Intelligent AGV clamping radioactive waste barrel transfer device

Abstract

The utility model discloses an intelligent AGV (Automatic Guided Vehicle) radioactive waste barrel clamping and transferring device. The device comprises a walking mechanism, a lifting device arranged on the walking mechanism, a telescopic mechanism fixed in front of the lifting device, a clamping device arranged in front of the telescopic mechanism and an intelligent control system fixed behind the lifting device; the clamping device comprises a clamping rack fixed to the telescopic mechanism, a left-right telescopic system fixed to the clamping rack and a barrel holding and clamping mechanism, and a holding and clamping visual camera is further arranged on the clamping rack. The lifting device comprises a vertical telescopic frame and a vertical jacking oil cylinder assembly, and a panoramic camera is further arranged on the top face of the vertical telescopic frame. A rear-end radar sensor is further arranged on the shell of the intelligent control system. The infrared photoelectric sensor and the radar sensor are elaborately arranged at the front end and the rear end of the device, obstacle information in the surrounding environment can be carefully captured, and it is ensured that a vehicle safely runs in the complex and changeable working environment.

Description

Technical Field

[0001] The present invention belongs to the field of radioactive waste treatment, and in particular relates to an intelligent AGV-gripping radioactive waste barrel transfer device. Background Art

[0002] During the operation of nuclear power plants, various types of radioactive waste are generated, which are basically temporarily stored and transported in steel drums; and existing steel drums are all transported using transfer devices. CN220827189U discloses an intelligent lifting AGV unmanned forklift, which makes the unloading position more accurate, makes the stacking more integrated, and saves space; CN219058456U discloses a telescopic frame, clamping device and transport vehicle that can adapt to different adjustment directions, has better load-bearing capacity, and has a larger telescopic adjustment range. However, this type of transfer device or cart requires manual contact and operation of the transfer device, and the radioactive waste stored inside the steel drum is bound to pose a danger to the operator. Summary of the Invention

[0003] In order to overcome the problem that the prior art device for transporting radioactive waste requires manual contact and operation of the transport device, which poses a risk to the operator, the present invention provides the following technical solutions:

[0004] An intelligent AGV gripping radioactive waste barrel transfer device, comprising: a traveling mechanism, a lifting device disposed on the traveling mechanism, a telescopic mechanism fixed in front of the lifting device, a gripping device disposed in front of the telescopic mechanism, and an intelligent control system fixed behind the lifting device;

[0005] The clamping device includes a clamping frame fixed to the telescopic mechanism, left and right telescopic systems fixed to the clamping frame, and a clamping barrel mechanism. The clamping frame is also provided with a clamping visual camera;

[0006] The lifting device includes a vertical telescopic frame and a vertical lifting cylinder assembly, and the top surface of the vertical telescopic frame is also provided with a panoramic camera;

[0007] The housing of the intelligent control system is also provided with a rear-end radar sensor for obstacle avoidance of the device.

[0008] Furthermore, the clamping vision camera is a pair, located on the left and right sides of the clamping frame; the clamping frame is also provided with a front-end radar sensor, and the front-end radar sensor, panoramic camera, rear-end radar sensor and clamping vision camera together form a visual recognition system.

[0009] Furthermore, the walking mechanism includes a rear-end walking component arranged under the intelligent control system and a front-end balance wheel component arranged in front of the rear-end walking component; the intelligent control system communicates with the walking mechanism and controls the walking mechanism to move forward, backward or turn.

[0010] Further, it is characterized in that the telescopic mechanism includes a rear telescopic fixing frame fixed in front of the lifting plate, a front telescopic fixing frame fixed behind the clamping frame, a movable telescopic frame arranged between the front telescopic fixing frame and the rear telescopic fixing frame, and a horizontal telescopic oil cylinder; the horizontal telescopic oil cylinder drives the movable telescopic frame to move horizontally between the front telescopic fixing frame and the rear telescopic fixing frame.

[0011] Furthermore, it is characterized in that the clamping barrel mechanism includes a left clamp and a right clamp symmetrically fixed to the left and right sides of the clamping frame; the front-end radar sensor is located in the middle of the left clamp and the right clamp, and is fixed on the clamping frame.

[0012] This intelligent AGV transfer device is meticulously equipped with high-precision infrared photoelectric sensors and advanced millimeter-wave radar sensors at the front and rear ends. These sensors are able to keenly capture information about obstacles in the surrounding environment, ensuring safe operation in complex and ever-changing working environments. Upon detecting a potential collision, the sensors immediately transmit precise data to the built-in intelligent system, which then activates a highly efficient algorithm to rapidly plan the optimal obstacle avoidance path, enabling adaptive avoidance and intelligent route adjustment, effectively ensuring a safe and smooth operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a side view of the intelligent AGV gripping the radioactive waste barrel transfer device of the utility model.

[0014] Figure 2 This is a three-dimensional schematic diagram of the intelligent AGV gripping radioactive waste barrel transfer device of the utility model.

[0015] Figure 3 This is a three-dimensional schematic diagram of the intelligent AGV gripping radioactive waste barrel transfer device of the utility model from another perspective.

[0016] In the picture:

[0017] 1- Clamping device, 2- Telescopic mechanism, 3- Lifting device, 5- Traveling mechanism, 6- Intelligent control system;

[0018] 101-clamping barrel mechanism, 102-left and right telescopic system, 103-clamping frame, 101a-left clamp, 101b-right clamp;

[0019] 201- movable telescopic frame, 203- horizontal telescopic cylinder, 204- rear telescopic fixed frame, 205- front telescopic fixed frame;

[0020] 301-vertical jacking cylinder assembly, 302-vertical telescopic frame, 303-lifting plate;

[0021] 401-panoramic camera, 402-rear-end radar sensor, 403-clamping visual camera, 404-front-end radar sensor; 502-rear-end walking assembly, 501-front-end balance wheel assembly. DETAILED DESCRIPTION

[0022] The following is a clear and complete description of the technical solution of the present invention with reference to specific embodiments in conjunction with the accompanying drawings. It should be understood that the described embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0023] according to Figure 1 As shown, the present invention provides an intelligent AGV gripping radioactive waste barrel transfer device, which includes: a traveling mechanism 5, a lifting device 3 provided on the traveling mechanism 5, a telescopic mechanism 2 fixed in front of the lifting device 3, a gripping device 1 provided in front of the telescopic mechanism 2, and an intelligent control system 6 fixed behind the lifting device 3;

[0024] Combine Figure 1 and Figure 2 As shown, the clamping device 1 includes a clamping frame 103 fixed to the telescopic mechanism 2, a left and right telescopic system 102 fixed to the clamping frame 103, and a clamping barrel mechanism 101. The clamping frame 103 is also provided with a clamping visual camera 403;

[0025] Combine Figure 1 and Figure 3 As shown, the lifting device 3 includes a vertical telescopic frame 302 and a vertical lifting cylinder assembly 301. A panoramic camera 401 is also provided on the top surface of the vertical telescopic frame 302.

[0026] The housing of the intelligent control system 6 is also provided with a rear-end radar sensor 402 for obstacle avoidance of the device.

[0027] In some specific embodiments of the present invention, Figure 1 and Figure 3 As shown, the walking mechanism 5 includes a rear-end walking component 502 arranged under the intelligent control system 6 and a front-end balance wheel component 501 arranged in front of the rear-end walking component 502; the intelligent control system 6 communicates with the walking mechanism 5 and controls the walking mechanism 5 to move forward, backward or turn.

[0028] In some specific embodiments of the present invention, Figure 1 and Figure 2 As shown, the clamping vision cameras 403 are a pair, located on the left and right sides of the clamping frame 103; the clamping frame 103 is also provided with a front radar sensor 404, and the front radar sensor 404, the panoramic camera 401, the rear radar sensor 402 and the clamping vision camera 403 together form a visual recognition system.

[0029] In some specific embodiments of the present invention, the visual recognition system detects objects and avoids obstacles, and transmits the information to the intelligent control system 6. The intelligent control system 6 calculates the corresponding planned route and controls the walking mechanism 5 to respond accordingly.

[0030] In some specific embodiments of the present invention, Figure 1 and Figure 2 As shown, the lifting device 3 further includes a lifting plate 303 , which is driven by a vertical lifting cylinder assembly 301 and moves vertically up and down in the vertical telescopic frame 302 .

[0031] In some specific embodiments of the present invention, Figure 1 、 Figure 2 as well as Figure 3 As shown, the telescopic mechanism 2 includes a rear telescopic fixing frame 204 fixed in front of the lifting plate 303, a front telescopic fixing frame 205 fixed behind the clamping frame 103, a movable telescopic frame 201 and a horizontal telescopic cylinder 203 arranged between the front telescopic fixing frame 205 and the rear telescopic fixing frame 204; the horizontal telescopic cylinder 203 drives the movable telescopic frame 201 to move horizontally between the front telescopic fixing frame 205 and the rear telescopic fixing frame 204.

[0032] In some specific embodiments of the present invention, according to Figure 2 As shown, the clamping barrel mechanism 101 includes a left clamp 101a and a right clamp 101b symmetrically fixed to the left and right sides of the clamping frame; the front radar sensor 404 is located between the left clamp and the right clamp and is fixed to the clamping frame 103.

[0033] The principle of this utility model is as follows: When a waste container needs to be collected and transported, the visual recognition system first detects the object and transmits it to the intelligent control system 6. After calculations and other processes, the corresponding traveling mechanism 5 is sent to the front of the object. The telescopic mechanism 2 and the clamping device 1 are then moved to clamp the waste container. The lifting device 3 is then directed to lift the container to a certain height. The lifting height is determined based on actual needs. If the container is clamped and moved for a certain distance, the intelligent control system 6 determines the lifting height, ensuring that it does not touch the ground. If the container is clamped and stacked at the same height, the visual recognition system calculates the required lifting height, along with other complex movements. Once the container reaches the desired position, the intelligent control system 6 automatically controls the clamping device 1 to release the clamping mechanism, allowing the container to be placed in the desired position. Simultaneously, the telescopic mechanism 2 is retracted, lowering the lifting device 3 to its original position. The traveling mechanism 5 then moves to the next waste container to be transported, and the next round of clamping is performed.

[0034] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are within the scope of the technical solution of the present invention.

Claims

1. An intelligent AGV gripping radioactive waste barrel transfer device, characterized in that: It includes: A traveling mechanism, a lifting device provided on the traveling mechanism, a telescopic mechanism fixed in front of the lifting device, a clamping device provided in front of the telescopic mechanism, and an intelligent control system fixed behind the lifting device; The clamping device includes a clamping frame fixed to the telescopic mechanism, left and right telescopic systems fixed to the clamping frame, and a clamping barrel mechanism. The clamping frame is also provided with a clamping visual camera; The lifting device includes a vertical telescopic frame and a vertical lifting cylinder assembly. The top surface of the vertical telescopic frame is also provided with a panoramic camera; the housing of the intelligent control system is also provided with a rear-end radar sensor.

2. The intelligent AGV gripping radioactive waste barrel transfer device according to claim 1 is characterized in that: The clamping vision cameras are a pair, located on the left and right sides of the clamping frame; the clamping frame is also provided with a front-end radar sensor, and the front-end radar sensor, panoramic camera, rear-end radar sensor and clamping vision camera together form a visual recognition system.

3. The intelligent AGV gripping radioactive waste barrel transfer device according to claim 2 is characterized in that: The walking mechanism includes a rear-end walking component arranged under the intelligent control system and a front-end balance wheel component arranged in front of the rear-end walking component; the intelligent control system communicates with the walking mechanism and controls the walking mechanism to move forward, backward or turn.

4. The intelligent AGV gripping radioactive waste barrel transfer device according to claim 1 is characterized in that: The lifting device also includes a lifting plate, which is driven by a vertical lifting cylinder assembly and moves vertically up and down in the vertical telescopic frame; the telescopic mechanism includes a rear telescopic fixing frame fixed in front of the lifting plate, a front telescopic fixing frame fixed behind the clamping frame, a movable telescopic frame arranged between the front telescopic fixing frame and the rear telescopic fixing frame, and a horizontal telescopic cylinder; the horizontal telescopic cylinder drives the movable telescopic frame to move horizontally between the front telescopic fixing frame and the rear telescopic fixing frame.

5. The intelligent AGV gripping radioactive waste barrel transfer device according to claim 2 is characterized in that: The clamping barrel mechanism includes a left clamp and a right clamp symmetrically fixed to the left and right sides of the clamping frame; the front radar sensor is located between the left clamp and the right clamp and is fixed on the clamping frame.

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