CN108483285B - Deep-well solidifies bucket recyclable device and solidification bucket recovery method - Google Patents
Deep-well solidifies bucket recyclable device and solidification bucket recovery method Download PDFInfo
- Publication number
- CN108483285B CN108483285B CN201810568805.4A CN201810568805A CN108483285B CN 108483285 B CN108483285 B CN 108483285B CN 201810568805 A CN201810568805 A CN 201810568805A CN 108483285 B CN108483285 B CN 108483285B
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- Prior art keywords
- bucket
- lead screw
- motor
- boom
- magnechuck
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/04—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means
- B66C1/06—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means electromagnetic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
Abstract
Deep-well solidifies bucket recyclable device, including mobile platform, well logging center fixture, suspension arm mechanism, hanging scaffold position adjusting mechanism and hanging scaffold mechanism.A kind of solidification bucket recovery method is applied to deep-well and solidifies bucket recyclable device, returns and take that steps are as follows: 1, set coordinate system；2, it is moved to target well head；3, measure target well head center；4, adjustment lifting position；5, cleaning solidifies rubbish and floating dust on bucket；6, main magnechuck and solidification bucket are further to the heart；7, lifting solidification bucket.It is an advantage of the current invention that main magnechuck can be docked accurately with solidification bucket；It is steady to solidify bucket lifting；Can remote control effectively avoid nuclear radiation.
Description
Technical field
The present invention relates to solidification bucket recovery technology field, especially a kind of deep-well solidification bucket recyclable device and solidification bucket recycling
Method.
Background technique
Solidification bucket for containing nuke rubbish solidified cement body is usually successively piled up, and is temporarily stored in mine, and mine bore omits
Greater than the diameter for solidifying bucket, mine depth can pile up at least 12 layers of solidification bucket up to 14m.
Currently, the operation that recycling solidifies bucket generallys use crane and transfers.Its existing where the shoe pinches has: 1, crane needs to grasp
Be sitting in manipulation traveling in the cockpit of crane as member, operator more or less will receive nuke rubbish radiation, operational health risk compared with
Greatly.2, Electromagnetic slings for lifting loads and crane telecar are flexibly connected, therefore the amplitude of oscillation is larger in motion process, and when reclaimer operation, solidification bucket is easy
It collides with the mine borehole wall, in turn results in solidification bucket and fall off with Electromagnetic slings for lifting loads, recovery efficiency is low.3, it is estimated and is adjusted by operator
Whole Electromagnetic slings for lifting loads centering (referring to that the hanging scaffold center alignment of Electromagnetic slings for lifting loads solidifies the center of bucket upper surface in described pair), adjustment difficulty
Larger and accuracy of alignment is difficult to ensure, solidifying bucket if can not achieve precise alignment, after lifting can be crooked to side, in uphill process
It is easy to collide and fall off with the borehole wall.
Summary of the invention
The purpose of the present invention is overcome the deficiencies in the prior art, and provide a kind of deep-well solidification bucket recyclable device and solidification bucket
Recovery method, it, which is solved in existing solidification bucket recycling operation, needs manual operation crane to enter recovery zone, operational health
Risk is larger, and solidification bucket is easy to fall off in recycling operation, the low problem of recovery efficiency.
The technical scheme is that deep-well solidifies bucket recyclable device, including mobile platform, well logging center fixture, boom
Mechanism, hanging scaffold position adjusting mechanism and hanging scaffold mechanism；
The solidification bucket channel vertically through mobile platform is equipped in the middle part of mobile platform, mobile platform upper surface is equipped with and is used for
The loading area for solidifying bucket is placed, mobile platform edge is equipped with the stand for positioning boom initial position, stand upper end
Equipped with the V-groove being put into for boom；
Center fixture of logging well includes rangefinder A and driving mechanism；Driving mechanism installation on a mobile platform and with rangefinder A
Association is used to that rangefinder A to be driven to move back and forth inside and outside solidification bucket channel；
Suspension arm mechanism includes boom, shaft A, horizontally rotates driving assembly and vertical oscillation driving assembly；Boom is at one end
It is movably arranged on rotate driving component by shaft A；Rotate driving component is installed on a mobile platform；Vertical oscillation driving group
Part, which is located at, to horizontally rotate between driving assembly and boom, and to drive boom, A is rotated around the shaft；
Hanging scaffold position adjusting mechanism includes wirerope distributor, directive wheel A, length to displacement component, width to displacement component
And wirerope；Wirerope distributor, which is mounted on, to horizontally rotate on driving assembly；Directive wheel A is mounted on boom；Length is to displacement component
It is mounted on boom, width is mounted on length on displacement component to displacement component；Wirerope front end is connected on wirerope distributor,
After rear end passes sequentially through directive wheel A, length to displacement component and width to displacement component, to boom below stretch out, and be fixed in
At the center of work chuck upper surface；
Hanging scaffold mechanism includes work chuck, main magnechuck and three-jaw centering component；Work chuck side wall is equipped with flexible buffer
Block is equipped with camera, searchlight and rangefinder B on work chuck lower surface, and the quantity of rangefinder B is three, all rangings
Instrument B is distributed in a ring around the center of work chuck；Main magnechuck is fixed at the center of work chuck lower surface, and adsorption plane is equipped with
Pressure sensor；Three-jaw centering component includes axle bed, centering jaw, rotating shaft D and tension spring；Three axle bed annulars are uniformly fixed in main electricity
In the side wall surface of magnetic-disc, three centering jaws pass through rotating shaft D respectively and are movably arranged on three axle beds；Three tension springs respectively correspond
Three centering jaws, tension spring one end are connected in the side wall surface of main magnechuck, and the other end is connected on centering jaw, and makes centering jaw
It is maintained at the state collapsed to main magnechuck radially inner side.
The further technical solution of the present invention is: it further includes a barrel face cleaning agency；Bucket face cleaning agency include locating rack,
Motor E, lead screw E, lifter plate, motor F, cleaning item and secondary magnechuck；Locating rack is fixedly mounted on work chuck, which is provided with
The guide post arranged vertically；Lead screw E is parallel to guide post and arranges vertically, and both ends are movably arranged on locating rack；Motor E is fixed
It is mounted on work chuck, is connect by shaft coupling with lead screw E；Lifter plate is equipped with screw hole and unthreaded hole, is connected by screw hole
It is sleeved in guide post on lead screw E, and through unthreaded hole；Motor F is fixedly mounted on lifter plate, and arbor is stretched straight down
Out；Cleaning item is connected on the arbor of motor F；Secondary magnechuck is fixed in lifter plate lower end, and adsorption plane is equipped with feeling of stress
Answer device.
Further technical solution is the present invention: mobile platform includes upper moving body, lower moving body and jacking dress
It sets；Lower moving body is connected to the lower end of upper moving body by jacking apparatus, by jacking apparatus relative to upper locomotive
Body elevating movement, and then selectively make that the wheel of lower moving body lands or the wheel of upper moving body lands.
The further technical solution of the present invention is: mobile platform further includes aiding support component；Aiding support component packet
Include hydraulic cylinder, wedge block A and wedge block B；Hydraulic cylinder is fixedly mounted on moving body lower end, and piston rod protrudes horizontally up；Wedge
Shape block A is fixed in lower moving body upper end；Wedge block B is fixed on the piston rod of hydraulic cylinder, by the piston rod band of hydraulic cylinder
It moves and does horizontal reciprocating movement, and then be bonded or separate with wedge block A.
The further technical solution of the present invention is: length to displacement component include lead screw C, guide rod A, motor C, nut
C and directive wheel B；Lead screw C is parallel to boom arrangement, and both ends are movably arranged on boom；Guide rod A is parallel to lead screw C arrangement,
Its both ends is mounted on boom；Motor C is fixedly mounted on boom, is connect by shaft coupling with lead screw C；Nut C is equipped with
Threaded hole and unthreaded hole are connected on lead screw C by threaded hole, and are sleeved on guide rod A by unthreaded hole, directive wheel B installation
On nut C；
Width to displacement component include shell, directive wheel C, motor D, lead screw D, guide rod B, nut D and guide wheel group；Shell
It is fixedly connected on the lower end nut D, which is provided with entrance and exit；Directive wheel C, motor D and lead screw D are installed in shell, electricity
The arbor of machine D is connect by shaft coupling with lead screw D, and lead screw D is horizontally disposed and perpendicular to lead screw C；Guide rod B is parallel to lead screw D
Arrangement, both ends are mounted on shell；Nut D is equipped with threaded hole and unthreaded hole, is connected on lead screw D by threaded hole, and
It is sleeved on guide rod B by unthreaded hole；Two guide wheels that guide wheel group includes are installed on nut D, are equipped between two guide wheels
The gap passed through for wirerope；
Wirerope front end is connected on wirerope distributor, and rear end passes sequentially through directive wheel A, directive wheel B, housing inlet port, guiding
After taking turns C, the gap of guide wheel group and housing outlets, stretched out to boom lower section, and be fixed at the center of work chuck upper surface.
The further technical solution of the present invention is: horizontally rotating driving assembly includes rotating hydraulic cylinder and pedestal；Revolution
Hydraulic cylinder is fixedly mounted on moving body；Pedestal is fixedly mounted on rotating hydraulic cylinder；Boom is living at one end through shaft A
It is dynamic to be mounted on the base；
Vertical oscillation driving assembly includes hydraulic jack, shaft B and rotating shaft C；The cylinder body of hydraulic jack passes through shaft B
It is movably connected on moving body, B can swing up and down around the shaft, hydraulic stem passes through rotating shaft C and boom activity in end
Connection；
Wirerope distributor is mounted on the base.
The further technical solution of the present invention is: driving mechanism includes horizontal reciprocating mobile mechanism, horizontal slider, vertical
Reciprocating device and upright slide block；Horizontal reciprocating mobile mechanism includes lead screw A, nut A, motor A and bracket；The both ends lead screw A
It is movably arranged on bracket and in horizontally disposed；Nut A is threaded on lead screw A；Motor A is fixedly mounted on bracket,
Arbor is connect by shaft coupling with lead screw A；Bracket is fixed on lower moving body；Horizontal slider is fixed on nut A；It is vertical past
Multiple mobile mechanism includes bracket B, lead screw B, nut B and motor B；Bracket B is fixed on horizontal slider；Lead screw B both ends activity peace
On bracket B and it is arranged vertically；Nut B is threaded on lead screw B；Motor B is fixedly mounted on bracket B, arbor
It is connect by shaft coupling with lead screw B；Upright slide block is fixed on nut B；Rangefinder A is fixed on upright slide block.
The further technical solution of the present invention is: it further includes positioning device and control device；Positioning device includes peace
The outdoor scene camera of dress on a mobile platform observes camera, the positioning being mounted on work chuck with the channel being mounted on boom
Module and the controller controlled for center；Control device includes display module and input module, control device and positioning device
Telecommunication connection.
The invention has the following advantages over the prior art:
1, main magnechuck can be docked accurately with solidification bucket: magnechuck and solidification bucket pass through centering three times altogether, for the first time
Centering is based on the location information of locating module (being mounted on hanging scaffold body), adjusts main magnechuck center and is overlapped with well head center.
Data feedback of second of centering based on rangefinder B, confirms whether main magnechuck is directed at solidification bucket upper surface, and can image
It adjusts with the help of head and searchlight to alignment.Third time centering is resisted simultaneously by three centering jaws solidifies determining for bucket upper surface
The side wall of position pit, based on three-jaw centering principle by main magnechuck and solidification bucket further to the heart.
2, the lifting of solidification bucket is steady: work chuck side wall is equipped with flexible buffer block, if rocking during lifting, causes
Work chuck encounters well inner wall, and flexible buffer block can effectively play buffer function, and work chuck is forced to keep stablizing.
3, can remote control effectively avoid nuclear radiation: user can remote control mobile platform traveling enter working region, it is fixed
The position of well head is arrived in position, then realizes that suspender is docked with the accurate of bucket is solidified based on locating module and camera, and automatic cleaning is solid
Change the rubbish on bucket surface, then solidification bucket handling out of well is come out.Entire handling process automation degree is high, good reliability, behaviour
Make personnel to be not necessarily to enter working region, effectively prevents nuke rubbish radiation hazradial bundle operator's health.
Below in conjunction with figure, the invention will be further described with embodiment.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural representation and schematic view of the mounting position of well logging center fixture；
Fig. 3 is the structural schematic diagram for overlooking boom under visual angle；
Fig. 4 is structural schematic diagram of the width to displacement component；
Fig. 5 is the structural representation and positional diagram of hanging scaffold mechanism and bucket face cleaning agency；
Fig. 6 is the schematic view of the mounting position for assisting bearing assembly.
Specific embodiment
Embodiment 1:
As shown in figures 1 to 6, deep-well solidify bucket recyclable device, including mobile platform, well logging center fixture, suspension arm mechanism, hang
Disk position adjusting mechanism, hanging scaffold mechanism, bucket face cleaning agency, positioning device and control device.
Mobile platform includes upper moving body 11, lower moving body 12 and jacking apparatus 13.Lower moving body passes through jacking
Device is connected to the lower end of moving body, by jacking apparatus 13 relative to upper 11 elevating movement of moving body, Jin Eryou
The wheel of moving body 12 lands under the making of selectivity or the wheel of upper moving body 11 lands.Jacking apparatus 13 is hydraulic jack
Top.Upper moving body 11 and lower moving body 12 are built-in with independent dynamical system.Be equipped in the middle part of mobile platform vertically through
The solidification bucket channel 14 of upper moving body 11 and lower moving body 12, the upper surface of upper moving body 11 are equipped with solid for placing
Change the loading area 111 of bucket, the edge of upper moving body 11 is equipped with the stand 15 for positioning boom initial position, stand
15 upper ends are equipped with the V-groove 151 being put into for boom.
Center fixture of logging well includes rangefinder A21 and driving mechanism.Driving mechanism be mounted on lower moving body 12 and with
Rangefinder A21 association is used to that rangefinder A21 to be driven to move back and forth inside and outside solidification bucket channel 14.Driving mechanism includes level
Reciprocating device, horizontal slider 23, vertical reciprocating device and upright slide block 25.Horizontal reciprocating mobile mechanism includes lead screw
A221, nut A222, motor A223 and bracket 224.The both ends lead screw A221 are movably arranged on bracket 224 and in horizontally disposed.
Nut A222 is threaded on lead screw A221.Motor A223 is fixedly mounted on bracket 224, and arbor passes through shaft coupling and silk
Thick stick A221 connection.Bracket 224 is fixed on lower moving body 12.Horizontal slider 23 is fixed on nut A222.Vertical reciprocal shifting
Motivation structure includes bracket B241, lead screw B242, nut B243 and motor B244.Bracket B241 is fixed on horizontal slider 23.Silk
The both ends thick stick B242 are movably arranged on bracket B241 and are arranged vertically.Nut B243 is threaded on lead screw B242.Motor
B244 is fixedly mounted on bracket B241, and arbor is connect by shaft coupling with lead screw B242.Upright slide block 25 is fixed in nut
On B243.Rangefinder A21 is fixed on upright slide block 25.
Suspension arm mechanism includes boom 31, shaft A32, horizontally rotates driving assembly and vertical oscillation driving assembly.Boom 31
It is movably arranged on rotate driving component at one end through shaft A32.Rotate driving component is mounted on moving body 11.It is perpendicular
Straight wobble drive component, which is located at, to horizontally rotate between driving assembly and boom, and to drive boom 31, A32 is rotated around the shaft.Level turns
Dynamic driving assembly includes rotating hydraulic cylinder 33 and pedestal 34.Rotating hydraulic cylinder 33 is fixedly mounted on moving body 11.Pedestal
34 are fixedly mounted on rotating hydraulic cylinder 33.Boom 31 is movably arranged on pedestal 34 at one end through shaft A32.Vertical oscillation
Driving assembly includes hydraulic jack 35, shaft B36 and rotating shaft C 37.The cylinder body of hydraulic jack 35 is connected by shaft B36 activity
It connects on upper moving body 11, B36 can swing up and down around the shaft, hydraulic stem is living by rotating shaft C 37 and boom 31 in end
Dynamic connection.
Hanging scaffold position adjusting mechanism includes wirerope distributor 41, directive wheel A42, length to displacement component, width to displacement
Component and wirerope 45.
Wirerope distributor 41 is mounted on pedestal 34 comprising winder and the motor connecting with winder shaft.Guiding
Wheel A42 has multiple, is separately mounted on boom 31.Length to displacement component include lead screw C431, guide rod A432, motor
C433, nut C434 and directive wheel B435.Lead screw C431 is parallel to the arrangement of boom 31, and both ends are movably arranged on boom 31.
Guide rod A432 is parallel to lead screw C431 arrangement, and both ends are mounted on boom 31.Motor C433 is fixedly mounted on boom 31,
It is connect by shaft coupling with lead screw C431.Nut C434 is equipped with threaded hole and unthreaded hole, is connected to lead screw by threaded hole
It on C431, and is sleeved on guide rod A432 by unthreaded hole, directive wheel B435 is mounted on nut C434.Width is to displacement component
Including shell 441, directive wheel C442, motor D443, lead screw D444, guide rod B445, nut D446 and guide wheel group 447.Shell
441 are fixedly connected on the lower end nut D446, which is provided with entrance 4411 and outlet 4412.Directive wheel C442, motor D443 and silk
Thick stick D444 is installed in shell 441, and the arbor of motor D443 is connect by shaft coupling with lead screw D444, the horizontal cloth of lead screw D444
It sets and perpendicular to lead screw C431.Guide rod B445 is parallel to lead screw D444 arrangement, and both ends are mounted on shell 441.Nut
D446 is equipped with threaded hole and unthreaded hole, is connected on lead screw D444 by threaded hole, and be sleeved on guide rod by unthreaded hole
On B445.Two guide wheels that guide wheel group 447 includes are installed on nut D446, are equipped between two guide wheels and are passed through for wirerope 45
Gap 4471.45 front end of wirerope is connected on the winder of wirerope distributor 41, and rear end passes sequentially through directive wheel A42, guiding
After taking turns B435,441 entrance 4411 of shell, directive wheel C442, the gap 4471 of guide wheel group 447 and the outlet of shell 441 4412, to hanging
It stretches out, and is fixed at 51 upper surface center of work chuck below arm 31.
Hanging scaffold mechanism includes work chuck 51, main magnechuck 52 and three-jaw centering component.51 side wall of work chuck is equipped with soft
Property buffer stopper 511 (i.e. rubber block) is equipped with camera 512, searchlight 513 and rangefinder B (in figure on 51 lower surface of work chuck
It is not shown), the quantity of rangefinder B is three, and all rangefinder B are distributed in a ring around the center of work chuck 51.Main electromagnetism is inhaled
Disk 52 is fixed at 51 lower surface center of work chuck, and adsorption plane is equipped with pressure sensor (not shown).Three-jaw centering
Component includes axle bed 53, centering jaw 54, rotating shaft D 55 and tension spring 56.Three 53 annulars of axle bed are uniformly fixed in main magnechuck 52
Side wall surface on, three centering jaws 54 are movably arranged on three axle beds 53 by rotating shaft D 55 respectively.Three tension springs 56 are right respectively
Three centering jaws 54 are answered, 56 one end of tension spring is connected in the side wall surface of main magnechuck 52, and the other end is connected on centering jaw 54,
And centering jaw 54 is made to be maintained at the state collapsed to main 52 radially inner side of magnechuck.
Bucket face cleaning agency include locating rack 61, motor E62, lead screw E63, lifter plate 64, motor F65, cleaning item 66 and
Secondary magnechuck 67.Locating rack 61 is fixedly mounted on work chuck 51, which is provided with the guide post 611 arranged vertically.Lead screw E63
It is parallel to guide post 611 and arranges that both ends are movably arranged on locating rack 61 vertically.Motor E62 is fixedly mounted on work chuck 51
On, it is connect by shaft coupling with lead screw E63.Lifter plate 64 is equipped with screw hole and unthreaded hole, is connected to lead screw E63 by screw hole
On, and be sleeved in guide post 611 by unthreaded hole.Motor F65 is fixedly mounted on lifter plate 64, and arbor is stretched straight down
Out.Cleaning item 66 is connected on the arbor of motor F65.Secondary magnechuck 67 is fixed in 64 lower end of lifter plate, sets on adsorption plane
There is pressure inductor (not shown).
It is preferred that mobile platform further includes aiding support component.Aiding support component includes hydraulic cylinder 161, wedge block A162
And wedge block B163.Hydraulic cylinder 161 is fixedly mounted on 11 lower end of moving body, and piston rod protrudes horizontally up.Wedge block A162
It is fixed in lower 12 upper end of moving body.Wedge block B163 is fixed on the piston rod of hydraulic cylinder 161, by the work of hydraulic cylinder 161
Stopper rod drives and does horizontal reciprocating movement, and then is bonded or separates with wedge block A162.Aiding support component can be by jacking apparatus
The 13 a part of power born are dispersed, and to mitigate the load of jacking apparatus, and help to maintain the stabilization of entire mobile platform
Property.
Positioning device includes that the outdoor scene camera of installation on a mobile platform is imaged with the channel observation being mounted on boom
Head (not shown), the locating module (not shown) being mounted on work chuck and the controller (figure for center control
In be not shown).Control device (not shown) includes display module and input module, and control device remotely leads to positioning device
Letter connection.
Sketch use of the invention:
The method that the recycling of bucket recyclable device solidifies bucket is solidified using deep-well, steps are as follows:
S01 sets coordinate system:
One alignment sensor is installed in working region, is set as origin as positioning datum, and by the benchmark, establishes plane
Coordinate system；Further according to well head plane design drawing, well head working face coordinate diagram is established, coordinate is set to target well head.
S02 is moved to target well head:
Target mouth coordinate is inputted by control device, plans that driving path, driving mobile platform exist automatically by controller
Upper moving body wheel moves near target well head in the state of landing, then by control device opening outdoor scene camera and admittedly
Change bucket channel and observe camera, manually controls that mobile platform lands in upper moving body wheel and lower moving body wheel lands it
Between switch, mobile platform is moved to target well head, is subject to and solidifies in target well head is fully enclosed in by bucket channel 14.
S03 measures target well head center:
Controller controls driving mechanism movement, rangefinder A21 is sent into target well head, then hybrid ranging instrument A21
Measurement data and the positional information calculation of locating module go out target well head center.
S04, adjustment lifting position:
A adjusts boom to original state: opening outdoor scene camera by control device, manually adjusts and horizontally rotate drive
The rotating hydraulic cylinder 33 of dynamic component and the hydraulic jack 35 of vertical oscillation driving assembly act, and make 31 frame of boom in stand 15
V-groove 151 in；
In this step, when boom frame is on stand, cross with the central axes for solidifying bucket channel；
B, adjustment hanging scaffold mechanism and the centering of target well head: the location information based on locating module starts length by controller
To displacement component motor C433 and width to the motor D443 of displacement component, hanging scaffold mechanism is moved to its center and target well
Mouth center is overlapped；
C, adjust main magnechuck alignment and solidify bucket: the measurement data based on rangefinder B, controller judge main magnechuck
Whether 52 be directed at solidification bucket 9；
If being aligned, the measurement data of all rangefinder B is identical, into next step；
If misalignment, all rangefinder B measurement data are different, by controller starting channel observation camera and searchlighting
Lamp, operator on control device according to channel observe camera show motor C433 from image control length to displacement component and
Width is run to the motor D443 of displacement component, main magnechuck 52 is moved to alignment solidification 9 upper surface of bucket, with all rangings
Subject to the measurement data of instrument B is identical, enter in next step after alignment；
D, transfer main magnechuck to cleaning distance: controller controls wirerope distributor 41 and transfers wirerope 45, makes main electricity
Magnetic-disc 52 moves closer at a distance from solidification bucket 9, until stopping decentralization after preset cleaning distance.
S05, cleaning solidify rubbish and floating dust on bucket:
A, the motor E62 of controller starting bucket face cleaning agency, will be under secondary magnechuck 67, motor F65 and cleaning item 66
It puts, while being powered to secondary magnechuck 67, when secondary magnechuck 67 is attracted with solidification 9 upper surface of bucket, secondary magnechuck 67 is inhaled
Pressure inductor on attached face delivers a signal to controller, and controller closes motor E62 after receiving signal immediately, restarts electricity
Machine F65 makes cleaning item 66 do horizontal reciprocating swing, cleans the rubble rubbish for solidifying 9 upper surface of bucket；
B, after the completion of cleaning, controller first controls secondary magnechuck power-off, then controls wirerope distributor 41 and receive wirerope 45
It returns, main magnechuck 52 is made to move up 10cm, finally by control motor E62 and motor F65, return to cleaning item 66 initially
Position；
Before this step starts, cleaning item 66 is located at initial position, and the initial position of cleaning item 66 is located at main magnechuck
The outside in 52 axially extending regions, and it is located at the top of its movement travel.
S06, main magnechuck and solidification bucket are further to the heart:
Controller control wirerope distributor 41 transfers wirerope 45, while giving main magnechuck 52 logical 10% normal lifting electricity
Stream, main magnechuck 52 are moved closer to solidification 9 upper surface distance of bucket, three centering jaws 54 and solidification bucket of three-jaw centering component
It after 9 contacts, while being opened to the radial outside of main magnechuck 52, when 54 bottom end of centering jaw is determined on 9 upper surface of bucket with solidifying
When the side wall of position pit 91 offsets, main magnechuck 52 is bonded with solidification 9 surface of bucket, to complete to operate the heart；
In this step, the upper surface for solidifying bucket 9 to handling is equipped with round location dimples 91, and location dimples 91 are located at solidification
At the center of 9 upper surfaces of bucket.
S07, lifting solidification bucket:
A, after main magnechuck 52 is bonded with solidification 9 surface of bucket, pressure sensor transmits electric signal to controller, controller
After receiving the signal, the electrical current for controlling main magnechuck 52 continues to increase, and makes to solidify 9 upper surface of bucket and main magnechuck 52
Absorption face contact it is more and more closer, until the detection pressure value of pressure sensor on main 52 adsorption plane of magnechuck has reached
It hangs when requiring, keeps the electrical current；
B, controller control wirerope distributor 41 withdraws wirerope 45, to solidification bucket 9 be sling, when solidification bucket 9 is whole
When being promoted to higher than well head surface, controller starts channel observation camera and outdoor scene camera, by operator in control device
On, the hydraulic jack 35 for manually controlling the rotating hydraulic cylinder 33 and vertical oscillation driving assembly that horizontally rotate driving assembly is dynamic
Make, the loading area that will solidify bucket and be transported to mobile platform front end, i.e. the completion recycling that solidifies bucket.
Claims (9)
1. deep-well solidifies bucket recyclable device, it is characterized in that: including mobile platform, well logging center fixture, suspension arm mechanism, hanging scaffold position
Regulating mechanism and hanging scaffold mechanism；
The solidification bucket channel vertically through mobile platform is equipped in the middle part of mobile platform, mobile platform upper surface is equipped with for placing
Solidify the loading area of bucket, mobile platform edge is equipped with the stand for positioning boom initial position, and stand upper end is equipped with
The V-groove being put into for boom；
Center fixture of logging well includes rangefinder A and driving mechanism；Driving mechanism installation is closed on a mobile platform and with rangefinder A
Connection is used to that rangefinder A to be driven to move back and forth inside and outside solidification bucket channel；
Suspension arm mechanism includes boom, shaft A, horizontally rotates driving assembly and vertical oscillation driving assembly；Boom at one end through
Shaft A is movably arranged on rotate driving component；Rotate driving component is installed on a mobile platform；Vertical oscillation driving assembly is set
Horizontally rotating between driving assembly and boom, to drive boom, A is rotated around the shaft；
Hanging scaffold position adjusting mechanism includes wirerope distributor, directive wheel A, length to displacement component, width to displacement component and steel
Cable；Wirerope distributor, which is mounted on, to horizontally rotate on driving assembly；Directive wheel A is mounted on boom；Length is installed to displacement component
On boom, width is mounted on length on displacement component to displacement component；Wirerope front end is connected on wirerope distributor, rear end
After directive wheel A, length are passed sequentially through to displacement component and width to displacement component, to boom below stretch out, and be fixed in work folder
At the center of disk upper surface；
Hanging scaffold mechanism includes work chuck, main magnechuck and three-jaw centering component；Work chuck side wall is equipped with flexible buffer block, work
Camera, searchlight and rangefinder B be installed on chuck lower surface, the quantity of rangefinder B is three, all rangefinder B around
The center of work chuck is distributed in a ring；Main magnechuck is fixed at the center of work chuck lower surface, and adsorption plane is equipped with pressure
Sensor；Three-jaw centering component includes axle bed, centering jaw, rotating shaft D and tension spring；Three axle bed annulars are uniformly fixed in main electromagnetism and inhale
In the side wall surface of disk, three centering jaws pass through rotating shaft D respectively and are movably arranged on three axle beds；Three tension springs respectively correspond three
Centering jaw, tension spring one end are connected in the side wall surface of main magnechuck, and the other end is connected on centering jaw, and keeps centering jaw
In the state collapsed to main magnechuck radially inner side.
2. deep-well as described in claim 1 solidifies bucket recyclable device, it is characterized in that: it further includes a barrel face cleaning agency；Bucket face
Cleaning agency includes locating rack, motor E, lead screw E, lifter plate, motor F, cleaning item and secondary magnechuck；Locating rack is fixedly mounted
On work chuck, the guide post arranged vertically which is provided with；Lead screw E is parallel to guide post and arranges vertically, both ends activity installation
On locating rack；Motor E is fixedly mounted on work chuck, is connect by shaft coupling with lead screw E；Lifter plate be equipped with screw hole and
Unthreaded hole is connected on lead screw E, and be sleeved in guide post by unthreaded hole by screw hole；Motor F is fixedly mounted on lifter plate
On, arbor stretches out straight down；Cleaning item is connected on the arbor of motor F；Secondary magnechuck is fixed in lifter plate lower end,
Adsorption plane is equipped with pressure inductor.
3. deep-well as claimed in claim 2 solidifies bucket recyclable device, it is characterized in that: mobile platform include upper moving body, under
Moving body and jacking apparatus；Lower moving body is connected to the lower end of upper moving body by jacking apparatus, passes through jacking dress
It sets relative to upper moving body elevating movement, and then the wheel of lower moving body is selectively made to land or upper moving body
Wheel lands.
4. deep-well as claimed in claim 3 solidifies bucket recyclable device, it is characterized in that: mobile platform further includes aiding support group
Part；Aiding support component includes hydraulic cylinder, wedge block A and wedge block B；Hydraulic cylinder is fixedly mounted on moving body lower end,
Piston rod protrudes horizontally up；Wedge block A is fixed in lower moving body upper end；Wedge block B is fixed on the piston rod of hydraulic cylinder, quilt
The piston rod of hydraulic cylinder drives and does horizontal reciprocating movement, and then is bonded or separates with wedge block A.
5. deep-well as claimed in claim 4 solidifies bucket recyclable device, it is characterized in that: length includes lead screw C, leads to displacement component
To bar A, motor C, nut C and directive wheel B；Lead screw C is parallel to boom arrangement, and both ends are movably arranged on boom；Guide rod A
It is parallel to lead screw C arrangement, both ends are mounted on boom；Motor C is fixedly mounted on boom, passes through shaft coupling and lead screw C
Connection；Nut C is equipped with threaded hole and unthreaded hole, is connected on lead screw C by threaded hole, and be sleeved on guide rod by unthreaded hole
On A, directive wheel B is mounted on nut C；
Width to displacement component include shell, directive wheel C, motor D, lead screw D, guide rod B, nut D and guide wheel group；Shell is fixed
It is connected to the lower end nut D, which is provided with entrance and exit；Directive wheel C, motor D and lead screw D are installed in shell, motor D's
Arbor is connect by shaft coupling with lead screw D, and lead screw D is horizontally disposed and perpendicular to lead screw C；Guide rod B is parallel to lead screw D arrangement,
Its both ends is mounted on shell；Nut D is equipped with threaded hole and unthreaded hole, is connected on lead screw D by threaded hole, and pass through light
Hole is sleeved on guide rod B；Two guide wheels that guide wheel group includes are installed on nut D, are equipped between two guide wheels for wirerope
By gap；
Wirerope front end is connected on wirerope distributor, rear end pass sequentially through directive wheel A, directive wheel B, housing inlet port, directive wheel C,
Behind the gap of guide wheel group and housing outlets, stretched out to boom lower section, and be fixed at the center of work chuck upper surface.
6. deep-well as claimed in claim 5 solidifies bucket recyclable device, it is characterized in that: horizontally rotating driving assembly includes revolution liquid
Cylinder pressure and pedestal；Rotating hydraulic cylinder is fixedly mounted on moving body；Pedestal is fixedly mounted on rotating hydraulic cylinder；Boom exists
One end is movably arranged on pedestal by shaft A；
Vertical oscillation driving assembly includes hydraulic jack, shaft B and rotating shaft C；The cylinder body of hydraulic jack passes through shaft B activity
It is connected on moving body, B can swing up and down around the shaft, hydraulic stem is flexibly connected by rotating shaft C with boom in end；
Wirerope distributor is mounted on the base.
7. deep-well as claimed in claim 6 solidifies bucket recyclable device, it is characterized in that: driving mechanism includes horizontal reciprocating moving machine
Structure, horizontal slider, vertical reciprocating device and upright slide block；Horizontal reciprocating mobile mechanism includes lead screw A, nut A, motor A
And bracket；The both ends lead screw A are movably arranged on bracket and in horizontally disposed；Nut A is threaded on lead screw A；Motor A is fixed
Rack-mount, arbor is connect by shaft coupling with lead screw A；Bracket is fixed on lower moving body；Horizontal slider is affixed
On nut A；Vertical reciprocating device includes bracket B, lead screw B, nut B and motor B；Bracket B is fixed on horizontal slider；
The both ends lead screw B are movably arranged on bracket B and are arranged vertically；Nut B is threaded on lead screw B；Motor B is fixedly mounted on
On bracket B, arbor is connect by shaft coupling with lead screw B；Upright slide block is fixed on nut B；Rangefinder A is fixed in vertical cunning
On block.
8. deep-well as claimed in claim 7 solidifies bucket recyclable device, it is characterized in that: it further includes positioning device and manipulation dress
It sets；Positioning device includes that the outdoor scene camera of installation on a mobile platform observes camera, peace with the channel being mounted on boom
Locating module on work chuck and the controller for center control；Control device includes display module and input module,
Control device is connect with positioning device telecommunication.
9. a kind of solidification bucket recovery method is applied to deep-well according to any one of claims 8 and solidifies bucket recyclable device, characterized in that returns
Steps are as follows for receipts:
S01 sets coordinate system:
One alignment sensor is installed in working region, is set as origin as positioning datum, and by the benchmark, establishes plane coordinates
System；Further according to well head plane design drawing, well head working face coordinate diagram is established, coordinate is set to target well head；
S02 is moved to target well head:
Target mouth coordinate is inputted by control device, plans that driving path, driving mobile platform are moving up automatically by controller
Motor vehicles bodies wheel is moved in the state of landing near target well head, then opens outdoor scene camera and solidification bucket by control device
Camera is observed in channel, is manually controlled mobile platform and is cut between upper moving body wheel lands and lower moving body wheel lands
It changes, mobile platform is moved to target well head, be subject to and solidify in target well head is fully enclosed in by bucket channel；
S03 measures target well head center:
Controller controls driving device movement, rangefinder A is sent into target well head, then the measurement data of hybrid ranging instrument A
Go out target well head center with the positional information calculation of locating module；
S04, adjustment lifting position:
A adjusts boom to original state: opening outdoor scene camera by control device, manually adjusts and horizontally rotate driving group
The hydraulic jack movement of the rotating hydraulic cylinder and vertical oscillation driving assembly of part, makes boom frame in the V-groove of stand；
In this step, when boom frame is on stand, cross with the central axes for solidifying bucket channel；
B, adjustment hanging scaffold mechanism and the centering of target well head: the location information based on locating module starts length to position from controller
Hanging scaffold mechanism is moved to its center and target well head center weight to the motor D of displacement component by the motor C and width for moving component
It closes；
C, adjust main magnechuck alignment and solidify bucket: whether the measurement data based on rangefinder B, controller judge main magnechuck
Alignment solidification bucket；
If being aligned, the measurement data of all rangefinder B is identical, into next step；
If misalignment, all rangefinder B measurement data are different, by controller starting channel observation camera and searchlight, behaviour
Author on control device according to channel observe camera show motor C from image control length to displacement component and width to position
Main magnechuck is moved to alignment solidification bucket upper surface, with the measurement data of all rangefinder B by the motor D operation for moving component
Subject to identical, enter in next step after alignment；
D, transfer main magnechuck to cleaning distance: controller controls wirerope distributor and transfers wirerope, make main magnechuck with
The distance for solidifying bucket moves closer to, until stopping decentralization after preset cleaning distance；
S05, cleaning solidify rubbish and floating dust on bucket:
A, the motor E of controller starting bucket face cleaning agency, secondary magnechuck, motor F and cleaning item are transferred, while to secondary electricity
Magnetic-disc is powered, and when secondary magnechuck and the actuation of solidification bucket upper surface, the pressure inductor on secondary magnechuck adsorption plane is passed
For delivery signal to controller, controller closes motor E after receiving signal immediately, restarts motor F, does cleaning item back and forth horizontally
It swings, cleans the rubble rubbish for solidifying bucket upper surface；
B, after the completion of cleaning, controller first controls secondary magnechuck power-off, then controls wirerope distributor and withdraw wirerope, makes main electricity
Magnetic-disc moves up 15cm, finally by control motor E and motor F, cleaning item is made to return to initial position；
Before this step starts, cleaning item is located at initial position, and it is axially extending that the initial position of cleaning item is located at main magnechuck
The outside in region, and it is located at the top of its movement travel；
S06, main magnechuck and solidification bucket are further to the heart:
Controller control wirerope distributor transfers wirerope, while giving main magnechuck logical 15% normal lifting electric current, and main electromagnetism is inhaled
Disk is moved closer to solidification bucket upper surface distance, three centering jaws of three-jaw centering component with solidify after bucket contacts, while to master
The radial outside of magnechuck opens, main when centering jaw bottom end offsets with the side wall for solidifying the location dimples on bucket upper surface
Magnechuck is bonded with solidification bucket surface, to complete to operate the heart；
In this step, the upper surface for solidifying bucket to handling is equipped with round location dimples, and location dimples are located at solidification bucket upper surface
Center at；
S07, lifting solidification bucket:
A, after main magnechuck is bonded with solidification bucket surface, pressure sensor transmits electric signal to controller, and controller receives this
After signal, the electrical current for controlling main magnechuck continues to increase, and makes to solidify bucket upper surface and the adsorption plane of main magnechuck connects
Touching is more and more closer, when the detection pressure value of the pressure sensor on main magnechuck adsorption plane, which reaches lifting, to be required, protects
Hold the electrical current；
B, controller control wirerope distributor withdraws wirerope, so that solidification bucket be sling, is higher than when solidification bucket overall increases to
When well head surface, controller starting channel observation camera and outdoor scene camera are manually controlled by operator on control device
The hydraulic jack movement for horizontally rotating the rotating hydraulic cylinder and vertical oscillation driving assembly of driving assembly, is transported to shifting for solidification bucket
The loading area of moving platform front end completes the recycling for solidifying bucket.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810568805.4A CN108483285B (en) | 2018-06-05 | 2018-06-05 | Deep-well solidifies bucket recyclable device and solidification bucket recovery method |
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| CN201810568805.4A CN108483285B (en) | 2018-06-05 | 2018-06-05 | Deep-well solidifies bucket recyclable device and solidification bucket recovery method |
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| CN108483285B true CN108483285B (en) | 2019-06-28 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109277042A (en) * | 2018-10-17 | 2019-01-29 | 重庆兴渝新材料研究院有限公司 | A kind of lacquer Horizontal stirring machine base |
| CN114572326A (en) * | 2022-05-07 | 2022-06-03 | 核工业航测遥感中心 | Comprehensive logging truck |
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