Transportation equipment and control method

Abstract

The invention relates to the technical field of transportation, and provides transportation equipment and a control method.The transportation equipment comprises a moving platform, a lifting device, a swinging device, a rotating device, a lengthening rod and a carrying mechanism, and the moving platform is used for moving in the horizontal plane; the lifting device is arranged on the moving platform; the swinging device is connected to the lifting device; the rotating device is connected to the swinging device; one end of the lengthening rod is connected with the rotating device, and the lengthening rod extends out of the moving platform in the first direction; the loading mechanism is connected to the other end of the extension bar; the lifting device is used for driving the swing device to move up and down in the vertical direction, the swing device is used for driving the rotating device to swing in a pitching mode in the vertical direction, and the rotating device is used for driving the lengthening rod to rotate around the axis of the lengthening rod. Multi-degree-of-freedom flexible movement of the object carrying mechanism in the narrow space can be achieved, the posture of the object carrying mechanism in the narrow space is adjusted, therefore, obstacles in the narrow space are avoided, and long-distance and accurate workpiece taking and placing are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of transportation, and particularly provides a transportation device suitable for long-distance narrow space and a control method. BACKGROUND

[0002] In a hydraulic system of a nuclear power plant, pipeline layout is dense and space is narrow, and components such as accumulators are often located in difficult-to-access positions. Existing maintenance operations mostly rely on manual disassembly and assembly by operating personnel, which requires entering the restricted space for operation and transporting the components out of the space. This not only has low efficiency, but also easily causes accidental contact with pipelines or equipment due to crowded space, and has safety hazards. SUMMARY

[0003] Embodiments of the present application aim to provide a transportation device and a control method, and aim to solve the problem of difficulty in taking and placing components in a narrow space in an existing hydraulic system of a nuclear power plant.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows: In a first aspect, the embodiments of the present application provide a transportation device, comprising: a moving platform configured to move in a horizontal plane; a lifting device arranged on the moving platform; a swinging device connected to the lifting device; a rotating device connected to the swinging device; an elongated rod, one end of the elongated rod being connected to the rotating device, the elongated rod extending out of the moving platform in a first direction; a load-carrying mechanism connected to the other end of the elongated rod; wherein the lifting device is configured to drive the swinging device to move up and down in a vertical direction, the swinging device is configured to drive the rotating device to pitch and swing in the vertical direction, and the rotating device is configured to drive the elongated rod to rotate about its own axis.

[0005] In some embodiments, the lifting device comprises a mounting seat, a guide rail, a sliding seat and a first driving mechanism, the mounting seat is mounted on the moving platform, the guide rail is arranged on the mounting seat in the vertical direction, the sliding seat is slidingly connected to the guide rail and connected to the swinging device, and the first driving mechanism is connected to the sliding seat and configured to drive the sliding seat to move up and down along the guide rail.

[0006] In some embodiments, the first driving mechanism comprises a lead screw and a first hand wheel, the lead screw is arranged on the mounting seat in the vertical direction and threadedly connected to the sliding seat, and the first hand wheel is connected to the top end of the lead screw and configured to drive the lead screw to rotate.

[0007] In some embodiments, the swing device comprises a base, a swing member and an adjusting mechanism, the base is connected to the lifting device, the swing member is arranged on the base, the rotating device is connected to the swing member, and the swing member has a first end and a second end in the vertical direction, the first end is rotationally connected to the base, the adjusting mechanism is arranged on the base and is used to drive the second end to rotate the swing member about the first end to adjust the pitch angle of the swing member.

[0008] In some embodiments, the second end of the swing member is provided with a recess on both sides in the first direction, and each recess is provided with the adjusting mechanism outside in the first direction; The adjusting mechanism comprises a limiting seat, an adjusting bolt and a locking nut, the limiting seat is arranged opposite to the recess, the adjusting bolt is arranged in the limiting seat in the first direction and is used to abut against the recess of the corresponding limiting seat, and the locking nut is connected to the adjusting bolt and is located outside the corresponding limiting seat away from the recess.

[0009] In some embodiments, the second end of the swing member is provided with a guide groove between the two recesses, and the base is provided with a limiting pin arranged in the guide groove.

[0010] In some embodiments, the rotating device comprises a housing, a worm gear transmission mechanism and a second driving mechanism, the housing is connected to the swing device, the worm gear transmission mechanism is arranged in the housing, and the second driving mechanism is connected to the extended rod through the worm gear transmission mechanism and is used to drive the worm gear transmission mechanism to rotate the extended rod.

[0011] In some embodiments, the object carrying mechanism can swing in the horizontal plane relative to the extended rod; And / or, the length of the extended rod is adjustable; And / or, the side of the moving platform away from the lifting device is provided with a counterweight.

[0012] In some embodiments, the object carrying mechanism comprises an electrically powered clamp jaw; Alternatively, the object carrying mechanism comprises a tray and a binding belt, the tray is rotationally connected to the other end of the extended rod through a swing joint, and the binding belt is arranged on the tray and is used to fix the to-be-transported member on the tray.

[0013] In a second aspect, the embodiments of the present application further provide a control method of the transport equipment in the above embodiments, comprising: obtaining target position information of a to-be-transported member and distribution information of an obstacle in a narrow space; According to the target position information of the to-be-transported piece and the distribution information of the obstacles, the mobile platform, the lifting device, the swing device and the rotating device are controlled to drive the lengthened rod to extend into the narrow space and avoid the obstacles, so that the object-carrying mechanism reaches the target position of the to-be-transported piece; The object-carrying mechanism is controlled to carry the to-be-transported piece; The mobile platform, the lifting device, the swing device and the rotating device are controlled to drive the lengthened rod to avoid the obstacles and make the object-carrying mechanism exit the narrow space, and the taking piece is completed.

[0014] The transportation equipment and the control method provided by the application have the beneficial effects that compared with the prior art, through the cooperative matching of the mobile platform, the lifting device, the swing device, the rotating device and the lengthened rod, the object-carrying mechanism can realize flexible movement with multiple degrees of freedom in the narrow space, the posture of the object-carrying mechanism in the narrow space is adjusted, the obstacles in the narrow space are avoided, the components such as the energy accumulator are taken and placed remotely and accurately, the safety and efficiency of the maintenance process are significantly improved, and the hydraulic pipeline or related equipment is effectively prevented from being accidentally touched. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0016] Figure 1 The structure schematic diagram of the transportation equipment provided by the embodiment of the application is shown in the figure. Figure 2 The structure schematic diagram of the lifting device provided by the embodiment of the application is shown in the figure. Figure 3 The internal structure schematic diagram of the lifting device provided by the embodiment of the application is shown in the figure. Figure 4 The structure assembly diagram of the brake provided by the embodiment of the application is shown in the figure. Figure 5 The structure assembly diagram of the swing device provided by the embodiment of the application is shown in the figure. Figure 6 The structure schematic diagram of the rotating device provided by the embodiment of the application is shown in the figure. Figure 7 The structure assembly diagram of the object-carrying mechanism provided by the embodiment of the application is shown in the figure. Figure 8 The structure schematic diagram of the object-carrying mechanism carrying the to-be-transported piece provided by the embodiment of the application is shown in the figure. Figure 9A structural sectional view of a connecting head provided for an embodiment of the present application; Figure 10 A structural schematic view of a rotating shaft provided for an embodiment of the present application; Figure 11 A flow schematic view of a control method of a transportation device provided for an embodiment of the present application.

[0017] In the drawings, various reference numbers refer to: 1, mobile platform; 11, universal wheel; 12, clamp; 13, counterweight; 2, lifting device; 21, mounting seat; 211, guide opening; 22, guide rail; 23, sliding seat; 231, main body part; 232, connecting part; 24, first driving mechanism; 241, screw rod; 242, first hand wheel; 25, brake; 251, fixed seat; 2511, seat body; 2512, clamping block; 252, handle; 3, swinging device; 31, base; 32, swinging piece; 321, first end; 322, second end; 323, mounting hole; 324, recess; 325, guide groove; 33, adjusting mechanism; 331, limiting seat; 332, adjusting bolt; 333, locking nut; 34, hinge shaft; 35, limiting pin; 4, rotating device; 41, housing; 42, worm; 43, rotating shaft; 44, second hand wheel; 5, extension rod; 51, swinging joint; 511, connecting head; 5111, rod body; 5112, ear seat; 5113, fastening hole; 5114, spring pin; 5115, ear plate; 5116, first connecting hole; 512, connecting plate; 513, fastening assembly; 5131, rotating shaft; 5132, fixed nut; 5133, end cap; 5134, shaft body; 5135, threaded wall; 5136, regular polygonal wall; 6, object carrying mechanism; 61, tray; 611, supporting part; 6111, positioning hole; 612, abutting part; 62, binding belt; 7, support; 8, to-be-transported piece. DETAILED DESCRIPTION

[0018] Embodiments of the present application are described below in detail with reference to the accompanying drawings, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0019] In the description of the embodiments of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the embodiments of the present application.

[0020] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly specified and limited.

[0021] In the embodiments of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0022] In the hydraulic system of a nuclear power plant, the pipeline layout is dense and the space is narrow, and components such as accumulators are often located in difficult-to-access positions. The existing maintenance operation relies on manual disassembly and assembly by operating personnel, which requires entering the restricted space and transporting it out, which not only has low efficiency, but also has the risk of accidental collision with pipelines or equipment due to crowded space. For maintenance personnel with a larger body size, the operation is particularly difficult, and even the taking and placing operation cannot be completed. Therefore, the present application provides a transportation device integrating multiple degrees of freedom motion capability and remote operation function, which realizes the replacement of the traditional manual taking and placing operation, and significantly improves the safety, efficiency and adaptability of the operation.

[0023] In some embodiments, reference is made to Figure 1As shown, this application provides a transportation device, including: a mobile platform 1, a lifting device 2, a swinging device 3, a rotating device 4, an extension rod 5, and a loading mechanism 6. The mobile platform 1 is used to move in a horizontal plane; the lifting device 2 is disposed on the mobile platform 1; the swinging device 3 is connected to the lifting device 2; the rotating device 4 is connected to the swinging device 3; one end of the extension rod 5 is connected to the rotating device 4, and the extension rod 5 extends out of the mobile platform 1 along a first direction X; the loading mechanism 6 is connected to the other end of the extension rod 5; the lifting device 2 is used to drive the swinging device 3 to move up and down along the vertical direction Z, the swinging device 3 is used to drive the rotating device 4 to swing in the vertical direction Z, and the rotating device 4 is used to drive the extension rod 5 to rotate around its own axis. As an example, such as Figure 1 As shown, the lifting device 2, the swinging device 3 and the rotating device 4 can be arranged along the second direction Y, and the swinging device 3 is provided between the lifting device 2 and the rotating device 4.

[0024] like Figure 1 As shown, the first direction X is the length direction of the mobile platform 1, the second direction Y is the width direction of the mobile platform 1, and the vertical direction Z is the height direction of the mobile platform 1. The first direction X, the second direction Y, and the vertical direction Z are perpendicular to each other.

[0025] Mobile platform 1 is primarily used to provide transportation equipment with free movement in the horizontal plane (XY direction), enabling the equipment to flexibly approach the work area and expand the work coverage. Mobile platform 1 can be a wheeled, tracked, or rail-mounted vehicle, equipped with autonomous navigation or remote control capabilities, and adaptable to different ground environments. As an example, such as... Figure 1 As shown, the mobile platform 1 can also be a trolley, with multiple casters 11 at the bottom.

[0026] The lifting device 2 can be fixedly installed on the mobile platform 1 via the bracket 7. It is used to drive the swing device 3 to move vertically in the Z direction, thereby driving the rotating device 4, the extension rod 5, and the loading mechanism 6 to move synchronously in the Z direction. The height of the extension rod 5 and the loading mechanism 6 can be adjusted to avoid obstacles in narrow spaces. The lifting device 2 can be a hydraulic cylinder, an electric push rod, a lead screw structure, etc.

[0027] The swinging device 3 is mainly used to drive the rotating device 4 to swing in the vertical direction Z, thereby driving the extension rod 5 and the carrying mechanism 6 to swing synchronously, so that the extension rod 5 can be extended into the narrow space at a certain tilt angle to avoid obstacles in the space and improve space adaptability.

[0028] The rotating device 4 is mainly used to drive the extension rod 5 to rotate around its own axis, further adjust the posture of the carrying mechanism 6, ensure that it is aligned with the item to be transported 8 (such as an energy accumulator), facilitate installation, and adjust the posture to avoid obstacles.

[0029] The extension rod 5 is connected to the rotating device 4 at its head and the loading mechanism 6 at its tail. The extension rod 5 extends out from the front of the moving platform 1. The extension feature of the extension rod 5 enables remote operation.

[0030] The loading mechanism 6, acting as an end effector, is used to carry the item 8 to be transported. The loading mechanism 6 of this application can be designed according to the actual item 8 to be transported. For example, the loading mechanism 6 can be a mechanical gripper, an electric gripper, a magnetic suction device, a pallet structure, etc.

[0031] The working principle of the transportation equipment provided in the embodiments of this application is described below, which generally includes: The system acquires the location information of the component 8 to be transported within the confined space and the distribution information of surrounding obstacles, and plans an entry path based on this spatial information. Then, according to the planned path, it controls the moving platform 1, lifting device 2, swinging device 3, and rotating device 4 to drive the extension rod 5 into the confined space and avoid obstacles, so that the carrying mechanism 6 reaches the target position of the component 8 to be transported. Then, it controls the carrying mechanism 6 to carry the component 8 to be transported. Finally, it controls the moving platform 1, lifting device 2, swinging device 3, and rotating device 4 again to drive the extension rod 5 to avoid obstacles and make the carrying mechanism 6 exit the confined space, completing the retrieval of the component. After the component is repaired, it is returned to its original position according to the above operation.

[0032] Therefore, the transportation equipment provided in this application embodiment, through the coordinated operation of the mobile platform 1, lifting device 2, swinging device 3, rotating device 4 and extension rod 5, can realize the flexible movement of the carrying mechanism 6 in a narrow space with multiple degrees of freedom, adjust the posture of the carrying mechanism 6 in the narrow space, thereby avoiding obstacles in the narrow space, and realize the remote and precise picking and placing of components such as accumulators, which significantly improves the safety and efficiency of the maintenance process and effectively prevents accidental contact with hydraulic pipelines or related equipment.

[0033] In some embodiments, refer to Figure 2 and Figure 3 As shown, the lifting device 2 includes a mounting base 21, a guide rail 22, a slide 23, and a first drive mechanism 24. The mounting base 21 is mounted on the mobile platform 1. The guide rail 22 is arranged on the mounting base 21 in the vertical direction Z. The slide 23 is slidably connected to the guide rail 22 and connected to the swing device 3. The first drive mechanism 24 is connected to the slide 23 and is used to drive the slide 23 to move up and down along the guide rail 22.

[0034] Mounting base 21 serves as the main support for the entire lifting device 2. It can be fixed to the mobile platform 1 by bracket 7 to ensure structural stability and load-bearing capacity.

[0035] The guide rail 22 is arranged on the mounting base 21 in the vertical direction Z, and is used to guide the sliding base 23 to ensure the linearity and stability during the lifting process, and prevent the load from being unbalanced or shaking. The guide rail 22 can be provided with one or more. As an example, as shown in Figure 3 two guide rails 22 are arranged side by side.

[0036] The sliding base 23 is in sliding cooperation with the guide rail 22, and is used to connect the swing device 3 to transmit the lifting motion to the swing device 3, the rotating device 4, the extension rod 5 and the load carrying mechanism 6.

[0037] The first driving mechanism 24 of the embodiment of the application can adopt the form of an electric push rod, a hydraulic cylinder or an air cylinder, and is used to drive the sliding base 23 to make reciprocating lifting motion along the guide rail 22.

[0038] The lifting device 2 provided by the embodiment of the application realizes the smooth and accurate lifting of the sliding base 23 in the vertical direction Z. The device effectively supports the movement of the swing device 3 and the rotating device 4, improves the reliability and positioning accuracy of the whole machine during the operation in a narrow space, provides a solid foundation for the multi-degree-of-freedom adjustment of the load carrying mechanism 6 at the end of the extension rod 5, and further guarantees the safety and efficiency of the remote taking and placing operation of the components such as the accumulator in the hydraulic system.

[0039] In some embodiments, referring to Figure 3 the first driving mechanism 24 includes a lead screw 241 and a first hand wheel 242. The lead screw 241 is arranged on the mounting base 21 in the vertical direction Z and is threadedly connected with the sliding base 23. The first hand wheel 242 is connected to the top end of the lead screw 241 and is used to drive the lead screw 241 to rotate.

[0040] The lead screw 241 is arranged on the mounting base 21 in the vertical direction Z, and the axis thereof is arranged in parallel with the guide rail 22. The sliding base 23 is threadedly connected with the lead screw 241. When the lead screw 241 rotates, the rotation motion is converted into the linear lifting motion of the sliding base 23 through the thread transmission. The first hand wheel 242 is fixedly connected to the top end of the lead screw 241, and is convenient for rotating operation.

[0041] The embodiment of the application adopts the driving structure of the lead screw 241 cooperating with the first hand wheel 242. The lead screw 241 is driven to rotate by rotating the hand wheel, and the sliding base 23 is stably lifted along the guide rail 22. The structure is simple, compact and convenient to operate. At the same time, the manual operation mode is convenient for controlling the lifting rhythm, and improves the operation safety and controllability. The structure is especially suitable for the nuclear power plant operation environment with high requirements for explosion-proof performance, and enhances the practicality and environmental adaptability of the transportation equipment.

[0042] In some embodiments, the mounting base 21 can be in the form of a plate or a box.

[0043] As an example, as shown inFigure 2 and Figure 3 As shown, the mounting base 21 is a box structure. Two guide rails 22 are arranged on both sides of the box along the vertical direction Z. The lead screw 241 passes through the box along the vertical direction Z and is located between the two guide rails 22. The top end of the lead screw 241 is located at the top of the box and is connected to the first handwheel 242. The bottom end of the lead screw 241 is rotatably connected to the bottom of the box. The box is provided with guide openings 211 extending along the vertical direction Z on both sides along the first direction X. The slide 23 includes a main body 231 and two connecting parts 232. The main body 231 is located in the box and is threaded onto the lead screw 241. The main body 231 is slidably connected to the two guide rails 22. The two connecting parts 232 can be arranged one-to-one on both sides of the main body 231 and extend through the guide openings 211 to the outside of the box for connecting the swing device 3. Furthermore, the connecting part 232 of the slide 23 can be fixedly connected to the main body 231 by means of bolts, integral molding, etc., and the connecting part 232 can be vertically connected to the side of the main body 231 facing away from the box.

[0044] In this embodiment of the application, by setting the mounting base 21 to the above-mentioned box structure, the internal components can be protected, the service life can be extended, and the transmission cooperation between the mounting base 21 and the external swing device 3 can be guaranteed.

[0045] In some embodiments, refer to Figure 2 As shown, the lifting device 2 also includes a brake 25, which is connected to the lead screw 241 and is used to brake the lead screw 241 to ensure the accuracy and stability of the position of the slide 23, thereby improving operational safety. Specifically, after adjusting the height of the slide 23 using the first handwheel 242, the brake 25 can be used to lock the lead screw 241 to prevent it from rotating.

[0046] As an example, such as Figure 4 As shown, the brake 25 may include a fixed seat 251 and a handle 252. The fixed seat 251 includes an integrally formed seat body 2511 and two clamping blocks 2512. The seat body 2511 is fixed to the top of the mounting seat 21, and the lead screw 241 passes through the seat body 2511. One end of the two clamping blocks 2512 is respectively connected to the seat body 2511. The two clamping blocks 2512 are arranged opposite each other with a gap and are located on both sides of the lead screw 241. One end of the handle 252 is provided with a threaded post. The threaded post passes laterally through one clamping block 2512 and extends into the other clamping block 2512. The threaded post is threadedly connected to the two clamping blocks 2512.

[0047] When the height position of the sliding seat 23 is adjusted by the first hand wheel 242, the handle 252 can be rotated to deform the two clamping blocks 2512 to approach each other and clamp the lead screw 241. Since the clamping blocks 2512 are fixed to the mounting seat 21 through the seat body 2511, the lead screw 241 can be braked. Conversely, when the position of the sliding seat 23 needs to be adjusted, the handle 252 can be rotated in the opposite direction, and the two clamping blocks 2512 are deformed to reset and move away from each other to release the lead screw 241.

[0048] Therefore, the embodiment of the present application realizes manual braking of the lead screw 241, which is convenient to operate and is especially suitable for a nuclear power plant operating environment with high requirements for explosion-proof performance.

[0049] In other embodiments, the threads of the lead screw 241 and the sliding seat 23 can be trapezoidal threads, so that self-locking can be realized, the sliding seat 23 can be stably stopped at any position without the need for an additional brake, the device is simplified, the cost is reduced, and the operating safety is improved.

[0050] In some embodiments, referring to Figure 5 As shown in the figure, the swing device 3 includes a base 31, a swing member 32, and an adjusting mechanism 33. The base 31 is connected to the lifting device 2, the swing member 32 is arranged on the base 31, the rotating device 4 is connected to the swing member 32, and the swing member 32 has a first end 321 and a second end 322 in the vertical direction Z. The first end 321 is rotationally connected to the base 31, and the adjusting mechanism 33 is arranged on the base 31 and is used to drive the second end 322 to rotate the swing member 32 about the first end 321 to adjust the pitch angle of the swing member 32.

[0051] The base 31, as the mounting main body of the swing device 3, can be fixedly connected to the connecting portion 232 of the sliding seat 23 of the lifting device 2 by screws or other fasteners. The base 31 can be a plate structure.

[0052] The swing member 32 can be a rigid member, which can be a connecting rod, a bracket, a rocker arm, or a swing plate. The first end 321 of the swing member 32 can be the upper end or the lower end, and correspondingly, the second end 322 can be the lower end or the upper end. The first end 321 of the swing member 32 can be rotationally connected to the base 31 through a hinge shaft 34 to form a swing pivot point, and the second end 322 is a free end that moves left and right under the drive of the adjusting mechanism 33, thereby driving the entire swing member 32 to make a fan-shaped swing about the first end 321. An installation hole 323 is arranged on the swing member 32 to fix the rotating device 4 through screws or other fasteners, so that the rotating device 4 pitches synchronously with the swing member 32.

[0053] The adjusting mechanism 33 is installed on the base 31 and acts on the second end 322 of the swing member 32 to drive it to move left and right. The adjusting mechanism 33 can adopt various forms, for example, an electric push rod or a hydraulic cylinder, etc., which drives the second end 322 of the swing member 32 to swing by pushing and pulling.

[0054] The swing device 3 provided by the embodiments of the present application can realize the pitch angle adjustment of the rotating device 4 and the extension rod 5 in the vertical plane, can flexibly adjust the entering angle according to the layout of the narrow space, and effectively avoids the surrounding obstacles.

[0055] In some embodiments, as shown in Figure 5 The second end 322 of the swing member 32 is provided with a recess 324 on each side along the first direction X, and each recess 324 is provided with an adjusting mechanism 33 on the outer side along the first direction X; the adjusting mechanism 33 includes a limiting seat 331, an adjusting bolt 332 and a locking nut 333, the limiting seat 331 is arranged opposite to the recess 324, the adjusting bolt 332 is arranged through the limiting seat 331 along the first direction X and is used for abutting against the recess 324 corresponding to the limiting seat 331, and the locking nut 333 is connected to the adjusting bolt 332 and is located on the outer side of the limiting seat 331 away from the recess 324.

[0056] The recess 324 is arranged on each side of the second end 322 of the swing member along the first direction X to form a local avoiding area, which prevents the swing member 32 from being in contact and interference with the limiting seat 331 during the swing process and ensures smooth movement; meanwhile, the edge of the recess 324 is used as a force receiving surface to receive the thrust of the adjusting bolt 332 and realize force transmission.

[0057] In the embodiments of the present application, the independent adjusting mechanism 33 is arranged on each side of the swing member 32, in which the limiting seat 331 is fixed to the base 31 and has a threaded hole; the adjusting bolt 332 is horizontally arranged through the threaded hole of the limiting seat 331, and the end thereof abuts against the recess 324 of the second end 322 of the swing member; and the locking nut 333 is located on the outer side of the limiting seat 331 and is convenient to screw, which is used for locking the position of the adjusting bolt 332 to prevent loosening. The two adjusting mechanisms 33 are symmetrically arranged to ensure the stability of the swing member 32.

[0058] During operation, the locking nuts 333 on both sides are loosened first; then the adjusting bolt 332 on one side is screwed inward (pushes the recess 324), and at the same time, the adjusting bolt 332 on the other side is screwed outward (releases the pressure) to form a differential pushing and pulling action; the differential operation makes the second end 322 of the swing member produce a transverse displacement, and then the first end 321 of the swing member produces a pitch rotation; after adjustment, the locking nuts 333 are tightened to fix the positions of the adjusting bolts 332 and realize angle locking.

[0059] The adjusting mechanism 33 provided by the embodiment of the present application is a manual differential swing adjusting mechanism, and the angle is finely adjusted through the precise displacement control of the thread, the posture of the swing piece 32 can be accurately controlled, different space path requirements can be adapted, and the flexibility and operation reliability of the transportation equipment in a narrow and complex environment are significantly improved. Meanwhile, the manual operation is particularly suitable for the nuclear power station operation environment with high requirements on the explosion-proof performance.

[0060] In some embodiments, referring to Figure 5 As shown in the figure, the second end 322 of the swing piece 32 is provided with a guide groove 325, the guide groove 325 is located between the two recesses 324, and the base 31 is provided with a limiting pin 35, the limiting pin 35 is arranged in the guide groove 325.

[0061] The guide groove 325 is arranged at the second end 322 of the swing piece 32 and located between the two recesses 324, and is opened along the swing direction of the swing piece 32, the length of the guide groove 325 determines the maximum swing range of the swing piece 32, and the guide groove 325 is used for providing a guide path and ensuring the swing piece 32 to move smoothly within the set range. The guide groove 325 can be a straight groove structure wider than the limiting pin 35 or an arc-shaped groove matched with the swing track of the swing piece 32.

[0062] The limiting pin 35 is fixedly installed on the base 31 and arranged in the guide groove 325. During the swing process, the limiting pin 35 relatively slides along the guide groove 325, plays a role in restricting the swing track, and prevents the swing piece 32 from deviating from the predetermined path. Meanwhile, the limiting pin 35 also limits the maximum swing angle of the swing piece 32, and avoids excessive swing.

[0063] Therefore, the embodiment of the present application realizes the accurate guidance and limiting during the swing process of the swing piece 32, significantly improves the motion stability and guidance accuracy of the swing piece 32 when performing the pitching action, effectively prevents the swing piece 32 from moving beyond the set range, and guarantees the safety and reliability of the equipment operation.

[0064] In some embodiments, referring to Figure 6 As shown in the figure, the rotating device 4 includes a housing 41, a worm gear transmission mechanism and a second driving mechanism, the housing 41 is connected to the swing device 3, the worm gear transmission mechanism is arranged in the housing 41, and the second driving mechanism is connected with the lengthened rod 5 through the worm gear transmission mechanism and is used for driving the worm gear transmission mechanism to drive the lengthened rod 5 to rotate.

[0065] The housing 41 is fixedly connected to the swinging component 32 of the swinging device 3, serving as the load-bearing and protective structure for the rotating device 4. The worm gear transmission mechanism is integrated within the housing 41 and mainly includes a worm wheel, a worm 42, a rotating shaft 43, and several bearings. Bearings are located at both ends of the rotating shaft 43, with the worm wheel mounted on it. Bearings are also located at both ends of the worm 42. The worm 42 and the worm wheel are perpendicular to each other and mesh with each other. One end of the worm 42 extends out of the housing 41 and connects to the second drive mechanism, while one end of the rotating shaft 43 extends out of the housing 41 and connects to the extension rod 5. It is understood that the worm gear transmission mechanism has a self-locking characteristic; that is, when the worm wheel is subjected to external force, it cannot drive the worm 42 to rotate in the opposite direction, thus achieving automatic locking of the rotational position of the extension rod 5.

[0066] The second drive mechanism can be a second handwheel 44, a servo motor, a stepper motor, etc. In manual mode, a second handwheel 44 can be installed at the end of the worm gear 42. Since the rotating shaft 43 extends along the first direction X and the worm gear 42 extends along the second direction Y, the second handwheel 44 can be located on the side of the housing 41, facilitating on-site operation. In automatic mode, the worm gear 42 is driven by a motor for remote control. During operation, the second drive mechanism, after deceleration and torque amplification via the worm gear transmission mechanism, outputs to the extension rod 5, improving output torque and control accuracy.

[0067] Therefore, the rotating device 4 provided in this application embodiment adopts a worm gear transmission mechanism encapsulated in a housing 41, which can reliably lock the rotation angle of the extension rod 5 in the state of power failure or no driving force, prevent posture deviation caused by external force, and significantly improve the safety and stability of the equipment in narrow space operation.

[0068] In some embodiments, the loading mechanism 6 is capable of swinging relative to the extension rod 5 in the horizontal plane.

[0069] In this embodiment, a swing joint 51 or universal joint can be provided at the end of the extension rod 5, allowing the loading mechanism 6 to swing within a certain angle range relative to the extension rod 5 in the horizontal plane. This further increases the degrees of freedom, enabling more precise adjustments to the posture of the loading mechanism 6. This application greatly enhances the adaptability of the loading mechanism 6 to complex installation environments and workpieces in various orientations, enabling the transport equipment to complete pick-up and drop tasks more flexibly and accurately. Especially when facing narrow spaces or situations with obstacles, this setting allows the operator to achieve precise docking through simple control, significantly improving work efficiency.

[0070] In some embodiments, refer to Figures 7 to 10 As shown, the loading mechanism 6 includes a tray 61 and a strapping strap 62. The tray 61 is rotatably connected to the other end of the extension rod 5 via a swing joint 51. The strapping strap 62 is provided on the tray 61 and is used to fix the item 8 to be transported to the tray 61.

[0071] The tray 61, as a platform directly bearing the to-be-transported piece 8, can be made of metal (such as stainless steel) or high-strength engineering plastic. The tray 61 can be L-shaped and include a bearing portion 611 and an abutting portion 612 connected to each other, the bearing portion 611 is horizontally arranged, and the abutting portion 612 is vertically arranged. An upper end of the abutting portion 612 can be provided with a binding belt 62, one end of the binding belt 62 is fixedly connected to the abutting portion 612, and the other end can be clamped by a buckle. As an example, when the to-be-transported piece 8 is an energy accumulator, as shown in Figure 7 and Figure 8 the bearing portion 611 can be provided with a positioning hole 6111. When the energy accumulator is placed on the bearing portion 611, a joint of the energy accumulator can be embedded in the positioning hole 6111 to ensure its stability. Then, the energy accumulator is further tightly bound against the abutting portion 612 by the binding belt 62, so as to avoid loosening.

[0072] The swing joint 51 can be a spherical hinge, a cross shaft joint, or the like. As an example, as shown in Figure 7 and Figure 9 the swing joint 51 can include a connecting head 511, a connecting plate 512, and a fastening assembly 513. The connecting head 511 includes a rod body 5111 and an ear seat 5112. One end of the rod body 5111 is provided with a fastening hole 5113, and can be connected to the end of the lengthened rod 5 by a fastening member such as a spring pin 5114. The other end of the rod body 5111 is connected to the ear seat 5112. The ear seat 5112 includes two ear plates 5115 arranged opposite to each other. The two ear plates 5115 are respectively provided with corresponding first connecting holes 5116. One end of the connecting plate 512 is connected to the middle part of the abutting portion 612 of the tray 61. The other end of the connecting plate 512 is provided with a second connecting hole. The connecting plate 512 is embedded between the two ear plates 5115, and the second connecting hole is arranged in correspondence with the first connecting holes 5116. The fastening assembly 513 is used to connect the first connecting holes 5116 and the second connecting hole. When it is necessary to adjust the swing angle of the tray 61, the fastening assembly 513 can be loosened, and then locked after the adjustment is completed.

[0073] Therefore, the object-carrying mechanism 6 provided by the embodiments of the present application can ensure the stability of the to-be-transported piece 8 and prevent the to-be-transported piece 8 from slipping or shaking during transportation. Moreover, the object-carrying mechanism 6 can be manually adjusted, and is especially suitable for a nuclear power plant working environment with high requirements for explosion-proof performance.

[0074] In some embodiments, with reference to Figures 7 to 10As shown, the fastening assembly 513 includes a rotating shaft 5131 and a fixing nut 5132, the rotating shaft 5131 includes an end cap 5133 and a shaft body 5134, the end cap 5133 is arranged at one end of the shaft body 5134, the cross-sectional area of the end cap 5133 is larger than that of the shaft body 5134, the outer wall of the shaft body 5134 includes a threaded wall 5135 and a regular polygonal wall 5136, the threaded wall 5135 is arranged at the end of the shaft body 5134 away from the end cap 5133, and is used to be connected with the fixing nut 5132. The regular polygonal wall 5136 refers to the shape of the outer wall profile of the shaft body 5134, which is a regular polygon, such as a regular icosagon. The regular polygonal wall 5136 is located between the end cap 5133 and the threaded wall 5135. Correspondingly, the inner wall shape of the first connecting hole 5116 of the two ear plates 5115 and the second connecting hole of the connecting plate 512 are all matched with the shape of the regular polygonal wall 5136.

[0075] It can be understood that, since the connecting head 511 is usually made of a metal material with a certain rigidity. If a conventional bolt-nut structure is used, a very large screwing force needs to be applied, and the ear plate 5115 of the connecting head 511 needs to be deformed, so as to lock the tray 61. Therefore, in the embodiment of the present application, part of the outer wall of the conventional bolt is arranged as a regular polygon, so that when it is necessary to adjust the swing angle of the tray 61, it is only necessary to rotate the tray 61, and when the adjustment is completed, the rotating shaft 5131 is inserted into the first connecting hole 5116 and the second connecting hole, so as to prevent the tray 61 from rotating, and then the rotating shaft 5131 is fixed by the fixing nut 5132 to prevent it from falling off. Through the above arrangement, the operation convenience is effectively improved.

[0076] In some embodiments, the length of the extension rod 5 is adjustable.

[0077] The extension rod 5 can be designed as a multi-section sleeve, and adjacent two sections of the sleeve are slidingly sleeved, so that the extension rod 5 can be stretched or contracted as needed, and a plurality of fixing holes can be arranged on the sleeve at intervals along the length direction of the sleeve. When the adjustment is completed, the fixing holes on adjacent sleeves can be connected by fastening members such as spring pins 5114 and bolts to realize fixation, so as to ensure stability after the length is set and prevent accidental stretching or contraction during operation.

[0078] Alternatively, the extension rod 5 can include a plurality of rod bodies, and the plurality of rod bodies can be connected by quick couplings, spring pins 5114, etc., so as to be conveniently adjusted in length according to actual needs.

[0079] Through the adjustable length design of the extension rod 5, the embodiment of the present application can adapt to different distances and positions of the to-be-transported member 8, significantly enhances the adaptability of the transportation equipment in complex and narrow spaces, and enables the transportation equipment to more accurately and efficiently complete the long-distance picking and placing task.

[0080] In some embodiments, with reference to Figure 1As shown, a plurality of pairs of clamps 12 can be arranged on the moving platform 1, and each pair of clamps 12 is spaced apart along the first direction X. After the transport device completes the work, the plurality of rod bodies of the extension rod 5 can be disassembled and placed on the clamps 12, thereby reducing the space occupation of the whole machine.

[0081] In some embodiments, with reference to Figure 1 As shown, the moving platform 1 is provided with a counterweight 13 away from the lifting device 2. The counterweight 13 can be arranged on the top or bottom of the moving platform 1, for improving the stability of the moving platform 1, thereby improving the safety and reliability of the transportation process.

[0082] The transport device provided by the present application will be further described below in combination with a specific example. In this embodiment, the transport device is used to take out an accumulator in a narrow space of a hydraulic system of a nuclear power plant for maintenance.

[0083] As shown in the drawings, Figure 1 The transport device includes a moving platform 1, a lifting device 2, an oscillating device 3, a rotating device 4, an extension rod 5, and a load carrying mechanism 6. The moving platform 1 is a trolley, the lifting device 2 uses a first hand wheel 242 as a driving source, the oscillating device 3 uses an adjusting bolt 332 and a locking nut 333 as a driving source, the rotating device 4 uses a second hand wheel 44 as a driving source, the extension rod 5 is formed by connecting a plurality of sleeve tubes through spring pins 5114, and the load carrying mechanism 6 uses a tray 61 and a binding belt 62 structure.

[0084] It can be understood that, since the nuclear power plant has high explosion-proof requirements, each mechanism in the embodiment of the present application is manually operated without power driving. Moreover, the manual operation mode facilitates the control of the work rhythm and improves the operation safety and controllability.

[0085] The control method of the transport device provided by the embodiment of the present application will be further described below, which can be mutually compared with the transport device of the above-mentioned embodiment.

[0086] In some embodiments, with reference to Figure 11 As shown, the embodiment of the present application also provides a control method of the transport device of the above-mentioned embodiment, mainly including the following steps.

[0087] S111, obtaining target position information of a to-be-transported piece 8 in a narrow space and distribution information of obstacles.

[0088] The target position information of the to-be-transported piece 8 includes three-dimensional coordinates, attitude angles, etc. of the to-be-transported piece 8 (such as the accumulator). The distribution information of the obstacles includes the spatial profile and relative position of the obstacles such as pipelines, supports, valves, etc. around the to-be-transported piece 8. These spatial information can be obtained by a three-dimensional scanner (such as a laser radar), an industrial camera, etc., or can also be obtained by observation of an operator.

[0089] S112, according to the target position information of the piece 8 to be transported and the distribution information of the obstacles, the mobile platform 1, the lifting device 2, the swing device 3 and the rotating device 4 are controlled to drive the extension rod 5 to extend into the narrow space and avoid the obstacles, so that the carrying mechanism 6 reaches the target position of the piece 8 to be transported.

[0090] If it is automatic control, the controller can generate a collision-free optimal path from the starting point to the target point by using a path planning algorithm (such as artificial potential field method) based on the above-mentioned obtained space information, and generate motion instructions of each execution device according to the path, including: the mobile platform 1 adjusts the horizontal position, the lifting device 2 adjusts the height position, the swing device 3 adjusts the pitch angle, the rotating device 4 adjusts the rotation angle, the extension rod 5 adjusts the length, and the carrying mechanism 6 adjusts the swing angle, etc. Each device can be adjusted according to the actual working condition to ensure that the extension rod 5 moves smoothly along the planned path, avoids obstacles throughout the journey, and makes the carrying mechanism 6 point to the correct direction and accurately reach the position of the piece 8 to be transported. If it is manual control, the operator can directly observe and plan an obstacle avoidance path, and then adjust the above-mentioned execution devices according to the obstacle avoidance path until the carrying mechanism 6 reaches the position of the piece 8 to be transported.

[0091] S113, the carrying mechanism 6 carries the piece 8 to be transported.

[0092] The operator can put his hand into the narrow space to unload the piece 8 to be transported (such as an accumulator) in the pipeline. If the carrying mechanism 6 is a tray 61 and a binding belt 62 structure, the operator can put his hand into the narrow space to tighten the binding belt 62 and fix the piece 8 to be transported on the tray 61. If the carrying mechanism 6 is an electric gripper, a grabbing instruction can be sent to drive the gripper to close and complete the grabbing. If it is a magnetic attraction device, a magnetic force can be generated by energization for magnetic attraction.

[0093] S114, the mobile platform 1, the lifting device 2, the swing device 3 and the rotating device 4 are controlled to drive the extension rod 5 to avoid obstacles and make the carrying mechanism 6 exit the narrow space, and the taking piece is completed.

[0094] The exit path can be reversed along the entry path, or the exit path can be re-planned according to the load state (change of center of gravity), and the movement, lifting, swinging, rotating and other actions are coordinated according to the exit path to ensure that there is no collision throughout the journey, so that the carrying mechanism 6 is separated from the narrow space, and then the piece 8 to be transported is sent to the maintenance area for maintenance by the maintenance personnel.

[0095] The control method of the transportation device provided in the embodiments of the present application realizes that the elongated rod drives the object carrying mechanism to safely and accurately enter the narrow space and complete the picking operation by obtaining the target position of the to-be-transported object and the obstacle distribution information, combining path planning and multi-degree-of-freedom collaborative control. The method ensures the obstacle avoidance capability of the device in the complex pipeline environment, effectively avoids the risk of accidental collision in manual operation, and significantly improves the safety, efficiency and reliability of the maintenance operation.

[0096] The above are only preferred embodiments of the present application, and are not used to limit the embodiments of the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the embodiments of the present application shall be included in the protection scope of the embodiments of the present application.

Claims

1. A transport apparatus, characterized by, The application relates to a mobile platform, which comprises a moving platform, a lifting device arranged on the moving platform, a swing device connected to the lifting device, a rotating device connected to the swing device, and an elongated rod, one end of which is connected to the rotating device and the other end of which extends from the moving platform in a first direction. The lifting device is used for driving the swing device to move up and down along a vertical direction, the swing device is used for driving the rotating device to swing up and down along the vertical direction, and the rotating device is used for driving the elongated rod to rotate around its own axis. The lifting device comprises a mounting base, a guide rail, a sliding base and a first driving mechanism, the mounting base is arranged on the moving platform, the guide rail is arranged on the mounting base along the vertical direction, the sliding base is slidably connected to the guide rail and connected to the swing device, and the first driving mechanism is connected to the sliding base and used for driving the sliding base to move up and down along the guide rail. The first driving mechanism comprises a screw rod and a first hand wheel, the screw rod is arranged on the mounting base along the vertical direction and threadedly connected to the sliding base, and the first hand wheel is connected to the top end of the screw rod and used for driving the screw rod to rotate. The swing device comprises a base, a swing piece and an adjusting mechanism, the base is connected to the lifting device, the swing piece is arranged on the base, the rotating device is connected to the swing piece, the swing piece has a first end and a second end along the vertical direction, the first end is rotatably connected to the base, and the adjusting mechanism is arranged on the base and used for driving the second end to rotate around the first end so as to adjust the up-down angle of the swing piece. The second end of the swing piece is provided with recesses on both sides along the first direction, and the adjusting mechanism is arranged on the outer side of each recess along the first direction. The adjusting mechanism comprises a limiting seat, an adjusting bolt and a locking nut, the limiting seat is arranged opposite to the recess, the adjusting bolt is arranged in the limiting seat along the first direction and used for abutting against the recess of the corresponding limiting seat, and the locking nut is connected to the adjusting bolt and located on the outer side of the corresponding limiting seat away from the recess. The second end of the swing piece is provided with a guide groove between the two recesses, and the base is provided with a limiting pin arranged in the guide groove.

2. The transport apparatus of claim 1, wherein, The rotating device comprises a shell, a worm gear transmission mechanism and a second driving mechanism, the shell is connected to the swing device, the worm gear transmission mechanism is arranged in the shell, and the second driving mechanism is connected to the elongated rod through the worm gear transmission mechanism and used for driving the worm gear transmission mechanism to rotate the elongated rod.

3. The transport apparatus of claim 2, wherein, The carrying mechanism can swing in a horizontal plane relative to the elongated rod.

4. The transport apparatus of claim 1, wherein, The length of the elongated rod is adjustable.

5. The transport apparatus of claim 4, wherein, The side of the moving platform away from the lifting device is provided with a counterweight. The carrying mechanism comprises an electric clamping jaw.

6. The transport apparatus of claim 5, wherein, ​ 7. The transport apparatus of claim 1, wherein, ​ 8. The transport apparatus according to any one of claims 1 to 7, characterized in that, ​ ​ ​ 9. The transport apparatus of claim 8, wherein, ​ Alternatively, the load-carrying mechanism comprises a tray and a binding belt, the tray is rotatably connected with the other end of the elongated rod through a swing joint, and the binding belt is arranged on the tray and used for fixing the to-be-transported member on the tray.

10. A control method of a transport apparatus according to any one of claims 1 to 9, characterized by, The method comprises: acquiring target position information of a to-be-transported member and distribution information of an obstacle in a narrow space; controlling the mobile platform, the lifting device, the swing device and the rotating device to drive the elongated rod to extend into the narrow space and avoid the obstacle according to the target position information of the to-be-transported member and the distribution information of the obstacle, so that the load-carrying mechanism reaches the target position of the to-be-transported member; controlling the load-carrying mechanism to carry the to-be-transported member; controlling the mobile platform, the lifting device, the swing device and the rotating device to drive the elongated rod to avoid the obstacle and make the load-carrying mechanism exit the narrow space, thereby completing the taking of the member.

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