CN105129689A - Automatic seal cover taking control system for nuclear waste steel drum - Google Patents
Automatic seal cover taking control system for nuclear waste steel drum Download PDFInfo
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- CN105129689A CN105129689A CN201510564278.6A CN201510564278A CN105129689A CN 105129689 A CN105129689 A CN 105129689A CN 201510564278 A CN201510564278 A CN 201510564278A CN 105129689 A CN105129689 A CN 105129689A
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Abstract
The invention relates to an automatic seal cover taking control system for a nuclear waste steel drum, and belongs to the technical field of nuclear waste treatment. The system comprises an image monitoring unit, a motion control unit, a locating unit and a sensor unit; the motion control unit is used for calculating and processing data and sending a control instruction; the image monitoring unit is connected with the motion control unit and used for monitoring actions of a whole device in the operating process in real time; the locating unit is connected with the motion control unit and used for precisely locating an X axis, a Y axis, a Z axis and a rotary C axis; the sensor unit is connected with the motion control unit and used for detecting the position of the metal drum. The automatic seal cover taking control system for the nuclear waste steel drum is simple and reasonable in structural design, stable and reliable in operation and capable of achieving the functions of grabbing and moving a drum cover, automatically locating the drum cover and the waste drum, locating the position of threaded holes in the drum and the position of screws on the drum cover, placing the drum cover, screwing fastening bolts on the drum cover and the like.
Description
Technical field
The invention belongs to nuclear waste disposal technical field, particularly relate to a kind of nuke rubbish steel drum and automatically get capping control system.
Background technology
Nuke rubbish (nuclearwastematerial) general reference is produced at atomic fuel, processing and no longer needing of crossing of used by nuclear reactor and there is radioactive waste material.Transporting and storing in the process of nuke rubbish, all to use the nuke rubbish of steel drum splendid attire through closing, because steel drum has very strong radioactivation, so filling with in the process of transport at it, all must forbid that personnel are close, also just cannot adopt traditional artificial mode, steel drum is sealed, but in existing equipment, not having similar equipment to encapsulate nuke rubbish bung specially and to dismantle process yet, the control system simultaneously also do not matched control effectively.Traditional operating mode is that people is undertaken getting capping by gloves hole sword formula manipulator at the sealed chamber right-hand side, such operating mode makes that labor intensity of operating staff is large, operating efficiency is low and requires that the operative technique of operating personal is high, need could grasp skill wherein through the operation training of certain hour.
Summary of the invention
The present invention provides a kind of structure nuke rubbish steel drum that is simple, easy to install, that increase work efficiency automatically to get capping control system for solving in known technology the technical matters that exists.
The technical scheme that the present invention takes for the technical matters existed in solution known technology is: this nuke rubbish steel drum is automatically got capping control system and comprised: picture control unit, motion control unit, positioning unit, sensor unit;
Motion control unit is used for computing and the process of data, and sends control command;
Picture control unit is connected with motion control unit, for monitoring in real time the action in whole plant running process;
Positioning unit is connected with motion control unit, for the accurate location to X-axis, Y-axis, Z axis and revolution C axle;
Sensor unit is connected with motion control unit, for detecting the position of metal drum.
The present invention can also adopt following technical measures:
Described motion control unit comprises: upper computer, the first power module, PLC, servo-driver, servomotor;
The signal input part of upper computer is connected with picture control unit, and the signal output part of upper computer is connected with PLC; PLC is powered by the first power module, and the mouth of PLC connects servo-driver and connects servomotor by servo-driver; PLC is also connected with sensor unit with positioning unit.
Described picture control unit comprises: read-out, 4 road DVRs, second source module, pick up camera;
Second source module is connected with read-out, 4 road DVRs respectively, and 4 road DVRs are connected with read-out respectively with the signal output part of pick up camera.
Described pick up camera is the infrared gun type camera of dot matrix.
Described upper computer adopts touch screen structure; Described PLC comprises: CPU module, DI module, DO module, AI module, FM353 module;
CPU module is connected with upper computer by DP bus;
DI module is connected with CPU module, and the action for feeding back each actuating unit completes position whether correct and control signal;
DO module is connected with CPU module, for Controlling solenoid valve action;
AI module is connected with CPU module, for feedback torque signal;
FM353 module is connected with CPU module, for controlling servo-driver motion.
Described positioning unit comprises the chord length from vertical sweep metal drum during XY direction translational, then is calculated the laser sensor of center of metal drum by described positioning unit.
Described sensor unit comprises kinematic mechanism limit of sports record sensor and position-detection sensor.
The advantage that the present invention has and good effect are: this nuke rubbish steel drum gets capping Control system architecture simplicity of design, rationally automatically, stable and reliable operation, can realize that bung captures, mobile, bung and trash receptacle is located automatically, bucket tapped bore position is located, screw position on bung is located, places bung, tightened the functions such as bung binding bolt, in whole process, the equal remote operation of operating personal, directly do not contact with device, also directly cruelly do not leak in operation site; According to the constructional feature of object, manipulator adopts positive location to add to float the structure of location, positive location structure adopts X, Y, Z tri-axle orthogonal straight-line motion mechanism, and around Z axis pivotal C axle swing type mechanism; The rocker operation head that X, Y direction servo motion realize binding bolt is located bucket or the accurately automatic of bung, the servo motion of Z axis drives rocker operation head up-and-down movement, for picking and placeing the freedom of motion of bung, the main complete air supported head gyroscopic movement of C axle swing type mechanism, the sensor finding bucket tapped bore and bung screw is combined, to the location of bucket upper screwed hole and bung screwing by gyroscopic movement.The bolt that rocker operation head covers for the accurate positioning bucket of self adaptation or bucket tapped bore, fixing power-operated wrench on it, for tighting a bolt.Meanwhile, according to manipulator environment for use, expose to the open air at the electric drived control functional module of work-site part and each sensor, select the device of certain Radiation resistance characteristic; Meanwhile, the machinery and the electric control module that expose the part under radiation environment to the open air need meet IP54 requirement of shelter, do water proof and dust proof process, can prevent dust from entering completely; Control system adopts the mode of Long-distance Control, and human-computer interactive control platform take computer for controlling as core, is realized the control of equipment by the mode of bus and field controller plc communication, isolated with radiation environment.
Accompanying drawing explanation
Fig. 1 is the structural representation that nuke rubbish steel drum that the embodiment of the present invention provides gets capping control system automatically;
Fig. 2 is the structural representation of the picture control unit that the embodiment of the present invention provides;
Fig. 3 is the structural representation of the motion control unit that the embodiment of the present invention provides;
Fig. 4 is the structural representation of the PLC that the embodiment of the present invention provides;
In figure: 1, picture control unit; 1-1, read-out; 1-2,4 road DVRs; 1-3, second source module; 1-4, pick up camera; 2, motion control unit; 2-1, upper computer; 2-2, the first power module; 2-3, PLC; 2-3-1, CPU module; 2-3-2, DI module; 2-3-3, DO module; 2-3-4, AI module; 2-3-5, FM353 module; 2-4, servo-driver; 2-5, servomotor; 3, positioning unit; 4, sensor unit.
Detailed description of the invention
For summary of the invention of the present invention, Characteristic can be understood further, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows.
Refer to shown in Fig. 1 to Fig. 4: this nuke rubbish steel drum is automatically got capping control system and comprised: picture control unit 1, motion control unit 2, positioning unit 3, sensor unit 4;
Motion control unit 2 for the computing of data and process, and sends control command;
Picture control unit 1 is connected with motion control unit 2, for monitoring in real time the action in whole plant running process;
Positioning unit 3 is connected with motion control unit 2, for the accurate location to X-axis, Y-axis, Z axis and revolution C axle;
Sensor unit 4 is connected with motion control unit 2, for detecting the position of metal drum.
Described motion control unit 2 comprises: upper computer 2-1, the first power module 2-2, PLC 2-3, servo-driver 2-4, servomotor 2-5;
The signal input part of upper computer 2-1 is connected with picture control unit 1, and the signal output part of upper computer 2-1 is connected with PLC 2-3; PLC 2-3 is powered by the first power module 2-2, and the mouth of PLC 2-3 connects servo-driver 2-4 and connects servomotor 2-5 by servo-driver 2-4; PLC 2-3 is also connected with sensor unit 4 with positioning unit 3.
Described picture control unit 1 comprises: read-out 1-1,4 road DVR 1-2, second source module 1-3, pick up camera 1-4;
Second source module 1-3 is connected with read-out 1-1,4 road DVR 1-2 respectively, and 4 road DVR 1-2 are connected with read-out 1-1 respectively with the signal output part of pick up camera 1-4.
Described pick up camera 1-4 is the infrared gun type camera of dot matrix.
Described upper computer 2-1 adopts touch screen structure; Described PLC 2-3 comprises: CPU module 2-3-1, DI module 2-3-2, DO module 2-3-3, AI module 2-3-4, FM353 module 2-3-5;
CPU module 2-3-1 is connected with upper computer 2-1 by DP bus;
DI module 2-3-2 is connected with CPU module 2-3-1, and the action for feeding back each actuating unit completes position whether correct and control signal;
DO module 2-3-3 is connected with CPU module 2-3-1, for Controlling solenoid valve action;
AI module 2-3-4 is connected with CPU module 2-3-1, for feedback torque signal;
FM353 module 2-3-5 is connected with CPU module 2-3-1, moves for controlling servo-driver 2-4.
Described positioning unit 3 comprises the chord length from vertical sweep metal drum during XY direction translational, then is calculated the laser sensor of the center of metal drum by described positioning unit 3.
Described sensor unit 4 comprises kinematic mechanism limit of sports record sensor and position-detection sensor.
PLC 2-3 realizes the accurate location of X-axis, Y-axis, Z axis and revolution C axle by described CPU module 2-3-1 and FM353 module 2-3-5, and is realized the control of tightening screw moment by configuration analog module.The mouth tie bolt manipulator of servomotor 2-5 and being also connected with the input end of PLC 2-3.PLC 2-3 adopts Siemens S7-300 controller, realizes the reading control of AC servo motor 2-5 and sensing being exported to data, the reading etc. of initial point, limit signal; The index of PLC 2-3 is as follows:
X-axis stepping rate is 0 ~ 100mm/s, and positioning precision is 0.1mm;
X-axis stepping rate is 0 ~ 100mm/s, and positioning precision is 0.1mm;
Y-axis stepping rate is 0 ~ 100mm/s, and positioning precision is 0.05mm;
Y-axis stepping rate is 0 ~ 50mm/s, and positioning precision is 0.1mm;
C axle (revolution) stepping rate is 25 °/s, and positioning precision is 30 second of arcs.
The DI module 2-3-2 of PLC 2-3 connects laser sensor; Laser sensor from the chord length of vertical sweep metal drum during XY direction translational, then calculates the center of metal drum; Wherein, laser sensor is when translation, vertical sweep metal drum edge, start the distance recording X-direction translation, until X-direction scan barrel rim along time stop, this have recorded inswept metal drum chord length, and the distance of half is then the X-direction position of metal drum, and about Y-direction location employing two laser sensors, translation scans chord length in the Y direction.
The DI module 2-3-2 of PLC 2-3 also connects kinematic mechanism axle limit sensor and position-detection sensor; the limit of sports record that kinematic mechanism axle limit sensor is used for XY kinematic mechanism is spacing; operational envelope is gone out by protection kinematic mechanism mechanism when position-detection sensor inefficacy or uncontrolled movements, causes equipment damage.Position-detection sensor detects for the initial point of mechanism, for kinematic mechanism provides initial point signal.
Nuke rubbish steel drum of the present invention gets capping Control system architecture simplicity of design, rationally automatically, stable and reliable operation, effectively can realize bung crawl, movement, bung and trash receptacle automatically to locate, place bung, tighten the functions such as bung binding bolt, be suitable for propagation and employment.
The above is only to preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, every according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all belong in the scope of technical solution of the present invention.
Claims (7)
1. nuke rubbish steel drum gets a capping control system automatically, it is characterized in that: this nuke rubbish steel drum is automatically got capping control system and comprised: picture control unit, motion control unit, positioning unit, sensor unit;
Motion control unit is used for computing and the process of data, and sends control command;
Picture control unit is connected with motion control unit, for monitoring in real time the action in whole plant running process;
Positioning unit is connected with motion control unit, for the accurate location to X-axis, Y-axis, Z axis and revolution C axle;
Sensor unit is connected with motion control unit, for detecting the position of metal drum.
2. nuke rubbish steel drum as claimed in claim 1 gets capping control system automatically, it is characterized in that: described motion control unit comprises: upper computer, the first power module, PLC, servo-driver, servomotor;
The signal input part of upper computer is connected with picture control unit, and the signal output part of upper computer is connected with PLC; PLC is powered by the first power module, and the mouth of PLC connects servo-driver and connects servomotor by servo-driver; PLC is also connected with sensor unit with positioning unit.
3. nuke rubbish steel drum as claimed in claim 1 gets capping control system automatically, it is characterized in that: described picture control unit comprises: read-out, 4 road DVRs, second source module, pick up camera;
Second source module is connected with read-out, 4 road DVRs respectively, and 4 road DVRs are connected with read-out respectively with the signal output part of pick up camera.
4. nuke rubbish steel drum as claimed in claim 1 gets capping control system automatically, it is characterized in that: described pick up camera is the infrared gun type camera of dot matrix.
5. nuke rubbish steel drum as claimed in claim 2 gets capping control system automatically, it is characterized in that: described upper computer adopts touch screen structure; Described PLC comprises: CPU module, DI module, DO module, AI module, FM353 module;
CPU module is connected with upper computer by DP bus;
DI module is connected with CPU module, and the action for feeding back each actuating unit completes position whether correct and control signal;
DO module is connected with CPU module, for Controlling solenoid valve action;
AI module is connected with CPU module, for feedback torque signal;
FM353 module is connected with CPU module, for controlling servo-driver motion.
6. nuke rubbish steel drum as claimed in claim 1 gets capping control system automatically, it is characterized in that: described positioning unit comprises the chord length from vertical sweep metal drum during XY direction translational, then calculated the laser sensor of center of metal drum by described positioning unit.
7. nuke rubbish steel drum as claimed in claim 1 gets capping control system automatically, it is characterized in that: described sensor unit comprises kinematic mechanism limit of sports record sensor and position-detection sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510564278.6A CN105129689B (en) | 2015-09-07 | 2015-09-07 | A kind of nuke rubbish steel drum takes capping control system automatically |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510564278.6A CN105129689B (en) | 2015-09-07 | 2015-09-07 | A kind of nuke rubbish steel drum takes capping control system automatically |
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| CN105129689A true CN105129689A (en) | 2015-12-09 |
| CN105129689B CN105129689B (en) | 2018-01-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510564278.6A Expired - Fee Related CN105129689B (en) | 2015-09-07 | 2015-09-07 | A kind of nuke rubbish steel drum takes capping control system automatically |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107697866A (en) * | 2017-11-13 | 2018-02-16 | 成都南方电子仪表有限公司 | A kind of Full-automatic picking of nuclear waste barrel, capping apparatus |
| CN108000123A (en) * | 2017-12-11 | 2018-05-08 | 深圳市瑞飞科技有限公司 | For the device for screwing up of radioactive source material isolation shell and the tightening method of isolation shell |
| CN111650876A (en) * | 2020-04-30 | 2020-09-11 | 中国辐射防护研究院 | Automatic control system for cleaning transfer equipment matched with glove box |
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| JP2002087493A (en) * | 2000-09-18 | 2002-03-27 | Daiyu Kk | Floating mechanism of rotator for drum fastening bolt |
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2015
- 2015-09-07 CN CN201510564278.6A patent/CN105129689B/en not_active Expired - Fee Related
Patent Citations (6)
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| JP2002087493A (en) * | 2000-09-18 | 2002-03-27 | Daiyu Kk | Floating mechanism of rotator for drum fastening bolt |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107697866A (en) * | 2017-11-13 | 2018-02-16 | 成都南方电子仪表有限公司 | A kind of Full-automatic picking of nuclear waste barrel, capping apparatus |
| CN108000123A (en) * | 2017-12-11 | 2018-05-08 | 深圳市瑞飞科技有限公司 | For the device for screwing up of radioactive source material isolation shell and the tightening method of isolation shell |
| CN108000123B (en) * | 2017-12-11 | 2019-11-08 | 深圳市瑞飞科技有限公司 | For the device for screwing up of radioactive source substance isolation shell and the tightening method of isolation shell |
| CN111650876A (en) * | 2020-04-30 | 2020-09-11 | 中国辐射防护研究院 | Automatic control system for cleaning transfer equipment matched with glove box |
| CN111650876B (en) * | 2020-04-30 | 2023-09-15 | 中国辐射防护研究院 | Automatic control system for cleaning glove box matched transfer equipment |
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| CN105129689B (en) | 2018-01-23 |
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Granted publication date: 20180123 Termination date: 20180907 |