Lifting appliance for simultaneously lifting multiple waste bins

Abstract

The invention relates to the technical field of radioactive waste treatment, and provides a lifting appliance for simultaneously lifting multiple waste bins, the lifting appliance comprises a lifting frame and a grabbing head rotationally connected with the lifting frame, and a locking device is arranged between the grabbing head and the lifting frame; the locking device comprises a locking disc fixedly connected with the grabbing head, a locking hole formed in the locking disc and a pin connected with the hanging bracket in a sliding mode, the pin is matched with the locking hole in an inserted connection mode, and a pushing device used for pushing the pin to slide is arranged between the pin and the hanging bracket. The pushing device comprises a sleeve fixedly connected with the hanging bracket, a pushing piece fixedly connected with the pin and a spring arranged on the outer side of the pin in a sleeving mode, and an unlocking device used for unlocking the pin and the locking disc is further arranged between the pin and the sleeve. The device has the beneficial effects that the locking device is independently arranged between the grabbing head and the hanging bracket to mechanically lock the position of the grabbing head after the grabbing head rotates, so that the exposure time of an operator in a radioactive environment is remarkably shortened, the exposure dose is reduced, and the operation safety is improved.

Description

Technical Field

[0001] This invention relates to the technical field of radioactive waste treatment and disposal, specifically to a lifting device for simultaneously hoisting multiple waste bins. Background Technology

[0002] In the nuclear industry, low- and intermediate-level radioactive solid waste is typically packaged and stored in 200L steel drums conforming to the EJ1042-2014 standard. To achieve efficient lifting and stacking of these 200L waste drums, the industry widely employs four-drum mechanical lifting devices, which can simultaneously lift four 200L waste drums in a single operation. This method reduces the number of lifting operations, thereby shortening the overall exposure time of operators to the radiation environment, aligning with the nuclear industry's "Optimization of Radiation Protection" (ALARA) principle.

[0003] The core component of the existing 200L four-bucket mechanical lifting device is the gripper, whose basic functions include: descending to above the waste bin, rotating to adjust the angle, gripping the bin, lifting and transferring, and releasing for stacking. To adapt to different stacking requirements, the gripper usually has a rotation function, allowing adjustment of the gripping posture according to site conditions. The existing gripper structure mainly includes: a rotation mechanism, a hook fixing assembly, a clamp, and a hook drive mechanism. During operation, the gripper is lifted by a crane to above the waste bin, and after adjusting the angle through the rotation mechanism, the hook is driven to close to complete the gripping. However, although the existing gripper has a rotation function, once it descends above the waste bin, it cannot automatically lock the rotation position, making it difficult to maintain a stable gripper posture. Operators must enter the waste bin storage area to manually adjust the gripper angle and align it with the bin. Since this area is a direct contact zone with radioactive waste, the radiation dose rate is high, and manual intervention is required for each lifting operation, significantly increasing the cumulative radiation dose. This results in prolonged exposure time for operators in the radiation environment, endangering their personal safety. Therefore, a new technical solution is needed to address these technical problems. Summary of the Invention

[0004] This application proposes a lifting device for simultaneously hoisting multiple waste bins. Each gripper is independently equipped with a locking device between itself and the lifting frame. When the gripper rotates to the correct position, the pin automatically inserts into the locking hole of the locking disc under the action of the pushing device, thereby achieving mechanical locking of the gripper's rotational position. This structure eliminates the need for manual entry into high-radiation areas for alignment and fixation, completely solving the problem in existing technologies where the gripper's posture cannot be maintained and manual intervention is required. It significantly reduces the operator's exposure time in a radioactive environment, lowers the radiation dose, and improves operational safety.

[0005] To this end, this application provides a lifting device for simultaneously lifting multiple waste bins, including a crane frame connected to a crane and a gripper rotatably connected to the crane frame. Several grippers are provided, and each gripper is provided with a locking device for fixing the gripper between itself and the crane frame. The locking device includes a locking disc fixedly connected to the gripper, a locking hole on the locking disc, and a pin slidably connected to the hanger. The pin is inserted into the locking hole. A pushing device for pushing the pin to slide is provided between the pin and the hanger. The pushing device includes a sleeve fixedly connected to the hanger, a pushing plate fixedly connected to the pin, and a spring sleeved on the outside of the pin. One end of the pin is inserted into the sleeve and slidably connected to the sleeve. The two ends of the spring are fixedly connected to the pushing plate and the side of the sleeve away from the hanger, respectively. The spring drives the pushing plate to push the pin into the locking hole. An unlocking device for releasing the pin from the locking disc is also provided between the pin and the sleeve.

[0006] By adopting the above technical solution, an independent locking device is set between each gripper and the hanger. When the gripper rotates to the correct position, the pin is automatically inserted into the locking hole of the locking disc under the action of the pushing device, thereby achieving mechanical locking of the gripper's rotation position. This structure eliminates the need for manual entry into high-radiation areas for alignment and fixation, completely solving the problem of the gripper's posture not being able to be maintained and requiring manual intervention in the existing technology. It significantly reduces the operator's exposure time in the radioactive environment, lowers the radiation dose, and improves operational safety.

[0007] Preferably, the unlocking device includes an electromagnet fixedly connected to one end of the sleeve near the hanger and a permanent magnet fixedly connected to a pin. The permanent magnet is slidably connected to the sleeve, and the electromagnet attracts the permanent magnet when energized.

[0008] By adopting the above technical solution—a locking device composed of an electromagnet and a permanent magnet—when the gripper angle needs to be adjusted, the electromagnet is energized to attract the permanent magnet, causing the pin to overcome the spring force and exit the locking hole, thus unlocking the gripper. After rotation to the correct position, the electromagnet is de-energized, and the pin automatically resets and locks under the action of the spring. This structure achieves remote automatic control of the locking mechanism, allowing operators to unlock and lock the gripper without approaching the waste bin area, further improving the level of automation and radiation protection capabilities.

[0009] Preferably, a synchronous drive device is provided between several grippers to synchronously drive the grippers to rotate and move their positions. The synchronous drive device includes a sun gear and a gear ring that are fixedly and rotatably connected to the hanger, planet gears disposed between the sun gear and the gear ring, and a planetary support disposed between the planet gears. The sun gear is connected to a drive component, the planet gears mesh with both the sun gear and the gear ring, the planet gears are connected to a rotating shaft, the rotating shaft is fixedly connected to the gripper to drive the gripper to rotate, and the planetary support is rotatably connected to the rotating shaft.

[0010] By adopting the above technical solution—specifically, a synchronous drive device consisting of a sun gear, a gear ring, planetary gears, and a planetary support—a single drive component can rotate all the grippers synchronously, ensuring consistent angles during gripping and stacking. This structure avoids the inconsistency in posture caused by independent rotation of multiple grippers, improves the synchronization and stacking accuracy of simultaneous lifting of multiple barrels, simplifies control logic, reduces operation time, and indirectly reduces the risk of personnel exposure to radiation.

[0011] Preferably, a load-bearing mechanism for transferring load is provided between the hanger and the gripper. The load-bearing mechanism includes a load-bearing bucket sleeved on the outside of the synchronous drive device and a load-bearing ring fixedly connected to the gripper. The load-bearing bucket is rotatably connected to the hanger. An installation hole is opened at the bottom of the load-bearing bucket. The load-bearing ring is located in the installation hole and rotatably connected to the installation hole. The load-bearing ring is used to transfer the load borne by the gripper to the load-bearing bucket.

[0012] By adopting the above technical solution, a bearing mechanism consisting of a bearing bucket and a bearing ring is set between the hanger and the gripper. The vertical load borne by the gripper is transferred to the bearing bucket through the bearing ring, and then to the hanger. This achieves the separation of the load transfer path from the synchronous drive device. This structure effectively avoids the drive device bearing the hoisting load, protects the accuracy and life of the transmission system, and ensures the structural stability of the gripper during rotation and locking, thereby improving the reliability of the equipment under heavy load conditions.

[0013] Preferably, the outer side of the hanger is provided with a rotating groove, and the bearing bucket is fixedly connected to a rotating ring, which is located in the rotating groove and rotatably connected to the rotating groove.

[0014] By adopting the above technical solution, a rotating groove is opened on the outside of the hanger, and the rotating ring on the bearing bucket is embedded in the rotating groove, achieving a stable rotating connection between the bearing bucket and the hanger. This structure provides rotational freedom while restricting the axial movement of the bearing bucket, ensuring the coaxiality and smooth operation of the multi-grip head during synchronous rotation, and providing a reliable positioning basis for the accurate insertion of the locking device.

[0015] Preferably, the gripper head includes a connecting rod fixedly connected to the rotating shaft, a cylinder fixedly connected to the bearing ring, a cover plate for sealing the cylinder and fixedly connected to the connecting rod, and gripping hooks connected to the cylinder. The cover plate is fixedly connected to the cylinder, and a plurality of gripping hooks are provided. An active device for driving the plurality of gripping hooks to grip is provided between the plurality of gripping hooks and the cylinder.

[0016] By adopting the above technical solution, a gripper structure consisting of a connecting rod, a cylinder, a cover plate, and a gripper hook is set up. The cover plate is fixedly connected to the connecting rod and fixed to the cylinder, thus clearly separating the rotation drive from the load transfer path. This structure ensures the overall strength of the gripper while facilitating independent maintenance of the internal functional modules. Furthermore, the cover plate can cover the opening of the container after gripping, providing a certain degree of protection. This structure is suitable for the sealing and protection requirements in radioactive waste treatment scenarios.

[0017] Preferably, the movable device includes a fixed ring fixedly connected to the cylinder, a fixed support foot fixedly connected to the fixed ring, and a connecting block fixedly connected to a plurality of hooks. Each hook corresponds to a fixed support foot. The middle part of the hook is rotatably connected to the fixed support foot. The connecting block is provided with a driving component for driving the connecting block to slide. One end of the hook is provided with a locking groove for gripping an object. The connecting block is rotatably connected to the end of the hook away from the locking groove.

[0018] By adopting the above technical solution, a movable device consisting of a fixed ring, fixed support legs, connecting blocks, and a driving component is set up. The driving component drives the connecting block to slide, thereby driving the grab hook to rotate around the fixed support legs, achieving synchronous opening and closing of the grab hook. This structure adopts a linkage-type drive method, which is reliable in operation and has a large grabbing force. In addition, the end of the grab hook is equipped with a locking groove, which enhances the fit with the edge of the barrel, ensuring a firm grip during hoisting, preventing it from falling off, and improving operational safety.

[0019] Preferably, the included angle between the fixed support leg and the fixed ring is 120°.

[0020] By adopting the above technical solution, the included angle between the fixed support leg and the fixed ring is set to 120°, so that the three grab hooks are evenly distributed on the circumference of the cylinder, forming a three-point symmetrical grab structure. This structure ensures that the force is balanced during grabbing, and avoids the cylinder from tilting or slipping due to uneven load. It is especially suitable for stable grabbing in scenarios where multiple cylinders are hoisted at the same time, and further reduces the safety risks caused by unstable grabbing.

[0021] Preferably, the connecting block is provided with a proximity switch for detecting whether the gripper head is in contact with the object.

[0022] By adopting the above technical solution—specifically, installing a proximity switch on the connecting block—it is possible to detect in real time whether the gripper head has descended above the bucket and is correctly aligned with the bucket opening, ensuring that the gripping action is only performed after confirmation of proper positioning. This structure achieves automated detection and feedback control of the gripping process, avoiding gripping failures or equipment damage caused by positional deviations, further reducing the need for manual inspection and intervention, and improving the system's intelligence level and operational safety.

[0023] The working principle and beneficial effects of this application are as follows: 1. By independently installing a locking device between each gripper and the hanger, when the gripper rotates to its correct position, the pin automatically inserts into the locking hole of the locking disc under the action of the pushing device, thus achieving mechanical locking of the gripper's rotational position. This structure eliminates the need for manual entry into high-radiation areas for alignment and fixation, completely solving the problem of gripper posture not being maintained and requiring manual intervention in existing technologies. It significantly reduces the operator's exposure time in the radioactive environment, lowers the radiation dose, and improves operational safety.

[0024] 2. By setting up a synchronous drive device consisting of a sun gear, a gear ring, planetary gears, and a planetary support, a single drive unit can drive all the grippers to rotate synchronously, ensuring that the angles of multiple grippers are consistent during the gripping and stacking process. This structure avoids the problem of inconsistent postures caused by the independent rotation of multiple grippers, improves the synchronization and stacking accuracy of simultaneous lifting of multiple barrels, simplifies the control logic, reduces operation time, and indirectly reduces the risk of personnel staying in the radiation environment.

[0025] 3. By setting up a load-bearing mechanism consisting of a load-bearing bucket and a load-bearing ring between the hanger and the grab head, the vertical load borne by the grab head is transferred to the load-bearing bucket through the load-bearing ring, and then to the hanger. This achieves the separation of the load transfer path from the synchronous drive device. This structure effectively avoids the drive device bearing the hoisting load, protects the accuracy and life of the transmission system, and ensures the structural stability of the grab head during rotation and locking, thereby improving the reliability of the equipment under heavy load conditions. Attached Figure Description

[0026] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0027] Figure 1 This is a structural schematic diagram of a lifting device for simultaneously lifting multiple waste bins according to this application; Figure 2 For this application Figure 1 A magnified view of part A in the middle; Figure 3 This application shows a schematic diagram of the structure of the pushing device and the unlocking device; Figure 4 This application shows a schematic diagram of the synchronous drive device. Figure 5 This application shows a schematic diagram of the connection between the gripper head and the bearing tank; Figure 6 For this application Figure 4 A magnified view of part B in the middle section.

[0028] The technical features in the attached drawings are labeled as follows: 1. Hanger; 2. Grab head; 21. Connecting rod; 22. Cylinder; 23. Cover plate; 24. Grab hook; 3. Locking device; 31. Locking disc; 311. Locking hole; 32. Pin; 4. Pushing device; 41. Sleeve; 42. Push plate; 43. Spring; 5. Unlocking device; 51. Electromagnet; 52. Permanent magnet; 6. Synchronous drive device; 61. Sun gear; 62. Gear ring; 63. Planetary gear; 631. Rotating shaft; 64. Planetary support; 7. Bearing mechanism; 71. Bearing barrel; 72. Bearing ring; 8. Rotating ring; 9. Movable device; 91. Fixed ring; 92. Fixed support leg; 93. Connecting block; 10. Proximity switch. Detailed Implementation

[0029] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0030] like Figures 1-2 As shown, this embodiment provides a lifting device for simultaneously lifting multiple waste bins, including a lifting frame 1 for connecting to a crane and a gripper 2 rotatably connected to the lifting frame 1. Several grippers 2 are provided, and the specific number can be set according to the actual lifting requirements. In this embodiment, four grippers 2 are provided, and each gripper 2 is provided with a locking device 3 between itself and the lifting frame 1 for fixing the rotational position of the gripper 2.

[0031] like Figures 2-3 As shown, the locking device 3 includes a locking disc 31 and a pin 32. The locking disc 31 is fixedly connected to the gripper 2. The locking disc 31 has multiple locking holes 311. The pin 32 is slidably connected to the hanger 1 and is inserted into the locking holes 311. A pushing device 4 is provided between the pin 32 and the hanger 1 to push the pin 32 into the locking holes 311. The pushing device 4 includes a sleeve 41, a pushing plate 42 and a spring 43. The sleeve 41 is fixedly connected to the hanger 1. One end of the pin 32 is inserted into the sleeve 41 and slidably connected to the sleeve 41. The pushing plate 42 is fixedly connected to the outside of the pin 32. The spring 43 is sleeved on the outside of the pin 32. One end of the spring 43 abuts against the pushing plate 42, and the other end is fixedly connected to the side of the sleeve 41 away from the hanger 1. The spring 43 is in a compressed state. The pushing plate 42 applies a pushing force toward the locking disc 31 to the pin 32, so that the pin 32 is in the state of being inserted into the locking holes 311 in its natural state.

[0032] like Figures 2-3As shown, an unlocking device 5 is also provided between the pin 32 and the sleeve 41. The unlocking device 5 includes an electromagnet 51 and a permanent magnet 52. The electromagnet 51 is fixedly connected to one end of the sleeve 41 near the hanger 1, and the permanent magnet 52 is fixedly connected to one end of the pin 32 located inside the sleeve 41. The permanent magnet 52 and the sleeve 41 are slidably connected. When the electromagnet 51 is energized, it attracts the permanent magnet 52, causing the pin 32 to slide away from the locking disc 31 against the elastic force of the spring 43, thus disengaging the pin 32 from the locking hole 311 and releasing the locked state. When the electromagnet 51 is de-energized, the pin 32 automatically resets and inserts into the locking hole 311 under the action of the spring 43, restoring the locked state.

[0033] When the gripper head 2 rotates to the required angle, the pin 32 automatically inserts into the corresponding locking hole 311 under the action of the spring 43, realizing the mechanical locking of the rotation position of the gripper head 2. This eliminates the need for manual entry into the radioactive waste storage area for alignment and fixation, thereby effectively reducing the exposure time of operators in the radiation environment and lowering the cumulative radiation dose.

[0034] like Figures 4-5 As shown, to achieve synchronous rotation of multiple grippers 2, this embodiment provides a synchronous drive device 6 between several grippers 2. The synchronous drive device 6 includes a sun gear 61, a gear ring 62, planetary gears 63, and a planetary support 64. The sun gear 61 is rotatably connected to the hanger 1, and a drive component is connected to its center. This drive component can be a servo motor or a hydraulic motor. The gear ring 62 is fixedly connected to the hanger 1 and is coaxially arranged with the sun gear 61. Several planetary gears 63 are provided and are all located between the sun gear 61 and the gear ring 62. Each planetary gear 63 meshes with both the sun gear 61 and the gear ring 62. In this embodiment, four planetary gears 63 are provided and correspond one-to-one with each gripper 2. A rotating shaft 631 is fixedly connected to the lower part of each planetary gear 63. The rotating shaft 631 is fixedly connected to the upper end of the corresponding gripper 2. The planetary support 64 is rotatably connected to the hanger 1 and rotatably connected to the rotating shaft 631 of each planetary gear 63. When the drive component drives the sun gear 61 to rotate, the planet gear 63 revolves around the sun gear 61 under the combined action of the sun gear 61 and the gear ring 62. At the same time, it drives each rotating shaft 631 and the gripper head 2 to rotate synchronously, thereby realizing the synchronous adjustment of the angle of multiple grippers head 2 and ensuring the consistency of the gripping posture when lifting multiple barrels.

[0035] like Figures 4-5As shown, a bearing mechanism 7 is also provided between the hanger 1 and the grab head 2 to transfer the lifting load borne by the grab head 2 to the hanger 1, preventing the load from acting on the synchronous drive device 6. The bearing mechanism 7 includes a bearing barrel 71 and a bearing ring 72. The bearing barrel 71 is sleeved on the outside of the synchronous drive device 6, and its top end is rotatably connected to the hanger 1. A rotating groove is opened on the outside of the hanger 1. A rotating ring 8 is fixedly connected to the top end of the bearing barrel 71. The rotating ring 8 is embedded in the rotating groove and rotatably connected to the rotating groove. An installation hole is opened at the bottom end of the bearing barrel 71. The bearing ring 72 is fixedly connected to the upper end of the grab head 2 and embedded in the installation hole. The bearing ring 72 is rotatably connected to the installation hole. The vertical load borne by the grab head 2 is transferred to the bearing barrel 71 through the bearing ring 72, and then transferred to the hanger 1 by the bearing barrel 71. The rotating shaft 631 is only used to transmit torque and does not bear the lifting load, thereby protecting the transmission accuracy and service life of the synchronous drive device 6.

[0036] like Figures 5-6 As shown, the grab head 2 includes a connecting rod 21, a cylinder 22, a cover plate 23, and grab hooks 24. The upper end of the connecting rod 21 is fixedly connected to the rotating shaft 631, and the lower end is fixedly connected to the cover plate 23. The cylinder 22 is fixedly connected to the bearing ring 72, and the cover plate 23 is fixedly connected to the upper port of the cylinder 22. Several grab hooks 24 are provided, preferably three, and they are evenly distributed along the circumference of the cylinder 22. The included angle between the fixed support 92 and the fixed ring 91 is set to 120°, so that the three grab hooks 24 are evenly distributed on the circumference, forming a three-point symmetrical grabbing structure, ensuring that the cylinder is subjected to balanced force during the grabbing process and avoiding tilting or slippage. An active device 9 for driving the grab hooks 24 to open and close is provided between the grab hooks 24 and the cylinder 22.

[0037] like Figures 5-6 As shown, the movable device 9 includes a fixed ring 91, a fixed support leg 92, and a connecting block 93. The fixed ring 91 is fixedly connected to the cylinder 22, and the fixed support leg 92 is fixedly connected to the fixed ring 91. Each hook 24 corresponds to one fixed support leg 92. The middle part of the hook 24 is rotatably connected to the fixed support leg 92. One end of the hook 24 is provided with a snap-fit ​​groove for snapping onto the edge of the waste bin opening. The connecting block 93 is rotatably connected to the end of the hook 24 away from the snap-fit ​​groove. The cylinder 22 is provided with a mechanism for driving the connecting block 93. In this embodiment, the driving component that slides along the axis of the cylinder 22 is a cylinder or an electric push rod. The cylinder body is fixedly connected to the cover plate 23, and the piston rod is fixedly connected to the connecting block 93. When the driving component retracts, the connecting block 93 slides upward, and the connecting block 93 drives the grab hook 24 to rotate around the fixed support leg 92, causing the grab hook 24 to retract inward to achieve grabbing. When the driving component extends, the connecting block 93 slides downward, and the connecting block 93 drives the grab hook 24 to rotate around the fixed support leg 92, causing the grab hook 24 to open outward to achieve release.

[0038] According to the size description of a 200L waste bin in EJ1042-2014 "Solid Packaging Containers for Low and Intermediate Radioactive Levels - Steel Drums", the top clamp of the 200L waste bin has a size of φ598mm. Therefore, in this example, when the DC electric actuator is in its extended limit position, the end of the grab hook 24 forms a circle with an opening of approximately φ631mm. When the DC electric actuator is in its retracted limit position, the end of the grab hook 24 forms a circle with an opening of approximately φ520mm, so that the grab hook 24 can firmly grip the upper edge of the 200L waste bin.

[0039] like Figures 5-6 As shown, a proximity switch 10 is also provided on the connecting block 93 to detect whether the gripper head 2 is correctly attached to the bucket body. In this embodiment, there are two proximity switches 10, and both proximity switches 10 are fixedly connected to the connecting block 93. When the gripper head 2 descends above the waste bucket, both proximity switches 10 detect whether the gripper head 2 is close to the bucket opening and feed the signal back to the control system. After the control system confirms that it is in place, it controls the drive component to perform the gripping action, thereby avoiding gripping failure due to position deviation.

[0040] The basic principle of this embodiment is as follows: When the lifting device for simultaneously lifting multiple waste bins in this embodiment is working, the crane lifts the lifting frame 1 and the grab head 2 to the area above the waste bin storage area. During the rotation adjustment phase, the control system activates the drive component, which drives the sun gear 61 to rotate. Since the gear ring 62 is fixed on the lifting frame 1, the rotation of the sun gear 61 forces the planet gears 63 to revolve around the gear ring 62 while rotating on their own axis. The planetary support 64 revolves with the planet gears 63, and the rotating shaft 631 below each planet gear 63 drives the corresponding grab head 2 to rotate synchronously. While rotating on its own axis, the head 2 revolves around the sun gear 61. The bearing barrel 71 is rotatably connected to the rotating groove of the hanger 1 through the rotating ring 8. The bearing ring 72 rotates freely in the mounting hole at the bottom of the bearing barrel 71, so that when the gripper 2 rotates with the rotating shaft 631, the bearing barrel 71 maintains a relative rotational state with the hanger 1, without interfering with the angle adjustment of the gripper 2. When the gripper 2 rotates to the required angle, the electromagnet 51 is de-energized, and the pin 32 automatically inserts into the locking hole 311 under the action of the spring 43, locking the rotational position of the locking disc 31 and the gripper 2.

[0041] Subsequently, the crane lowers the grab head 2 above the bin. After the proximity switch 10 detects the positioning, the drive component retracts, causing the connecting block 93 to slide upward. The grab hook 24 rotates around the fixed support leg 92, and the locking groove retracts inward to lock the edge of the waste bin opening. When the crane lifts, the vertical load borne by the grab head 2 first acts on the cylinder 22 and the cover plate 23, and is transmitted to the carrying bin 71 through the bearing ring 72, and then to the lifting frame 1 through the rotating ring 8, and finally carried by the crane. During this process, the rotating shaft 631 only transmits the torque output by the drive component and does not bear the lifting load, thereby avoiding damage to the synchronous drive device 6 due to overload and ensuring that each grab head 2 maintains synchronous accuracy and locking reliability in multiple lifting operations. The entire rotation, locking, grabbing, lifting and releasing process is completed remotely and automatically by the control system. Operators do not need to enter the waste bin storage area, realizing unmanned operation in a high-radiation environment and effectively reducing the radiation dose to personnel.

[0042] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A lifting device for simultaneously lifting multiple waste bins, characterized in that, It includes a crane frame (1) that connects to the crane and a gripper (2) that is rotatably connected to the crane frame (1). There are several grippers (2), and each gripper (2) is provided with a locking device (3) for fixing the gripper (2) between it and the crane frame (1). The locking device (3) includes a locking disc (31) fixedly connected to the gripper (2), a locking hole (311) opened on the locking disc (31), and a pin (32) slidably connected to the hanger (1). The pin (32) is inserted into the locking hole (311). A pushing device (4) for pushing the pin (32) to slide is provided between the pin (32) and the hanger (1). The pushing device (4) includes a sleeve (41) fixedly connected to the hanger (1) and a pushing plate (42) fixedly connected to the pin (32). A spring (43) is sleeved on the outside of the pin (32). One end of the pin (32) is inserted into the sleeve (41) and slidably connected with the sleeve (41). The two ends of the spring (43) are fixedly connected to the push plate (42) and the sleeve (41) on the side away from the hanger (1), respectively. The spring (43) drives the push plate (42) to push the pin (32) into the locking hole (311). An unlocking device (5) is also provided between the pin (32) and the sleeve (41) to release the pin (32) from the locking plate (31).

2. The lifting device for simultaneously lifting multiple waste bins according to claim 1, characterized in that, The unlocking device (5) includes an electromagnet (51) fixedly connected to one end of the sleeve (41) near the hanger (1) and a permanent magnet (52) fixedly connected to the pin (32). The permanent magnet (52) is slidably connected to the sleeve (41), and the electromagnet (51) attracts the permanent magnet (52) when energized.

3. The lifting device for simultaneously lifting multiple waste bins according to claim 1, characterized in that, A synchronous drive device (6) is provided between several grippers (2) to synchronously drive the grippers (2) to rotate and move their positions. The synchronous drive device (6) includes a sun gear (61) and a gear ring (62) fixedly and rotatably connected to the hanger (1), a planet gear (63) disposed between the sun gear (61) and the gear ring (62), and a planetary support (64) disposed between the planet gears (63). The sun gear (61) is connected to a drive member. The planet gears (63) are meshed with both the sun gear (61) and the gear ring (62). The planet gears (63) are connected to a rotating shaft (631). The rotating shaft (631) is fixedly connected to the gripper (2) to drive the gripper (2) to rotate. The planetary support (64) is rotatably connected to the rotating shaft (631).

4. The lifting device for simultaneously lifting multiple waste bins according to claim 3, characterized in that, A load-bearing mechanism (7) for transmitting loads is also provided between the hanger (1) and the gripper (2). The load-bearing mechanism (7) includes a load-bearing bucket (71) sleeved on the outside of the synchronous drive device (6) and a load-bearing ring (72) fixedly connected to the gripper (2). The load-bearing bucket (71) is rotatably connected to the hanger (1). An installation hole is provided at the bottom of the load-bearing bucket (71). The load-bearing ring (72) is located in the installation hole and is rotatably connected to the installation hole. The load-bearing ring (72) is used to transmit the load borne by the gripper (2) to the load-bearing bucket (71).

5. The lifting device for simultaneously lifting multiple waste bins according to claim 4, characterized in that, The hanger (1) has a rotating groove on its outer side, and the bearing bucket (71) is fixedly connected to a rotating ring (8). The rotating ring (8) is located in the rotating groove and is rotatably connected to the rotating groove.

6. The lifting device for simultaneously lifting multiple waste bins according to claim 4, characterized in that, The gripper (2) includes a connecting rod (21) fixedly connected to the rotating shaft (631), a cylinder (22) fixedly connected to the bearing ring (72), a cover plate (23) for sealing the cylinder and fixedly connected to the connecting rod (21), and a gripper (24) connected to the cylinder (22). The cover plate (23) is fixedly connected to the cylinder (22), and several grippers (24) are provided. An active device (9) for driving several grippers (24) to grip is provided between the several grippers (24) and the cylinder (22).

7. The lifting device for simultaneously lifting multiple waste bins according to claim 6, characterized in that, The active device (9) includes a fixed ring (91) fixedly connected to the cylinder (22), a fixed support foot (92) fixedly connected to the fixed ring (91), and a connecting block (93) fixedly connected to several hooks (24). Each hook (24) corresponds to a fixed support foot (92). The middle part of the hook (24) is rotatably connected to the fixed support foot (92). The connecting block (93) is provided with a driving component for driving the connecting block (93) to slide. One end of the hook (24) is provided with a snap-fit ​​groove for grabbing objects. The connecting block (93) is rotatably connected to the end of the hook (24) away from the snap-fit ​​groove.

8. The lifting device for simultaneously lifting multiple waste bins according to claim 7, characterized in that, The included angle between the fixed support leg (92) and the fixed ring (91) is 120°.

9. A lifting device for simultaneously lifting multiple waste bins according to claim 7, characterized in that, The connecting block (93) is equipped with a proximity switch (10) for detecting whether the gripper (2) is in contact with the object.

Images