the top plate 10 is used to provide support for the installation of the leaf spring 20; the leaf spring 20 is fixed to the lower end surface of the top plate 10; at the same time, the leaf spring 20 here is configured as an arc structure to form an inner cavity; the two free ends of the leaf spring 20 are arranged opposite to each other to form an opening 21 in front of the inner cavity. It can be understood that an arc-shaped ring structure is formed by the leaf spring 20 here, but the two free ends of the leaf spring 20 are not sealed, that is, an opening 21 structure is formed; only through such a design, the leaf spring 20 has space to contract or expand under the action of the telescopic mechanism, so as to achieve stable grasping of the barrel cake.

[0040] The telescopic mechanism is fixedly connected to the leaf spring 20; the telescopic mechanism is configured to apply a force to the leaf spring 20 to make the opening 21 contract or expand, so as to change the size of the inner cavity.

[0041] It can be understood that under the action of an external force, the leaf spring 20 can be deformed and contracted, so that the size of the inner cavity can be changed (that is, the diameter of the leaf spring 20 is changed); when it is necessary to grasp the barrel cake, the inner cavity becomes larger to accommodate the barrel cake into it, and then the inner cavity becomes smaller, and the inner wall of the leaf spring 20 will tightly clamp the barrel cake; by adopting the above design, even if the shape of the barrel cake changes irregularly, under the action of the leaf spring 20, the barrel cake can be effectively grasped.

[0042] The telescopic mechanism here can be arranged outside the leaf spring 20 or inside the leaf spring 20. That is, when the telescopic mechanism is arranged outside the leaf spring 20, the telescopic mechanism will exert a force on the outer wall of the leaf spring 20 to realize the deformation and contraction of the leaf spring 20. When the telescopic mechanism is arranged inside the leaf spring 20, the telescopic mechanism will exert a force on the inner wall of the leaf spring 20 at this time, causing the leaf spring 20 to contract.

[0043] In this solution, the proposed telescopic mechanism is arranged inside the leaf spring 20. Specifically, the telescopic mechanism includes a transfer plate 31 and a hydraulic cylinder 32. The transfer plate 31 is fixed on the left and right sides of the inner wall of the leaf spring 20 and close to the opening 21. Both ends of the hydraulic cylinder 32 are hinged to the corresponding transfer plate 31. The telescopic action of the hydraulic cylinder 32 changes the size of the inner cavity (that is, the diameter of the arc-shaped leaf spring 20 changes).

[0044] That is, in this embodiment, the change in the size of the inner cavity of the leaf spring 20 is realized by the hydraulic cylinder 32 here. Before the bucket cake needs to be grasped, the hydraulic cylinder 32 extends to make the space in the inner cavity larger, facilitating the bucket cake to be accommodated in the inner cavity here. Then the hydraulic cylinder 32 retracts, causing the size of the inner cavity to gradually become smaller. In this way, during the process of the inner cavity becoming smaller, the inner wall of the leaf spring 20 will gradually contract and tightly clamp the bucket cake.

[0045] Of course, there are also other embodiments. That is, when the hydraulic cylinder 32 is in the extended state, the leaf spring is in the natural state at this time. When grasping the bucket cake, the hydraulic cylinder 32 retracts, causing the size of the inner cavity to gradually become smaller, realizing the action of gradually contracting and tightly clamping the bucket cake.

[0046] Optionally, the hydraulic cylinder 32 is a hydraulic cylinder with a self-locking protection function. Considering that there are also unexpected situations during transportation and transfer activities, such as power failure of the equipment or failure of the one-way valve of the hydraulic cylinder, etc., in order to reduce risks and ensure safety, the self-locking protection function needs to be automatically activated in case of unexpected situations to prevent the grabbed bucket cake from falling.

[0047] It should be noted that setting a self-locking protection function in the hydraulic cylinder is a common technical means at present. In this solution, only the hydraulic cylinder is reasonably utilized. As for the specific structure and working principle of the self-locking protection function, it is easily obtained by those skilled in the art, so it will not be elaborated here.

[0048] In this solution, in order to realize the stable grasping of the bucket cake and avoid the situation of the bucket cake falling during the grasping process, an anti-slip part 22 is provided at the bottom of the inner wall of the leaf spring 20. The anti-slip part here is specifically anti-slip cross stripes. In this way, when grasping the bucket cake, the anti-slip cross stripes can directly contact the outer arc surface of the bucket cake, increasing the friction and achieving the purpose of reducing the probability of the bucket cake falling.

[0049] Taking into account that the barrel cake itself has a certain thickness, when using the leaf spring 20 here for grabbing, it is necessary to ensure that the position of the anti-slip part 22 corresponds to the outer arc surface position of the barrel cake. Therefore, in this embodiment, a limiting block 23 is also fixed on the inner wall of the leaf spring 20; the limiting block 23 is located above the anti-slip part 22 and protrudes in the radial direction of the inner cavity; the limiting block 23 and the anti-slip part 22 together form a grabbing space.

[0050] That is, it can be understood that the limit block 23 here is the upper limit. When the leaf spring 20 is used to grab the barrel cake, the leaf spring 20 needs to move downward until the barrel cake is inserted into the inner cavity; but the barrel cake cannot be inserted too deep. If the insertion depth is too deep, it is possible that the barrel cake directly hits the hydraulic cylinder 32 set inside. Therefore, it is particularly important to set the limit block 23 above the anti-slip part 22 for the upper limit; when the leaf spring 20 is inserted into the barrel cake, it stops until the upper end surface of the barrel cake contacts the limit block 23, and the barrel cake is just in the best grasping position.

[0051] In this solution, a guide mechanism is further provided in the inner cavity of the leaf spring 20, and the guide mechanism is configured to guide the two free ends of the leaf spring 20 to move closer or farther away. The guide mechanism here is used to guide the two free ends of the arc leaf spring 20 to prevent the leaf spring 20 from twisting and deforming during tightening.

[0052] Specifically, the guide mechanism includes a guide sleeve 24 and guide rods 25 that can be plugged into both ends of the guide sleeve 24, and the distal end of each guide rod 25 is hinged on the adapter plate 31. During the specific operation, the hydraulic cylinder 32 extends, and the two guide rods 25 are synchronously extended, and the guide leaf spring 20 is smoothly opened; the hydraulic cylinder 32 retracts, and the two guide rods 25 are synchronously retracted, and the guide leaf spring 20 is smoothly tightened.

[0053] Optionally, a compression spring mechanism is further provided in the inner cavity of the leaf spring 20, and the compression spring mechanism includes a connecting shaft 26 and a spring 27 sleeved on the connecting shaft 26; both ends of the connecting shaft 26 are movably connected to the mounting seat fixed on the adapter plate 31, and both ends of the spring 27 are respectively abutted against the mounting seat. The spring 27 is provided here mainly to provide two functions: first, to provide a pre-tightening force for the arc leaf spring 20; second, the leaf spring 20 can be quickly loosened in a clamped state to unload the barrel cake.

[0054] Optionally, in this embodiment, in order to cooperate with mechanical positioning and identify the position of the barrel cake being grasped during grasping, a photoelectric sensor is also provided here to accurately identify the position of the barrel cake through the photoelectric sensor to facilitate the grasping of the leaf spring 20.

[0055] In this embodiment, in order to ensure the stability of the connection between the leaf spring 20 and the top plate 10 , the top plate 10 proposed here is a circular plate, and the leaf spring 20 is fixed around the edge of the top plate 10 into an arc structure.

[0056] Meanwhile, the leaf spring 20 is fixed to the top plate 10 through the first mounting seat and the second mounting seat; specifically, the first mounting seat includes a first fixing plate 11, the side of the first fixing plate 11 is fixed to the inner wall of the leaf spring 20 and is located at the rear of the inner cavity; a fixing hole is formed in the plate surface of the first fixing plate 11; the fastening bolt passes through the fixing hole to fasten the first fixing plate 11 to the lower end surface of the top plate 10.

[0057] The second mounting seat includes a second fixing plate 12, the side of the second fixing plate 12 is fixed to the inner wall of the leaf spring 20; the second fixing plate 12 is respectively located on the left and right sides of the inner cavity, and a strip-shaped hole is formed in the plate surface of the second fixing plate 12; the limit bolt passes through the strip-shaped hole to limit the first fixing plate 11 to the lower end surface of the top plate; the leaf spring 20 deforms through the strip-shaped holes on the left and right sides.

[0058] It can be understood that in order to cooperate with the deformation of the leaf spring 20, strip-shaped holes are specially formed in the second fixing plates 12 on the left and right sides here, and the strip-shaped holes here are used to cooperate with the deformation generated by the leaf spring 20 itself.

[0059] Optionally, in order to ensure the stability of the connection between the first fixing plate 11 and the second fixing plate 12 and the leaf spring 20, reinforcing ribs 13 are also added at the connection of the first fixing plate 11, the second fixing plate 12 and the leaf spring 20.

[0060] Based on the improvement of the above gripper structure, the benefits brought by it include the following points:

[0061] Firstly. The structure of this solution is simple, and the component directly performing the "grasping" action is the arc-shaped leaf spring made of a whole piece of steel structure; making full use of the characteristics of the arc-shaped leaf spring, since the "grasping" action is completed according to the deformation of the leaf spring itself, any cylindrical barrel cake within the designed diameter range and the designed required height can be grasped, even if there are partial irregular areas on the barrel cake; compared with the multi-claw structure gripper in the prior art, the arc-shaped leaf spring gripper has low requirements for the cylindricity of the compressed barrel cake and the flatness of the upper surface, and the reliability of grasping is greatly enhanced, effectively reducing the transportation risk;

[0062] Secondly. At the same time, the hydraulic cylinder therein is designed as a hydraulic cylinder with a self-locking function, and in the state of power failure of the equipment, the compressed barrel cake grasped by the gripper will not suddenly slide or fall.

[0063] Meanwhile, for the gripper proposed in the above solution, we also provide a preferred loading and unloading assembly, see Figure 4, including a gripper as described above; preferably, the loading and unloading assembly further includes a loading roller table 100, a selection table 200, and an unloading roller table 300; the gripper is configured to grab the barrel cakes from the loading roller table 100 to the selection table 200; the gripper is also configured to grab the selected barrel cakes on the selection table 200 into the unloading roller table 300.

[0064] Specifically, it further includes a support frame 400, on which a horizontal walking mechanism 410 and a vertical lifting mechanism 420 are provided; the vertical lifting mechanism 420 is fixed on the horizontal walking mechanism 410; the gripper is fixed to the vertical lifting mechanism 420; the cooperation between the vertical lifting mechanism 420 and the horizontal walking mechanism 410 enables the gripper to complete the preferred loading and unloading of the barrel cakes.

[0065] Applying the gripper to the loading and unloading assembly has a great promoting effect on improving the efficiency of transportation.

[0066] For the convenience of in-depth understanding, the processes of loading and unloading barrel cakes using the gripper are described here.

[0067] Steps for transporting to the selection table:

[0068] The vertical lifting mechanism 420 drives the gripper to descend to the grabbing station of the loading roller table 100 → the gripper prepares to grab the barrel cake → the telescopic rod of the hydraulic cylinder retracts to drive the leaf spring to close and grip the barrel cake → the vertical lifting mechanism 420 drives the gripper to rise → the horizontal walking mechanism 410 transports the barrel cake to the storage station of the selection table 200 → the gripper descends → the piston rod of the hydraulic cylinder extends to release the barrel cake → the gripper rises → repeat the above steps.

[0069] Steps for loading into the barrel and unloading:

[0070] The horizontal walking mechanism 410 transports the gripper to the grabbing station of the selection table 200 → the selection table 200 selects the barrel cake through the selection method and rotates the qualified barrel cake to the grabbing station → the gripper descends → the telescopic rod of the hydraulic cylinder retracts to grip the barrel cake → the gripper rises → the horizontal walking mechanism drives the gripper to run to the barrel loading station of the 400L unloading roller table 300 → the gripper descends → the piston rod of the hydraulic cylinder extends to release the barrel cake → the gripper rises → repeat the above steps.

[0071] By adopting the design of the above steps, it can effectively load, select, and unload the barrel cakes, realizing the automatic operation of industrial processing.

[0072] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A gripper, characterized in that, Comprising A top plate (10), the top plate (10) being a circular plate; A leaf spring (20); fixed to the lower end face of the top plate (10); the leaf spring (20) is configured as an arc-shaped structure to form an inner cavity, and the leaf spring (20) is fixed around the edge of the top plate (10) into an arc-shaped structure; the two free ends of the leaf spring (20) are arranged opposite to each other to form an opening (21) in front of the inner cavity; the leaf spring (20) is fixed to the top plate (10) through a first mounting seat and a second mounting seat; the first mounting seat includes a first fixing plate (11), the side of the first fixing plate (11) is fixed to the inner wall of the leaf spring (20) and is located behind the inner cavity; a fixing hole is formed in the plate surface of the first fixing plate (11); a fastening bolt passes through the fixing hole to fasten the first fixing plate (11) to the lower end face of the top plate (10); the second mounting seat includes a second fixing plate (12), the side of the second fixing plate (12) is fixed to the inner wall of the leaf spring (20); the second fixing plates (12) are respectively located on the left and right sides of the inner cavity, and a strip-shaped hole is formed in the plate surface of the second fixing plate (12); a limit bolt passes through the strip-shaped hole to limit the first fixing plate (11) to the lower end face of the top plate (10); the leaf spring (20) deforms through the strip-shaped holes on the left and right sides; and A telescopic mechanism, fixedly connected to the leaf spring (20); the telescopic mechanism is configured to apply a force to the leaf spring (20) to make the opening (21) contract or expand, so as to change the size of the inner cavity; the telescopic mechanism includes a transfer plate (31) and a hydraulic cylinder (32); the transfer plate (31) is fixed to the left and right sides of the inner wall of the leaf spring (20); both ends of the hydraulic cylinder (32) are respectively hinged to the corresponding transfer plates (31); the telescopic action of the hydraulic cylinder (32) enables the size of the inner cavity to be changed.

2. The grab according to claim 1, characterized in that, An anti-slip portion (22) is provided at the bottom of the inner wall of the leaf spring (20).

3. The grabbing tool according to claim 2, wherein The anti-slip portion (22) is an anti-slip cross stripe.

4. The grapple according to claim 3, wherein, A limit block (23) is further fixed to the inner wall of the leaf spring (20); the limit block (23) is above the anti-slip portion (22) and protrudes in the radial direction of the inner cavity; the limit block (23) and the anti-slip portion (22) together form a grasping space.

5. A gripper according to claim 1, characterized in that, The hydraulic cylinder (32) is a hydraulic cylinder (32) with a self-locking protection function.

6. A gripper according to claim 5, characterized in that, A guiding mechanism is further provided in the inner cavity of the leaf spring (20), and the guiding mechanism is configured to guide the two free ends of the leaf spring (20) to approach or move away from each other.

7. A gripper according to claim 6, wherein, The guiding mechanism includes a guiding sleeve (24) and guiding rods (25) that can be inserted into both ends of the guiding sleeve (24), and the distal end of each guiding rod (25) is hinged to the transfer plate (31).

8. A gripper according to claim 7, wherein A compression spring mechanism is further provided in the inner cavity of the leaf spring (20). The compression spring mechanism includes a connecting shaft (26) and a spring (27) sleeved on the connecting shaft (26). Both ends of the connecting shaft (26) are movably connected to mounting seats fixed on the adapter plate (31). Both ends of the spring (27) respectively abut against the mounting seats.

9. A preferred loading and unloading component, characterized in that, A gripper as claimed in claim 4 or 8 is included. The preferred loading and unloading assembly further includes a loading roller path (100), a preferred table (200), and an unloading roller path (300). The gripper is configured to grab the barrel cakes from the loading roller path (100) to the preferred table (200). The gripper is further configured to grab the barrel cakes that have been preferred on the preferred table (200) into the unloading roller path (300).

10. A preferred loading and unloading component according to claim 9, characterized in that, A support frame (400) is further included. A horizontal traveling mechanism (410) and a vertical lifting mechanism (420) are provided on the support frame (400). The vertical lifting mechanism (420) is fixed on the horizontal traveling mechanism (410). The gripper is fixed to the vertical lifting mechanism (420). The cooperation between the vertical lifting mechanism (420) and the horizontal traveling mechanism (410) enables the gripper to complete the preferred loading and unloading of the barrel cakes.

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