CN107914261A - Radioactive source carrying shield attaching/detaching apparatus - Google Patents
Radioactive source carrying shield attaching/detaching apparatus Download PDFInfo
- Publication number
- CN107914261A CN107914261A CN201710911823.3A CN201710911823A CN107914261A CN 107914261 A CN107914261 A CN 107914261A CN 201710911823 A CN201710911823 A CN 201710911823A CN 107914261 A CN107914261 A CN 107914261A
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- Prior art keywords
- motor
- fixed plate
- car body
- radioactive source
- drive
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- 230000002285 radioactive effect Effects 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 113
- 230000003028 elevating effect Effects 0.000 claims abstract description 35
- 238000003860 storage Methods 0.000 claims abstract description 16
- 230000008859 change Effects 0.000 claims description 5
- 230000009467 reduction Effects 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000010355 oscillation Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 239000004744 fabric Substances 0.000 claims 1
- 230000005855 radiation Effects 0.000 abstract description 10
- 230000009471 action Effects 0.000 abstract description 9
- 230000000875 corresponding effect Effects 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 5
- 238000012546 transfer Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 230000002441 reversible effect Effects 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000005266 casting Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000005251 gamma ray Effects 0.000 description 2
- 230000014759 maintenance of location Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000009987 spinning Methods 0.000 description 2
- 208000028571 Occupational disease Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000009749 continuous casting Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000002463 transducing effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The present invention relates to a kind of radioactive source carrying shield attaching/detaching apparatus,After wireless telecommunication system association is located between control system and remote operator panel end by it,Enable to realize telecommunication between control system and remote operator panel end,Realize remote control,Pass through swing mechanism,The comprehensive adjustment effect of telescoping mechanism,The torque spanner and hook of elevating mechanism lower part will be located at,Pre- job position corresponding as source container upper end is adjusted respectively,The upright position of torque spanner and hook is adjusted by adjusting elevating mechanism,By driving fixed plate to turn round,Adjust the rotary position of torque spanner,The rotational action of hook is adjusted by reversing motor,And complete corresponding action in remote operation torque spanner and hook,It is long-range to complete to dismount source container,Transfer,The operation such as storage,No longer need directly to contact source container in operation,Reduce the radiation radioactive dose that operating personnel is subject to,Improve operating environment,Reduce labor intensity.
Description
Technical field
The present invention relates to a kind of radioactive source carrying shield attaching/detaching apparatus, belongs to the source container tool for fastening/disengaging that field of metallurgy uses
Tool.
Background technology
Since gamma-rays has, penetration power is strong, radiates line stabilization, and adapts to the adverse circumstances such as high temperature, dust again, institute
With the molten steel casting liquid level measurement in metallurgical continuous casting technique, generally use gamma ray tank gage completes measurement.In
Gamma ray tank gage is installed on molten steel crystal device.
Different crystallizers is needed replacing in the steel billet for different size of casting.Need first to remove radiation when replacing crystallizer
Carrying shield, then the source container disassembled is had bad luck to temporary storage point and is stored, treat that new crystallizer recovers installation after replacing
Source container.Source container dismantles flow：1. closing source container shutter with spanner, 2. two operating personnels wear lead clothes and carry
Go out source container to be placed on hand push shielding tank car, 3. manually push to carrying shield and shielding tank car at radioactive source temporary storage point.
Operated when returning dress by above-mentioned reverse program.It can be appreciated that needing two operating personnels to wear lead when dismounting carrying shield from preceding method
Clothes directly contact source container and carry out operation, and require to be no more than half an hour per subjob, to avoid operating personnel by ray
Radiate exceeded.
As noted previously, as crystallizer is replaced, specification is frequent, and correspondingly source container dismounting is also more frequent.In operation, make
Though industry personnel are installed with radiation protection lead clothes, due to direct emitter contact, still inevitably it is subject to more radioactive source spoke
Penetrate, so at present with regard to how to avoid operating personnel from being contacted with source container, reduce radiation to greatest extent caused by operating personnel
Injury, reduces radiation occupational disease hidden danger, is urgently problem to be solved.
The content of the invention
In view of the above-mentioned problems, the present invention provides a kind of radioactive source carrying shield attaching/detaching apparatus, can be long-range by the device
Remote control is completed to operations such as source container dismounting, transfer, storages, therefore in operation, by using the present apparatus, in operation
Operating personnel no longer needs directly to contact source container, so that the radiation radioactive dose that operating personnel is subject to is reduced, operating environment
Improved, labor intensity is minimized.
The present invention is provided with a kind of radioactive source carrying shield attaching/detaching apparatus to solve its technical problem, and the attaching/detaching apparatus includes：
Car body, swing mechanism, telescoping mechanism, elevating mechanism, derricking gear and remote operator panel end；Set in the bottom of the car body
Running gear is put, storage battery, control system, wireless telecommunication system and the image system of interconnection are set in the car body；
The running gear connects the storage battery and control system；Arrangement and the image system on the front end outer wall of the car body
The camera of system connection；The telescoping mechanism is integrally installed on the swing mechanism, and the swing mechanism is located at the car
The top of body can in the horizontal plane with the telescoping mechanism synchronous revolving；The elevating mechanism overall is installed in described stretch
, can be in company with the fixed plate linear reciprocation movement in the horizontal plane of the telescoping mechanism in the fixed plate set in contracting mechanism；
Driving mechanism is equipped with the telescoping mechanism, the driving mechanism can drive fixed plate reciprocating rotary in the horizontal plane
Backswing；The elevating mechanism includes the torque spanner to match with the shutter release at the top of the radioactive source carrying shield；The torsion
Spanner and the derricking gear are installed in the lower end of the elevating mechanism with integral form；The derricking gear includes can
The hook turned round in vertical plane；The remote operator panel end by the wireless telecommunication system and the control system,
Image system establishes connection；The control system in the swing mechanism, telescoping mechanism, elevating mechanism and derricking gear with depositing
Each driving device connect respectively.
Specifically,
On the car body, running gear is set in the bottom of the car body, sets what is be connected with each other in the car body
Storage battery, control system, wireless telecommunication system and image system；The running gear connects the storage battery and control system；
The camera being connected with the image system is arranged on the front end outer wall of the car body；
On the swing mechanism, the swing mechanism includes the revolution driving motor installed in the car body top, subtracts
Fast case and gyration block, the output terminal connection gyration block of reduction box；
On the telescoping mechanism, the telescoping mechanism is integrally fixed on the gyration block, can be with the revolution
Block is synchronously rotated by 360 ° in the horizontal plane；The telescoping mechanism includes drive division and can be in level by drive division driving
The telescopic arm moved in face along linear reciprocation；A connecting pole is fixedly installed in the free end of the telescopic arm, in the connecting pole
Top oscillating motor and the gearbox coordinated with oscillating motor are set, the output terminal of the gearbox is with unification and the company
Connect the hinged fixed plate for being capable of rotary oscillation in the horizontal plane of column；
On the elevating mechanism, the elevating mechanism overall is fixed on the free end of the fixed plate, the lifting
Mechanism include drive division, the drive link that is arranged in vertical and be arranged on the drive link lower end by the drive link band
The installing plate that kinetic energy enough moves up and down；The torque spanner is installed on the lower face of the installing plate；The torsion is pulled
Hand is in sleeve-shaped, is axially arranged with square hole along torque spanner, is provided with the inner of square hole and is connected with the image system
Camera；
On the derricking gear, the derricking gear includes being fixed on the installing plate and is configured with gearbox
Motor is reversed, the output terminal of gearbox is equipped with the hook by shaft coupling；The hook is equipped with shaft for one end
Plate body, plate body the other end be equipped with along plate body width extend U-lag mouth；The plate body can be
Rotation in vertical plane；
On the remote operator panel end, the remote operator panel end includes display and operation handle；The control
System processed is connected respectively with each motor present in the swing mechanism, telescoping mechanism, elevating mechanism and derricking gear.
Preferably, the drive division of the telescoping mechanism coordinates for telescopic drive motor and with the telescopic drive motor
Screw sliding block, the telescopic arm are fixed on the screw and slide on sliding block in the block；
Preferably, passed between the output terminal of the gearbox coordinated with the oscillating motor and the fixed plate for rack-and-pinion
Dynamic structure, the fixed plate in the horizontal plane rotatable relative axle center formed respectively along clockwise direction and counterclockwise to
Rotation angle 60 degree few.
Preferably, the oscillating motor coordinate gearbox output terminal and the fixed plate between for gear with it is endless
The drive mechanism that all gear is meshed, rotatable relative axle center is along clockwise direction and the inverse time in the horizontal plane for the fixed plate
Pin direction forms at least 60 degree of rotation angle respectively.
Preferably, the drive division of the elevating mechanism includes lifting motor and two vertically disposed guide rods,
The upper end of the guide rod is fixed in the fixed plate；The drive link is vertically disposed between two guide rods；
The upper end of the drive link is extended to above the fixed plate to be coordinated with the lifting motor in the fixed plate；It is described
Installing plate is equipped with and the matched guide through hole of the guide rod；Make the drive link for wire lever and by the drive link with
The installing plate is configured to the drive mechanism of screw slider formula or makes the drive link for worm screw and set on the installing plate
Put the turbine coordinated with the worm screw.
Preferably, the running gear set in the bottom of the car body is driven for the front-wheel and steering motor of movable motor driving
Dynamic trailing wheel；The movable motor and steering motor are all connected with the control system.
Preferably, the front-wheel and trailing wheel are solid rubber wheel.
Preferably, there are multiple hydraulic leveling supporting legs in the lower disposed of the car body, the hydraulic leveling supporting leg includes liquid
Compression leg and the disk for being arranged on hydraulic pressure column end, the hydraulic column is connected with the hydraulic power unit being arranged in the car body, described
Hydraulic power unit connects the control system；Horizon sensor, the horizon sensor and the control are set on the car body
System connects.
Preferably, it is disposed with the outer wall of the car body on shooting end surface and is disposed with headlamp.
After wireless telecommunication system association is arranged between the control system and the remote operator panel end by this patent,
Enable to realize telecommunication between the control system and remote operator panel end.Realize remote control, pass through the revolution
Mechanism, the effect of the comprehensive adjustment of telescoping mechanism, will be arranged on the torque spanner and hook of elevating mechanism lower part, adjust respectively
As for the corresponding pre- job position in source container upper end；The vertical of torque spanner and hook is adjusted by adjusting elevating mechanism
Position.Drive fixed plate to turn round by oscillating motor, adjust the rotary position of torque spanner, lifting is adjusted by reversing motor
The rotational action of hook；Corresponding action is completed in remote operation torque spanner and hook；So can by the device
Completed in remote control to operations such as source container dismounting, transfer, storages, therefore in operation, by using the present apparatus,
Operating personnel no longer needs directly to contact source container in operation, so as to reduce the radiation radioactive dose that operating personnel is subject to, makees
Industry environment is improved, and labor intensity is minimized.
Brief description of the drawings
Fig. 1 is the front view of the radioactive source carrying shield attaching/detaching apparatus of the present invention；
Fig. 2 is the top view of radioactive source carrying shield attaching/detaching apparatus shown in Fig. 1；
The schematic diagram of rack pinion structures of the Fig. 3 between gearbox and fixed plate；
Fig. 4 is the swing schematic diagram of fixed plate；
Fig. 5 is fixed plate and the assembling schematic diagram of connecting pole；
Fig. 6 is the front view of hook；
Fig. 7 is the left view of hook；
Fig. 8 is the first rotation schematic diagram of hook；
Fig. 9 is the second rotation schematic diagram of hook.
In figure：1 car body, 11 cameras, 12 movable motors, 13 steering motors, 14 hydraulic leveling supporting legs；
2 swing mechanisms；
3 telescoping mechanisms, 31 telescopic arms, 32 connecting poles, 33 oscillating motors, 34 gearboxes, 35 fixed plates, 351 transmission shafts；
4 elevating mechanisms；
5 torque spanneres；
61 hooks, 62 reverse motor；
7 source containers
Embodiment
Structure, ratio, size depicted in Figure of description etc., only to coordinate the revealed content of specification, with
Understand for those skilled in the art and read, be not limited to the enforceable qualifications of the present invention, therefore do not have technically
Essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size, can be generated not influencing the present invention
The effect of and the purpose that can reach under, should all still fall in the range of disclosed technology contents can be covered.Together
When, cited such as " on ", " under ", "front", "rear", " centre " term, are merely convenient to describe bright in this specification
, and be not used to limit the enforceable scope of the present invention, its relativeness is altered or modified, and technology contents are being changed without essence
Under, when being also considered as the enforceable category of the present invention.
A kind of radioactive source carrying shield attaching/detaching apparatus as shown in Figure 1 and Figure 2 include car body 1, swing mechanism 2, telescoping mechanism 3,
Elevating mechanism 4, derricking gear and remote operator panel end.
The bottom of the car body 1 is provided with running gear, be provided with the car body 1 interconnection storage battery,
Control system, wireless telecommunication system and image system.The running gear connects the storage battery and control system；Described
The camera 11 being connected with the image system is arranged on the front end outer wall of car body 1, the camera 11 set herein is with control
System connection, can adjust shooting angle by remote operation.
The storage battery set in this patent can provide electric energy for each mechanism, and wireless telecommunication system association is arranged on
The control system is with behind the remote operator panel end, enabling between the control system and remote operator panel end in fact
Existing telecommunication, so as to the action of each mechanism of remote control.If it should be noted that it is provided with liquid in each mechanism
Driving mechanism is pressed, hydraulic power unit should be set in car body 1, and by hydraulic power unit access control system.
The swing mechanism 2 includes revolution driving motor, reduction box and the gyration block installed in the car body top, slows down
The output terminal connection gyration block of case.By the driving of revolution driving motor gyration block can be made to rotate in the horizontal plane.
The telescoping mechanism 3 is fixed on the gyration block as an entirety, and so whole telescoping mechanism 3 just can
Synchronously it is rotated by 360 ° in the horizontal plane with the gyration block.The telescoping mechanism 3 includes drive division and by the drive division
Drive the telescopic arm 31 that can be moved in the horizontal plane along linear reciprocation.Driven be subject to gyration block, the axis of the telescopic arm 31
To can point at any angular position of horizontal plane, and corresponding source container 7 is corresponded to, then by making the telescopic arm
31 elongations, and the free end of telescopic arm 31 is corresponded to the top of source container 7, and by constantly adjusting telescopic arm 31
Gyratory directions position and stroke size, it is finally corresponding with the shutter release of 7 upper end of source container.Drive division herein
Can be motor or Hydraulic Power Transmission System.When drive division is motor, the mechanism for realizing linear telescopic can be rack-and-pinion
Transmission mechanism or screw slider transmission mechanism.
A connecting pole 32 is fixedly installed in the free end of the telescopic arm 31, sets and swings on the top of the connecting pole 32
Motor 33 and the gearbox 34 coordinated with oscillating motor 33, the output terminal of the gearbox 34 is with unification and the connecting pole 32
The hinged fixed plate 35 for being capable of rotary oscillation in the horizontal plane.
The elevating mechanism 4 is fixed on the free end of the fixed plate 35, so whole elevator as an entirety
Structure 4 just can be with 35 synchronizing moving of fixed plate.
The elevating mechanism 4 includes drive division, the drive link being arranged in vertical and is arranged on the drive link lower end
The installing plate that can move up and down is driven by the drive link.Drive division herein can be motor or hydraulic drive system
System.When drive division is motor, the mechanism for realizing linear telescopic can be that turbine and worm transmission mechanism or screw slider are driven
Mechanism.
Torque spanner 5 is installed on the lower face of the installing plate.The overall situation of torque spanner 5 is in sleeve-shaped,
And the shape (square protruding) of the shutter release of the top of source container 7 is matched with, to set 5 working end of torque spanner
Shape, i.e., square hole is set along the axial direction of the torque spanner 5, and observation during for ease of operation, in the inner of square hole
Screwed pipe is installed, the camera being connected with the image system is installed in screwed pipe.Work makes, and pulls the torsion
The working end correspondence of hand 5 drives elevator on the shutter release above the source container 7, and by the fixed plate 35
The overall spinning movement in space of structure 4, and shutter release is closed or opened.I.e. torque spanner 5 follows installing plate, in institute
Action can be moved up and down by stating inside elevating mechanism 4, and relative to the fixed plate 35, it is and the liter in space
Descending mechanism 4 as a whole structure synchronization revolution action.
The derricking gear includes being fixed on torsion motor 62 that is on the installing plate and being configured with gearbox, reverses electricity
The output terminal of the gearbox of machine 62 is equipped with hook 61 by shaft coupling.As shown in Figure 6, Figure 7, the hook 61 is one
Plate body of the end equipped with shaft, the U-lag mouth extended along plate body width is equipped with the other end of plate body.Pass through torsion
The driving of rotating motor 62, the plate body can rotate in vertical plane, as shown in Figure 8, Figure 9.
The derricking gear can follow installing plate as torque spanner 5, under the drive of the elevating mechanism 4, carry out
Move up and down action.As shown in Figure 1, the derricking gear and the elevating mechanism 4 are connected as overall structure, it is so described
Derricking gear just can synchronously turn round spinning movement with the fixed plate 35 in space.
The control system should with it is each present in the swing mechanism 2, telescoping mechanism 3, elevating mechanism 4 and derricking gear
A motor connects respectively.The remote operator panel end includes display and operation handle；The remote operator panel end passes through
The wireless telecommunication system and the control system, image system, which are established, to be connected, can remote reviewing, manipulation torque spanner 5 and
Active state of the hook 61 to source container 7.
In this patent, by wireless telecommunication system association be arranged on the control system and the remote operator panel end it
Between after, enable to realize telecommunication between the control system and remote operator panel end, so as to each machine of remote control
The action of structure.That is, acted on by the comprehensive adjustment of the swing mechanism 2, telescoping mechanism 3,4 lower part of elevating mechanism will be arranged on
Torque spanner 5 and hook 61, adjust pre- job position corresponding as 7 upper end of source container respectively.Lifted by adjusting
Mechanism 4 adjusts the upright position of torque spanner 5 and hook 61.Drive fixed plate 35 to turn round by oscillating motor 33, adjust and turn round
The rotary position of torque wrench 5, the rotational action of hook 62 is adjusted by reversing motor 62.In remote operation torque spanner 5 and
Hook 61 completes corresponding action.So it can be completed to dismount source container in remote control, turned by the device
The operations such as shifting, storage, therefore in operation, by using the present apparatus, operating personnel no longer needs directly contact to put in operation
Carrying shield is penetrated, so as to reduce the radiation radioactive dose that operating personnel is subject to, operating environment is improved, and labor intensity is minimized.
In order to ensure on operating environment ground not usually, the telescopic arm 31 of this attaching/detaching apparatus is axial all the time in the horizontal plane,
As shown in Fig. 2, there are four hydraulic leveling supporting legs 14 in the lower disposed of the car body 1, the hydraulic leveling supporting leg includes hydraulic pressure
Column and the disk (being contacted between disk and ground, to ensure that contact surface is sufficiently large) for being arranged on hydraulic pressure column end.The hydraulic column
It is connected with the hydraulic power unit being arranged in the car body, the hydraulic power unit connects the control system.On the car body 1
Portion, which is put on horizontal plane, sets horizon sensor, and the horizon sensor is connected with the control system.When detecting car body 1
When crooked, after the transducing signal of control system meeting real-time reception horizon sensor and analysis, eventually through each hydraulic leveling of adjusting
The collapsing length of supporting leg 14, to adjust the levelness of car body 1 (i.e. the axial levelness of telescopic arm 31).
In this patent, the drive division of the telescoping mechanism can be telescopic drive motor and with the telescopic drive motor
The screw sliding block of cooperation, the telescopic arm 31 are fixed on the screw and slide on sliding block in the block.Can be to slide on the top of car body 1
Block sets linear directive slide track or sliding slot.
In the present invention can be by output terminal and the fixed plate 35 of the gearbox 34 coordinated with the oscillating motor 33
Between be set to rack pinion structure.Can be as shown in figure 3, the output shaft end in the gearbox 34 sets gear and tooth
Bar engages, and rigidly fixes a transmission shaft 351 in one end of the fixed plate 35, wheel and rack is set on the transmission shaft 351
Engagement, while the two is passed through shaft and axis by the one end for being oppositely arranged transmission shaft 351 between fixed plate 35 and connecting pole 32
The coordination hinge formula Standard held.By setting axle center spacing and rack between 34 output shaft of gearbox and transmission shaft 351
Length, under the reciprocal slide action of rack linear formula, drive forward and reverse rotation of 351 gear of transmission shaft, final driving is solid
35 reciprocating rotating of fixed board acts, can ensure the fixed plate 35 in the horizontal plane rotatable relative axle center along side clockwise
To and counterclockwise form at least 60 degree of rotation angle respectively.
In the present invention can also be by output terminal and the fixed plate of the gearbox 34 coordinated with the oscillating motor 33
The drive mechanism that gear is meshed with partial gear is set between 35.As shown in Figure 4, Figure 5, in the defeated of the gearbox 34
Going out shaft end sets gear to be engaged with the partial gear being arranged on the transmission shaft 351 of described 35 one end of fixed plate, while relatively
Set one end of transmission shaft 351 that the two is passed through shaft and the coordination hinge formula of bearing between fixed plate 35 and connecting pole 32
Standard.By the circumferentially distributed situation of the partial gear of setting, as shown in Figure 4, make the fixed plate in horizontal plane
Interior rotatable relative axle center forms 60 degree of rotation angle thetas 1 of forward direction and is formed in the counterclockwise direction inversely along clockwise direction
60 degree of rotation angle thetas 2.It should be noted that partial gear herein can also be replaced with gear.
The drive division of the elevating mechanism 4 includes lifting motor and two vertically disposed guiding in this patent
Bar, the upper end of the guide rod are fixed in the fixed plate 35.The drive link is vertically disposed in two guide rods
Between.The upper end of the drive link extends to the top of fixed plate 35 and the lifting motor in the fixed plate 35
Coordinate.The installing plate is equipped with and the matched guide through hole of the guide rod.Make the drive link for wire lever and by described in
Drive link is configured to the drive mechanism of screw slider formula with the installing plate or makes the drive link for worm screw and in the peace
The turbine coordinated with the worm screw is set in loading board.Guide rod cannot move up and down under aforementioned structure, and only installing plate
It can move back and forth up and down.Can also be as shown in Fig. 1 and Fig. 8-9, by making corresponding change to aforementioned structure, such as in fixed plate 35
On set lifting motor drive the drive link of turbine and worm screw form coordinate, leading for matching guide rod is set in fixed plate 35
It is fixedly connected to through hole, and by the lower end of guide rod with installing plate.At this time under the driving of lifting motor, such as Fig. 1 and figure
Shown in 8-9, installing plate, guide rod and guide rod can move back and forth up and down as a whole.
As shown in Figure 1, the front-wheel and steering electricity that are driven in the walking system that the bottom of the car body 1 is set for movable motor 12
The trailing wheel that machine 13 drives.The movable motor 12 and steering motor 13 are all connected with the control system.The front-wheel and trailing wheel are equal
For solid rubber wheel.
To ensure the shooting sight effect of camera 11, it is disposed with the outer wall of the car body on the end face of camera 11
It can arrange headlamp.
As shown in Fig. 8-9, hook 61 is adjusted to its length direction in water by reversing motor 62 in an initial condition
The position of plane.During work, after the shutter release of 7 upper end of source container is closed with torque spanner 5, such as Fig. 8, pass through torsion
Rotating motor 62 drives hook 61 to rotate, and hook 61 is rotated by 90 ° and is hooked the protrusion on 7 top of source container, then
Drive hook 61 to move up by the elevating mechanism 4 to pick up source container 7.By adjusting swing mechanism 2 and telescoping mechanism
3, the source container 7 lifted is aligned to the tank groove of radioactive source shielded box, passes through the radiation for controlling elevating mechanism 4 most to lift at last
Carrying shield 7 is put into the tank groove of radioactive source shielded box.Next such as Fig. 9, hook 61 is driven reversely to revolve by reversing motor 62
Turn, hook 61 is reversely rotated the protrusion disengaging on 90 degree and 7 top of source container.
As a kind of form, radioactive source shielded box can be arranged on to the rear portion of car body 1, can so shorten whole operation
Time, improve work efficiency.
In conclusion the present invention can remote operation complete dismounting to source container 7, storage, radiated when reducing operation
Source reduces working strength, improves work efficiency to the dose of radiation of staff, so, the present invention effectively overcomes existing skill
Some practical problems in art are so as to have very high utility value and using meaning.
The principle of the present invention and its effect is only illustrated in the above embodiment, not for the limitation present invention.This hair
It is bright to also have many aspects to be improved on the premise of without prejudice to overall thought, all may be used for those skilled in the art
Under the spirit and scope without prejudice to the present invention, modifications and changes can be carried out to above-described embodiment.Therefore, affiliated technology such as
Have usually intellectual in field equivalent repairing with all completed under technological thought without departing from disclosed spirit
Decorations change, and should be covered by the claim of the present invention.
Claims (10)
1. a kind of radioactive source carrying shield attaching/detaching apparatus, it is characterised in that the attaching/detaching apparatus includes：Car body, swing mechanism, telescopic machine
Structure, elevating mechanism, derricking gear and remote operator panel end；Running gear is set in the bottom of the car body, in the car body
It is interior that storage battery, control system, wireless telecommunication system and the image system being connected with each other are set；The running gear connects the storage
Battery and control system；The camera being connected with the image system is arranged on the front end outer wall of the car body；It is described flexible
Mechanism is integrally installed on the swing mechanism, the swing mechanism be located at the car body top can in the horizontal plane with
The telescoping mechanism synchronous revolving；The elevating mechanism overall is installed in the fixed plate set on the telescoping mechanism, energy
Linear reciprocation moves enough fixed plates in company with the telescoping mechanism in the horizontal plane；Driving machine is equipped with the telescoping mechanism
Structure, the driving mechanism can drive fixed plate reciprocating rotary backswing in the horizontal plane；The elevating mechanism includes and institute
State the torque spanner that the shutter release at the top of radioactive source carrying shield matches；The torque spanner and the derricking gear are with overall shape
Formula is installed in the lower end of the elevating mechanism；The derricking gear includes the hook that can be turned round in vertical plane；It is described
Remote operator panel end is established and is connected by the wireless telecommunication system and the control system, image system；The control system
System is connected respectively with each driving device present in the swing mechanism, telescoping mechanism, elevating mechanism and derricking gear.
2. radioactive source carrying shield attaching/detaching apparatus according to claim 1, it is characterised in that：
On the swing mechanism：The swing mechanism includes revolution driving motor, the reduction box installed in the car body top
And gyration block, the output terminal connection gyration block of reduction box；
On the telescoping mechanism：The telescoping mechanism is integrally fixed on the gyration block, can be same with the gyration block
Step is rotated by 360 ° in the horizontal plane；The telescoping mechanism includes drive division and can be in the horizontal plane by drive division driving
The telescopic arm moved along linear reciprocation；A connecting pole is fixedly installed in the free end of the telescopic arm, in the upper of the connecting pole
Portion sets oscillating motor and the gearbox coordinated with oscillating motor, and the output terminal of the gearbox is cut with scissors with unification and the connecting pole
The fixed plate for being capable of rotary oscillation in the horizontal plane of chain link；
On the elevating mechanism：The elevating mechanism overall is fixed on the free end of the fixed plate；The elevating mechanism
Including drive division, the drive link being arranged in vertical and be located at the drive link lower end by the drive link drive can on
The installing plate of lower movement；The torque spanner is installed on the lower face of the installing plate；The torque spanner is in sleeve
Shape, is axially arranged with square hole along the torque spanner, is provided with the inner of square hole and is taken the photograph with what the image system was connected
As head；
On the derricking gear：The derricking gear includes being fixed on torsion that is on the installing plate and being configured with gearbox
Motor, the output terminal of the gearbox for reversing motor are equipped with the hook by shaft coupling；The hook is one
Plate body of the end equipped with shaft, the U-lag mouth extended along plate body width is equipped with the other end of plate body；The tabular
Body can rotate in vertical plane；
On the remote operator panel end：The remote operator panel end includes display and operation handle；
The control system and each motor present in the swing mechanism, telescoping mechanism, elevating mechanism and derricking gear point
Do not connect.
3. radioactive source carrying shield attaching/detaching apparatus according to claim 2, it is characterised in that：The drive division of the telescoping mechanism is
Telescopic drive motor and the screw sliding block coordinated with the telescopic drive motor, the telescopic arm are fixed on the screw sliding block
In sliding block on.
4. radioactive source carrying shield attaching/detaching apparatus according to claim 2, it is characterised in that：The change coordinated with the oscillating motor
It is rack pinion structure between the output terminal of fast case and the fixed plate, the fixed plate is rotatable relative in the horizontal plane
Axle center forms at least 60 degree of rotation angle respectively along clockwise direction and counterclockwise.
5. radioactive source carrying shield attaching/detaching apparatus according to claim 2, it is characterised in that：The change coordinated with the oscillating motor
The drive mechanism being meshed between the output terminal of fast case and the fixed plate for gear with partial gear, the fixed plate is in water
Rotatable relative axle center forms at least 60 degree of rotation angle respectively along clockwise direction and counterclockwise in plane.
6. radioactive source carrying shield attaching/detaching apparatus according to claim 2, it is characterised in that：The drive division bag of the elevating mechanism
Lifting motor and two vertically disposed guide rods are included, the upper end of the guide rod is fixed in the fixed plate；Institute
It is vertically disposed between two guide rods to state drive link；The upper end of the drive link extend to above the fixed plate with
Lifting motor in the fixed plate coordinates；The installing plate is equipped with and the matched guide through hole of the guide rod；
Make the drive link for wire lever and by the drive link and the installing plate be configured to screw slider formula drive mechanism or
Make the drive link for worm screw and the turbine coordinated with the worm screw is set on the installing plate.
7. radioactive source carrying shield attaching/detaching apparatus according to claim 2, it is characterised in that：Set in the bottom of the car body
Running gear is the front-wheel of movable motor driving and the trailing wheel of steering motor driving；The movable motor and steering motor are all connected with
The control system.
8. radioactive source carrying shield attaching/detaching apparatus according to claim 7, it is characterised in that：The front-wheel and trailing wheel are solid
Rubber wheel.
9. radioactive source carrying shield attaching/detaching apparatus according to claim 1, it is characterised in that：Have in the lower disposed of the car body
Multiple hydraulic leveling supporting legs, the hydraulic leveling supporting leg include hydraulic column and are arranged on the disk of hydraulic pressure column end, the hydraulic pressure
Column is connected with the hydraulic power unit being arranged in the car body, and the hydraulic power unit connects the control system；On the car body
Horizon sensor is set, and the horizon sensor is connected with the control system.
10. radioactive source carrying shield attaching/detaching apparatus according to claim 1, it is characterised in that：The cloth on the outer wall of the car body
It is equipped with shooting end surface and is disposed with headlamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710911823.3A CN107914261A (en) | 2017-09-29 | 2017-09-29 | Radioactive source carrying shield attaching/detaching apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710911823.3A CN107914261A (en) | 2017-09-29 | 2017-09-29 | Radioactive source carrying shield attaching/detaching apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107914261A true CN107914261A (en) | 2018-04-17 |
Family
ID=61898706
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710911823.3A Pending CN107914261A (en) | 2017-09-29 | 2017-09-29 | Radioactive source carrying shield attaching/detaching apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107914261A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110385570A (en) * | 2019-07-17 | 2019-10-29 | 上海李尔实业交通汽车部件有限公司 | A kind of press-loading device and method of fuse box |
| CN112192542A (en) * | 2020-10-15 | 2021-01-08 | 王林林 | Automatic loading robot |
| CN113204045A (en) * | 2021-04-06 | 2021-08-03 | 宝鸡赛威重型机床制造有限公司 | Nuclear radiation severe pollution safety approaching vehicle |
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| CN113204045B (en) * | 2021-04-06 | 2024-03-26 | 宝鸡赛威重型机床制造有限公司 | Nuclear radiation severe pollution safety approaching vehicle |
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Application publication date: 20180417 |
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