Research on unattended hoisting in solid waste disposal

Collection, transfer and storage of solid waste cannot do without hoisting work. Hoisting operators are usually exposed to bad working circumstances. Studying the precise on-ground locating of solid waste carriers and auto offset correcting gripper design with no need of precise locating are the key to accomplishing unattended operation. This paper proposes a combination of slidable flat washer and four-jaw auto-centering chuck to meet the clamping requirement and provide millimeter-grade carrier locating precision; realization of auto offset correction by use of the clamping jaws of a quasi-planetary gear structure is a guarantee of hoisting work on the carrier in the condition of gripper swinging. The feasibility of the fruit of the paper has been verified by hoisting work in the disposal of nuclear waste and hazardous waste.