Remote operation transfer device, remote operation maintenance platform and remote operation transfer method

Abstract

The invention discloses a remote operation transfer device, a remote operation maintenance platform and a remote operation transfer method, which can enable a worker to remotely control a switching assembly and a clamping assembly of the transfer device outside a shielding room to accurately transfer equipment and keep the position and state of the equipment stable. The remote operation transfer device comprises a controller, a fixing bracket, a switching assembly and a clamping assembly. The fixed bracket is arranged in the shielding chamber, and an upper-layer horizontal sliding rail and a lower-layer horizontal sliding rail are arranged on the fixed bracket. And the switching assembly is electrically connected with the controller and is further used for moving along the upper-layer horizontal sliding rail under the control of the controller so as to drive the to-be-transferred equipment to move. The clamping assembly is arranged on the lower-layer horizontal sliding rail in a sliding mode, electrically connected with the controller and used for moving along the lower-layer horizontal sliding rail under the control of the controller and clamping or loosening the to-be-transferred equipment on the switching assembly under the control of the controller.

Description

Technical Field

[0001] The present invention belongs to the technical field of nuclear chemical engineering, and in particular relates to a remote-operated transfer device, a remote-operated maintenance platform and a remote-operated transfer method. Background Art

[0002] For large-sized and heavy equipment (such as large gears) operating in special environments (such as strong radiation, toxic and harmful, high-risk, etc.), it is difficult to transport the equipment to a regular environment for inspection and maintenance, and it is also inconvenient for personnel to enter the special environment to directly perform inspection and maintenance operations. Therefore, it is necessary to build an inspection and maintenance platform in the special environment, and use remote control inspection and maintenance tools (such as power manipulators) to achieve inspection and maintenance work such as disassembly and assembly and replacement of parts of equipment operating in special environments through remote operation.

[0003] When performing the above-mentioned inspection and maintenance work on the equipment, it is usually necessary to move the equipment to a specific station, and use the remote control inspection and maintenance tool to inspect and maintain the equipment for the first process; then the equipment needs to be moved to the next station for the next process. In this process, it is necessary to achieve accurate movement of the equipment and keep the position and state of the equipment stable after the movement. However, the crane in the prior art is difficult to accurately move the equipment and keep the position of the equipment stable due to the flexible lifting rope.

[0004] This requires a device that can accurately move the equipment and keep the equipment's position and state stable. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a remote-operated transfer device, a remote-operated maintenance platform and a remote-operated transfer method in view of the above-mentioned deficiencies in the prior art, which can enable workers to remotely control the adapter components and clamping components of the transfer device outside the shielded room, so as to accurately transfer the equipment and maintain the stability of the position and status of the equipment.

[0006] In the first aspect, an embodiment of the present invention provides a remote-operated transfer device, which includes a controller, a fixed bracket, a transfer assembly, and a clamping assembly. The controller is arranged outside the shielding room, and is used to control the transfer assembly and the clamping assembly. The fixed bracket is arranged in the shielding room, and the fixed bracket is provided with an upper horizontal slide rail and a lower horizontal slide rail, and the upper horizontal slide rail and the lower horizontal slide rail are parallel to each other. The transfer assembly is slidably arranged on the upper horizontal slide rail, and is used to carry the equipment to be transferred; the transfer assembly is electrically connected to the controller, and is also used to move along the upper horizontal slide rail under the control of the controller to drive the equipment to be transferred to move. The clamping assembly is slidably arranged on the lower horizontal slide rail, and is electrically connected to the controller, and is used to move along the lower horizontal slide rail under the control of the controller, and to clamp or release the equipment to be transferred on the transfer assembly under the control of the controller, and to drive the equipment to be transferred to move up and down or along the lower horizontal slide rail after clamping the equipment to be transferred under the control of the controller.

[0007] In some embodiments, the clamping assembly includes a clamping sliding bracket, a first driving module, a lifting mechanism and a clamping mechanism. The clamping sliding bracket is slidably arranged on the lower horizontal slide rail, and is used to carry the equipment to be transferred. The first driving module is arranged on the clamping sliding bracket, and is electrically connected to the controller, and is used to drive the clamping sliding bracket to move along the lower horizontal slide rail under the control of the controller. The lifting mechanism is arranged on the clamping sliding bracket, and is electrically connected to the controller, and is used to drive the clamping mechanism to move up and down under the control of the controller. The clamping mechanism is connected to the lifting mechanism, and is electrically connected to the controller, and is used to clamp or release the equipment to be transferred under the control of the controller.

[0008] In some embodiments, the lifting mechanism includes a second drive module, a first lead screw and a lifting slider. The second drive module is arranged on the clamping sliding bracket and is electrically connected to the controller, and is used to drive the first lead screw to rotate under the control of the controller. The first lead screw is rotationally arranged on the clamping sliding bracket and is transmission-connected to the second drive module. The lifting slider is sleeved on the first lead screw and is threadedly connected to the first lead screw; the clamping mechanism is connected to the lifting slider. When the first lead screw rotates, it can drive the lifting slider to move up and down, so as to drive the clamping mechanism to move up and down through the lifting slider.

[0009] In some embodiments, the clamping mechanism includes a lifting frame, a clamping block and a third driving module. The lifting frame is connected to the lifting slider and can move up and down driven by the lifting slider; a horizontal clamping rail is provided on the lifting frame, and the horizontal clamping rail is perpendicular to the upper horizontal rail. The number of the clamping blocks is two; the two clamping blocks are slidably arranged at both ends of the horizontal clamping rail. The third driving module is arranged on the lifting frame and is electrically connected to the controller, and is used to drive the two clamping blocks to approach each other along the horizontal clamping rail under the control of the controller to clamp the equipment to be transferred, and drive the two clamping blocks to move away from each other along the horizontal clamping rail under the control of the controller to release the equipment to be transferred.

[0010] In some embodiments, the third drive module includes a second lead screw, a third drive member and a clamping slider. The second lead screw is rotatably arranged on the lifting frame and is parallel to the horizontal clamping rail, and the threads at both ends of the second lead screw have opposite rotation directions. The third drive member is arranged on the lifting frame and is transmission-connected to the third drive member; the third drive member is electrically connected to the controller and is used to drive the second lead screw to rotate under the control of the controller. Clamping slider The number of the clamping sliders is two; the two clamping sliders are slidably arranged at both ends of the horizontal clamping rail and are respectively threadedly connected to the two ends of the second lead screw; when the second lead screw rotates, it can drive the two clamping sliders to move closer to or away from each other along the horizontal clamping rail. The two clamping blocks are arranged corresponding to the two clamping sliders, and each clamping block is connected to the corresponding clamping slider to move under the drive of the corresponding clamping slider.

[0011] In some embodiments, the lower horizontal slide rail includes two first guide rails arranged in parallel, and the two ends of the clamping sliding bracket are respectively slidably arranged on the two first guide rails. The number of the first driving modules is two, and the two first driving modules are respectively arranged at the two ends of the clamping sliding bracket.

[0012] In some embodiments, the transfer assembly includes a transfer sliding bracket and a fourth drive module. The transfer sliding bracket is slidably arranged on the upper horizontal slide rail. The fourth drive module is arranged on the transfer sliding bracket and is electrically connected to the controller, and is used to drive the transfer sliding bracket to move along the upper horizontal slide rail under the control of the controller.

[0013] In some embodiments, the upper horizontal slide rail includes two sections of second guide rails arranged in parallel, and the two ends of the transfer sliding bracket are respectively slidably arranged on the two sections of the second guide rails. The number of the fourth drive modules is two, and the two fourth drive modules are respectively arranged at the two ends of the transfer sliding bracket.

[0014] In some embodiments, a transfer frame is provided on the top of the transfer sliding bracket, and the transfer frame is used to carry the equipment to be transferred.

[0015] Thus, the remotely operated transfer device provided by the embodiment of the present invention can support the transfer assembly and the clamping assembly respectively by setting a fixed bracket and setting upper horizontal rails and lower horizontal rails parallel to each other on the fixed bracket. By sliding the transfer assembly on the upper horizontal rail and electrically connecting the transfer assembly to the controller, the transfer assembly can be made to carry the equipment to be transferred, and move along the upper horizontal rail under the control of the controller to drive the equipment to be transferred to move. By sliding the clamping assembly on the lower horizontal rail and electrically connecting the clamping assembly to the controller, the clamping assembly can be made to move along the lower horizontal rail under the control of the controller, and clamp or release the equipment to be transferred on the transfer assembly under the control of the controller, and drive the equipment to be transferred to move up and down or along the lower horizontal rail after clamping the equipment to be transferred under the control of the controller. Therefore, the staff can remotely control the transfer assembly and the clamping assembly through the controller outside the shielded room, so as to transfer the equipment to be transferred to the target position through the transfer assembly and the clamping assembly, so as to replace part of the work of the crane. Compared with the crane in the prior art, the remote-operated transfer device does not have any flexible parts, so it can achieve accurate transfer of the equipment to be transferred. In addition, the way the clamping assembly clamps the equipment to be transferred can make the position and state of the equipment to be transferred more stable, thereby facilitating the inspection and maintenance of the equipment to be transferred.

[0016] In a second aspect, an embodiment of the present invention further provides a remote operation and maintenance platform, which includes the remote operation transfer device and the remote control maintenance tool in the first aspect. The remote operation transfer device is used to transfer the equipment to be repaired to the maintenance location. The remote control maintenance tool is used to remotely inspect and maintain the equipment to be repaired under the control of the staff.

[0017] In the third aspect, an embodiment of the present invention further provides a remote-operated transfer method, which uses the remote-operated transfer device in the first aspect, and the remote-operated transfer method includes: placing the equipment to be transferred on the transfer assembly; remotely controlling the transfer assembly to move along the upper horizontal slide rail through a controller, so that the transfer assembly drives the equipment to be transferred to a first position; remotely controlling the clamping assembly to clamp the equipment to be transferred on the transfer assembly through a controller, and drives the equipment to be transferred to a target position; remotely controlling the clamping assembly to release the equipment to be transferred through a controller to complete the transfer of the equipment to be transferred.

[0018] The remote-operated maintenance platform and remote-operated transfer method provided by the embodiments of the present invention have the same beneficial effects as the above-mentioned remote-operated transfer device, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 : A structural diagram of a remotely operated transfer device provided in an embodiment of the present invention;

[0020] Figure 2 : A structural diagram of a fixing bracket provided in an embodiment of the present invention;

[0021] Figure 3 : A structural diagram of a clamping assembly provided in an embodiment of the present invention;

[0022] Figure 4 : A structural diagram of a switching component provided in an embodiment of the present invention.

[0023] Among them, 1-fixed bracket; 2-adapter assembly; 3-gripping assembly; 5-upper horizontal slide rail; 6-lower horizontal slide rail; 7-fourth driving member; 8-fourth reduction box; 9-second roller;

[0024] 10-adapter frame; 11-first electrical penetration piece; 12-driving motor; 13-first reduction gearbox;

[0025] 14-first roller; 15-second electrical penetration piece; 16-gripping sliding bracket; 17-lifting frame;

[0026] 18-clamping mechanism; 19-second driving module; 21-lifting slider; 22-third driving member;

[0027] 23-the third reduction box; 24-the clamping slide block; 25-the clamping block. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0029] Embodiment 1:

[0030] like Figure 1 As shown, an embodiment of the present invention provides a remote-operated transfer device, which is applied to the maintenance process of equipment in a post-processing plant in the nuclear chemical industry, and is used to remotely transfer equipment to be repaired in an irradiated environment.

[0031] like Figure 1 As shown, the remote-operated transfer device includes a controller, a fixed bracket 1, a switching component 2 and a clamping component 3. The controller is arranged outside the shielding room and is used to control the switching component 2 and the clamping component 3.

[0032] Exemplarily, the controller may be a general-purpose microprocessor. The staff may send corresponding control signals (including position and direction information) to the adapter component 2 and the clamping component 3 through the controller to control the adapter component 2 and the clamping component 3 respectively.

[0033] Alternatively, the controller may be a control panel with operating buttons, and the staff controls the adapter component 2 and the clamping component 3 respectively by operating the operating buttons on the control panel.

[0034] By arranging the controller outside the shielding room, the damage to the controller caused by the radiation environment in the shielding room can be reduced, and it is convenient for the staff to operate the controller in a safe environment.

[0035] Combination Figure 1 and Figure 2 The fixed bracket 1 is arranged in the shielding room, and the fixed bracket 1 is provided with an upper horizontal slide rail 5 and a lower horizontal slide rail 6, and the upper horizontal slide rail 5 and the lower horizontal slide rail 6 are parallel to each other. The adapter assembly 2 is slidably arranged on the upper horizontal slide rail 5, and is used to carry the equipment to be transferred. The adapter assembly 2 is electrically connected to the controller, and is also used to move along the upper horizontal slide rail 5 under the control of the controller to drive the equipment to be transferred to move. The clamping assembly 3 is slidably arranged on the lower horizontal slide rail 6, and is electrically connected to the controller, and is used to move along the lower horizontal slide rail 6 under the control of the controller, and to clamp or release the equipment to be transferred on the adapter assembly 2 under the control of the controller, and after clamping the equipment to be transferred under the control of the controller, drive the equipment to be transferred to move up and down or along the lower horizontal slide rail 6.

[0036] Exemplarily, the fixed bracket 1 is formed by welding steel plates, and the upper horizontal slide rail 5 and the lower horizontal slide rail 6 are welded and fixed on the steel plates.

[0037] Exemplarily, the fixed bracket 1 is fixed on a horizontal plane, and can support the adapter assembly 2 and the clamping assembly 3 respectively through the upper horizontal slide rail 5 and the lower horizontal slide rail 6 .

[0038] Exemplarily, the fixed bracket 1 is located in the shielding room near the crane, and the length and position of the upper horizontal slide rail 5 must meet the requirements: the adapter assembly 2 can receive the equipment to be transported by the crane after moving along the upper horizontal slide rail 5.

[0039] Exemplarily, the lengths of the upper horizontal slide rail 5 and the lower horizontal slide rail 6 may be the same or different.

[0040] Exemplarily, the upper horizontal slide rail 5 and the lower horizontal slide rail 6 can be arranged in parallel (in the direction parallel to the upper horizontal slide rail 5, the moving ranges of the upper horizontal slide rail 5 and the lower horizontal slide rail 6 overlap), or they can be staggered (in the direction parallel to the upper horizontal slide rail 5, there are non-overlapping parts in the moving ranges of the upper horizontal slide rail 5 and the lower horizontal slide rail 6).

[0041] The lengths and relative arrangement of the upper horizontal slide rail 5 and the lower horizontal slide rail 6 can be flexibly arranged according to the needs of the site, and can meet the requirements of receiving and transporting the equipment to be transported.

[0042] For example, Figure 1 As shown, the adapter component 2 penetrates the shielding wall through the first electrical penetration piece 11 on the shielding wall, so that it can be electrically connected to the controller outside the shielding room; the clamping component 3 penetrates the shielding wall through the second electrical penetration piece 15 on the shielding wall, so that it can be electrically connected to the controller outside the shielding room.

[0043] Exemplarily, a crane is provided in the shielding room.

[0044] Exemplarily, the equipment to be transferred is a large-sized, heavy-weight precision equipment, for example, the equipment to be transferred is a cylindrical equipment such as a gear that needs to be clamped.

[0045] When it is necessary to transfer the equipment to be transferred, the staff can first control the adapter assembly 2 through the controller to move along the upper horizontal slide rail 5 to a position convenient for the crane in the shielding room to lift it, and then the crane in the shielding room can be operated to lift the equipment to be transferred and place it on the adapter assembly 2. Then, the controller controls the clamping assembly 3 to move along the lower horizontal slide rail 6 to a position convenient for clamping the equipment to be transferred, and clamps the equipment to be transferred. After the clamping assembly 3 clamps the equipment to be transferred, the controller can control the clamping assembly 3 to move the equipment to be transferred up and down or along the lower horizontal slide rail 6, and finally move the equipment to be transferred to the target position, and then the controller controls the clamping assembly 3 to release the equipment to be transferred to complete the transfer of the equipment to be transferred. Compared with the crane in the prior art, there is no flexible component in the remote-operated transfer device, so it can achieve accurate transfer of the equipment to be transferred, and maintain the stability of the position and state of the equipment to be transferred, thereby facilitating the inspection and maintenance of the equipment to be transferred.

[0046] It should be noted that the final target position of the above-mentioned transport equipment needs to be a position that the gripping assembly 3 can reach. Figure 1 and Figure 3 , that is, the position where the clamping assembly 3 can pass along the lower horizontal slide rail 6.

[0047] Therefore, the remote-operated transfer device provided by the embodiment of the present invention can support the adapter assembly 2 and the clamping assembly 3 by setting a fixed bracket 1 and setting an upper horizontal slide rail 5 and a lower horizontal slide rail 6 parallel to each other on the fixed bracket 1. By sliding the adapter assembly 2 on the upper horizontal slide rail 5 and electrically connecting the adapter assembly 2 with the controller, the adapter assembly 2 can carry the equipment to be transferred and move along the upper horizontal slide rail 5 under the control of the controller to drive the equipment to be transferred to move. By sliding the clamping assembly 3 on the lower horizontal slide rail 6 and electrically connecting the clamping assembly 3 with the controller, the clamping assembly 3 can move along the lower horizontal slide rail 6 under the control of the controller, and clamp or release the equipment to be transferred on the adapter assembly 2 under the control of the controller, and drive the equipment to be transferred to move up and down or along the lower horizontal slide rail 6 after clamping the equipment to be transferred under the control of the controller. Therefore, the staff can remotely control the adapter assembly 2 and the clamping assembly 3 through the controller outside the shielded room, so as to transfer the equipment to be transferred to the target location through the adapter assembly 2 and the clamping assembly 3, thereby replacing part of the work of the crane. Compared with the crane in the prior art, there is no flexible lifting rope in the remote-operated transfer device, so the precise transfer of the equipment to be transferred can be achieved. In addition, the way in which the clamping assembly 3 clamps the equipment to be transferred can make the position and state of the equipment to be transferred more stable, thereby facilitating the inspection and maintenance of the equipment to be transferred.

[0048] In some embodiments, Figure 3 As shown, the clamping assembly 3 includes a clamping sliding bracket 16, a first driving module, a lifting mechanism and a clamping mechanism 18. The clamping sliding bracket 16 is slidably arranged on the lower horizontal slide rail 6, and is used to carry the equipment to be transferred. The first driving module is arranged on the clamping sliding bracket 16, and is electrically connected to the controller, and is used to drive the clamping sliding bracket 16 to move along the lower horizontal slide rail 6 under the control of the controller. The lifting mechanism is arranged on the clamping sliding bracket 16, and is electrically connected to the controller, and is used to drive the clamping mechanism 18 to move up and down under the control of the controller. The clamping mechanism 18 is connected to the lifting mechanism, and is electrically connected to the controller, and is used to clamp or release the equipment to be transferred under the control of the controller.

[0049] Exemplarily, the gripping sliding bracket 16 is formed by welding steel plates. The bottom of the gripping sliding bracket 16 is slidably arranged on the lower horizontal slide rail 6, and the top of the gripping sliding bracket 16 is used to carry the equipment to be transported.

[0050] For example, Figure 3As shown, the first driving module includes a driving motor 12, a first reduction box 13 and a first roller 14 arranged on the clamping sliding bracket 16. The controller is electrically connected to the driving motor 12, and the control signal for controlling the movement of the clamping sliding bracket 16 sent by the controller to the clamping mechanism 18 is transmitted to the driving motor 12; after receiving the corresponding control signal, the driving motor 12 can rotate forward (clockwise or counterclockwise) or reverse (counterclockwise or clockwise), and drive the first roller 14 to rotate forward or reverse through the first reduction box 13; the first roller 14 can roll along the lower horizontal slide rail 6, thereby driving the clamping sliding bracket 16 to move along the lower horizontal slide rail 6.

[0051] Exemplarily, the drive motor 12 is disposed on the clamping sliding bracket 16 via a quick-insertion mechanism to facilitate assembly and disassembly of the drive motor 12 .

[0052] For example, the controller can send a control signal to the clamping mechanism 18 to clamp or release the device to be transferred.

[0053] Through the above arrangement, the controller can control the first driving module to control the movement of the clamping sliding bracket 16 on the lower horizontal slide rail 6, so that the clamping mechanism 18 clamps the equipment to be transferred and then moves along the lower horizontal slide rail 6 driven by the clamping sliding bracket 16.

[0054] In some examples, such as Figure 3 As shown, the power supply cable and the signal cable of the drive motor 12 are electrically connected to the controller through the second electrical penetration piece 15 on the shielding wall.

[0055] In some examples, a first position sensor is provided on the clamping sliding bracket 16, and the first position sensor is electrically connected to the controller for realizing real-time position feedback of the clamping sliding bracket 16, and serving as a closed-loop control signal of the drive motor 12 (a closed-loop control signal refers to a signal for adjusting the system input based on the deviation between the system output and the expected output in a closed-loop control system), so as to realize precise position control of the clamping sliding bracket 16.

[0056] In some embodiments, Figure 3 As shown, the lifting mechanism includes a second drive module 19, a first lead screw and a lifting slider 21. The second drive module 19 is arranged on the clamping sliding bracket 16 and is electrically connected to the controller, and is used to drive the first lead screw to rotate under the control of the controller. The first lead screw is rotatably arranged on the clamping sliding bracket 16 and is transmission-connected to the second drive module 19. The lifting slider 21 is sleeved on the first lead screw and is threadedly connected to the first lead screw; the clamping mechanism 18 is connected to the lifting slider 21. When the first lead screw rotates, it can drive the lifting slider 21 to move up and down, so as to drive the clamping mechanism 18 to move up and down through the lifting slider 21.

[0057] Exemplarily, the first lead screw and the lifting slider 21 form a lead screw-nut mechanism. The first lead screw can drive the lifting slider 21 to move up and down when rotating forward or reversely.

[0058] Exemplarily, the lifting slider 21 may be a T-shaped slider.

[0059] It can be understood that a guide rod or a guide rail is provided on the lifting slider 21 or the clamping mechanism 18 to prevent the lifting slider 21 from rotating around the first screw, so that the lifting slider 21 can only move up and down but cannot rotate around the first screw, thereby preventing the lifting slider 21 from rotating together with the first screw.

[0060] Exemplarily, the second driving module 19 includes a rotary motor, and the rotary end of the rotary motor can be directly connected to the first lead screw, or connected to the first lead screw through a reduction component (such as a second reduction box).

[0061] Exemplarily, the rotary motor is arranged on the clamping sliding bracket 16 through a quick-insertion structure to facilitate the quick disassembly and assembly of the rotary motor.

[0062] Exemplarily, the control signal for controlling the up and down movement of the clamping mechanism 18 sent by the controller to the clamping mechanism 18 is transmitted to the rotating motor of the second drive module 19 in the clamping mechanism 18; after receiving the corresponding control signal, the rotating motor drives the first screw to rotate forward or reverse, thereby driving the lifting slider 21 to move up and down, and driving the clamping mechanism 18 to move up and down through the lifting slider 21.

[0063] Through the above configuration, the second driving module 19 is controlled by the controller to drive the lifting slider 21 to move up and down, so as to drive the clamping mechanism 18 to move up and down through the lifting slider 21 .

[0064] In some examples, such as Figure 3 As shown, the power supply cable and the signal cable of the rotating motor in the second driving module 19 are electrically connected to the controller through the second electrical penetration piece 15 on the shielding wall.

[0065] In some examples, a second position sensor is provided on the lifting frame 17 of the clamping mechanism 18 described below. The second position sensor is electrically connected to the controller to realize real-time position feedback of the lifting frame 17 (clamping mechanism 18). As a closed-loop control signal of the rotating motor in the second drive module 19, precise position control of the lifting frame 17 (clamping mechanism 18) can be realized.

[0066] In some embodiments, Figure 3As shown, the clamping mechanism 18 includes a lifting frame 17, a clamping block 25 and a third driving module. The lifting frame 17 is connected to the lifting slider 21 and can move up and down driven by the lifting slider 21; a horizontal clamping rail is provided on the lifting frame 17, and the horizontal clamping rail is perpendicular to the upper horizontal rail 5. There are two clamping blocks 25; the two clamping blocks 25 are slidably arranged at both ends of the horizontal clamping rail. The third driving module is arranged on the lifting frame 17 and is electrically connected to the controller, and is used to drive the two clamping blocks 25 to move closer to each other along the horizontal clamping rail under the control of the controller to clamp the equipment to be transferred, and to drive the two clamping blocks 25 to move away from each other along the horizontal clamping rail under the control of the controller to release the equipment to be transferred.

[0067] For example, Figure 3 As shown, the lifting slider 21 is fixed to the back side of the lifting frame 17 by welding or screws.

[0068] In some embodiments, Figure 3 As shown, the third drive module includes a second lead screw, a third drive member 22 and a clamping slider 24. The second lead screw is rotatably arranged on the lifting frame 17 and is parallel to the horizontal clamping rail, and the threads at both ends of the second lead screw have opposite rotation directions. The third drive member 22 is arranged on the lifting frame 17 and is transmission-connected to the third drive member 22; the third drive member 22 is electrically connected to the controller and is used to drive the second lead screw to rotate under the control of the controller. There are two clamping sliders 24; the two clamping sliders 24 are slidably arranged at both ends of the horizontal clamping rail and are respectively threadedly connected to the two ends of the second lead screw; when the second lead screw rotates, it can drive the two clamping sliders 24 to move closer to or away from each other along the horizontal clamping rail. Two clamping blocks 25 are arranged corresponding to the two clamping sliders 24, and each clamping block 25 is connected to the corresponding clamping slider 24 to move under the drive of the corresponding clamping slider 24.

[0069] Exemplarily, the third driving member 22 is disposed on the lifting frame 17 via a quick-insertion structure to facilitate assembly and disassembly of the third driving member 22 .

[0070] For example, Figure 3 As shown, the third driving member 22 is a rotary motor, and the rotating end of the rotary motor is directly connected to the second lead screw, or is connected to the second lead screw through a third reduction box 23.

[0071] It can be understood that each clamping slider 24 and the second lead screw form a lead screw-nut mechanism.

[0072] Exemplarily, the control signal sent by the controller to the clamping mechanism 18 to control the clamping mechanism 18 to clamp or release the device to be transferred is transmitted to the third driving member 22 of the third driving module in the clamping mechanism 18; after receiving the corresponding control signal, the third driving member 22 drives the second screw to rotate forward or reverse.

[0073] The threads at both ends of the second lead screw have opposite rotation directions, so when the second lead screw rotates, the two clamping sliders 24 move in opposite directions, thereby driving the corresponding clamping blocks 25 to move closer to or away from each other, so as to clamp the equipment to be transferred when the two clamping blocks 25 move closer to each other, and release the equipment to be transferred when the two clamping blocks 25 move away from each other.

[0074] It can be understood that each clamping slider 24 or clamping block 25 is provided with a guide rod or a guide rail to prevent the clamping slider 24 from rotating around the second screw, so that the lifting slider 21 can only move horizontally but cannot rotate around the second screw, thereby preventing the lifting slider 21 from rotating together when the second screw rotates.

[0075] Through the above arrangement, the clamping mechanism 18 can be controlled to clamp or release by controlling the third driving member 22 of the third driving module.

[0076] In some examples, such as Figure 3 As shown, the power supply cable and the signal cable of the third driving member 22 are electrically connected to the controller through the second electrical penetration piece 15 on the shielding wall.

[0077] In some examples, such as Figure 3 As shown, a third position sensor is provided on the horizontal clamping rail, and the third position sensor is electrically connected to the controller for realizing real-time position feedback of the clamping slider 24 , and as a closed-loop control signal of the third driving member 22 , precise position control of the clamping slider 24 can be realized.

[0078] In some embodiments, in combination Figure 2 and Figure 3 The lower horizontal slide rail 6 includes two first guide rails arranged in parallel, and the two ends of the clamping sliding bracket 16 are respectively slidably arranged on the two first guide rails. There are two first drive modules, and the two first drive modules are respectively arranged at the two ends of the clamping sliding bracket 16.

[0079] Exemplarily, the two sections of the first guide rail have the same height.

[0080] The two sections of the first guide rails can provide better support for the clamping sliding bracket 16 .

[0081] The two first driving modules can form a one-in-use and one-in-standby combination.

[0082] For example, in daily use, only one of the first drive modules is used. When a first drive module in use fails, another first drive module is used.

[0083] Through the above arrangement, the reliability of the first driving module driving the gripping sliding bracket 16 to move along the lower horizontal slide rail 6 can be improved.

[0084] In some embodiments, in combination Figure 2 and Figure 4 The transfer assembly 2 includes a transfer sliding bracket and a fourth drive module. The transfer sliding bracket is slidably arranged on the upper horizontal slide rail 5. The fourth drive module is arranged on the transfer sliding bracket and is electrically connected to the controller, and is used to drive the transfer sliding bracket to move along the upper horizontal slide rail 5 under the control of the controller.

[0085] For example, the transfer sliding bracket is formed by welding steel plates.

[0086] For example, Figure 4 As shown, the fourth drive module includes a fourth drive member 7, a fourth reduction box 8 and a second roller 9 arranged on the transfer sliding bracket. The control signal sent by the controller to the transfer component 2 to control the transfer component 2 to move along the upper horizontal slide rail 5 is transmitted to the fourth drive member 7 of the fourth drive module in the transfer component 2; the fourth drive member 7 can rotate forward or reverse after receiving the corresponding control signal, and drive the second roller 9 to rotate forward or reverse through the fourth reduction box 8; the second roller 9 can roll along the upper horizontal slide rail 5, thereby driving the transfer sliding bracket to move along the upper horizontal slide rail 5.

[0087] Exemplarily, the fourth driving member 7 is a rotary motor. The fourth driving member 7 is arranged on the transfer sliding bracket through a quick insertion mechanism to facilitate the disassembly and assembly of the fourth driving member 7.

[0088] Through the above arrangement, the movement of the transfer sliding bracket can be achieved by controlling the action of the fourth driving module.

[0089] In some examples, such as Figure 4 As shown, the power supply cable and the signal cable of the fourth driving member 7 are electrically connected to the controller through the first electrical penetration piece 11 on the shielding wall.

[0090] In some examples, such as Figure 4 As shown, a fourth position sensor is provided on the transfer sliding bracket, and the fourth position sensor is electrically connected to the controller for realizing real-time position feedback of the transfer sliding bracket and serving as a closed-loop control signal of the fourth driving member 7 to realize precise position control of the transfer sliding bracket.

[0091] Exemplarily, the first position sensor, the second position sensor, the third position sensor, and the fourth position sensor may all be infrared position sensors.

[0092] In some embodiments, Figure 2 As shown, the upper horizontal slide rail 5 includes two sections of second guide rails arranged in parallel, and the two ends of the transfer sliding bracket are respectively slidably arranged on the two sections of second guide rails. There are two fourth drive modules, which are respectively arranged at the two ends of the transfer sliding bracket.

[0093] Exemplarily, the heights of the two second guide rails are the same. The two second guide rails are located outside the two first guide rails.

[0094] The two sections of the second guide rails can provide better support for the transfer sliding bracket.

[0095] The two fourth driving modules can form a one-in-use and one-in-standby combination.

[0096] For example, in daily use, only one of the fourth driving modules is used. When a fourth driving module in use fails, another fourth driving module is used.

[0097] Through the above arrangement, the reliability of the fourth driving module driving the transfer sliding bracket to move along the upper horizontal slide rail 5 can be improved.

[0098] In some embodiments, a transfer frame 10 is disposed on the top of the transfer sliding bracket, and the transfer frame 10 is used to carry the equipment to be transferred.

[0099] Exemplarily, there may be multiple adapter frames 10 . Figure 4 Two adapter frames 10 are shown.

[0100] The transfer frame 10 may also be provided with positioning columns for positioning the equipment to be transferred, so as to maintain the stability of the transfer frame 10 when driving the equipment to be transferred to move.

[0101] Through the above arrangement, it is convenient to transfer the equipment to be transferred to the remotely operated transfer device.

[0102] It should be noted that the remote-operated transfer device in this embodiment can also be used in special environments such as toxic, harmful, and highly dangerous environments that are not suitable for direct entry by workers. With the cooperation of the factory crane, it can be suitable for transfer operations such as disassembly and installation of large-size and heavy-weight modular equipment parts during long-distance inspection and maintenance.

[0103] Embodiment 2:

[0104] The embodiment of the present invention also provides a remote operation and maintenance platform, which is applied to special environments (such as strong radiation, toxic and harmful, high-risk, etc.), for example, in the post-processing plant in the nuclear chemical industry. With the cooperation of the plant crane, the remote operation and maintenance platform can be used for long-distance inspection and maintenance operations such as disassembly and installation of large-size and heavy modular equipment parts.

[0105] The remote operation maintenance platform includes the remote operation transfer device and the remote control maintenance tool in Example 1. The remote operation transfer device is used to transfer the equipment to be repaired to the maintenance location. The remote control maintenance tool is used to remotely inspect and maintain the equipment to be repaired under the control of the staff.

[0106] Exemplarily, the remote control maintenance tool may be a power manipulator, a master-slave manipulator, etc.

[0107] For example, when it is necessary to overhaul the equipment to be overhauled in the post-processing plant in the nuclear chemical industry, the equipment to be overhauled is first transferred to the transfer assembly 2 of the remote-operated transfer device by a plant crane, and the equipment to be transferred on the transfer assembly 2 is clamped by the clamping assembly 3, and the equipment to be transferred is moved to the target position (for example, the maintenance station), and then the equipment to be overhauled is remotely inspected and maintained by a remote control maintenance tool.

[0108] Through the above settings, the equipment to be inspected and maintained can be remotely transported through the remote operation maintenance platform, and the equipment to be inspected and maintained remotely after the transport, which solves the problem in the existing technology that the staff cannot enter special environments (such as strong radiation, toxic and harmful, high-risk, etc.) to inspect and maintain the equipment to be inspected and maintained.

[0109] Embodiment 3:

[0110] The embodiment of the present invention further provides a remote-operated transfer method. The remote-operated transfer method uses the remote-operated transfer device in Embodiment 1. The remote-operated transfer method includes: S100-S400.

[0111] S100, placing the equipment to be transferred on the transfer component 2.

[0112] Illustratively, before S100, the adapter assembly 2 may be moved to a position convenient for receiving the transfer equipment.

[0113] S200, remotely controlling the adapter assembly 2 to move along the upper horizontal slide rail 5 through a controller, so that the adapter assembly 2 drives the equipment to be transferred to move to the first position.

[0114] Exemplarily, the first position may be any position as long as it is convenient for the subsequent clamping of the clamping component 3 .

[0115] S300, remotely controlling the gripping component 3 through the controller to grip the device to be transferred on the transfer component 2, and driving the device to be transferred to the target position.

[0116] Exemplarily, before the clamping component 3 clamps the adapter component 2, it needs to move to the vicinity of the above-mentioned first position so that the clamping component 3 can grab the equipment to be transported.

[0117] The clamping assembly 3 can drive the equipment to be transferred to move along the lower horizontal slide rail 5, and drive the equipment to be transferred to move up and down.

[0118] S400, remotely controlling the gripping assembly 3 through the controller to release the equipment to be transferred, thereby completing the transfer of the equipment to be transferred.

[0119] Therefore, after the equipment to be transferred is placed on the adapter component 2, the staff can remotely control the adapter component 2 and the clamping component 3 through the controller without entering the special environment to realize the remote transfer of the equipment to be transferred, which is convenient for the subsequent use of maintenance tools (such as power manipulators, etc.) to realize the disassembly and assembly of equipment running in special environments and the replacement of parts through remote operation.

[0120] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A remotely operated transport device, characterized in that: include: A controller, arranged outside the shielding room, for controlling the switching component (2) and the clamping component (3); A fixed bracket (1) is arranged in the shielding room, and an upper horizontal slide rail (5) and a lower horizontal slide rail (6) are arranged on the fixed bracket (1), and the upper horizontal slide rail (5) and the lower horizontal slide rail (6) are parallel to each other; A transfer assembly (2) is slidably disposed on the upper horizontal slide rail (5) and is used to carry the equipment to be transferred; the transfer assembly (2) is electrically connected to the controller and is also used to move along the upper horizontal slide rail (5) under the control of the controller to drive the equipment to be transferred to move; and, The clamping assembly (3) is slidably arranged on the lower horizontal slide rail (6) and is electrically connected to the controller, and is used to move along the lower horizontal slide rail (6) under the control of the controller, and to clamp or release the equipment to be transferred on the transfer assembly (2) under the control of the controller, and to drive the equipment to be transferred to move up and down or along the lower horizontal slide rail (6) after clamping the equipment to be transferred under the control of the controller.

2. The remote-operated transfer device according to claim 1, characterized in that: The clamping assembly (3) comprises: A clamping sliding bracket (16) is slidably arranged on the lower horizontal slide rail (6) and is used to carry the equipment to be transported; A first driving module, arranged on the gripping sliding bracket (16) and electrically connected to the controller, for driving the gripping sliding bracket (16) to move along the lower horizontal slide rail (6) under the control of the controller; a lifting mechanism, which is arranged on the clamping sliding bracket (16) and is electrically connected to the controller, and is used to drive the clamping mechanism (18) to move up and down under the control of the controller; and, A clamping mechanism (18) is connected to the lifting mechanism and electrically connected to the controller, and is used to clamp or release the device to be transported under the control of the controller.

3. The remote-operated transfer device according to claim 2, characterized in that: The lifting mechanism comprises: A second driving module (19) is arranged on the clamping sliding bracket (16) and is electrically connected to the controller, and is used to drive the first lead screw to rotate under the control of the controller; a first lead screw rotatably disposed on the clamping sliding bracket (16) and drivingly connected to the second driving module (19); and, A lifting slider (21) is sleeved on the first lead screw and is threadedly connected to the first lead screw; the clamping mechanism (18) is connected to the lifting slider (21); When the first lead screw rotates, it can drive the lifting slider (21) to move up and down, thereby driving the clamping mechanism (18) to move up and down through the lifting slider (21).

4. The remotely operated transfer device according to claim 3, characterized in that: The clamping mechanism (18) comprises: A lifting frame (17) is connected to the lifting slider (21) and can move up and down driven by the lifting slider (21); a horizontal clamping slide rail is arranged on the lifting frame (17), and the horizontal clamping slide rail is perpendicular to the upper horizontal slide rail (5); Clamping blocks (25), the number of the clamping blocks (25) is two; the two clamping blocks (25) are slidably arranged at both ends of the horizontal clamping rail; and, The third driving module is arranged on the lifting frame (17) and is electrically connected to the controller, and is used to drive the two clamping blocks (25) to move closer to each other along the horizontal clamping slide rail under the control of the controller to clamp the equipment to be transferred, and to drive the two clamping blocks (25) to move away from each other along the horizontal clamping slide rail under the control of the controller to release the equipment to be transferred.

5. The remotely operated transfer device according to claim 4, characterized in that: The third driving module comprises: A second lead screw is rotatably disposed on the lifting frame (17) and is parallel to the horizontal clamping slide rail, and the threads at both ends of the second lead screw have opposite rotation directions; a third driving member (22), which is arranged on the lifting frame (17) and is in driving connection with the third driving member (22); the third driving member (22) is electrically connected to the controller and is used to drive the second lead screw to rotate under the control of the controller; and, A clamping slider (24), wherein the number of the clamping sliders (24) is two; the two clamping sliders (24) are slidably arranged at the two ends of the horizontal clamping slide rail, and are respectively threadedly connected to the two ends of the second lead screw; when the second lead screw rotates, the two clamping sliders (24) can be driven to move closer to or farther from each other along the horizontal clamping slide rail; The two clamping blocks (25) are arranged corresponding to the two clamping slide blocks (24), and each clamping block (25) is connected to the corresponding clamping slide block (24) so ​​as to move under the drive of the corresponding clamping slide block (24).

6. The remotely operated transfer device according to claim 2, characterized in that: The lower horizontal slide rail (6) comprises two sections of first guide rails arranged in parallel, and the two ends of the clamping sliding bracket (16) are respectively slidably arranged on the two sections of the first guide rails; The number of the first driving modules is two, and the two first driving modules are respectively arranged at two ends of the clamping sliding bracket (16).

7. The remotely operated transfer device according to claim 1, characterized in that: The adapter component (2) comprises: a transfer sliding bracket, slidably arranged on the upper horizontal sliding rail (5); and, The fourth driving module is arranged on the transfer sliding bracket and is electrically connected to the controller, and is used for driving the transfer sliding bracket to move along the upper horizontal slide rail (5) under the control of the controller.

8. The remotely operated transfer device according to claim 7, characterized in that: The upper horizontal slide rail (5) comprises two sections of second guide rails arranged in parallel, and the two ends of the transfer sliding bracket are respectively slidably arranged on the two sections of the second guide rails; The number of the fourth driving modules is two, and the two fourth driving modules are respectively arranged at two ends of the transfer sliding bracket.

9. The remotely operated transfer device according to claim 7, characterized in that: A transfer frame (10) is arranged on the top of the transfer sliding bracket, and the transfer frame (10) is used to carry the equipment to be transferred.

10. A remote operation and maintenance platform, characterized in that: include: The remotely operated transfer device according to any one of claims 1 to 9 is used to transfer the equipment to be repaired to the repair location; and, The remote control maintenance tool is used to remotely inspect and maintain the equipment to be repaired under the control of the staff.

11. A remote operation transport method, characterized in that: Using the remote-operated transport device according to any one of claims 1 to 9, the remote-operated transport method comprises: Placing the equipment to be transferred on the transfer assembly (2); The controller remotely controls the transfer assembly (2) to move along the upper horizontal slide rail (5), so that the transfer assembly (2) drives the equipment to be transferred to move to the first position; Remotely controlling the gripping assembly (3) through a controller to grip the device to be transferred on the transfer assembly (2), and driving the device to be transferred to move to a target position; The controller remotely controls the gripping assembly (3) to release the device to be transferred, thereby completing the transfer of the device to be transferred.

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