Transfer trolley

Abstract

The utility model discloses a transfer trolley, which belongs to the technical field of transportation devices, and comprises a driving transfer mechanism, a dismounting mechanism and a gas detection mechanism, the driving transfer mechanism is used for taking and placing articles and driving the articles to move, the dismounting mechanism is arranged on the driving transfer mechanism, and the dismounting mechanism is used for dismounting fasteners on the articles. The gas detection mechanism is mounted on the driving transfer mechanism or the dismounting mechanism and is used for detecting the content of a preset substance in the air. The dismounting mechanism of the transfer trolley can dismount fasteners on objects, the running transfer mechanism can achieve the object transfer function so as to reduce the labor intensity of workers and shorten the exposure time of the workers, and the gas detection mechanism can detect the content of preset substances in air near the transfer trolley so as to determine whether the current environment is dangerous or not. A worker can determine whether protection needs to be carried out or not and the protection level according to the actual situation, and therefore the safety of the worker can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of transportation devices, in particular to a transfer trolley. Background Art

[0002] In the related art, when maintaining nuclear fusion supporting equipment, the supporting equipment needs to be manually dismantled and transported to a maintenance workshop via a transfer vehicle. The labor intensity of manually dismantling the supporting equipment is high, and the environment in which the nuclear fusion equipment is located may have leakage of radioactive materials, affecting the personal safety of the workers. Utility Model Content

[0003] The utility model aims to solve at least one of the above-mentioned technical problems in the prior art to a certain extent. To this end, the utility model proposes a transfer trolley, which can disassemble the fasteners on the items to facilitate the disassembly and transfer of the items, and can also detect the content of the preset substance in the air to improve the safety of the staff.

[0004] The transfer cart according to the embodiment of the utility model includes: a traveling transfer mechanism, which is used to take and place articles and drive the articles to move; a disassembly mechanism, which is installed on the traveling transfer mechanism and is used to disassemble fasteners on the articles; and a gas detection mechanism, which is installed on the traveling transfer mechanism or the disassembly mechanism and is used to detect the content of preset substances in the air.

[0005] According to the transfer cart of the embodiment of the utility model, the disassembly mechanism of the transfer cart can disassemble the fasteners on the articles, and the traveling transfer mechanism can realize the transfer function of the articles to reduce the labor intensity and exposure time of the staff, and the gas detection mechanism can detect the content of preset substances in the air near the transfer cart to determine whether the current environment is dangerous. The staff can determine whether protection is needed and the level of protection according to the actual situation, which is beneficial to improve the safety of the staff.

[0006] According to some embodiments of the utility model, the traveling and transferring mechanism includes: a traveling mechanism, which is suitable for moving on the ground; a transferring mechanism, which is connected to the traveling mechanism and is used to pick up and place the items; and a remote control device, which is respectively communicatively connected to the traveling mechanism and the transferring mechanism and is used to control the movement of the traveling mechanism and to control the transferring mechanism to pick up and place the items according to a received remote control signal.

[0007] According to some embodiments of the utility model, the transfer mechanism includes: a lifting assembly, which is connected to the traveling mechanism; a fork assembly, which is connected to the lifting assembly, and the lifting assembly is used to drive the fork assembly to lift and lower to pick up and place the items.

[0008] According to some embodiments of the utility model, the lifting assembly is rotatably connected to the traveling mechanism, and the transfer mechanism further includes: an adjusting assembly, which is connected between the traveling mechanism and the lifting assembly, and the adjusting assembly is used to adjust the rotation angle of the lifting assembly relative to the traveling mechanism.

[0009] According to some embodiments of the utility model, the disassembly mechanism includes: a robotic arm, which is connected to the traveling transport mechanism; a disassembly tool, which is detachably connected to the robotic arm, and the robotic arm is used to drive the disassembly tool to disassemble the fasteners on the object.

[0010] According to some embodiments of the utility model, the gas detection mechanism includes: a gas detection sensor, which is used to detect the content of a preset substance in the air to obtain detection information; a communication device, which is communicatively connected to the gas detection sensor, and is suitable for sending the detection information to an external receiver.

[0011] According to some embodiments of the present utility model, the gas detection sensor is a tritium content detection sensor, and the tritium content detection sensor is used to detect the tritium content in the air to obtain the detection information.

[0012] According to some embodiments of the utility model, the gas detection mechanism further includes: a detection shell having a detection channel, the gas detection sensor being arranged in the detection channel; and an air suction device for pumping air into the detection channel.

[0013] According to some embodiments of the utility model, the detection channel includes an inlet section, a connecting section and an outlet section, the inlet section is connected with the outlet section through the connecting section, the gas detection sensor is arranged in the connecting section, the flow area of ​​the inlet section gradually increases in the direction away from the connecting section, and the air suction device pumps air from the inlet section to the outlet section.

[0014] According to some embodiments of the present utility model, the air extraction device is provided in the connecting section or the outlet section.

[0015] According to some embodiments of the present utility model, the detection housing is connected to a mechanical arm of the disassembly mechanism.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of a transfer vehicle according to an embodiment of the utility model;

[0018] Figure 2 is a schematic diagram of a transfer mechanism according to an embodiment of the utility model;

[0019] Figure 3 It is a schematic diagram of the cooperation between the traveling mechanism and the remote control device according to an embodiment of the utility model;

[0020] Figure 4 Schematic diagram of a transfer vehicle transferring items according to an embodiment of the utility model Figure 1 ;

[0021] Figure 5 Schematic diagram of a transfer vehicle transferring items according to an embodiment of the utility model Figure 2 ;

[0022] Figure 6 It is a schematic diagram of the cooperation between the disassembly mechanism and the gas detection mechanism according to an embodiment of the utility model;

[0023] Figure 7 It is a cross-sectional view of a gas detection mechanism according to an embodiment of the utility model.

[0024] Reference numerals:

[0025] Traveling and transporting mechanism 1; traveling mechanism 11; wheels 111; frame 112; connecting part 114; position detecting device 115; transporting mechanism 12; lifting assembly 121; slide rail 1211; slider 1212; connecting frame 1213; transverse fixing plate 12131; first vertical fixing plate 12132; second vertical fixing plate 12133; guide rod 12134; first distance adjusting knob 1214; second distance adjusting knob 1215; groove 1216; fork assembly 122; first fork arm 1221; second fork arm 1222; first connecting arm 1223; second connecting arm 1224; adjusting assembly 123; remote control device 13;

[0026] Disassembly mechanism 2; mechanical arm 21; disassembly tool 22; pneumatic device 23; screw 24;

[0027] Gas detection mechanism 3; gas detection sensor 31; communication device 32; detection housing 33; detection channel 34; inlet section 341; connecting section 342; outlet section 343; air extraction device 35; fixing frame 36;

[0028] Transfer cart 10; items 20. DETAILED DESCRIPTION

[0029] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0030] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "length", "upper", "lower", "inner", "outer", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0031] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0032] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] The transfer vehicle 10 according to an embodiment of the utility model is described in detail below with reference to the accompanying drawings.

[0034] Reference Figure 1-Figure 5 As shown, the transfer vehicle 10 according to the embodiment of the utility model includes: a traveling transfer mechanism 1, a disassembly mechanism 2 and a gas detection mechanism 3, the traveling transfer mechanism 1 is used to take and place the article 20 and drive the article 20 to move, the disassembly mechanism 2 is installed on the traveling transfer mechanism 1, the disassembly mechanism 2 is used to disassemble the fasteners on the article 20, the gas detection mechanism 3 is installed on the traveling transfer mechanism 1 or the disassembly mechanism 2, and the gas detection mechanism 3 is used to detect the content of preset substances in the air.

[0035] Among them, the traveling transfer mechanism 1 of the transfer vehicle 10 can move on the ground, the staff can drive or remotely control the transfer vehicle 10 to move to the required position, the traveling transfer mechanism 1 can pick up and place the items 20, and the traveling transfer mechanism 1 can also drive the items 20 to move to realize the transfer function of the items 20.

[0036] The disassembly mechanism 2 of the transfer cart 10 is installed on the traveling transfer mechanism 1. The disassembly mechanism 2 moves together with the traveling transfer mechanism 1. The disassembly mechanism 2 can disassemble the fasteners on the article 20. The disassembly mechanism 2 can be an automated device that can perform disassembly actions according to a preset program to remove the fasteners on the article 20 and release the connection between the article 20 and the device that fixes the article 20, so as to reduce the labor intensity and exposure time of the staff and facilitate the transfer of the article 20 by the transfer cart 10.

[0037] The gas detection mechanism 3 of the transfer cart 10 is installed on the traveling transfer mechanism 1 or the disassembly mechanism 2. The gas detection mechanism 3 can detect the content of preset substances in the air near the transfer cart 10. The preset substances may be substances harmful to the human body. The staff can determine whether the current environment is dangerous and whether the article 20 is contaminated based on the detection results of the gas detection mechanism 3. The staff can determine whether protection is needed and the level of protection based on actual conditions, which is beneficial to improving the safety of the staff.

[0038] It can be understood that the multifunctional transfer cart 10 of the embodiment of the utility model integrates functions such as transfer, disassembly, and detection. It can remove the fasteners on the item 20 and transfer the item 20 to the required location. At the same time, it can also detect the content of preset substances in the working environment. The transfer cart 10 is multifunctional, easy to operate, efficient, safe and reliable.

[0039] As an embodiment of the utility model, the transfer cart 10 can be applied to nuclear fusion supporting devices. The transfer cart 10 can be used as a crucial transfer equipment during the system installation and maintenance process, and can transfer large devices. The item 20 is the ventilation flange of the supporting device. The air detected by the gas detection mechanism 3 refers to the ambient air in which the item 20 is located. Radioactive substances may exist in the ambient air. The gas detection mechanism 3 can detect the content of radioactive substances in the air, such as the tritium content. The staff can determine whether there is radioactive substance contamination in the environment based on the detection results of the gas detection mechanism 3.

[0040] In the above embodiment, the disassembly mechanism 2 of the transfer cart 10 can disassemble the fasteners on the article 20, and the traveling transfer mechanism 1 can realize the transfer function of the article 20 to reduce the labor intensity and exposure time of the staff, and the gas detection mechanism 3 can detect the content of preset substances in the air near the transfer cart 10 to determine whether the current environment is dangerous. The staff can determine whether protection is needed and the level of protection according to the actual situation, which is beneficial to improve the safety of the staff.

[0041] In some embodiments of the present invention, Figure 1-Figure 4 As shown, the traveling transfer mechanism 1 includes: a traveling mechanism 11, a transfer mechanism 12 and a remote control device 13. The traveling mechanism 11 is suitable for moving on the ground. The transfer mechanism 12 is connected to the traveling mechanism 11. The transfer mechanism 12 is used to take and place articles 20. The remote control device 13 is respectively communicated with the traveling mechanism 11 and the transfer mechanism 12. The remote control device 13 is used to control the movement of the traveling mechanism 11 according to the received remote control signal, and to control the transfer mechanism 12 to take and place articles 20.

[0042] Among them, the traveling mechanism 11 of the traveling transfer mechanism 1 may include a frame 112 and a plurality of wheels 111 installed on the frame 112 , a power system and a steering system, the power system is used to drive the wheels 111 to rotate, and the steering system is used to control the steering of the wheels 111 .

[0043] The remote control device 13 of the traveling transfer mechanism 1 can be arranged on the frame 112. The remote control device 13 can control the movement of the traveling mechanism 11 according to the received remote control signal. Specifically, the remote control device 13 can be connected to the power system and the steering system for communication. The staff can send the remote control signal to the remote control device 13 through the remote control in the monitoring room. The remote control device 13 converts the remote control signal into a power control signal and a steering control signal. The remote control device 13 can transmit the power control signal to the power system, and the power system can receive and analyze the power control signal. The power system can drive the multiple wheels 111 to rotate, so as to achieve the effect of the transfer vehicle 10 moving forward or backward. Moreover, the remote control device 13 can transmit a steering control signal to the steering system, the steering system can receive and analyze the steering control signal, and the steering system can drive the multiple wheels 111 to turn, so as to achieve the effect of the transfer cart 10 turning left or right. By controlling the power system and the steering system through the remote control device 13, the wheels 111 can be controlled to move on the ground so that the transfer cart 10 reaches the designated position. In addition, by setting up the remote control device 13, there is no need for staff to drive the transfer cart 10 on site, and there is no need to set up a position for staff on the transfer cart 10, so the volume of the transfer cart 10 can be reduced, so that the transfer cart 10 occupies less space.

[0044] The transfer mechanism 12 can be connected to the traveling mechanism 11, the transfer mechanism 12 can be used to pick up and place the article 20, the remote control device 13 can be communicatively connected to the transfer mechanism 12, the transfer mechanism 12 can be constructed as a mechanical gripper, the remote control device 13 can control the mechanical gripper to pick up and place the article 20, the transfer mechanism 12 can also be constructed as an elevator, the remote control device 13 can control the elevator to rise and fall to pick up and place the article 20.

[0045] In the above embodiment, by providing a remote control device 13 which is respectively connected to the traveling mechanism 11 and the transfer mechanism 12 for communication, the traveling mechanism 11 can be remotely controlled to move and the transfer mechanism 12 can be controlled to pick up and place the article 20, thereby achieving the effect of remotely controlling the operation of the transfer vehicle 10. There is no need for staff to work on site, thus reducing the risk of staff being harmed by harmful substances in the environment where the article 20 is located, thereby protecting the safety of the staff.

[0046] As some embodiments of the present utility model, Figure 1 , Figure 3 and Figure 5 As shown, the traveling mechanism 11 may also include a plurality of position detection devices 115. The number of the position detection devices 115 may be two, three, four, etc. The position detection device 115 may be fixedly connected to the frame 112. The position detection device 115 may measure the positional relationship between the transfer cart 10 and the preset area. The position detection device 115 may be communicatively connected to the remote control device 13. The position detection device 115 may transmit the detected position information to the remote control device 13. The remote control device 13 may send a control signal to the power system and the steering system. The power system and the steering system may drive the wheels 111 to move on the ground so that the transfer cart 10 may autonomously reach the preset area. Furthermore, the transfer cart 10 may be precisely aligned with the article 20 to facilitate the transfer of the article 20, thereby improving the transportation efficiency.

[0047] As a specific embodiment of the utility model, the position detection device 115 can be constructed as a distance measuring device or a visual recognition system. The position detection device 115 measures the positional relationship between the transfer cart 10 and the preset area. The staff can monitor and adjust the position of the transfer cart 10 in real time through the position detection device 115. The staff can send a remote control signal to the remote control device 13. The remote control device 13 can control the transfer cart 10 to move on the ground according to the position information detected by the position detection device 115 to reach the preset area.

[0048] In some embodiments of the present invention, Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, the transfer mechanism 12 includes: a lifting component 121 and a fork component 122. The lifting component 121 is connected to the traveling mechanism 11, and the fork component 122 is connected to the lifting component 121. The lifting component 121 is used to drive the fork component 122 to lift and lower to pick up and place the object 20.

[0049] Among them, the lifting component 121 of the transfer mechanism 12 can be connected to the traveling mechanism 11, the lifting component 121 can be connected to the fork component 122, the lifting component 121 can include a slide rail 1211, a slider 1212 and a driving mechanism, the slider 1212 can slide in the slide rail 1211, the driving mechanism can include a hydraulic cylinder, the hydraulic cylinder can be extended to change its own length, the hydraulic cylinder can be connected to the slider 1212, the hydraulic cylinder can be communicated with the remote control device 13, the remote control device 13 can control the hydraulic cylinder to make the hydraulic cylinder extend and retract, the hydraulic cylinder can drive the slider 1212 to slide in the slide rail 1211, the slider 1212 can be welded, clamped or bolted to the fork component 122, and the slider 1212 can drive the fork component 122 to rise and fall when sliding in the slide rail 1211.

[0050] When it is necessary to pick up and place an object 20, the staff can send a remote control signal to the remote control device 13 through the remote control in the monitoring room. The remote control device 13 can receive the remote control signal and parse it. The remote control device 13 can send a control signal to the driving mechanism of the lifting assembly 121 to make the driving mechanism extend and retract, thereby driving the slider 1212 to slide in the slide rail 1211, and then drive the fork assembly 122 to rise and fall to pick up and place the object 20.

[0051] like Figure 2 As shown, the lifting assembly 121 of the transfer mechanism 12 also includes: a connecting frame 1213, a first distance adjustment knob 1214 and a second distance adjustment knob 1215. The connecting frame 1213 can be connected to the slider 1212 by welding, clamping or bolting, etc. The first distance adjustment knob 1214 and the second distance adjustment knob 1215 can both be bolts. The movement of the slider 1212 can drive the connecting frame 1213 to move. The connecting frame 1213 includes two horizontal fixing plates 12131 and a first vertical fixing plate 1213. 2. The second vertical fixing plate 12133 and the guide rod 12134. The first vertical fixing plate 12132 and the second vertical fixing plate 12133 can be arranged relatively spaced apart. The two horizontal fixing plates 12131 can be connected between the first vertical fixing plate 12132 and the second vertical fixing plate 12133 to fix the first vertical fixing plate 12132 and the second vertical fixing plate 12133. The guide rod 12134 can be connected between the first vertical fixing plate 12132 and the second vertical fixing plate 12133.

[0052] like Figure 2As shown, the fork assembly 122 of the transfer mechanism 12 may include: a first fork arm 1221, a second fork arm 1222, a first connecting arm 1223 and a second connecting arm 1224, the first fork arm 1221 can be welded, snap-connected or bolted to the first connecting arm 1223, the first fork arm 1221 can be integrally formed with the first connecting arm 1223, the second fork arm 1221 can be welded, snap-connected or bolted to the second connecting arm 1224, the second fork arm 1221 can be integrally formed with the second connecting arm 1224, the first connecting arm 1223 and the second connecting arm 1224 can be constructed with sliding holes, the guide rod 12134 can be penetrated through the sliding holes of the first connecting arm 1223 and the second connecting arm 1224, so that the first connecting arm 1223 and the second connecting arm 1224 can be slidably connected to the guide rod 12134, and the first connecting arm 1223 and the second connecting arm 1224 can slide along the extension direction of the guide rod 12134.

[0053] The first vertical fixing plate 12132 may have a first threaded hole, the axis of the first threaded hole may be parallel to the extension direction of the guide rod 12134, the first distance adjusting knob 1214 may be threadedly matched with the first threaded hole, and the first distance adjusting knob 1214 may be rotatably connected to the first connecting arm 1223 around the axis of the first threaded hole, the first distance adjusting knob 1214 may be rotated to move the first distance adjusting knob 1214 in the axial direction of the first threaded hole, so that the first distance adjusting knob 1214 drives the first connecting arm 1223 and the first fork arm 1221 to move along the extension direction of the guide rod 12134, thereby realizing the adjustment of the distance between the first fork arm 1221 and the second fork arm 1222, so as to improve the versatility of the fork assembly 122.

[0054] Similarly, the second vertical fixing plate 12133 has a second threaded hole, the axis of the second threaded hole is parallel to the extension direction of the guide rod 12134, the second distance adjusting knob 1215 can be threadedly matched with the second threaded hole, and the second distance adjusting knob 1215 can be rotatably connected to the second connecting arm 1224 around the axis of the second threaded hole. The second distance adjusting knob 1215 can be rotated to move the second distance adjusting knob 1215 in the axial direction of the second threaded hole, so that the second distance adjusting knob 1215 can drive the second connecting arm 1224 and the second fork arm 1222 to move along the extension direction of the guide rod 12134, thereby realizing the adjustment of the distance between the first fork arm 1221 and the second fork arm 1222, so as to improve the versatility of the fork assembly 122.

[0055] In the above embodiment, by setting the first distance adjusting knob 1214 and the second distance adjusting knob 1215, the positions of the first connecting arm 1223 and the second connecting arm 1224 on the guide rod 12134 can be adjusted along the extension direction of the guide rod 12134, and then the distance between the first fork arm 1221 and the second fork arm 1222 can be adjusted to adapt to items 20 of different sizes, so that the transfer cart 10 can adjust the distance between the two fork arms 1221 according to the size and shape of the items 20, so as to achieve the effect of being able to pick up and place items 20 of different sizes.

[0056] In some embodiments of the present invention, Figure 1-Figure 5 As shown, the lifting component 121 is rotatably connected to the traveling mechanism 11, and the transfer mechanism 12 also includes: an adjusting component 123, the adjusting component 123 is connected between the traveling mechanism 11 and the lifting component 121, and the adjusting component 123 is used to adjust the rotation angle of the lifting component 121 relative to the traveling mechanism 11.

[0057] Among them, the traveling mechanism 11 can have a connecting part 114, the connecting part 114 can have an axial hole, the transfer mechanism 12 can also have an axial hole, the connecting part 114 and the axial hole of the transfer mechanism 12 can be connected by a pin shaft, so that the traveling mechanism 11 and the transfer mechanism 12 are hingedly connected, the adjusting component 123 of the transfer mechanism 12 can be connected between the traveling mechanism 11 and the lifting component 121, the adjusting component 123 can be a telescopic structure, the lifting component 121 can have a groove 1216, one end of the adjusting component 123 can be hinged at the groove 1216 of the lifting component 121, and the other end of the adjusting component 123 can be hingedly connected to the traveling mechanism 11, so as to adjust the rotation angle of the lifting component 121 relative to the traveling mechanism 11 through the telescopic adjustment of the adjusting component 123.

[0058] The adjusting assembly 123 may include one or more telescopic rods, which may be hydraulic telescopic rods or electric telescopic rods. The length of the adjusting assembly 123 may be adjusted. The lifting assembly 121 is rotatably connected to the traveling mechanism 11. When the length of the adjusting assembly 123 is extended or retracted, the adjusting assembly 123 may drive the lifting assembly 121 to rotate around the axis of rotational connection between the lifting assembly 121 and the traveling mechanism 11, so that the end of the lifting assembly 121 away from the connecting portion 114 approaches or moves away from the traveling mechanism 11. That is, when the length of the adjusting assembly 123 is shortened, the fork assembly 122 may be moved in a clockwise direction ( Figure 5 The fork assembly 122 and the article 20 placed on the fork assembly 122 can be tilted to lower the vertical height of the article 20, so that the transfer cart 10 and the article 20 can pass through a relatively low passage to avoid interference between the article 20 and other devices or buildings, so as to achieve the effect of transferring the article 20 to a desired location.

[0059] In some embodiments of the present invention, Figure 1 , Figure 4-Figure 6 As shown, the disassembly mechanism 2 includes: a robotic arm 21 and a disassembly tool 22 , the robotic arm 21 is connected to the traveling transport mechanism 1 , the disassembly tool 22 is detachably connected to the robotic arm 21 , and the robotic arm 21 is used to drive the disassembly tool 22 to disassemble the fasteners on the object 20 .

[0060] Among them, the robotic arm 21 of the disassembly mechanism 2 can be connected to the traveling and transporting mechanism 1, and the disassembly tool 22 is detachably connected to the robotic arm 21, that is, the disassembly tool 22 and the robotic arm 21 of the disassembly mechanism 2 can be separate parts, and the disassembly tool 22 can be replaced according to actual needs. The disassembly tool 22 can be constructed as a wrench or a socket. The robotic arm 21 can drive the disassembly tool 22 to disassemble the fasteners on the object 20 to disconnect the connection between the object 20 and the original position and transfer the object 20 to the traveling and transporting mechanism 1, so that the object 20 can be transported to the desired position. In addition, as the mechanical devices inside the nuclear fusion device are becoming more and more compact, the disassembly tool 22 is connected to the robotic arm 21, which is convenient for driving the disassembly tool 22 through the robotic arm 21 to disassemble the mechanical devices of various parts of the device in a smaller operating space, thereby improving the reliability of the disassembly mechanism 2 and improving the disassembly efficiency.

[0061] As an embodiment of the present utility model, Figure 1 , Figure 4-Figure 6 As shown, the robot arm 21 may also have a pneumatic device 23, which may be fixedly connected to the lifting assembly 121 by screws 24. The pneumatic device 23 may control the robot arm 21 to move to a desired position. The pneumatic device 23 has a simple and lightweight structure, is easy to install and maintain, and has better reliability in use.

[0062] In some embodiments of the present invention, Figure 7 As shown, the gas detection mechanism 3 includes: a gas detection sensor 31 and a communication device 32. The gas detection sensor 31 is used to detect the content of a preset substance in the air to obtain detection information. The communication device 32 is communicatively connected to the gas detection sensor 31. The communication device 32 is suitable for sending the detection information to an external receiver.

[0063] Among them, the gas detection sensor 31 of the gas detection mechanism 3 can detect the content of preset substances in the air, and the communication device 32 of the gas detection mechanism 3 can be connected to the gas detection sensor 31 for communication. The communication device 32 can send the detection information obtained by the gas detection sensor 31 to an external receiver. The staff can know the content of preset substances in the ambient air of the transfer vehicle 10 through the external receiver to determine whether the current environment is dangerous. The staff can determine whether protection is needed and the level of protection according to the actual situation, which is beneficial to improve the safety of the staff.

[0064] In some embodiments of the present invention, Figure 1 , Figure 4-Figure 7 As shown, the gas detection sensor 31 is a tritium content detection sensor, which is used to detect the tritium content in the air to obtain detection information.

[0065] The transfer vehicle 10 can be used in a nuclear fusion supporting device, and the gas detection sensor 31 can be a tritium content detection sensor, which can be used to detect the tritium gas content in the ambient air where the object 20 is located. The staff can determine the tritium gas content in the environment according to the detection result of the gas detection mechanism 3, and the staff can determine whether protection is needed and the level of protection according to the actual situation, which is conducive to improving the safety of the staff. In some embodiments of the present utility model, such as Figure 7 As shown, the gas detection mechanism 3 also includes: a detection shell 33 and an air extraction device 35 . The detection shell 33 has a detection channel 34 . The gas detection sensor 31 is arranged in the detection channel 34 . The air extraction device 35 is used to pump air into the detection channel 34 .

[0066] Among them, the detection shell 33 of the gas detection mechanism 3 can have a detection channel 34, the gas detection sensor 31 can be arranged in the detection channel 34, and the exhaust device 35 of the gas detection mechanism 3 can include an exhaust pump. The exhaust device 35 can pump air into the detection channel 34 to determine the content of a preset substance in the detection air through the gas detection sensor 31. By setting the detection shell 33 and the exhaust device 35, the flow rate and flow of air flowing through the gas detection sensor 31 can be increased, which can speed up the detection efficiency and improve the detection accuracy.

[0067] In some embodiments of the present invention, Figure 7 As shown, the detection channel 34 includes an inlet section 341, a connecting section 342 and an outlet section 343. The inlet section 341 is connected to the outlet section 343 through the connecting section 342. The gas detection sensor 31 is arranged in the connecting section 342. The flow area of ​​the inlet section 341 gradually increases in the direction away from the connecting section 342. The exhaust device 35 pumps air from the inlet section 341 to the outlet section 343.

[0068] Among them, the inlet section 341 of the detection channel 34 can be connected with the outlet section 343 of the detection channel 34 through the connecting section 342 of the detection channel 34, and the exhaust device 35 can pump air into the detection channel 34. The pumped air can flow through the inlet section 341, the connecting section 342 and the outlet section 343 of the detection channel 34 in sequence. The inlet section 341 can be constructed as a bell-mouth structure, that is, the flow area of ​​the inlet section 341 in the direction away from the connecting section 342 can be gradually increased to increase the flow rate and flow velocity of the air pumped into the detection channel 34, so as to speed up the detection efficiency and improve the detection accuracy. The gas detection sensor 31 can be arranged in the connecting section 342, and the detected air flows out of the gas detection sensor 31 through the outlet section 343, so that more air is pumped into the gas detection sensor 31, making the detection result more accurate.

[0069] In some embodiments of the present invention, Figure 7 As shown, the air extraction device 35 is disposed in the connecting section 342 or the outlet section 343 .

[0070] Among them, the exhaust device 35 can be arranged in the connecting section 342, or the exhaust device 35 can also be arranged at the outlet section 343. This arrangement can avoid the exhaust device 35 occupying the space of the inlet section 341, so as to ensure that the inlet section 341 has a larger flow area, and then ensure that more air is pumped into the detection channel 34, so as to speed up the detection efficiency and improve the detection accuracy.

[0071] In some embodiments of the present invention, Figure 1 , Figure 4-Figure 6 As shown, the detection housing 33 is connected to the mechanical arm 21 of the disassembly mechanism 2 .

[0072] Among them, the gas detection mechanism 3 can also include a fixing frame 36, and the detection shell 33 of the gas detection mechanism 3 can be connected to the robot arm 21 through the fixing frame 36, so that the robot arm 21 can drive the gas detection mechanism 3. When it is necessary to detect a specific position of the inspected space or the inspected object 20, for example, there may be a preset substance leakage at the sealing ring of the inspected device, the gas detection mechanism 3 can be driven by the robot arm 21 to align with the sealing ring of the inspected device, and multiple positions at the sealing ring can be detected separately to determine whether there is a preset substance leakage and the leakage amount, so as to achieve the purpose of detecting the preset substance at a specific position.

[0073] When the transfer cart 10 proposed by the utility model needs to be used for work, the staff can send a remote control signal to the remote control device 13 through the remote control in the monitoring room, and the remote control device 13 can receive the remote control signal and analyze it. The remote control device 13 can send a control signal to the power system and the steering system to drive the transfer cart 10 to move to enter the operating environment, and detect the tritium content in the ambient air through the gas detection mechanism 3. The communication device 32 can transmit the detection result to the staff. When the staff confirms that the transfer cart 10 can be operated, the transfer cart 10 can be controlled by the remote control device 13 and the position detection device 115 to reach the object 20 to be transferred, and the fork assembly 122 is controlled by the remote control device 13 to move to the corresponding position of the object 20 for fixing, and the disassembly mechanism 2 is controlled by the remote control device 13 to remove the fasteners between the object 20 and other parts. After the object 20 is separated from other parts, the transfer mechanism 12 is adjusted by the adjustment component 123 to tilt the object 20 to reduce the distance between the object 20 and the ground, so that the transfer cart 10 for transferring the object 20 can pass through some channels or entrances and exits to transfer the object 20 to the desired position.

[0074] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0075] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A transfer vehicle, characterized in that: include: A traveling transfer mechanism (1), the traveling transfer mechanism (1) being used for taking and placing an article (20) and driving the article (20) to move; A disassembly mechanism (2), the disassembly mechanism (2) being mounted on the travel transport mechanism (1), the disassembly mechanism (2) being used to disassemble fasteners on the article (20); A gas detection mechanism (3), wherein the gas detection mechanism (3) is installed on the travel transport mechanism (1) or the disassembly mechanism (2), and the gas detection mechanism (3) is used to detect the content of a preset substance in the air.

2. The transfer vehicle according to claim 1, characterized in that: The travel transport mechanism (1) comprises: A running mechanism (11), wherein the running mechanism (11) is suitable for moving on the ground; A transfer mechanism (12), the transfer mechanism (12) being connected to the travel mechanism (11), and the transfer mechanism (12) being used for taking and placing the article (20); A remote control device (13), wherein the remote control device (13) is respectively connected to the traveling mechanism (11) and the transfer mechanism (12), and the remote control device (13) is used to control the movement of the traveling mechanism (11) according to a received remote control signal, and to control the transfer mechanism (12) to pick up and place the article (20).

3. The transfer vehicle according to claim 2, characterized in that: The transfer mechanism (12) comprises: A lifting component (121), wherein the lifting component (121) is connected to the traveling mechanism (11); A fork assembly (122), wherein the fork assembly (122) is connected to the lifting assembly (121), and the lifting assembly (121) is used to drive the fork assembly (122) to rise and fall so as to pick up and place the object (20).

4. The transfer vehicle according to claim 3, characterized in that: The lifting assembly (121) is rotatably connected to the travel mechanism (11), and the transfer mechanism (12) further comprises: An adjusting component (123) is connected between the traveling mechanism (11) and the lifting component (121), and the adjusting component (123) is used to adjust a rotation angle of the lifting component (121) relative to the traveling mechanism (11).

5. The transfer vehicle according to claim 1, characterized in that: The disassembly mechanism (2) comprises: A mechanical arm (21), the mechanical arm (21) being connected to the travel transport mechanism (1); A disassembly tool (22), wherein the disassembly tool (22) is detachably connected to the mechanical arm (21), and the mechanical arm (21) is used to drive the disassembly tool (22) to disassemble the fastener on the object (20).

6. The transfer vehicle according to any one of claims 1 to 5, characterized in that: The gas detection mechanism (3) comprises: A gas detection sensor (31), the gas detection sensor (31) being used to detect the content of a preset substance in the air to obtain detection information; A communication device (32), the communication device (32) is communicatively connected to the gas detection sensor (31), and the communication device (32) is suitable for sending the detection information to an external receiver.

7. The transfer vehicle according to claim 6, characterized in that: The gas detection sensor (31) is a tritium content detection sensor, and the tritium content detection sensor is used to detect the tritium content in the air to obtain the detection information.

8. The transfer vehicle according to claim 6, characterized in that: The gas detection mechanism (3) further comprises: A detection housing (33), the detection housing (33) having a detection channel (34), the gas detection sensor (31) being arranged in the detection channel (34); An air suction device (35), wherein the air suction device (35) is used to pump air into the detection channel (34).

9. The transfer vehicle according to claim 8, characterized in that: The detection channel (34) comprises an inlet section (341), a connecting section (342) and an outlet section (343); the inlet section (341) is connected to the outlet section (343) through the connecting section (342); the gas detection sensor (31) is arranged in the connecting section (342); the flow area of ​​the inlet section (341) gradually increases in a direction away from the connecting section (342); and the air extraction device (35) pumps air from the inlet section (341) to the outlet section (343).

10. The transfer vehicle according to claim 9, characterized in that: The air extraction device (35) is arranged at the connecting section (342) or the outlet section (343).

11. The transfer vehicle according to claim 8, characterized in that: The detection housing (33) is connected to the mechanical arm (21) of the disassembly mechanism (2).

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