CN107697866A - A kind of Full-automatic picking of nuclear waste barrel, capping apparatus - Google Patents
A kind of Full-automatic picking of nuclear waste barrel, capping apparatus Download PDFInfo
- Publication number
- CN107697866A CN107697866A CN201711114828.XA CN201711114828A CN107697866A CN 107697866 A CN107697866 A CN 107697866A CN 201711114828 A CN201711114828 A CN 201711114828A CN 107697866 A CN107697866 A CN 107697866A
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- Prior art keywords
- full
- nuclear waste
- bung
- bolt
- automatic picking
- Prior art date
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- Pending
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- 239000002699 waste material Substances 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 238000006073 displacement reaction Methods 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 210000000078 claw Anatomy 0.000 claims abstract description 12
- 230000004807 localization Effects 0.000 claims abstract description 3
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000000979 retarding effect Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 2
- 239000010813 municipal solid waste Substances 0.000 abstract description 25
- 238000000034 method Methods 0.000 abstract description 5
- 230000003044 adaptive effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000003252 repetitive effect Effects 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 238000007667 floating Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 239000000941 radioactive substance Substances 0.000 description 1
- 239000002901 radioactive waste Substances 0.000 description 1
- 239000003923 scrap metal Substances 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 125000003003 spiro group Chemical group 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/20—Closing bottles, jars or similar containers by applying caps by applying and rotating preformed threaded caps
- B67B3/206—Means for preventing rotation of the container or cap
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/20—Closing bottles, jars or similar containers by applying caps by applying and rotating preformed threaded caps
- B67B3/2066—Details of capping heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B7/00—Hand- or power-operated devices for opening closed containers
- B67B7/14—Hand- or power-operated devices for opening closed containers for removing tightly-fitting lids or covers, e.g. of shoe-polish tins, by gripping and rotating
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
- G21F9/00—Treating radioactively contaminated material; Decontamination arrangements therefor
- G21F9/04—Treating liquids
- G21F9/20—Disposal of liquid waste
Abstract
A kind of Full-automatic picking of nuclear waste barrel, capping apparatus, including the support provided with displacement mechanism, vertical telescoping mechanism is connected with displacement mechanism bottom, rotating mechanism is connected with vertical telescoping mechanism lower end, several bung claws and laser sensor are provided with rotating mechanism lower surface, several holding manipulators and track wrench are provided with rotating mechanism edge, flexible tripping sleeve is provided with spanner lower end；Above-mentioned each moving component is connected with motor driven systems respectively, and signal output part of the motor driven systems again with servo control PLC system is connected, and the signal input part of the PLC system is connected to host computer by bus.The laser sensor of the present invention is accurately positioned to trash receptacle, and accuracy is far above existing machinery limited block localization method；Two independent laser sensor detections are respectively adopted to bolt and screwed hole, by each Self-debugging in optimal detection range accuracy of detection can be made to reach optimal, flexible tripping sleeve can make the fit of spanner and bolt more smooth precisely.
Description
Technical field
The invention belongs to nuclear waste disposal field, and in particular to a kind of Full-automatic picking of nuclear waste barrel, capping apparatus.
Background technology
Traditional core industry scrap metal bucket takes lid, capping and transport directly to be exposed by production line operation worker
Manual operations is completed under radiation environment, due to containing substantial amounts of radioactive substance, the acceptable radiation of operator in waste material
Measure limited, it is impossible to serve as this work for a long time, efficiency is low, and to rely on equipment to complete the bucket heart of nuke rubbish metal drum and position, must
The accuracy and complete operation that positioning must be improved are connected, up to now, the operation equipment also without full-automation, inspection information
Understand, Chinese patent (CN103145074A) discloses the trash receptacle automatic sealing cover gripping machine under a kind of nuclear environment, using machinery
Block positions to trash receptacle, and detects bolt and screwed hole using photoelectricity control mode, and realization takes, covered, still, through grinding
Study carefully discovery, it is relatively low trash receptacle positioning precision to be present in the device, and bolt positioning is inaccurate, and mechanism freedom is low, and bolt tightens efficiency bottom,
Easily occur uncapping or cover failure because the position inaccurate of trash receptacle and bolt causes, further cause equipment fault, influence
Nuke rubbish curing operation.
The content of the invention
For overcome the deficiencies in the prior art, it is an object of the invention to provide a kind of Full-automatic picking of nuclear waste barrel, capping
Device, there is the advantages of automaticity is high, high to bolt and screwed hole detection positioning precision.
In order to achieve the above object, the present invention adopts the technical scheme that：
A kind of Full-automatic picking of nuclear waste barrel, capping apparatus, including support, the support are provided with and moved in the horizontal plane
Displacement mechanism, be connected with vertical telescoping mechanism in displacement mechanism bottom, rotating mechanism be connected with vertical telescoping mechanism lower end,
Several bung claws and the laser sensor for detection and localization are provided with rotating mechanism lower surface, is set at rotating mechanism edge
There is staving to hold manipulator and track wrench tightly, be provided with track wrench bottom and facilitate the soft of track wrench and the smooth fit of bolt
Property tripping sleeve；
Institute's displacement mechanism, vertical telescoping mechanism, rotating mechanism, bung claw, staving holding manipulator, track wrench are equal
It is connected respectively with respective motor driven systems, the motor driven systems are defeated with the signal of servo control PLC system again
Go out end to be connected, on the one hand the signal input part of the PLC system is connected to host computer by bus, on the one hand pass through data wire and institute
Laser sensor is stated to be connected.
Further, institute's displacement mechanism and vertical telescoping mechanism are driven using precision ball screw.
Further, the levelness of plane where displacement mechanism is 0.5mm, and vertical telescoping mechanism hangs down mutually with displacement mechanism
Straight and perpendicularity is 0.1mm.
Further, the rotating mechanism is using accurate retarding machine control rotation precision.
Further, the bung claw is pneumatic actuation mode.
Further, the track wrench is symmetrical arranged two-by-two, and can carry out torque monitoring.
Beneficial effects of the present invention：
By the laser sensor of installation, using laser reflection type detection method, it is accurately positioned according to trash receptacle, it is real
The centering of existing bung and trash receptacle, accuracy be significantly larger than prior art trash receptacle is first positioned using mechanical position limitation block, again with
The method that bung carries out centering；Detected in addition, bolt and screwed hole are respectively adopted two independent laser sensors, can
By each Self-debugging in optimal detection range, accuracy of detection is set to reach optimal (up to 0.01mm).
After accurately bolt position is determined using displacement mechanism and rotating mechanism, it can be made by the flexible tripping sleeve of setting
Track wrench and bolt fit it is more smooth precisely, especially when trash receptacle and bung are not original pairings, can eliminate by
In influence caused by machining accuracy.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 be rotating mechanism and with other part connection diagrams；
Fig. 3 is vertical telescoping mechanism schematic diagram；
Fig. 4 is field control system figure；
1st, support, 2, precision ball screw, 3, displacement mechanism, 4, vertical telescoping mechanism, 5, accurate retarding machine, 6, bolt pulls
Hand, 7, flexible tripping sleeve, 8, staving hold manipulator tightly, 9, trash receptacle, 10, bung, 11, rotating mechanism, 12, bung claw.
Embodiment
The present invention is described further with reference to embodiment.
As shown in Figures 1 to 3, a kind of Full-automatic picking of nuclear waste barrel, capping apparatus, including the support provided with displacement mechanism 3
1, institute's displacement mechanism 3 is driven using precision ball screw 2, and making it, displacement reaches required accurate in the horizontal plane
Degree, realize that trash receptacle 9 is accurately positioned centering with bung 10.
Vertical telescoping mechanism 4 is connected with the bottom of displacement mechanism 3, the vertical telescoping mechanism 4 is also with precise ball silk
Thick stick 2 is driven, and to realize, connection member reaches optimum contacting state with bung 10, bolt or trash receptacle 9.
Rotating mechanism 11 is connected with the vertical lower end of telescoping mechanism 4, the rotating mechanism 11 is turned using the control of accurate retarding machine 5
Dynamic precision, realizes track wrench 6 and bolt centering.
Be provided with the lower surface of rotating mechanism 11 four bung is captured, mobile bung claw 12 and for positioning
The PSD laser sensors of detection, the bung claw 12 are pneumatic actuation mode, and the PSD laser sensors use reflection side
Formula, detect respectively bung 10 and trash receptacle 9, bolt and screwed hole whether centering；Three are provided with equal intervals at the edge of rotating mechanism 11
Individual staving holds manipulator 8 and two symmetrically arranged track wrench 6 tightly, using being symmetrical arranged when can solve the problem that tightening operation
The not uniform problem of torque, will not cause the relative movement of bucket and bung to cause location misalignment problem, in each lower end of track wrench 6
Portion is provided with flexible tripping sleeve 7, facilitates the smooth fit of track wrench 6 and bolt.
As shown in figure 4, institute's displacement mechanism 3, vertical telescoping mechanism 4, rotating mechanism 11, bung claw 12, staving are held tightly
Manipulator 8, track wrench 6 are respectively connected with respective motor driven systems, the motor driven systems again with servo motion
The signal output part of control PLC system is connected, on the one hand the signal input part of the PLC system is connected to host computer by bus,
On the one hand it is connected by data wire with the PSD laser sensors.
The course of work of apparatus of the present invention and each critical piece introduction：
The operation object of apparatus of the present invention is cylindrical container, and bung is tight by the end face of flange of bolt and trash receptacle body
Gu sealing, device is arranged on radioactive waste solidification line, trash receptacle is automatically loosered a bolt, bung is extracted, removed
The operation such as sealing is tightened in fortune, storage, trash receptacle capping, bolt.
The present apparatus is operated by the way of positive location combination floating fit, and positive location structure is the axle of X, Y, Z tri-
Orthogonal straight lines motion and R axle rotating mechanisms, i.e. X, Y direction are subtracted by power transmission mode, R axles of ball-screw with precision
Fast machine is power, realizes the exactitude position of trash receptacle and bung, bolt and screwed hole under the detection of PSD laser sensors, and Z
After the vertical servo motion of axle reaches suitable height, air-actuated jaw clamping bung, staving holds manipulator tightly and holds staving, flexible floating tightly
The adaptive fit bolt of moving sleeve, bolt is then completed under the drive of track wrench and unscrews, tighten.
1st, the course of work is covered
1) system reset：Each mechanism returns to initial position；
2) displacement mechanism is moved to above bung frame along X, Y-axis respectively, and then vertical telescoping mechanism moves down simultaneously test position
After signal, bung claw is by bung swelling；
3) vertical telescoping mechanism pan-up is to home；
4) centering detecting system detects bung position and centering；
5) vertical telescoping mechanism vertically moves down, and after detecting Z axis position signalling, holds manipulator tightly and holds trash receptacle tightly, realize
Bung and trash receptacle axis centering；
6) air-actuated jaw is withdrawn after bung reaches closure position, completes closure application.
Take lid process opposite with above-mentioned action.
2nd, bolt tightens the course of work
1) after closure application is completed, rotating mechanism rotates in a circumferential direction, until screw detection alignment system determines spiro keyhole position
Simultaneously centering is put, remembers coordinate position；
2) Z axis vertically declines, test position signal；Electric wrench enters and combined with bolt；
3) bolt is tightened in electric wrench rotation, reaches setting value until obtaining torsion signal；
4) electric wrench is stopped, and Z axis rises；
5) rotating mechanism turns round, and finds next bolt for needing to tighten；
6) said process is repeated, untill tightening whole bolts；
7) trash receptacle hold-fast body unclamps, and Z axis rises to safe altitude, system reset.
The parameter of each critical piece is as follows：
(1) XY axles (level) displacement mechanism
X-axis stroke 1000mm, movement velocity are not less than 100mm/s, positioning precision 0.05mm, repetitive positioning accuracy
0.05mm；Stroke covers workspace, can carry out origin detection, electrically and mechanically spacing；
Y-axis is finely tuned for centering, stroke 100mm, and fine setting movement velocity is not less than 10mm/s, trimming precision 0.05mm, repeats
Positioning precision 0.05mm；Can origin detection, it is electrically and mechanically spacing；
The power-off of XY axles can self-locking, motion mode uses double precision ball screw and track combination；Original state, which resets, adopts
Use origin sensor.
(2) Z axis (vertical) displacement mechanism
Using rectilinear motion mode, speed is not less than 50mm/s, and range of lift is more than 200mm, can carry out electrically and mechanically
Spacing, kinematic accuracy is：0.2mm, repetitive positioning accuracy：0.2mm；
Can power-off protection, mechanical self-latching；Original state, which resets, uses origin sensor.
(3) rotating mechanism
The speed that rotates in a circumferential direction is not less than 20 °/s, the second of arc of positioning precision 30, the second of arc of repetitive positioning accuracy 30, rotating distance 360
Degree；Power off mechanical self-latching.
(4) flexible tripping sleeve
Adaptive centering fit bolt, XY directions ± 2mm, angle A BC：Self-adapting float is finely tuned in ± 2 degree；Centering positions
Precision 0.1mm, to tighten the condition that bolt provides position alignment.
(5) bung claw
Realize that bung picks and places, four paws is symmetrical arranged, and Pneumatic synchronous opens, the adaptive bung centralized positioning simultaneously of crawl bung
Correction.
(6) track wrench
Servo-drive, moment of torsion monitor with the number of turns is tightened, and screw-down torque is up to 40N.m；Two sets of symmetric designs, are synchronously tightened；
Head is provided with the universal adjusting sleeve that can be adjusted at a certain angle, realizes the deviation centering of small range hole so that even if spanner and bolt
Do not have it is entirely on the center, but as long as bolt engages with Wrench head, you can complete operation.
(7) staving holds manipulator tightly
Staving holds manipulator tightly and is used to hold trash receptacle tightly, makes trash receptacle and bung individually stress, real by roller ball
Air supported head turns round when now holding tightly, eliminates bucket in the angular deviation of operating position, promotes bung to be adaptively aligned with bucket.
(8) control system
Field control uses Siemens S7-300 PLC controller, is communicated by bus with host computer；
Upper control software uses configuration programming, realizes man-machine interaction.
(9) PSD laser sensors
The course of work is by taking the position centering of track wrench and bolt as an example：When air-actuated jaw catches bung, gyroaxis rotation
When, PSD laser sensors slant the flange in trash receptacle along upper, and rotation stops when detecting bolt position, complete centering process.
Claims (6)
1. a kind of Full-automatic picking of nuclear waste barrel, capping apparatus, including support (1), it is characterised in that set on the support (1)
There is the displacement mechanism (3) moved in the horizontal plane, be connected with vertical telescoping mechanism (4) in displacement mechanism (3) bottom, stretched vertical
Contracting mechanism (4) lower end is connected with rotating mechanism (11), rotating mechanism (11) lower surface be provided with several bung claws (12) and
For the laser sensor of detection and localization, it is provided with staving at rotating mechanism (11) edge and holds manipulator (8) and track wrench tightly
(6) the flexible tripping sleeve (7) for facilitating track wrench (6) and the smooth fit of bolt, is provided with track wrench (6) bottom；
Institute's displacement mechanism (3), vertical telescoping mechanism (4), rotating mechanism (11), bung claw (12), staving hold manipulator tightly
(8), track wrench (6) is respectively connected with respective motor driven systems, the motor driven systems again with servo motion control
The signal output part of PLC system processed is connected, on the one hand the signal input part of the PLC system is connected to host computer by bus, and one
Aspect is connected by data wire with the laser sensor.
2. a kind of Full-automatic picking of nuclear waste barrel, capping apparatus as claimed in claim 1, it is characterised in that the displacement machine
Structure (3) and vertical telescoping mechanism (4) are driven using precision ball screw (2).
3. a kind of Full-automatic picking of nuclear waste barrel, capping apparatus as claimed in claim 1, it is characterised in that the displacement machine
The levelness of plane where structure (3) be 0.5mm, the vertical telescoping mechanism (4) and displacement mechanism (3) is orthogonal and perpendicularity
For 0.1mm.
4. a kind of Full-automatic picking of nuclear waste barrel, capping apparatus as claimed in claim 1, it is characterised in that the whirler
Structure (11) is using accurate retarding machine (5) control rotation precision.
5. a kind of Full-automatic picking of nuclear waste barrel, capping apparatus as claimed in claim 1, it is characterised in that the bung card
Pawl (12) is pneumatic actuation mode.
6. a kind of Full-automatic picking of nuclear waste barrel, capping apparatus as claimed in claim 1, it is characterised in that the bolt is pulled
Hand (6) is symmetrical arranged two-by-two, and can carry out torque monitoring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711114828.XA CN107697866A (en) | 2017-11-13 | 2017-11-13 | A kind of Full-automatic picking of nuclear waste barrel, capping apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711114828.XA CN107697866A (en) | 2017-11-13 | 2017-11-13 | A kind of Full-automatic picking of nuclear waste barrel, capping apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107697866A true CN107697866A (en) | 2018-02-16 |
Family
ID=61179342
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711114828.XA Pending CN107697866A (en) | 2017-11-13 | 2017-11-13 | A kind of Full-automatic picking of nuclear waste barrel, capping apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107697866A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108862143A (en) * | 2018-07-27 | 2018-11-23 | 通裕重工股份有限公司 | Automatic sealing cover gripping machine and application thereof for nuke rubbish steel drum |
| CN109607448A (en) * | 2018-12-20 | 2019-04-12 | 北京航天斯达科技有限公司 | A kind of self-correcting cap rotating device for iron covering |
| CN110143553A (en) * | 2019-05-24 | 2019-08-20 | 衢州东太环保科技有限公司 | A kind of sealing carrying technology of water-base resin |
| CN110203863A (en) * | 2019-05-14 | 2019-09-06 | 三峡大学 | A kind of positioning device and method of the irregular transparent anti-fake tooth mouth of groove type wine lid nut cap |
| CN110227918A (en) * | 2019-06-10 | 2019-09-13 | 北京工业大学 | A kind of Spent Radioactive charging basket post treatment production line positioning device |
| CN111573584A (en) * | 2018-07-25 | 2020-08-25 | 吕海峰 | Push type can opening device and method |
| CN112225148A (en) * | 2020-09-16 | 2021-01-15 | 山东大学日照智能制造研究院 | Get closing cap anchor clamps and nuclear industry waste material bucket processing apparatus |
| CN113401853A (en) * | 2021-06-23 | 2021-09-17 | 中国核动力研究设计院 | Cover opening and sealing device for drying salt barrel |
| CN114105061A (en) * | 2021-11-29 | 2022-03-01 | 中广核工程有限公司 | Automatic unsealing cover device of solid waste treatment system of nuclear power plant |
| CN114789983A (en) * | 2022-04-16 | 2022-07-26 | 展一智能科技(东台)有限公司 | Flange bucket cover opening and closing manipulator and flange bucket cover opening and closing method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111573584A (en) * | 2018-07-25 | 2020-08-25 | 吕海峰 | Push type can opening device and method |
| CN108862143A (en) * | 2018-07-27 | 2018-11-23 | 通裕重工股份有限公司 | Automatic sealing cover gripping machine and application thereof for nuke rubbish steel drum |
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| CN110203863A (en) * | 2019-05-14 | 2019-09-06 | 三峡大学 | A kind of positioning device and method of the irregular transparent anti-fake tooth mouth of groove type wine lid nut cap |
| CN110143553A (en) * | 2019-05-24 | 2019-08-20 | 衢州东太环保科技有限公司 | A kind of sealing carrying technology of water-base resin |
| CN110227918A (en) * | 2019-06-10 | 2019-09-13 | 北京工业大学 | A kind of Spent Radioactive charging basket post treatment production line positioning device |
| CN112225148A (en) * | 2020-09-16 | 2021-01-15 | 山东大学日照智能制造研究院 | Get closing cap anchor clamps and nuclear industry waste material bucket processing apparatus |
| CN113401853A (en) * | 2021-06-23 | 2021-09-17 | 中国核动力研究设计院 | Cover opening and sealing device for drying salt barrel |
| CN114105061A (en) * | 2021-11-29 | 2022-03-01 | 中广核工程有限公司 | Automatic unsealing cover device of solid waste treatment system of nuclear power plant |
| CN114789983A (en) * | 2022-04-16 | 2022-07-26 | 展一智能科技(东台)有限公司 | Flange bucket cover opening and closing manipulator and flange bucket cover opening and closing method |
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Application publication date: 20180216 |