CN105129689B - A kind of nuke rubbish steel drum takes capping control system automatically - Google Patents
A kind of nuke rubbish steel drum takes capping control system automatically Download PDFInfo
- Publication number
- CN105129689B CN105129689B CN201510564278.6A CN201510564278A CN105129689B CN 105129689 B CN105129689 B CN 105129689B CN 201510564278 A CN201510564278 A CN 201510564278A CN 105129689 B CN105129689 B CN 105129689B
- Authority
- CN
- China
- Prior art keywords
- control unit
- unit
- motion control
- modules
- plc
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Processing Of Solid Wastes (AREA)
Abstract
The present invention relates to a kind of nuke rubbish steel drum to take capping control system automatically, belongs to nuclear waste disposal technical field, including：Picture control unit, motion control unit, positioning unit, sensor unit；Motion control unit is used for the computing and processing of data, and sends control command；Picture control unit is connected with motion control unit, for being monitored in real time to the action in whole device running；Positioning unit is connected with motion control unit, for being accurately positioned to X-axis, Y-axis, Z axis and revolution C axles；Sensor unit is connected with motion control unit, for detecting the position of metal drum.The nuke rubbish steel drum takes capping Control system architecture design simple, reasonable automatically, stable and reliable operation, it can realize that bung crawl, mobile, bung and trash receptacle are automatically positioned, bucket screw thread hole site positions, the screw position on bung positions, places bung, tightens the functions such as bung fastening bolt.
Description
Technical field
The invention belongs to nuclear waste disposal technical field, more particularly to a kind of nuke rubbish steel drum to take capping control system automatically
System.
Background technology
Nuke rubbish (nuclear waste material) refers to used not in nuclear fuel production, processing and nuclear reactor
It is needing again and there is radioactive waste material.During transporting and storing nuke rubbish, steel drum will be used and contained by envelope
The nuke rubbish closed, because steel drum has very strong radioactivity, so during its filling and transport, it is necessary to forbid personnel
It is close, also just can not using it is traditional it is artificial by the way of, steel drum is sealed, but in existing equipment, it is also not similar
Equipment specially nuke rubbish bung can be packaged and dismounting processing, while also without matching control system progress
Effectively control.Traditional mode of operation is that people carries out taking capping by glove hole in the closed chamber right-hand side with sword formula manipulator, so
Mode of operation make that labor intensity of operating staff is big, operating efficiency is low and require that the operating technology of operating personnel is high, need by
The operation training of certain time could grasp skill therein.
The content of the invention
The present invention for solve known technology present in technical problem provide one kind it is simple in construction, easy to install,
The nuke rubbish steel drum for improving operating efficiency takes capping control system automatically.
The present invention is adopted the technical scheme that to solve technical problem present in known technology：The nuke rubbish steel drum is certainly
It is dynamic to take capping control system to include：Picture control unit, motion control unit, positioning unit, sensor unit；
Motion control unit is used for the computing and processing of data, and sends control command；
Picture control unit is connected with motion control unit, real for being carried out to the action in whole device running
When monitor；
Positioning unit is connected with motion control unit, for being accurately positioned to X-axis, Y-axis, Z axis and revolution C axles；
Sensor unit is connected with motion control unit, for detecting the position of metal drum.
The present invention can also use following technical measures：
Described motion control unit includes：Host computer, the first power module, PLC, servo-driver, servo
Motor；
The signal input part of host computer is connected with picture control unit, and signal output part and the PLC of host computer connect
Connect；PLC is powered by the first power module, and the output end connection servo-driver of PLC simultaneously passes through servo-drive
Device connects servomotor；PLC is also connected with positioning unit and sensor unit.
Described picture control unit includes：Display screen, 4 road DVRs, second source module, video camera；
Second source module is connected with display screen, 4 road DVRs respectively, 4 road DVRs and video camera
Signal output part is connected with display screen respectively.
Described video camera is the infrared gun type camera of dot matrix.
Described host computer is to use touch screen structure；Described PLC includes：CPU module, DI modules, DO moulds
Block, AI modules, FM353 modules；
CPU module is connected by DP buses with host computer；
DI modules are connected with CPU module, and whether the action completion position for feeding back each executing agency is correct and controls
Signal processed；
DO modules are connected with CPU module, for controlling electromagnetism valve events；
AI modules are connected with CPU module, for feedback torque signal；
FM353 modules are connected with CPU module, for controlling servo-driver to move.
Described positioning unit include from XY direction translationals when vertical scanning metal drum chord length, then by the positioning unit
Calculate the laser sensor of the center of metal drum.
Described sensor unit includes motion limit of sports record sensor and position-detection sensor.
The present invention has the advantages and positive effects of：The nuke rubbish steel drum takes capping Control system architecture design letter automatically
It is single, rationally, stable and reliable operation, can realize bung crawl, mobile, bung and trash receptacle be automatically positioned, bucket screw thread hole site
Screw position in positioning, bung positions, places bung, tightens the functions such as bung fastening bolt, in whole process, operator
The equal remote operation of member, is not contacted directly with device, and also directly not sudden and violent leakage is at operation scene；According to the design feature of object,
Manipulator adds the float structure positioned, positive location structure to use the axle orthogonal straight-line motion mechanism of X, Y, Z tri- using positive location,
And the C axle slew gears turned round about the z axis；X, Y direction servo motion realize the rocker operation head of fastening bolt to bucket or
The accurate of bung is automatically positioned, and the servo motion of Z axis drives rocker operation head to move up and down, to pick and place the freedom of motion of bung
Degree, the mainly complete air supported head gyration of C axles slew gear, the biography for finding bucket screwed hole and bung screw is combined by gyration
Sensor, the positioning to bucket upper screwed hole and bung screwing.It is used to adaptively be accurately positioned on bung on rocker operation head
Bolt or bucket screwed hole, electric wrench are fixed thereon, for tightening bolt.Meanwhile according to manipulator use environment, expose to the open air
The electrically driven control function module of working site part and each sensor, from the device for having certain Radiation resistance characteristic；Together
When, IP54 requirement of shelter need to be met with electric control module by exposing the machinery of the part under radiation environment to the open air, be done at water proof and dust proof
Reason, can entirely prevent dust to enter；Control system by the way of remote control, human-computer interactive control platform using control computer as
Core, the control of equipment is realized by way of bus and field controller plc communication, is isolated with radiation environment.
Brief description of the drawings
Fig. 1 is the structural representation that nuke rubbish steel drum provided in an embodiment of the present invention takes capping control system automatically；
Fig. 2 is the structural representation of picture control unit provided in an embodiment of the present invention；
Fig. 3 is the structural representation of motion control unit provided in an embodiment of the present invention；
Fig. 4 is the structural representation of PLC provided in an embodiment of the present invention；
In figure：1st, picture control unit；1-1, display screen；1-2,4 road DVRs；1-3, second source module；1-
4th, video camera；2nd, motion control unit；2-1, host computer；2-2, the first power module；2-3, PLC；2-3-1, CPU mould
Block；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；3rd, positioning unit；4th, sensor unit.
Embodiment
In order to further understand the content, features and effects of the present invention, hereby enumerating following examples, and coordinate accompanying drawing
Describe in detail as follows.
Refer to shown in Fig. 1 to Fig. 4：The nuke rubbish steel drum takes capping control system to include automatically：Picture control unit 1,
Motion control unit 2, positioning unit 3, sensor unit 4；
Motion control unit 2 is used for the computing and processing of data, and sends control command；
Picture control unit 1 is connected with motion control unit 2, for being carried out to the action in whole device running
Monitoring in real time；
Positioning unit 3 is connected with motion control unit 2, for the accurate fixed of X-axis, Y-axis, Z axis and revolution C axles
Position；
Sensor unit 4 is connected with motion control unit 2, for detecting the position of metal drum.
Described motion control unit 2 includes：Host computer 2-1, the first power module 2-2, PLC 2-3, servo are driven
Dynamic device 2-4, servomotor 2-5；
Host computer 2-1 signal input part is connected with picture control unit 1, and host computer 2-1 signal output part and PLC are controlled
Device 2-3 connections processed；PLC 2-3 is powered by the first power module 2-2, and PLC 2-3 output end connection servo is driven
Dynamic device 2-4 simultaneously passes through servo-driver 2-4 connection servomotors 2-5；PLC 2-3 also with positioning unit 3 and sensor list
Member 4 is connected.
Described picture control unit 1 includes：Display screen 1-1,4 road DVR 1-2, second source module 1-3, take the photograph
Camera 1-4；
Second source module 1-3 is connected with display screen 1-1,4 road DVR 1-2 respectively, 4 road DVR 1-
2 and video camera 1-4 signal output part is connected with display screen 1-1 respectively.
Described video camera 1-4 is the infrared gun type camera of dot matrix.
Described host computer 2-1 is to use touch screen structure；Described PLC 2-3 includes：CPU module 2-3-1,
DI module 2-3-2, DO module 2-3-3, AI module 2-3-4, FM353 modules 2-3-5；
CPU module 2-3-1 is connected by DP buses with host computer 2-1；
DI modules 2-3-2 is connected with CPU module 2-3-1, and whether the action for feeding back each executing agency completes position
Correct and control signal；
DO modules 2-3-3 is connected with CPU module 2-3-1, for controlling electromagnetism valve events；
AI modules 2-3-4 is connected with CPU module 2-3-1, for feedback torque signal；
FM353 modules 2-3-5 is connected with CPU module 2-3-1, for controlling servo-driver 2-4 to move.
Described positioning unit 3 include from XY direction translationals when vertical scanning metal drum chord length, it is then single by the positioning
Member 3 calculates the laser sensor of the center of metal drum.
Described sensor unit 4 includes motion limit of sports record sensor and position-detection sensor.
PLC 2-3 realizes X-axis, Y-axis, Z axis by the CPU module 2-3-1 and FM353 modules 2-3-5 and returned
Turn being accurately positioned for C axles, and control to tightening screw torque is realized by configuring analog module.Servomotor 2-5's is defeated
Go out to hold connecting bolt manipulator and the input also with PLC 2-3 is connected.PLC 2-3 uses Siemens S7-300
Controller, realize control to AC servo motor 2-5 and sense the reading of output data, the reading etc. of origin, limit signal；
PLC 2-3 index is as follows：
X-axis stepping rate is 0~100mm/s, positioning precision 0.1mm；
X-axis stepping rate is 0~100mm/s, positioning precision 0.1mm；
Y-axis stepping rate is 0~100mm/s, positioning precision 0.05mm；
Y-axis stepping rate is 0~50mm/s, positioning precision 0.1mm；
C axles (revolution) stepping rate is 25 °/s, and positioning precision is 30 second of arcs.
PLC 2-3 DI modules 2-3-2 connection laser sensors；Laser sensor from XY direction translationals when it is vertical
The chord length of metal drum is scanned, then calculates the center of metal drum；Wherein, laser sensor is in translation, vertical scanning gold
Belong to barrel rim edge, the distance of start recording X-direction translation, until X-direction scanning to barrel rim along when stop, this is to have recorded inswept gold
Belong to bucket chord length, the distance of half is then the X-direction position of metal drum, and Y-direction positioning is using two laser sensors or so in Y side
Chord length is scanned to translation.
PLC 2-3 DI modules 2-3-2 also connects motion axle limit sensor and position-detection sensor,
The limit of sports record that motion axle limit sensor is used for XY motions is spacing, and protection motion is in position-detection sensor
Operational envelope is gone out by mechanism when failure or uncontrolled movements, causes equipment damage.Position-detection sensor is used for mechanism
Origin is detected, and origin signal is provided for motion.
Nuke rubbish steel drum of the present invention takes the design of capping Control system architecture simply, rationally automatically, and stable and reliable operation can
Effectively realize that bung crawl, mobile, bung and trash receptacle are automatically positioned, place bung, tighten the functions such as bung fastening bolt, fit
In popularization and application.
It is described above to be only the preferred embodiments of the present invention, any formal limitation not is made to the present invention,
Every technical spirit according to the present invention belongs to any simple modification made for any of the above embodiments, equivalent variations and modification
In the range of technical solution of the present invention.
Claims (1)
1. a kind of nuke rubbish steel drum takes capping control system automatically, it is characterised in that：The nuke rubbish steel drum takes capping control automatically
System includes：Picture control unit, motion control unit, positioning unit, sensor unit；
Motion control unit is used for the computing and processing of data, and sends control command；
Picture control unit is connected with motion control unit, for being supervised in real time to the action in whole device running
Control；
Positioning unit is connected with motion control unit, for being accurately positioned to X-axis, Y-axis, Z axis and revolution C axles；
Sensor unit is connected with motion control unit, for detecting the position of metal drum；
Described motion control unit includes：Host computer, the first power module, PLC, servo-driver, servomotor；
The signal input part of host computer is connected with picture control unit, and the signal output part of host computer is connected with PLC；
PLC is powered by the first power module, and the output end connection servo-driver of PLC is simultaneously connected by servo-driver
Connect servomotor；PLC is also connected with positioning unit and sensor unit；
Described picture control unit includes：Display screen, 4 road DVRs, second source module, video camera；
Second source module is connected with display screen, 4 road DVRs respectively, the signal of 4 road DVRs and video camera
Output end is connected with display screen respectively；
Described video camera is the infrared gun type camera of dot matrix；
Described host computer is to use touch screen structure；Described PLC includes：CPU module, DI modules, DO modules, AI
Module, FM353 modules；
CPU module is connected by DP buses with host computer；
DI modules are connected with CPU module, and the action for feeding back each executing agency completes whether position is correct and control is believed
Number；
DO modules are connected with CPU module, for controlling electromagnetism valve events；
AI modules are connected with CPU module, for feedback torque signal；
FM353 modules are connected with CPU module, for controlling servo-driver to move；
Described positioning unit include from XY direction translationals when vertical scanning metal drum chord length, then calculated by the positioning unit
Go out the laser sensor of the center of metal drum；
Described sensor unit includes motion 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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105129689A CN105129689A (en) | 2015-12-09 |
| CN105129689B true CN105129689B (en) | 2018-01-23 |
Family
ID=54715354
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105129689B (en) |
Families Citing this family (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 |
| 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 |
| 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 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002087493A (en) * | 2000-09-18 | 2002-03-27 | Daiyu Kk | Floating mechanism of rotator for drum fastening bolt |
| CN201351108Y (en) * | 2009-03-02 | 2009-11-25 | 中国核电工程有限公司 | Automatic sealing cover gripping machine |
| CN103199045A (en) * | 2012-01-04 | 2013-07-10 | 沈阳芯源微电子设备有限公司 | Optics centering system positioning center of chip and centering method thereof |
| WO2014099104A1 (en) * | 2012-12-21 | 2014-06-26 | Beckman Coulter, Inc. | System and method for laser-based auto-alignment |
| CN203151675U (en) * | 2013-04-11 | 2013-08-21 | 天津锐志控制技术有限公司 | Remote monitoring equipment |
| CN104842362B (en) * | 2015-06-18 | 2017-04-05 | 厦门理工学院 | A kind of method of robot crawl material bag and robotic gripping device |
-
2015
- 2015-09-07 CN CN201510564278.6A patent/CN105129689B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105129689A (en) | 2015-12-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105129689B (en) | A kind of nuke rubbish steel drum takes capping control system automatically | |
| CN107697866A (en) | A kind of Full-automatic picking of nuclear waste barrel, capping apparatus | |
| CN110666802A (en) | Industrial robot platform with dual-core motion controller | |
| CN104354157A (en) | Tire transfer robot and control method thereof | |
| CN203712189U (en) | Test device special for welding track calibration based on machine vision | |
| CN104777840A (en) | Small-size wall-climbing robot applied to monitoring internal environment of nuclear power station containment | |
| CN109434830A (en) | A kind of industrial robot platform of multi-modal monitoring | |
| CN207468167U (en) | A kind of Full-automatic picking of nuclear waste barrel, capping apparatus | |
| CN105835052B (en) | A kind of dual action mechanical hand | |
| CN112123338A (en) | Transformer substation intelligent inspection robot system supporting deep learning acceleration | |
| Kim et al. | Robotic contamination cleaning system | |
| CN204981062U (en) | Automatic closing cap control system that gets of nuke rubbish steel drum | |
| CN103707304B (en) | A kind of for the container welding mechanical chirokinesthetic control system of inspection and control method | |
| CN102568626B (en) | Remote monitoring and maintaining system based on mechanical arms | |
| CN109032192A (en) | A kind of heliostat controls integrated controller and control method | |
| CN108011589B (en) | Photovoltaic cell intelligent position detection and feedback control correcting device | |
| Kim et al. | Preventive maintenance and remote inspection of nuclear power plants using tele-robotics | |
| CN207344587U (en) | A kind of factory cargo transfer robot | |
| Qian et al. | The State-of-arts and key technologies for telerobotics in nuclear applications | |
| CN106003029A (en) | Three-core rapid control system for joint robot for teaching | |
| Pan et al. | Progress and Prospects of EAST Remote Maintenance System | |
| Yu et al. | Design of the control system of automatic picking and conveying line based on PLC | |
| Senapati | Design and control of an articulated robotic arm using visual inspection for replacement activities | |
| KR20220125464A (en) | Command device for filter replacement apparatus and control system having the command device | |
| CN221696931U (en) | Manipulator control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180123 Termination date: 20180907 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |