CN109761009A - A kind of covering remote operating transfer device for nuclear fusion device maintenance - Google Patents
A kind of covering remote operating transfer device for nuclear fusion device maintenance Download PDFInfo
- Publication number
- CN109761009A CN109761009A CN201910172036.0A CN201910172036A CN109761009A CN 109761009 A CN109761009 A CN 109761009A CN 201910172036 A CN201910172036 A CN 201910172036A CN 109761009 A CN109761009 A CN 109761009A
- Authority
- CN
- China
- Prior art keywords
- covering
- track
- vacuum chamber
- lifting
- transfer device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention discloses a kind of covering remote operating transfer devices for nuclear fusion device maintenance, it include the vacuum chamber of annular, the covering of annular is installed in the vacuum chamber, vacuum chamber bottom is equipped with bottom part ring direction guiding rail, it is sliding combined on bottom part ring direction guiding rail at the top of lower cladding layer transfer device vacuum chamber and is equipped with several upper neck tubes being spaced apart, the inner wall of each upper neck tube is equipped with long rails；It include the top transferring platform that can be slidably matched with track longitudinally in each；The present invention uses big modularization cladding structure, is effectively reduced maintenance transhipment time, and transloading equipment integrated level is high, center of gravity is low, and operational process is more steady, securely and reliably.
Description
Technical field
The present invention relates to nuclear fusion field of engineering technology, especially a kind of covering remote operating for nuclear fusion device maintenance
Transfer device.
Technical background
Magnetic confinement nuclear fusion device is the main device of current research controllable nuclear fusion, its research is to the commercial fusion of realization
Heap plays immeasurable effect, and magnetic confinement device is that fusion reaction occurs in vacuum chamber for plasma under magnetically confined,
To release huge energy, heat to electricity conversion is carried out, electric energy is converted into, is a kind of ideal energy substitution scheme.Covering is made
For its core component, provide the required element such as neutron, tritium for fusion reaction, while by huge heat caused by fusion reaction
Take vacuum chamber out of.Covering plays a significant role due to it and can consume as device is run, and needs periodically to be maintained.It is existing
Capable fusion facility blanket design causes maintenance period extremely long, simultaneously because mould using little module design (ITER is about 450)
Block is too many, causes the gap between module and takes up space very greatly, has a significant impact to the tritium proliferation of fusion reactor.We adopt at present
Big module covering (wherein low field side 48, High-Field side 32) organization plan, effective solution maintenance period it is long and
The problems such as tritium is proliferated, but the weight of big module covering promotes 50 tons to big module from 5 tons of little module, considerably increases
Covering transports difficulty in vacuum chamber, and internal vacuum chamber will receive the pollution of radioactivity and noxious material.Therefore it needs to set
It counts a kind of remote maintenance device and the cladding modular for being located at non-maintenance window region is transported to window area.
Summary of the invention
It is an object of the invention to provide a kind of covering remote operating transfer devices for nuclear fusion device maintenance, poly- to meet core
Become the transhipment demand of the big cladding modular of device.
In order to achieve the above objectives, the technical solution adopted by the present invention are as follows:
A kind of covering remote operating transfer device for nuclear fusion device maintenance includes the vacuum chamber of annular, the vacuum chamber
The covering of annular is inside installed, the covering includes low field side covering and High-Field side covering, it is characterised in that: the vacuum chamber bottom
Portion is equipped with bottom part ring direction guiding rail, and lower cladding layer transfer device, lower cladding layer transhipment dress are sliding combined on bottom part ring direction guiding rail
It sets and multi-functional transfer car(buggy) is installed, execution tool is placed in multi-functional transfer car(buggy), cross is distributed in multi-functional transfer car(buggy) top
To forward and backward track, being slidably installed on forward and backward track respectively has hydraulic mandril mechanism and the bottom with the cooperation of execution tool
Portion's multi-joint mechanical arm.
Several upper neck tubes being spaced apart are equipped at the top of the vacuum chamber, the inner wall of each upper neck tube is equipped with longitudinal rail
Road；It include the top transferring platform that can be slidably matched with track longitudinally in each.
Top transferring platform includes platform support, and platform support is equipped with radial guidance one corresponding with covering position,
The docking mechanism that can be connected as one with covering is sliding combined on radial guidance one；It is located at radial guidance one on platform support
Two sides be equipped with left and right radial guidance two, be sliding combined with liftable left and right connecting rod on left and right radial guidance two, it is left,
Top ring direction guiding rail corresponding with the radian of vacuum chamber base circle track is connected between the bottom of right connecting rod, top is circumferential
It is sliding combined on guide rail for end on mechanical arm；Positioned at the outside of left and right radial guidance two point on the rack platform
Not She You left and right radial guidance three, be sliding combined with auxiliary mechanical arm on left and right radial guidance three；In the middle part of the platform support
Two sides are equipped with the hanging apparatus for slinging covering.
A kind of covering remote operating transfer device for nuclear fusion device maintenance, it is characterised in that: the vacuum
Room two sides of the bottom are respectively provided with the rigid support one and rigid support two of support low field side covering and High-Field side covering；Vacuum
Room upper inside wall is located at High-Field side covering side equipped with annular brace guide rail, and the side wall of High-Field side covering is equipped with and annular brace
The corresponding guide groove of guide rail position, the guide groove is sleeved on annular brace guide rail and the sectional dimension of guide groove is than annular branch
Support the big 5~10mm of sectional dimension of guide rail；It is located at low field side covering side in the vacuum chamber upper inside wall and is equipped with supporting guide,
It is connected between low field side covering and supporting guide by flexible support, the flexible support connection includes to be fixed on low field side packet
The fixed hinge block of layer external wall of upper portion, is equipped with living hinge block by disc spring group on fixed hinge block, before being movably hinged block
End is stuck in supporting guide and can slide in supporting guide.The flexible support is made by the self-adjusting mechanism of disc spring group
It is movably hinged block to come into full contact with track always, so as to adjust covering pose.
A kind of covering remote operating transfer device for nuclear fusion device maintenance, it is characterised in that: the bottom
Covering transfer device includes the main supporting block and secondary supporting block that cooperation is rolled with bottom part ring direction guiding rail；Main supporting block top installation
Have stand to jack, the piston rod of jack is upward；Main supporting block abdomen is equipped with longitudinal driving hydraulic cylinder,
The piston rod front end of driving hydraulic cylinder is hinged in secondary supporting block；The two sides of the bottom of secondary supporting block are separately installed with lateral clamping
The piston rod of cylinder, clamping cylinder is opposite and is able to cooperate the two sides for being clipped in corresponding circumferential track.
A kind of covering remote operating transfer device for nuclear fusion device maintenance, it is characterised in that: the bottom
Circumferential track includes inner and outer rings to track, the position that inner and outer rings correspond to vacuum vessel port on track be all provided with it is jagged,
Vacuum chamber bottom inner and outer rings are equipped with transfer trailer to the gap portions of track, and transfer trailer is equipped with inside and outside with vacuum chamber bottom
The corresponding arc track section of circumferential track.
A kind of covering remote operating transfer device for nuclear fusion device maintenance, it is characterised in that: docking mechanism
Include with one slide-and-guide of radial guidance cooperation piston, the piston rod end of piston is fixed with connecting plate one, the company
Fishplate bar one is equipped with for several location holes affixed with covering.
A kind of covering remote operating transfer device for nuclear fusion device maintenance, it is characterised in that: the lifting
Mechanism includes the hoist engine being mounted on platform support, and the movable end of lifting rope is equipped with lifting body on hoist engine, lifts body packet
Lifting box body has been included, hoisting axis has been rotatably equipped in lifting box body, hoisting axis outer end stretching lifting box is external, the hoisting axis
Extension end is fixed with rectangular suspension hook；Covering top surface is equipped with lifting portion, and lifting portion is equipped with lifting chamber, lifts the upper surface of chamber
Be equipped with the corresponding rectangular port of lifting body size, after suspension hook enters lifting chamber from port, hoisting axis spinning makes to lift body
Spinning is simultaneously vertical with port long side.
A kind of covering remote operating transfer device for nuclear fusion device maintenance, it is characterised in that: the platform
The ending side at the top of bracket is mounted on lifting lug.
A kind of covering remote operating transfer device for nuclear fusion device maintenance, it is characterised in that: the end
Docking mechanical arm is industrial three-axis robot, and industrial three-axis robot end is integrated with connecting plate two, has on connecting plate two multiple
Bolt hole is docked for realizing between covering.
The operation principle of the present invention is that:
The covering remote operating transfer device of nuclear fusion device maintenance of the invention, comprising 16 upper neck tubes, top transferring platform exists
5 pieces of coverings of each neck tube internal maintenance (3 pieces of low field side, 2 pieces of High-Field side), each transferring platform is first transported low immediately below it
Field side covering, is successively transported, followed by just to transferring platform followed by the low field side covering adjacent to the low field side covering two sides
The High-Field side covering of lower section is transported through, and finally transports High-Field side covering neighbour side High-Field side covering.Detailed process is as follows:
Firstly, bottom transferring platform is sent into internal vacuum chamber along lower window by transfer trailer, the arc track section on transfer trailer
Entirety is formed to orbital docking with the inner and outer rings of vacuum chamber bottom, and bottom transferring platform is moved to pair along bottom part ring direction guiding rail
Answer below the low field side covering immediately below the transferring platform of top, meanwhile, top transferring platform along upper neck tube inner wall longitudinal rail
Road is displaced downwardly to designated position, and radially track moves to designated position to the multi-joint mechanical arm on the transferring platform of bottom, by covering
Bottom supporting removal, after dismounting, docking mechanism is moved to designated position along track on the transferring platform of top, and piston rod moves downward
Connecting plate is docked with covering, will be consolidated between connecting plate and covering using bolt by the auxiliary mechanical arm on the transferring platform of top
Fixed, the hoisting mechanism on the transferring platform of top moves down, and hoisting mechanism and the low field side covering are connected by the effect of auxiliary mechanical arm
After being connected in one, top transferring platform is sling by outside driving, it is true out which is sling by top transferring platform
It is removed after empty room.
Then, bottom transferring platform is moved to any adjacent low field side covering of the low field side covering, meanwhile, top transhipment
Platform is displaced downwardly to designated position along the long rails of upper neck tube inner wall, and the end mechanical arm on the transferring platform of top is along top
Ring-shaped guide rail slides into the surface of the adjacent low field side covering, and mechanical arm adjustment pose in end is docked with covering, auxiliary machine
Tool arm assists to complete to be connected and fixed between end mechanical arm and covering, while the multi-joint mechanical arm on the transferring platform of bottom is the bottom of by
Wrap supporting removal, then radially track moves to immediately below covering hydraulic mandril on the transferring platform of bottom, and jacking up covering makes
Covering is detached from support, and then vertically circumferential track is mobile as a whole for bottom transferring platform, covering and top end mechanical arm
To first piece of intermediate cladding layer position, repeats first piece of docking operation, docking facilities and hoisting mechanism and docked with covering realization, assisted
Mechanical arm removes connection between end mechanical arm and covering and end mechanical arm restores to initial position, drives a vehicle finally by outside
Top transferring platform is sling, which is sling by top transferring platform and removes vacuum chamber.
Then, the adjacent low field side covering of other side is removed from vacuum chamber according to same method above.
Then, bottom transferring platform is moved to more passes immediately below neck tube below the covering of High-Field side, on the transferring platform of bottom
Radially track moves to designated position to section mechanical arm, by covering bottom supporting removal, after dismounting, meanwhile, top transferring platform
It is displaced downwardly to designated position along the long rails of upper neck tube inner wall, docking mechanism is moved to specified along track on the transferring platform of top
Position, movement connecting plate is docked with covering under piston rod picture, by the auxiliary mechanical arm on the transferring platform of top by connecting plate and
It is fixed by bolts between covering, radially track moves to immediately below covering hydraulic mandril on the transferring platform of bottom, jacks up covering
Covering is set to be detached from support, then docking facilities radially rail as a whole on bottom transferring platform, covering and top transferring platform
Road is moved to immediately below neck tube, and the hoisting mechanism on the transferring platform of top moves down, and hoisting mechanism passes through auxiliary with the low field side covering
After helping the effect of mechanical arm to be connected as one, top transferring platform is sling by outside driving, is sling by top transferring platform
The low field side covering removes after going out vacuum chamber.
Last bottom transferring platform is moved to immediately below the adjacent High-Field side covering of the High-Field side covering, meanwhile, top turns
It transports platform and is displaced downwardly to designated position along the long rails of upper neck tube inner wall, the end mechanical arm on the transferring platform of top is along top
Portion's ring-shaped guide rail slides into suitable position, and mechanical arm adjustment pose in end is docked with covering, and auxiliary mechanical arm assists to complete end
It is connected and fixed between mechanical arm and covering, while the multi-joint mechanical arm on the transferring platform of bottom is by lower cladding layer supporting removal,
Then radially track moves to immediately below covering hydraulic mandril on the transferring platform of bottom, and jacking up covering makes covering be detached from support, connects
Bottom transferring platform, covering and top end mechanical arm vertically circumferential track is moved to first piece of High-Field side packet as a whole
Layer position repeats first piece of docking operation, docking facilities and hoisting mechanism and docks with covering realization, and auxiliary mechanical arm is removed
It is connected between end mechanical arm and covering and end mechanical arm restores to initial position, sling top finally by outside driving and turn
Platform is transported, which is sling by top transferring platform and removes vacuum chamber.
The working principle of covering circumferential direction transfer device are as follows:
Top transferring platform is to drive end on mechanical arm to do circumferential movement, bottom transferring platform by the gear motion of gear
It is rigidly connected with secondary supporting block, the driving hydraulic cylinder in main supporting block stretches out its piston rod and pushes secondary supporting block mobile, works as driving
After the piston rod of hydraulic cylinder reaches extreme position, starts the clamping cylinder in secondary supporting block, make the piston rod of clamping cylinder while stretching
Out and the two sides for corresponding to circumferential track are clamped in, the position of secondary supporting block is fixed at this time.After secondary supporting block position is fixed, drive
The piston rod retraction of hydrodynamic cylinder pressure drives main supporting block to close up to secondary supporting block is rectangular, repeats operation, and realizes covering and turns
Shipping unit circumferential mobile purpose on corresponding circular orbit.
At the top of covering on transferring platform bracket radial distribution three groups of guide rail slide block devices, wherein connected on radial guidance one
There is docking mechanism, connecting rod is installed on radial guidance two, connecting rod and circumferential guide rail are direct-connected, are connected on top ring direction guiding rail
End on mechanical arm and circumferential rack gear, end on mechanical arm can be moved along rack gear circumferential direction, be divided in left and right radial track three
Auxiliary mechanical arm is not installed, auxiliary mechanical arm radially can be moved to suitable position by track three, carry out covering pipeline maintenance, right
The work such as connection device dismounting are arranged two hanging apparatus on platform support top or so, are had and neck tube in platform support disposed outside
The sliding block that inner wall track matches.
Docking mechanism can radially guide rail one move radially, and drive form uses gear & rack structure, and docking mechanism is certainly
Body can provide vertical direction freedom degree, and driving method is the flexible of hydraulic cylinder.
Connecting rod can radially two radial motion of guide rail, drive form uses gear & rack structure, and connecting rod itself can mention
For vertical direction freedom degree, driving method is the flexible of hydraulic cylinder.
Auxiliary mechanical arm can radially guide rail three be moved radially, and drive form uses gear & rack structure.
End on mechanical arm can be moved along ring-shaped guide rail, and drive form uses gear and rack teeth mechanism.
Multi-joint mechanical arm and hydraulic mandril can be moved radially by guide rail of the feed screw nut on the transferring platform of bottom, silk
Screw rod in stem nut mechanism is rotated by motor control.
The position that is in contact in the major and minor supporting block with circular orbit is mounted on rotation roller.
The advantageous effects of the above technical solutions of the present invention are as follows:
The covering remote operating transfer device of nuclear fusion device maintenance of the invention, for 16 upper windows, each window safeguards 5 pieces
Covering (3 pieces of low field side, 2 pieces of High-Field side).Where top circumferential direction transfer device is integrated in window in spatial dimension, make entirely to tie up
Protection unit is more compact, by bottom, top transferring platform Collaborative Control, realizes that covering is circumferential, moves radially, the present invention uses
Big modularization cladding structure, is effectively reduced maintenance transhipment time, and transloading equipment center of gravity is low, and operational process is more steady,
Securely and reliably.
Detailed description of the invention
Fig. 1 is schematic cross-section of the invention.
Fig. 2 is top transferring platform top view of the invention.
Fig. 3 is top transferring platform isometric view of the invention.
Fig. 4 is bottom transferring platform schematic diagram of the invention.
Fig. 5 a is bottom High-Field side ring of the invention to track schematic diagram.
Fig. 5 b is bottom low field side ring of the invention to track schematic diagram.
Fig. 6 a is bottom circumferential direction schematic diagram of driving device of the invention.
Fig. 6 b is circumferential direction driving device bottom view in bottom of the present invention.
Fig. 7 is the structural schematic diagram of flexible support connecting portion.
Fig. 8 is the structural schematic diagram of docking mechanism.
Fig. 9 a is the structural schematic diagram of hanging apparatus.
Fig. 9 b is the structural schematic diagram of hanging apparatus bottom.
Fig. 9 c is the structural schematic diagram on covering with hanging apparatus corresponding position.
Figure 10 is the structural schematic diagram of end on mechanical arm.
Figure 11 is the enlarged drawing at annular brace guide rail position.
Specific embodiment
It is as shown in the figure:
A kind of covering remote operating transfer device for nuclear fusion device maintenance includes the vacuum chamber 3 of annular, the vacuum chamber
The covering of annular is installed, the covering includes low field side covering 2 and High-Field side covering 3, and 3 bottom of vacuum chamber is equipped with bottom in 3
Portion's circumferential direction guide rail 12,13 is sliding combined with lower cladding layer transfer device 7, lower cladding layer transhipment dress on bottom part ring direction guiding rail 12,13
It sets and multi-functional transfer car(buggy) 34 is installed on 7, execution tool, multi-functional transfer car(buggy) top distribution are placed in multi-functional transfer car(buggy) 34
Have lateral forward and backward track 31,32, be slidably installed respectively on forward and backward track 31,32 have hydraulic mandril mechanism 29 and with
The bottom multi-joint mechanical arm 30 of execution tool cooperation.
Several upper neck tubes 4 being spaced apart are equipped at the top of the vacuum chamber 3, the inner wall of each upper neck tube 4 is equipped with vertical
To track 16；It include the top transferring platform 5 that can be slidably matched with track 16 longitudinally in each.
Top transferring platform 5 includes platform support, and platform support is equipped with radial guidance one corresponding with covering position
19, the docking mechanism 17 that can be connected as one with covering is sliding combined on radial guidance 1；It is located at diameter on platform support
The two sides of direction guiding rail 1 are equipped with left and right radial guidance 2 25, are sliding combined on left and right radial guidance 2 25 liftable
Left and right connecting rod 26 is connected between the bottom of left and right connecting rod 26 corresponding with the radian of 3 base circle track of vacuum chamber
Top ring direction guiding rail 20 is sliding combined with for end on mechanical arm 27 on top ring direction guiding rail 20；On the rack platform
It is respectively equipped with left and right radial guidance 3 21 positioned at the outside of left and right radial guidance 2 25, is slided on left and right radial guidance 3 21
It is combined with auxiliary mechanical arm 22；The platform support on both sides of the middle is equipped with the hanging apparatus 18 for slinging covering.
3 two sides of the bottom of vacuum chamber are respectively provided with the rigid support of support low field side covering 2 and High-Field side covering 3
One 8 and rigid support 2 10；3 upper inside wall of vacuum chamber is located at 3 side of High-Field side covering equipped with annular brace guide rail 11, High-Field side
The side wall of covering 3 is equipped with guide groove corresponding with 11 position of annular brace guide rail, and the guide groove is sleeved on annular brace and leads
On rail and the sectional dimension of guide groove is 5~10mm bigger than the sectional dimension of annular brace guide rail 11；When lower cladding layer transfer device
After lifting High-Field side covering with the cooperation of top transferring platform, the annular brace guide rail is located at the intermediate position of guide groove, this
When High-Field side covering when being slided along annular brace guide rail frictional force it is minimum.
It is located at covering 2 side in low field side in 3 upper inside wall of vacuum chamber and is equipped with supporting guide 9, low field side covering 2 and branch
It supports and is connected between guide rail 9 by flexible support, the flexible support connection includes to be fixed on 2 external wall of upper portion of low field side covering
It is equipped on fixed hinge block 9-1, fixed hinge block 9-1 by disc spring group 9-2 and is movably hinged block 9-3, be movably hinged block 9-3's
Front end is stuck in supporting guide 9 and can slide in supporting guide 9.The flexible support passes through the self-adjusting of disc spring group 9-2
Mechanism comes into full contact with living hinge block with track always, so as to adjust covering pose.
The lower cladding layer transfer device includes the main supporting block 38 and secondary support that cooperation is rolled with bottom part ring direction guiding rail
Block 39；Main 38 top of supporting block be equipped with stand to jack 38-1, the piston rod of jack 38-1 is upward；Main branch
38 abdomen of bracer is equipped with longitudinal driving hydraulic cylinder 41, and the piston rod front end of driving hydraulic cylinder 41 is hinged on secondary supporting block 39
On；The two sides of the bottom of secondary supporting block 39 are separately installed with lateral clamping cylinder 40, and the piston rod of clamping cylinder 40 is opposite and is able to cooperate
It is clipped in the two sides of corresponding circumferential track.
Bottom circumferential direction track includes inner and outer rings to track 28,35, and inner and outer rings correspond to vacuum chamber 3 on track 28,35
The position of window be all provided with it is jagged, 3 bottom inner and outer rings of vacuum chamber to the gap portions of track 28,35 be equipped with transfer trailer, turn
Trailer is transported to be equipped with 3 bottom inner and outer rings of vacuum chamber to the corresponding arc track section of track.
Docking mechanism 17 includes the piston 17-1 and guide post 17-3 cooperated with one slide-and-guide of radial guidance, piston
The end piston rod 17-2 of 17-1 is fixed with one 17-4 of connecting plate, one 17-4 of connecting plate be equipped with for the affixed use of covering
Several location holes.
The hoisting mechanism 47 includes the hoist engine 47-1 being mounted on platform support, lifting rope 47-2 on hoist engine 47-1
Movable end be equipped with lifting body 47-5, lifting body 47-5 include lifting box body, be rotatably equipped with hoisting axis in lifting box body
47-3, the outer end hoisting axis 47-3 stretching lifting box is external, and the extension end of the hoisting axis 47-3 is fixed with rectangular suspension hook 47-4；
2 top surface of covering is equipped with lifting portion, and lifting portion is equipped with lifting chamber 47-6, and the upper surface of lifting chamber 47-6 is equipped with and lifting body
The corresponding rectangular port of size, suspension hook from port enter lifting chamber 47-6 after, hoisting axis spinning make lift body 47-5 spinning simultaneously
It is vertical with port long side.
The ending side at the top of the platform support is mounted on lifting lug 23.
The end on mechanical arm is 27 industrial three-axis robots, and industrial three-axis robot end is integrated with connecting plate two
Have on 27-1, two 27-1 of connecting plate it is multiple between covering realize dock bolt hole.
A kind of covering remote operating transfer device for nuclear fusion device maintenance, it is characterised in that: in vacuum chamber bottom,
It is outer circumferential direction track 28,35 on correspond to vacuum vessel port position be all provided with it is jagged, vacuum chamber bottom inner and outer rings to track 28,
35 gap portions are equipped with transfer trailer 42, and transfer trailer 42 is equipped with vacuum chamber bottom inner and outer rings to the corresponding arc of track
Orbital segment 36,37.
A kind of covering remote operating transfer device for nuclear fusion device maintenance, it is characterised in that: docking mechanism 17 can
It being moved radially along guide rail 1, drive form uses gear & rack structure, and docking mechanism itself can provide vertical direction freedom degree,
Driving method is the flexible of hydraulic cylinder.
Claims (8)
1. a kind of covering remote operating transfer device for nuclear fusion device maintenance includes the vacuum chamber of annular, the vacuum
Indoor location has the covering of annular, and the covering includes low field side covering and High-Field side covering, it is characterised in that: the vacuum chamber
Bottom is equipped with bottom part ring direction guiding rail, and lower cladding layer transfer device, lower cladding layer transhipment are sliding combined on bottom part ring direction guiding rail
Multi-functional transfer car(buggy) is installed on device, execution tool is placed in multi-functional transfer car(buggy), multi-functional transfer car(buggy) top is distributed with
Lateral forward and backward track, be slidably installed on forward and backward track respectively have hydraulic mandril mechanism and with the cooperation of execution tool
Bottom multi-joint mechanical arm；
Several upper neck tubes being spaced apart are equipped at the top of the vacuum chamber, the inner wall of each upper neck tube is equipped with long rails；
It include the top transferring platform that can be slidably matched with track longitudinally in each；
Top transferring platform includes platform support, and platform support is equipped with radial guidance one corresponding with covering position, radial
The docking mechanism that can be connected as one with covering is sliding combined on guide rail one；It is located at the two of radial guidance one on platform support
Side is equipped with left and right radial guidance two, is sliding combined with liftable left and right connecting rod, left and right company on left and right radial guidance two
Top ring direction guiding rail corresponding with the radian of vacuum chamber base circle track, top ring direction guiding rail are connected between the bottom of extension bar
On be sliding combined with end on mechanical arm；Outside on the rack platform positioned at left and right radial guidance two be respectively equipped with it is left,
Right radial guidance three is sliding combined with auxiliary mechanical arm on left and right radial guidance three；The platform support on both sides of the middle is equipped with
Hanging apparatus for slinging covering.
2. a kind of covering remote operating transfer device for nuclear fusion device maintenance according to claim 1, feature exist
In: the vacuum chamber two sides of the bottom are respectively provided with the rigid support one and rigidity of support low field side covering and High-Field side covering
Support two；Vacuum chamber upper inside wall is located at High-Field side covering side and is equipped with annular brace guide rail, sets on the side wall of High-Field side covering
There is guide groove corresponding with annular brace guide rail position, the guide groove is sleeved on annular brace guide rail and the section of guide groove
Size is 5~10mm bigger than the sectional dimension of annular brace guide rail；It is located at low field side covering side in the vacuum chamber upper inside wall
It equipped with supporting guide, is connected between low field side covering and supporting guide by flexible support, the flexible support connection includes
It is fixed on the fixed hinge block of low field side covering external wall of upper portion, living hinge block is equipped with by disc spring group on fixed hinge block,
The front end for being movably hinged block is stuck in supporting guide and can slide in supporting guide.
3. a kind of covering remote operating transfer device for nuclear fusion device maintenance according to claim 1, feature exist
In: the lower cladding layer transfer device includes the main supporting block and secondary supporting block that cooperation is rolled with bottom part ring direction guiding rail；Main branch
Bracer top be equipped with stand to jack, the piston rod of jack is upward；Main supporting block abdomen is equipped with longitudinal direction
Driving hydraulic cylinder, the piston rod front end of driving hydraulic cylinder is hinged in secondary supporting block；Pacify respectively the two sides of the bottom of secondary supporting block
Equipped with lateral clamping cylinder, the piston rod of clamping cylinder is opposite and is able to cooperate the two sides for being clipped in corresponding circumferential track.
4. a kind of covering remote operating transfer device for nuclear fusion device maintenance according to claim 1, feature exist
In: the bottom circumferential direction track includes inner and outer rings to track, and the position that inner and outer rings correspond to vacuum vessel port on track is equal
Equipped with notch, it is equipped with transfer trailer to the gap portions of track in vacuum chamber bottom inner and outer rings, transfer trailer is equipped with and vacuum
Room bottom inner and outer rings are to the corresponding arc track section of track.
5. a kind of covering remote operating transfer device for nuclear fusion device maintenance according to claim 1, feature exist
In: docking mechanism includes the piston cooperated with one slide-and-guide of radial guidance, and the piston rod end of piston is fixed with connection
Plate one, the connecting plate one are equipped with for several location holes affixed with covering.
6. a kind of covering remote operating transfer device for nuclear fusion device maintenance according to claim 1, feature exist
In: the hoisting mechanism includes the hoist engine being mounted on platform support, and the movable end of lifting rope is equipped with lifting on hoist engine
Body, lifting body includes lifting box body, and hoisting axis is rotatably equipped in lifting box body, and hoisting axis outer end stretching lifting box is external,
The extension end of the hoisting axis is fixed with rectangular suspension hook；Covering top surface is equipped with lifting portion, and lifting portion is equipped with lifting chamber, hangs
The upper surface behaveing affectedly is equipped with and the corresponding rectangular port of lifting body size, after suspension hook enters lifting chamber from port, hoisting axis
Spinning makes to lift body spinning and vertical with port long side.
7. a kind of covering remote operating transfer device for nuclear fusion device maintenance according to claim 1, feature exist
In: the ending side at the top of the platform support is mounted on lifting lug.
8. a kind of covering remote operating transfer device for nuclear fusion device maintenance according to claim 1, feature exist
In: the end on mechanical arm is industrial three-axis robot, and industrial three-axis robot end is integrated with connecting plate two, connecting plate
Have on two it is multiple between covering realize dock bolt hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910172036.0A CN109761009B (en) | 2019-03-07 | 2019-03-07 | Cladding teleoperation transfer device for nuclear fusion device maintenance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910172036.0A CN109761009B (en) | 2019-03-07 | 2019-03-07 | Cladding teleoperation transfer device for nuclear fusion device maintenance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109761009A true CN109761009A (en) | 2019-05-17 |
| CN109761009B CN109761009B (en) | 2021-02-19 |
Family
ID=66458030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910172036.0A Active CN109761009B (en) | 2019-03-07 | 2019-03-07 | Cladding teleoperation transfer device for nuclear fusion device maintenance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109761009B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110853767A (en) * | 2019-11-04 | 2020-02-28 | 中国科学院合肥物质科学研究院 | Mechanism and method for pre-assembling host sectors of nuclear fusion device |
| CN112357760A (en) * | 2020-11-27 | 2021-02-12 | 中国科学院合肥物质科学研究院 | Divertor hoisting device for maintaining nuclear fusion device |
| CN112397209A (en) * | 2020-11-27 | 2021-02-23 | 中国科学院合肥物质科学研究院 | Annular transfer driving device for nuclear fusion device |
| CN112489820A (en) * | 2020-11-27 | 2021-03-12 | 中国科学院合肥物质科学研究院 | Multifunctional maintenance platform for nuclear fusion device |
| CN115922662A (en) * | 2022-10-27 | 2023-04-07 | 核工业西南物理研究院 | Teleoperation maintenance method for tokamak divertor |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03277991A (en) * | 1990-03-28 | 1991-12-09 | Mitsubishi Heavy Ind Ltd | Guide apparatus for inserting and pulling out long heavy body |
| CN103818689A (en) * | 2014-02-11 | 2014-05-28 | 中国科学院等离子体物理研究所 | Mechanism used for nuclear fusion device cladding transshipment |
| CN104210930A (en) * | 2014-09-02 | 2014-12-17 | 中国科学院等离子体物理研究所 | Protecting mechanism for transporting inner part of neck pipe of nuclear fusion device |
| CN105261400A (en) * | 2015-09-09 | 2016-01-20 | 中国科学院等离子体物理研究所 | Remote operation transfer scheme for component maintenance of nuclear fusion apparatus |
| CN206558220U (en) * | 2017-01-10 | 2017-10-13 | 中国科学院合肥物质科学研究院 | A kind of covering rotating and moving device of configuration-changeable with nuclear fusion device |
| CN109346194A (en) * | 2018-08-14 | 2019-02-15 | 中国科学院合肥物质科学研究院 | A kind of nuclear fusion device covering remote operating transfer device |
-
2019
- 2019-03-07 CN CN201910172036.0A patent/CN109761009B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03277991A (en) * | 1990-03-28 | 1991-12-09 | Mitsubishi Heavy Ind Ltd | Guide apparatus for inserting and pulling out long heavy body |
| CN103818689A (en) * | 2014-02-11 | 2014-05-28 | 中国科学院等离子体物理研究所 | Mechanism used for nuclear fusion device cladding transshipment |
| CN104210930A (en) * | 2014-09-02 | 2014-12-17 | 中国科学院等离子体物理研究所 | Protecting mechanism for transporting inner part of neck pipe of nuclear fusion device |
| CN105261400A (en) * | 2015-09-09 | 2016-01-20 | 中国科学院等离子体物理研究所 | Remote operation transfer scheme for component maintenance of nuclear fusion apparatus |
| CN206558220U (en) * | 2017-01-10 | 2017-10-13 | 中国科学院合肥物质科学研究院 | A kind of covering rotating and moving device of configuration-changeable with nuclear fusion device |
| CN109346194A (en) * | 2018-08-14 | 2019-02-15 | 中国科学院合肥物质科学研究院 | A kind of nuclear fusion device covering remote operating transfer device |
Non-Patent Citations (2)
| Title |
|---|
| 汪震，宋云涛，杨庆喜，史善爽，徐皓，万树德，李宏，刘万东: "KTX真空室支撑系统强度分析及优化设计", 《核聚变与等离子体物理》 * |
| 郭兰明: "核聚变堆包层维护作业规划及操作力控制研究", 《万方数据》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110853767A (en) * | 2019-11-04 | 2020-02-28 | 中国科学院合肥物质科学研究院 | Mechanism and method for pre-assembling host sectors of nuclear fusion device |
| CN110853767B (en) * | 2019-11-04 | 2023-03-07 | 中国科学院合肥物质科学研究院 | Mechanism and method for pre-assembling host sectors of nuclear fusion device |
| CN112357760A (en) * | 2020-11-27 | 2021-02-12 | 中国科学院合肥物质科学研究院 | Divertor hoisting device for maintaining nuclear fusion device |
| CN112397209A (en) * | 2020-11-27 | 2021-02-23 | 中国科学院合肥物质科学研究院 | Annular transfer driving device for nuclear fusion device |
| CN112489820A (en) * | 2020-11-27 | 2021-03-12 | 中国科学院合肥物质科学研究院 | Multifunctional maintenance platform for nuclear fusion device |
| WO2022110596A1 (en) * | 2020-11-27 | 2022-06-02 | 中国科学院合肥物质科学研究院 | Annular transfer driving device used in nuclear fusion device |
| CN112489820B (en) * | 2020-11-27 | 2024-03-29 | 中国科学院合肥物质科学研究院 | Multifunctional maintenance platform for nuclear fusion device |
| CN112357760B (en) * | 2020-11-27 | 2024-05-07 | 中国科学院合肥物质科学研究院 | Divertor lifting device for maintenance of nuclear fusion device |
| CN115922662A (en) * | 2022-10-27 | 2023-04-07 | 核工业西南物理研究院 | Teleoperation maintenance method for tokamak divertor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109761009B (en) | 2021-02-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109761009A (en) | A kind of covering remote operating transfer device for nuclear fusion device maintenance | |
| CN109346194B (en) | Cladding teleoperation transfer device of nuclear fusion device | |
| GB2121373A (en) | System for performing remotely-controlled manual-like operations in a large-area cell of a nuclear facility | |
| CN102950503A (en) | Gantry-type high-precision automatic loading and unloading manipulator | |
| CN201833367U (en) | Full-automatic grasping and laying system on X-axis, Y-axis and Z-axis | |
| CN201415400Y (en) | Carrying robot for large-sized hardware stamping mould | |
| CN103894872A (en) | 180-degree overturning and deflecting machine for large workpieces | |
| CN112123317A (en) | Nuclear facility retirement general platform equipment | |
| JP3597570B2 (en) | Reactor dismantling method and apparatus | |
| CN204108633U (en) | A kind of automotive axle tipping arrangement | |
| CN106287105B (en) | A kind of large-scale pipeline internal installation device | |
| WO2011023084A1 (en) | Hydraulic lifting device for steel ladle | |
| CN111667935A (en) | Integral dismounting device for inversion type driving mechanism of nuclear reactor | |
| CN104924046B (en) | A kind of articulated type master slave manipulator installation and repairing car | |
| CN201348883Y (en) | Subassembly gripping apparatus of old control rod | |
| CN108408348A (en) | A kind of multimode group dismounts elevating mechanism and method for improving automatically | |
| JPH09159788A (en) | Device and method for remote controlled work in nuclear reactor | |
| CN116495621A (en) | High-radioactivity storage tank retired worker loading belt device | |
| CN105110244A (en) | Heavy load hoisting mechanism used for maintenance of nuclear fusion device parts | |
| CN110648774B (en) | Vehicle-mounted mobile material changing system and material changing method | |
| CN209929134U (en) | Lifting and rotating device for winding transformer | |
| CN207108238U (en) | A kind of mobile counterweight suspension bracket | |
| CN212947796U (en) | Nuclear facility retirement general platform equipment | |
| CN111667934B (en) | Loading and unloading method for layered arrangement driving mechanism of nuclear reactor test reactor | |
| CN112489820B (en) | Multifunctional maintenance platform for nuclear fusion device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |