Material loading and unloading system and method

Abstract

The embodiment of the invention provides a material loading and unloading system and method, and relates to the technical field of automation. According to the material loading and unloading system, automatic control over the material loading and unloading process can be achieved through the integrated controller, the servo motor driving system and the movable gripper, and it is ensured that the movable gripper can achieve extremely high accuracy when carrying and positioning materials. Therefore, related technicians can repeatedly practice to apply the material loading and unloading system and get familiar with various material loading and unloading processes, matters needing attention and emergency treatment measures, so that when the PMC system is used for carrying out real material loading and unloading operation, errors and mistakes caused by human factors are reduced, the material loading and unloading safety is improved, and the material loading and unloading efficiency is improved. Damage of the fuel assembly and delay of a production plan are avoided.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to a material loading and unloading system and method. Background Art

[0002] Nuclear power plants are widely used around the world as an efficient and clean way to supply energy. In the operation of nuclear power plants, material loading and unloading refers to the process of safely loading or removing materials such as nuclear fuel assemblies into or from the reactor and properly storing them. This process not only affects the power generation efficiency of nuclear power plants, but is also directly related to the safe operation and long-term economic benefits of nuclear power plants.

[0003] In the related art, precise handling, positioning and storage of fuel assemblies can be achieved by controlling the Pressurized Water Reactor Fuel Handling and Storage System (PMC) of a nuclear power plant.

[0004] However, due to differences in the skill levels of operators, irregular operating behaviors often occur, which may not only cause damage to the PMC system, but may also lead to more serious consequences, such as damage to fuel assemblies, delays in production plans, and potential quality risks and safety hazards. Summary of the invention

[0005] Based on the above problems, the present application provides a material loading and unloading system and method, which can reduce errors and mistakes caused by human factors, thereby improving the safety of material loading and unloading, and avoiding damage to fuel assemblies and delays in production plans.

[0006] The embodiments of the present application disclose the following technical solutions:

[0007] In a first aspect, the present application discloses a material handling system, the system comprising: a controller, a servo motor drive system and a movable gripper;

[0008] The controller is used to obtain the material number of the material to be loaded and unloaded;

[0009] The controller is also used to determine the loading and unloading position of the material to be loaded and unloaded according to the material number;

[0010] The controller is also used to send a first loading and unloading instruction to the servo motor drive system, so that the servo motor drive system moves the material to be loaded and unloaded to the loading and unloading position by driving the movable gripper.

[0011] Optionally, the system further comprises: a weighing module and an encoder;

[0012] The controller is specifically configured to send a second loading and unloading instruction to the servo motor drive system if the total mass of the movable gripper obtained by the weighing module is less than or equal to a preset mass threshold, so that the servo motor drive system drives the movable gripper to the current position of the material to be loaded and unloaded and performs a suction action to grab the material to be loaded and unloaded, and the current position of the material to be loaded and unloaded is obtained by the encoder;

[0013] If the movable gripper is in an engaged state and the total mass of the movable gripper obtained by the weighing module is greater than a preset mass threshold, a first loading and unloading instruction is sent to the servo motor drive system.

[0014] Optionally, the controller is also used to send a third loading and unloading instruction to the servo motor drive system if the weighing module obtains that the movable gripper has an elastic collision, so that the servo motor drive system releases the material to be loaded and unloaded by driving the movable gripper to the current position of the material to be loaded and unloaded and performing a relaxation action.

[0015] Optionally, the controller is further used to trigger an alarm indication if the moving speed of the movable gripper obtained by the encoder is greater than a preset speed threshold.

[0016] Optionally, the system further comprises: a motion platform, the motion platform comprises a first station and a second station, the position to be loaded and unloaded is the first station or the second station;

[0017] The controller is specifically used to send a forward loading and unloading instruction to the servo motor drive system so that the servo motor drive system moves the material to be loaded and unloaded from the first station to the second station by driving the movable gripper, or to send a reverse loading and unloading instruction to the servo motor drive system so that the servo motor drive system moves the material to be loaded and unloaded from the second station to the first station by driving the movable gripper.

[0018] In a second aspect, the present application discloses a material loading and unloading method, which is applied to a material loading and unloading system, wherein the material loading and unloading system includes a controller, a servo motor drive system and a movable gripper; the method includes:

[0019] The controller obtains the material number of the material to be loaded and unloaded;

[0020] The controller determines the loading and unloading position of the material to be loaded and unloaded according to the material number;

[0021] The controller sends a first loading and unloading instruction to the servo motor drive system, so that the servo motor drive system moves the material to be loaded and unloaded to the loading and unloading position by driving the movable gripper.

[0022] Optionally, the system further comprises: a weighing module and an encoder;

[0023] The controller sends a first loading and unloading instruction to the servo motor drive system, including:

[0024] If the total mass of the movable gripper obtained by the weighing module is less than or equal to a preset mass threshold, the controller sends a second loading and unloading instruction to the servo motor drive system, so that the servo motor drive system drives the movable gripper to the current position of the material to be loaded and unloaded and performs a suction action to grab the material to be loaded and unloaded, and the current position of the material to be loaded and unloaded is obtained by the encoder;

[0025] If the movable gripper is in an engaged state and the total mass of the movable gripper obtained by the weighing module is greater than a preset mass threshold, the controller sends a first loading and unloading instruction to the servo motor drive system.

[0026] Optionally, the method further comprises:

[0027] If the weighing module obtains that the movable gripper has an elastic collision, the controller sends a third loading and unloading instruction to the servo motor drive system, so that the servo motor drive system drives the movable gripper to the current position of the material to be loaded and unloaded and performs a relaxation action to release the material to be loaded and unloaded.

[0028] Optionally, the method further comprises:

[0029] If the moving speed of the movable gripper obtained by the encoder is greater than a preset speed threshold, the controller triggers an alarm indication.

[0030] Optionally, the system further comprises: a motion platform, the motion platform comprises a first station and a second station, the position to be loaded and unloaded is the first station or the second station;

[0031] The controller sends a first loading and unloading instruction to the servo motor drive system, so that the servo motor drive system drives the movable gripper to move the material to be loaded and unloaded to the loading and unloading position, including:

[0032] The controller sends a forward loading and unloading instruction to the servo motor drive system so that the servo motor drive system moves the material to be loaded and unloaded from the first station to the second station by driving the movable gripper, or the controller sends a reverse loading and unloading instruction to the servo motor drive system so that the servo motor drive system moves the material to be loaded and unloaded from the second station to the first station by driving the movable gripper.

[0033] Compared with the prior art, this application has the following beneficial effects:

[0034] The embodiment of the present application provides a material loading and unloading system and method. The material loading and unloading system provided by the embodiment of the present application can realize the automated control of the material loading and unloading process through an integrated controller, a servo motor drive system and a movable gripper, ensuring that the movable gripper can achieve extremely high accuracy when carrying and positioning materials. Therefore, relevant technical personnel can repeatedly practice and apply the material loading and unloading system, and become familiar with the processes, precautions and emergency treatment measures of various material loading and unloading, so as to reduce errors and mistakes caused by human factors when using the PMC system for real material loading and unloading operations, thereby improving the safety of material loading and unloading, and avoiding damage to fuel assemblies and delays in production plans. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0036] Figure 1 A schematic diagram of a material loading and unloading system provided in an embodiment of the present application;

[0037] Figure 2 A schematic diagram of another material loading and unloading system provided in an embodiment of the present application;

[0038] Figure 3 A schematic diagram of components of a material handling system provided in an embodiment of the present application;

[0039] Figure 4 A schematic diagram of a control cabinet provided in an embodiment of the present application;

[0040] Figure 5 A schematic diagram of an operation panel provided in an embodiment of the present application;

[0041] Figure 6 A flow chart of a material loading and unloading method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] First, the technical terms involved in this application are explained:

[0043] The Pressurized Water Reactor Fuel Handling and Storage System (PMC) is a vital part of a pressurized water reactor nuclear power plant. It is responsible for the loading, unloading, transportation, storage and replacement of fuel assemblies in the reactor core.

[0044] As described above, due to differences in the skill levels of operators, irregular operating behaviors often occur, which may not only cause damage to the PMC system, but may also lead to more serious consequences, such as damage to fuel assemblies, delays in production plans, and potential quality risks and safety hazards.

[0045] Therefore, in order to improve the skills of operators and reduce equipment damage and safety accidents caused by improper operation, it is particularly important to develop an operating platform similar to the PMC system but that can be used for experiments and training. Such a platform can provide operators with a safe and controllable learning environment while simulating real operating scenarios, thereby effectively reducing the risks in actual operations.

[0046] After research, the inventor has proposed a material loading and unloading system and method. The material loading and unloading system provided in the embodiment of the present application can realize the automated control of the material loading and unloading process through an integrated controller, a servo motor drive system and a movable gripper, ensuring that the movable gripper can achieve extremely high accuracy when carrying and positioning materials. As a result, relevant technical personnel can repeatedly practice and apply the material loading and unloading system, and become familiar with the processes, precautions and emergency treatment measures for various material loading and unloading, thereby reducing errors and mistakes caused by human factors when using the PMC system for real material loading and unloading operations, thereby improving the safety of material loading and unloading, and avoiding damage to fuel assemblies and delays in production plans.

[0047] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] See also Figure 1 , which is a schematic diagram of a material loading and unloading system provided in an embodiment of the present application. Figure 1 It can be seen that the material handling system 100 includes a controller 101, a servo motor drive system 102 and a movable gripper 103. Exemplarily, the movable gripper 103 can be an electronic suction cup or a clamping claw, which is not limited in this application.

[0049] The controller 101 is used to obtain the material number of the material to be loaded and unloaded. First, the controller 101 needs to obtain the unique material number of the material to be loaded and unloaded by some means (such as scanning a QR code, wireless radio frequency identification reading, near field communication reading, etc.). Through the material number, the controller 101 can query the detailed information of the material to be loaded and unloaded, such as size, weight, loading and unloading position, etc., so as to provide accurate guidance for subsequent loading and unloading operations.

[0050] The controller 101 is also used to determine the loading and unloading position of the material to be loaded and unloaded according to the material number. After obtaining the material number, the controller 101 will query a preset database or determine the specific position where the material to be loaded and unloaded should be loaded and unloaded according to an internal logic algorithm, that is, the loading and unloading position.

[0051] The controller 101 is further configured to send a first loading and unloading instruction to the servo motor drive system, so that the servo motor drive system drives the movable gripper to move the material to be loaded and unloaded to the loading and unloading position.

[0052] Once the loading and unloading position is determined, the controller 101 sends a specific loading and unloading instruction (i.e., a first loading and unloading instruction) to the servo motor drive system 102, so that the servo motor drive system 102 drives the movable gripper 103 to perform the loading and unloading operation. The first loading and unloading instruction contains all necessary information required for the servo motor drive system 102 to drive the movable gripper 103, such as moving speed, moving direction, moving distance, etc., to ensure that the movable gripper 103 can accurately move the material to be loaded and unloaded to the specified loading and unloading position.

[0053] After receiving the first loading and unloading instruction from the controller 101, the servo motor drive system 102 will immediately parse the instruction content and drive the corresponding motor or mechanical structure to move the movable gripper 103 according to the instruction requirements. Driven by the servo motor drive system 102, the movable gripper 103 can accurately move to the location of the material to be loaded and unloaded, and grab the material to be loaded and unloaded through a mechanical structure (such as a clamp, a suction cup, etc.).

[0054] It is understandable that the servo motor drive system 102, with its high precision and high response speed, can ensure the stability and accuracy of the movable gripper 103 during the movement process, thereby achieving accurate loading and unloading of materials to be loaded and unloaded.

[0055] In summary, the material handling system provided in the embodiment of the present application can realize the automated control of the material handling process through the integrated controller, servo motor drive system and movable gripper, ensuring that the movable gripper can achieve extremely high accuracy when carrying and positioning materials. As a result, relevant technical personnel can repeatedly practice and apply the material handling system, and become familiar with the processes, precautions and emergency treatment measures for various material loading and unloading, so as to reduce errors and mistakes caused by human factors when using the PMC system for real material loading and unloading operations, thereby improving the safety of material loading and unloading, and avoiding damage to fuel assemblies and delays in production plans.

[0056] See also Figure 2 , which is a schematic diagram of another material loading and unloading system provided in an embodiment of the present application, Figure 2 It can be seen that the material handling system 200 includes a controller 101 , a servo motor drive system 102 , a movable gripper 103 , a weighing module 104 , an encoder 105 and a motion platform 106 .

[0057] The controller 101 is used to obtain the material number of the material to be loaded and unloaded; and determine the loading and unloading position of the material to be loaded and unloaded according to the material number.

[0058] The controller 101 is also used to detect the current total mass of the movable gripper 103 through the weighing module 104. If the total mass of the movable gripper 103 is less than or equal to the preset mass threshold, which means that the movable gripper 103 is currently empty and does not grab any material, the controller 101 will send a second loading and unloading instruction to the servo motor drive system 102. According to the second loading and unloading instruction, the servo motor drive system 102 will drive the movable gripper 103 to move to the current position of the material to be loaded and unloaded. Among them, the current position of the material to be loaded and unloaded can be obtained by the encoder 105. The encoder 105 is a sensor that can accurately measure the position or angular displacement of a rotating object (such as a motor shaft), and can accurately measure the position information of the movable gripper 103. After the servo motor drive system 102 drives the movable gripper 103 to the current position of the material to be loaded and unloaded, the movable gripper 103 will perform an attraction action to grab the material to be loaded and unloaded.

[0059] It should be noted that the current position of the material to be loaded and unloaded involves positioning in three-dimensional space, namely the horizontal position and the vertical position (or vertical position). Among them, the horizontal position refers to the coordinate on a two-dimensional plane (such as the ground or a work surface), usually represented by the X-axis and the Y-axis. The horizontal position determines the exact position of the movable gripper in the horizontal direction. This helps the material loading and unloading system 200 to accurately locate a specified point in two-dimensional space. The vertical position (or vertical position) refers to the position in the direction perpendicular to the horizontal plane in three-dimensional space, usually represented by the Z-axis. The vertical position determines the position of the movable gripper 103 in the height direction. By adjusting the position of the Z-axis, the material loading and unloading system 200 can accurately control the gripper to rise or fall to a specified height to complete tasks such as grasping and placing. Therefore, the controller 101 needs to control the servo motor drive system 102, first driving the movable gripper 103 to move on the horizontal plane (X-axis and Y-axis) to the current horizontal position of the material to be loaded and unloaded, and then driving the movable gripper 103 to move in the vertical direction (Z-axis) to the current vertical position (i.e., the specified height) of the material to be loaded and unloaded, thereby ensuring that the movable gripper 103 can accurately reach any specified position in the three-dimensional space, thereby completing complex material loading and unloading tasks.

[0060] If the movable gripper 103 successfully attracts and grabs the material to be loaded and unloaded, the total mass of the movable gripper 103 will increase. The controller 101 will detect the total mass of the movable gripper 103 again through the weighing module 104. If the total mass of the movable gripper 103 is greater than the preset mass threshold when the movable gripper 103 is in the attracted state, it means that the movable gripper 103 has successfully grabbed the material to be loaded and unloaded. Then, the controller 101 will send a first loading and unloading instruction to the servo motor drive system 102, that is, the motor drive system 102 drives the movable gripper 103 to move the material to be loaded and unloaded to the previously determined loading and unloading position, and performs a release action, thereby placing the material to be loaded and unloaded at the designated loading and unloading position.

[0061] It should be noted that the position of the material to be loaded and unloaded also involves positioning in three-dimensional space, which is similar to the current position of the material to be loaded and unloaded, and will not be repeated here.

[0062] It should also be noted that after the materials to be loaded and unloaded are moved to the loading and unloading position, the controller 101 also needs to control the servo motor drive system 102 to move to a higher safety position after releasing the moving claw 103 to avoid elastic collision with other materials to be loaded and unloaded.

[0063] In some specific implementations, the movable gripper 103 is likely to have an elastic collision with other objects during the process of grabbing or loading and unloading materials, causing the movable gripper 103 to rebound or vibrate to a certain extent. Therefore, the controller 101 can monitor the state of the movable gripper through the weighing module 104. Once the controller 101 confirms through the weighing module 104 that the movable gripper 103 has an elastic collision, the controller 101 will immediately send a third loading and unloading instruction to the servo motor drive system 102. The purpose of the third loading and unloading instruction is to allow the servo motor drive system 102 to drive the movable gripper 103 to the current position of the material to be loaded and unloaded. After reaching the current position of the material to be loaded and unloaded, the movable gripper 103 will perform a relaxation action to put down the material to be loaded and unloaded that has been grabbed (but may not be firmly grabbed due to collision). As the movable gripper 103 relaxes, the material to be loaded and unloaded will be released, thereby avoiding further damage or accidents that may be caused by an unstable grasping state. Thus, through real-time monitoring and rapid response, the controller 101 can ensure that even in the event of an unexpected situation (such as an elastic collision), measures can be taken quickly to protect the materials to be loaded and unloaded from damage and to restore the normal loading and unloading process as much as possible.

[0064] In some other specific implementations, the moving platform 106 of the material loading and unloading system 200 is the main place for material loading and unloading operations, and it includes at least two workstations: a first workstation and a second workstation. The two workstations are used to temporarily store the materials to be loaded and unloaded during the loading and unloading process. The materials to be loaded and unloaded are transferred between the first workstation and the second workstation to achieve the purpose of loading and unloading.

[0065] Specifically, when it is necessary to move the material to be loaded and unloaded from the first station to the second station, the controller 101 will send a forward loading and unloading instruction to the servo motor drive system 102. This forward loading and unloading instruction will guide the servo motor drive system 102 to accurately grab and move the material to be loaded and unloaded from the first station to the second station by driving the movable gripper 103 according to a predetermined path and speed. On the contrary, if it is necessary to move the material to be loaded and unloaded from the second station back to the first station, the controller 101 will send a reverse loading and unloading instruction. The reverse loading and unloading instruction will also guide the servo motor drive system 102 and the movable gripper 103 to complete the corresponding action, but in the opposite direction, that is, to accurately grab and move the material to be loaded and unloaded from the second station to the first station. Therefore, by introducing the motion platform 106 and defining the first station and the second station, the material loading and unloading system 200 can handle different types of loading and unloading tasks more flexibly. The controller 101 sends forward or reverse loading and unloading instructions to instruct the servo motor drive system 102 and the movable gripper 103 to complete the transfer of the materials to be loaded and unloaded, thereby realizing the automation and intelligence of material loading and unloading.

[0066] See also Figure 3, which is a schematic diagram of components of a material handling system provided in an embodiment of the present application. Figure 3 It can be seen that the material handling system 300 includes a distributed input / output (IO), a weighing transmitter, a frequency converter, a movable gripper 103, a controller 101, a computer and a configuration screen.

[0067] The distributed IO refers to a device for collecting and transmitting signals of field devices (such as encoder 105 and servo motor drive system 102 ) to controller 101 .

[0068] The weighing transmitter is a device that converts the weight signal detected by the weighing module 104 into a standard electrical signal (such as a 4-20mA current signal, a 0-10V voltage signal, etc.) for output. It is usually used in conjunction with the weighing module 104 to achieve accurate weight measurement and remote transmission.

[0069] The frequency converter is a device used to change the power frequency and voltage of the servo motor drive system 102, thereby achieving precise control of the speed and torque of the servo motor drive system 102. It adjusts the frequency and voltage of the power supply to enable the servo motor drive system 102 to run at different speeds, thereby achieving the purpose of energy saving, speed regulation and automatic control.

[0070] As the core processing unit of the system, the computer is responsible for receiving data from the weighing transmitter and distributed IO, processing and calculating, and then sending control instructions to each actuator according to the preset program logic.

[0071] The configuration screen is the main interactive interface between the material handling system and the operator. It is used to display the equipment's operating status, parameter settings, alarm information, etc., making it convenient for operators to monitor the equipment's operating conditions in real time.

[0072] In some specific implementations, the controller 101 may also monitor the moving speed of the movable gripper 103, and trigger an alarm indication when the moving speed of the movable gripper 103 exceeds a preset speed threshold, which is reflected by a configuration screen or a computer.

[0073] Specifically, the controller 101 will continuously read the position data provided by the encoder 105, and calculate the moving speed of the movable gripper based on the position data. Then, the controller 101 will compare the moving speed with the preset speed threshold. Among them, the preset speed threshold is pre-set according to factors such as design requirements, safety standards, and the characteristics of the materials to be loaded and unloaded, and is intended to prevent the movable gripper 103 from being unstable, damaged, or causing safety hazards due to moving too fast. If the controller 101 finds that the moving speed of the movable gripper 103 exceeds the preset speed threshold, the controller 101 will immediately trigger an alarm indication. The alarm indication can be implemented in a variety of ways, such as a computer sounding an alarm, displaying a warning message on the configuration screen, etc. These alarm measures are intended to attract the attention of the operator so that they can take timely measures (such as adjusting the control parameters of the servo motor drive system 102 to reduce the moving speed of the movable gripper 103, or directly stopping the movement of the movable gripper 103) to reduce the moving speed of the controller 101 or stop its movement, thereby avoiding potential safety problems.

[0074] See also Figure 4 , which is a schematic diagram of a control cabinet provided in an embodiment of the present application. It can be understood that the controller in the material handling system disclosed in the present application can be set in the control cabinet, for example Figure 4 The vertical control console provided is shown in the figure. In addition, the control cabinet also integrates mechanical manual operation structures such as a display with touch function and an emergency stop button.

[0075] See also Figure 5 , which is a schematic diagram of an operation panel provided in an embodiment of the present application. The operation panel is the startup interface of the configuration screen and the main operation interface of the material handling system. This interface mainly includes the following buttons:

[0076] Enable: indicates whether the servo motor drive system 102 is currently in a standby state, that is, ready to receive and execute instructions. After entering the enabled state, the servo motor drive system 102 can act according to instructions at any time.

[0077] Pause: The material handling system can be put into pause state by pressing the Pause button on the operation panel. In the Pause state, the material handling system cannot be operated manually or automatically. If the automatic action is paused, the material handling system will immediately stop the current operation until the Pause button is pressed again to release the Pause, and the automatic process will continue.

[0078] Weighing Data: Displays the real-time weight of the load in the weighing module of the current material handling system, which is very important for precise control of material loading and unloading.

[0079] Encoder: Displays the encoder's current X-axis (or possibly other axes, depending on the machine design) position data. This helps to know the precise position information of the movable gripper of the material handling system.

[0080] Reset Button: When an alarm occurs in the material handling system, this button can be pressed to clear the alarm state and restore the material handling system to normal operation. This has the same function as other reset buttons on the operation panel.

[0081] Electromagnet Button: It is used to control the grabbing and releasing action of the electromagnetic gripper. By switching the action of the electromagnet button, the material can be manually grabbed and released.

[0082] *Jog* button: Manual control button for axis movement. When the material handling system has no alarm, is in pause state or manual mode, the movement of the axis can be manually controlled by operating this button.

[0083] Motor * button: used to control the forward and reverse rotation of the variable frequency motor. This button is only valid in manual mode, allowing the user to control the rotation direction of the motor through manual operation.

[0084] Inverter Input: Used to input the inverter speed setting. When performing forward and reverse operation of the inverter motor, the inverter will run the motor at the specified speed according to this input value. Note that each time the inverter is powered on again, it needs to be reset, otherwise the inverter may not operate normally.

[0085] Weighing Record: Automatically record the information of the material loading and unloading system in the automatic operation state. After each automatic operation is completed, the material loading and unloading system will record the data once, and can save up to 5 results. When the number of records reaches the upper limit, the earliest result record will be overwritten.

[0086] Counterweight ID Input: Used to input the ID of the counterweight to be lifted. The material handling system will obtain the corresponding grab data based on the input ID to ensure accurate grabbing. Each time the automatic grab cycle ends or the manual-automatic mode is switched, the counterweight ID will be automatically cleared to prevent collisions caused by data errors.

[0087] A->B / B->A direction switching button: The material handling system has two preset fixed points, but the user can choose the lifting direction between these two points according to actual needs. This avoids the inconvenience of manually adjusting the position of the counterweight every time it is used.

[0088] Start Button: When the material handling system is in automatic operation mode and the parameters are set correctly, clicking this button will start the automatic operation process of the material handling system.

[0089] It should be noted that the above buttons are only examples and this application does not limit them.

[0090] In summary, the embodiments of the present application provide a material loading and unloading system. The material loading and unloading system provided in the embodiments of the present application can realize the automated control of the material loading and unloading process through an integrated controller, a servo motor drive system and a movable gripper, ensuring that the movable gripper can achieve extremely high accuracy when carrying and positioning materials. As a result, relevant technical personnel can repeatedly practice and apply the material loading and unloading system, and become familiar with the processes, precautions and emergency treatment measures for various material loading and unloading, thereby reducing errors and mistakes caused by human factors when using the PMC system for real material loading and unloading operations, thereby improving the safety of material loading and unloading, and avoiding damage to fuel assemblies and delays in production plans.

[0091] See also Figure 6 , which is a material loading and unloading method provided by an embodiment of the present application. The material loading and unloading system is applied to the material loading and unloading system, which includes a controller, a servo motor drive system and a movable gripper;

[0092] The method includes:

[0093] S601: The controller obtains the material number of the material to be loaded and unloaded.

[0094] S602: The controller determines the loading and unloading position of the material to be loaded and unloaded according to the material number.

[0095] S603: The controller sends a first loading and unloading instruction to the servo motor drive system, so that the servo motor drive system drives the movable gripper to move the material to be loaded and unloaded to the loading and unloading position.

[0096] In some specific implementations, the material handling system further includes: a weighing module and an encoder;

[0097] The controller sends a first loading and unloading instruction to the servo motor drive system, including:

[0098] If the total mass of the movable gripper obtained by the weighing module is less than or equal to the preset mass threshold, the controller sends a second loading and unloading instruction to the servo motor drive system, so that the servo motor drive system drives the movable gripper to the current position of the material to be loaded and unloaded and performs a suction action to grab the material to be loaded and unloaded, and the current position of the material to be loaded and unloaded is obtained by the encoder;

[0099] If the movable gripper is in the engaged state and the total mass of the movable gripper obtained by the weighing module is greater than a preset mass threshold, the controller sends a first loading and unloading instruction to the servo motor drive system.

[0100] In some specific implementations, the method further includes:

[0101] If the movable gripper is detected to have an elastic collision through the weighing module, the controller sends a third loading and unloading instruction to the servo motor drive system, so that the servo motor drive system drives the movable gripper to the current position of the material to be loaded and unloaded and performs a relaxation action to release the material to be loaded and unloaded.

[0102] In some specific implementations, the method further includes:

[0103] If the moving speed of the movable gripper obtained by the encoder is greater than the preset speed threshold, the controller triggers an alarm indication.

[0104] In some specific implementations, the material loading and unloading system further includes: a motion platform, the motion platform includes a first station and a second station, and the position to be loaded and unloaded is the first station or the second station;

[0105] The controller sends a first loading and unloading instruction to the servo motor drive system, so that the servo motor drive system drives the movable gripper to move the material to be loaded and unloaded to the loading and unloading position, including:

[0106] The controller sends a forward loading and unloading instruction to the servo motor drive system, so that the servo motor drive system moves the material to be loaded and unloaded from the first station to the second station by driving the movable gripper, or the controller sends a reverse loading and unloading instruction to the servo motor drive system, so that the servo motor drive system moves the material to be loaded and unloaded from the second station to the first station by driving the movable gripper.

[0107] In summary, the embodiments of the present application provide a material loading and unloading method. The material loading and unloading method provided in the embodiments of the present application ensures that the movable gripper can achieve extremely high accuracy when carrying and positioning materials. As a result, when the relevant technical personnel use the PMC system to perform real material loading and unloading operations, they can reduce errors and mistakes caused by human factors, thereby improving the safety of material loading and unloading, avoiding damage to fuel assemblies and delays in production plans.

[0108] It should be noted that each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments. The device and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components indicated as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0109] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A material loading and unloading system, characterized in that: The system comprises: a controller, a servo motor drive system and a movable gripper; The controller is used to obtain the material number of the material to be loaded and unloaded; The controller is also used to determine the loading and unloading position of the material to be loaded and unloaded according to the material number; The controller is also used to send a first loading and unloading instruction to the servo motor drive system, so that the servo motor drive system moves the material to be loaded and unloaded to the loading and unloading position by driving the movable gripper.

2. The system according to claim 1, characterized in that The system also includes: a weighing module and an encoder; The controller is specifically configured to send a second loading and unloading instruction to the servo motor drive system if the total mass of the movable gripper obtained by the weighing module is less than or equal to a preset mass threshold, so that the servo motor drive system drives the movable gripper to the current position of the material to be loaded and unloaded and performs a suction action to grab the material to be loaded and unloaded, and the current position of the material to be loaded and unloaded is obtained by the encoder; If the movable gripper is in an engaged state and the total mass of the movable gripper obtained by the weighing module is greater than a preset mass threshold, a first loading and unloading instruction is sent to the servo motor drive system.

3. The system according to claim 2, characterized in that The controller is also used to send a third loading and unloading instruction to the servo motor drive system if the weighing module obtains that the movable gripper has an elastic collision, so that the servo motor drive system drives the movable gripper to the current position of the material to be loaded and unloaded and performs a relaxation action to release the material to be loaded and unloaded.

4. The system according to claim 2, characterized in that The controller is also used to trigger an alarm indication if the moving speed of the movable gripper obtained by the encoder is greater than a preset speed threshold.

5. The system according to claim 1, characterized in that The system further comprises: a motion platform, the motion platform comprising a first station and a second station, the position to be loaded and unloaded being the first station or the second station; The controller is specifically used to send a forward loading and unloading instruction to the servo motor drive system so that the servo motor drive system moves the material to be loaded and unloaded from the first station to the second station by driving the movable gripper, or to send a reverse loading and unloading instruction to the servo motor drive system so that the servo motor drive system moves the material to be loaded and unloaded from the second station to the first station by driving the movable gripper.

6. A material loading and unloading method, characterized in that: Applied to a material handling system, the material handling system includes a controller, a servo motor drive system and a movable gripper; the method includes: The controller obtains the material number of the material to be loaded and unloaded; The controller determines the loading and unloading position of the material to be loaded and unloaded according to the material number; The controller sends a first loading and unloading instruction to the servo motor drive system, so that the servo motor drive system moves the material to be loaded and unloaded to the loading and unloading position by driving the movable gripper.

7. The method according to claim 6, characterized in that The system also includes: a weighing module and an encoder; The controller sends a first loading and unloading instruction to the servo motor drive system, including: If the total mass of the movable gripper obtained by the weighing module is less than or equal to a preset mass threshold, the controller sends a second loading and unloading instruction to the servo motor drive system, so that the servo motor drive system drives the movable gripper to the current position of the material to be loaded and unloaded and performs a suction action to grab the material to be loaded and unloaded, and the current position of the material to be loaded and unloaded is obtained by the encoder; If the movable gripper is in an engaged state and the total mass of the movable gripper obtained by the weighing module is greater than a preset mass threshold, the controller sends a first loading and unloading instruction to the servo motor drive system.

8. The method according to claim 7, characterized in that The method further comprises: If the weighing module obtains that the movable gripper has an elastic collision, the controller sends a third loading and unloading instruction to the servo motor drive system, so that the servo motor drive system drives the movable gripper to the current position of the material to be loaded and unloaded and performs a relaxation action to release the material to be loaded and unloaded.

9. The method according to claim 7, characterized in that: The method further comprises: If the moving speed of the movable gripper obtained by the encoder is greater than a preset speed threshold, the controller triggers an alarm indication.

10. The method according to claim 6, characterized in that The system further comprises: a motion platform, the motion platform comprising a first station and a second station, the position to be loaded and unloaded being the first station or the second station; The controller sends a first loading and unloading instruction to the servo motor drive system, so that the servo motor drive system drives the movable gripper to move the material to be loaded and unloaded to the loading and unloading position, including: The controller sends a forward loading and unloading instruction to the servo motor drive system so that the servo motor drive system moves the material to be loaded and unloaded from the first station to the second station by driving the movable gripper, or the controller sends a reverse loading and unloading instruction to the servo motor drive system so that the servo motor drive system moves the material to be loaded and unloaded from the second station to the first station by driving the movable gripper.

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