CN110097993A - A kind of deep-well radioactive waste returns and takes device - Google Patents
A kind of deep-well radioactive waste returns and takes device Download PDFInfo
- Publication number
- CN110097993A CN110097993A CN201910406232.XA CN201910406232A CN110097993A CN 110097993 A CN110097993 A CN 110097993A CN 201910406232 A CN201910406232 A CN 201910406232A CN 110097993 A CN110097993 A CN 110097993A
- Authority
- CN
- China
- Prior art keywords
- deep
- waste
- fixed frame
- lifting
- radioactive waste
- 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.)
- Pending
Links
Classifications
-
- 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
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
-
- 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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
- G21F9/00—Treating radioactively contaminated material; Decontamination arrangements therefor
- G21F9/28—Treating solids
- G21F9/34—Disposal of solid waste
Abstract
It is returned the present invention relates to radioactive waste and takes field, it discloses a kind of deep-well radioactive waste and returns and take device, including lifting device, the lower section of lifting device is equipped with hydraulic support system, hydraulic support system includes fixed frame, it is equipped with telescoping mechanism on the outside of fixed frame, is fixed with the first telescopic device on fixed frame, the telescopic end of the first telescopic device is hinged on telescoping mechanism；Hydraulic support system is equipped with lifting of hanging basket batch turning system and mechanism is cut out in clamping.Enhancing emissivity waste recovery efficiency purpose, which can be achieved, in the present invention reduces back the shaking for taking device in emissivity waste recovery, avoids waste from being difficult to accurately be put into recycling steel drum, can more effectively recycle radioactive waste.
Description
Technical field
Returning the present invention relates to radioactive waste takes field, in particular to a kind of deep-well radioactive waste time to take device.
Background technique
In early days, nuclear facilities is inconsiderate to the processing of radioactive waste to pursue based on development, causes a large amount of solid useless
Object is directly discarded into after generation in the waste vault of deep-wall type.It is many old with the development of nuclear undertaking and the utilization of nuclear technology
Old facility will also face retired, be directed to the retired of deep well waste library, and the retired of deep well waste library first has to solve
The problem of be in well waste return take.
Deep-well radioactive waste return take device facilitate deep-well discard library it is retired when by deep-well waste take out.But
Being that existing deep-well radioactive waste returns takes device to be difficult to keep its stability when returning and taking waste, is easy again to put waste
Returning into deep-well radioactive waste when recycling steel drum takes device to generate shaking, it is difficult to and accurately waste is packed into and is recycled in steel drum,
Cause recycling waste low efficiency.Therefore we there is an urgent need to one kind can enhance the deep-well radioactivity of emissivity waste recovery efficiency
Waste returns and takes device.
Summary of the invention
Based on problem above, is returned the present invention provides a kind of deep-well radioactive waste and take device.The present invention can be achieved to increase
Strong emissivity waste recovery efficiency purpose reduces back the shaking for taking device, waste is avoided to be difficult to standard in emissivity waste recovery
True is put into recycling steel drum, can more effectively recycle radioactive waste.
In order to solve the above technical problems, The technical solution adopted by the invention is as follows:
A kind of deep-well radioactive waste, which returns, takes device, including lifting device, and the lower section of lifting device is equipped with hydraulic pressure support
System, hydraulic support system include fixed frame, and telescoping mechanism is equipped on the outside of fixed frame, and the first flexible dress is fixed on fixed frame
It sets, the telescopic end of the first telescopic device is hinged on telescoping mechanism；Hydraulic support system be equipped with lifting of hanging basket batch turning system and
Mechanism is cut out in clamping.
In the present invention, since the deep-well dimensions of storage radioactive waste is different, will be hydraulic with lifting device
Support system dress drops in deep-well, starts the first telescopic device, and the telescopic end of the first telescopic device is made to drive telescoping mechanism and well
Wall is close to.Restart clamping and cut out mechanism, grab the waste in deep-well and is put into lifting of hanging basket after being sheared waste
In batch turning system, finally lifting of hanging basket batch turning system is sling with lifting device, and in the pipeline for reaching import transmission waste material
Overturn lifting of hanging basket batch turning system when upper, so that waste material is transferred to next tooling, hydraulic pressure support system by transmission line body
System, when mechanism is cut out in clamping and lifting of hanging basket batch turning system works, maintains folder since telescoping mechanism is close to the borehole wall always
The stabilization for cutting out mechanism and lifting of hanging basket batch turning system is held, realizes the purpose of enhancing emissivity waste recovery efficiency.Wherein, it goes up and down
The inter-working that device, hydraulic support system, lifting of hanging basket batch turning system and clamping are cut out between mechanism can be by existing PLC
Process control.Enhancing emissivity waste recovery efficiency purpose, which can be achieved, in the present invention reduces back in emissivity waste recovery and takes dress
The shaking set avoids waste from being difficult to accurately be put into recycling steel drum, can more effectively recycle radioactive waste.
As a preferred mode, lifting device includes mast-up, and mast-up is equipped with the movement for capableing of transverse shifting
Beam, sets that there are two electric blocks on moving beam.
As a preferred mode, it includes fixing head that mechanism is cut out in clamping, and fixing head opposite sides is respectively equipped with cutting
Manipulator and catching robot, catching robot are equipped with clamping jaw, and fixing head top is equipped with rotating mechanism, and rotating mechanism is fixed on
Fixed frame lower part can simultaneously move on fixed frame.
As a preferred mode, fixed frame is equipped with two opposite guide rails, and guide rail is equipped with can be in fixed frame
On the slide plate that moves back and forth, rotating mechanism is fixed on slide plate.
As a preferred mode, wherein a guide rail is equipped with rack gear, slide plate is equipped with driving device, driving device
Rotary shaft be equipped with gear, gear and rack gear engagement.
As a preferred mode, cutting mechanics are equipped with cutter on hand, and cutter include the second telescopic device, two-way
Connecting rod, fixation is cut and shears, and fixed cut being fixed on the second telescopic device, and shears one end is hinged on fixation and cuts, living
It is dynamic cut the other end and be hinged on be bi-directionally connected on bar, be bi-directionally connected the bar other end and connect with the telescopic end of the second telescopic device.
As a preferred mode, lifting of hanging basket batch turning system includes rewinding cylinder, is equipped with hanger bracket on the outside of rewinding cylinder, hangs
Hanger is hung on fixed frame.
Compared with prior art, the beneficial effects of the present invention are:
(1) enhancing emissivity waste recovery efficiency purpose, which can be achieved, in the present invention reduces back and takes in emissivity waste recovery
The shaking of device avoids waste from being difficult to accurately be put into recycling steel drum, can more effectively recycle radioactive waste；
(2) present invention includes mast-up by lifting device, and mast-up is equipped with the moving beam for capableing of transverse shifting, mobile
It is set on crossbeam there are two electric block, the moving beam on lifting device can slide on mast-up, and electric block can move
Moved on dynamic crossbeam, be conducive to cut out hydraulic support system, lifting of hanging basket batch turning system and clamping mechanism sling be moved to it is another
In outer deep-well；
(3) it includes fixing head that the present invention, which cuts out mechanism by clamping, and fixing head opposite sides is respectively equipped with cutting manipulator
And catching robot, catching robot are equipped with clamping jaw, fixing head top is equipped with rotating mechanism, and rotating mechanism is fixed on fixed frame
Lower part can simultaneously move on fixed frame, when progress building sheltering part, which is returned, to be taken, equipment is hung out well head first, is then rotated
Mechanism starts to work, and is rotated by 90 ° equipment by rotating mechanism, keeps guide rails of robots direction and building direction vertical, then
Equipment is hung down to proper height, robot is moved to most end to building direction on guide rail, and wherein clamping jaw is used for useless
The clamping of gurry, fixing head is for cutting manipulator and catching robot to be fixed together, convenient for clamping the shifting of testing agency
Dynamic and mutual operation.
(4) present invention is equipped with two opposite guide rails by fixed frame, and guide rail is equipped with can be on fixed frame back and forth
Mobile slide plate, rotating mechanism are fixed on slide plate, the slide plate on moving guide rail, are made slide plate that clamping be driven to cut out mechanism and are accurately moved
The top for moving waste is conducive to the clamping to waste；
(5) present invention is equipped with rack gear by a wherein guide rail, and slide plate is equipped with driving device, the rotation of driving device
Axis is equipped with gear, gear and rack gear engagement, starts driving device, and the rotation band moving gear of driving device rotates, and gear is made to exist
It is moved on rack gear, driving slide plate can be realized and automatically moved on guide rail；
(6) present invention is equipped with cutter by cutting mechanics on hand, and cutter include the second telescopic device, are bi-directionally connected
Bar, fixation is cut and shears, and fixed cut being fixed on the second telescopic device, and shears one end is hinged on fixation and cuts, shears
The other end, which is hinged on, to be bi-directionally connected on bar, is bi-directionally connected the bar other end and is connect with the telescopic end of the second telescopic device, works as grip shears
The catching robot cut out in mechanism grabs waste in the top of lifting of hanging basket batch turning system, cuts cutting mechanics hand-drive
Knife shears waste, starts the second telescopic device, drives the telescopic end of the second telescopic device and is bi-directionally connected on bar
Shears are cut to fixation and are drawn close, and can be realized falls to waste cutting in lifting of hanging basket batch turning system；
(7) present invention includes rewinding cylinder by lifting of hanging basket batch turning system, and hanger bracket is equipped on the outside of rewinding cylinder, and hanger bracket is hung
On fixed frame, the waste that rewinding cylinder is used to store after shearing starts lifting device after filling waste in rewinding cylinder
Electric block on moving beam lifts lifting of hanging basket batch turning system, and lifting of hanging basket batch turning system is moved to waste
Above the transmission line transferred, and due to, there are two electric block, making the transmission line transferred far from waste on moving beam
Electric block the tail portion of lifting of hanging basket batch turning system is improved, the material guide port of lifting of hanging basket batch turning system is lowerd, Ji Keshi
On the transmission line by waste now；
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the overlooking structure diagram of hydraulic support system.
Fig. 3 is the structure schematic diagram of Fig. 2.
Fig. 4 is the structural schematic diagram of lifting of hanging basket batch turning system.
Fig. 5 is the structural schematic diagram that mechanism is cut out in clamping.
Fig. 6 is the structural schematic diagram of cutter.
Fig. 7 is control system frame diagram.
Fig. 8 is the Danavit-Hartenberg coordinate diagram that mechanism is cut out in clamping.
10 lifting devices, 11 moving beams, 12 electric blocks, 13 mast-ups, 200 hydraulic support systems, 210 fixed frames,
211 guide rails, 212 rack gears, 220 telescoping mechanisms, 230 first telescopic devices, 240 slide plates, 241 driving devices, 242 gears, 300 folders
It holds and cuts out mechanism, 3100 fixing heads, 3200 rotating mechanisms, 3300 catching robots, 3310 clamping jaws, 3400 cutting manipulators,
3410 cutter, 3,411 second telescopic devices, 3412 are bi-directionally connected bar, and 3413 fixations are cut, and 3414 shears, 40 lifting of hanging basket fall
Material system, 41 rewinding cylinders, 42 hanger brackets.
Specific embodiment
The present invention will be further described below with reference to the drawings.Embodiments of the present invention include but is not limited to following reality
Apply example.
Embodiment 1:
Referring to Fig. 1~8, a kind of deep-well radioactive waste, which returns, takes device, including lifting device 10, under lifting device 10
Side is equipped with hydraulic support system 200, and hydraulic support system 200 includes fixed frame 210, is equipped with telescoping mechanism on the outside of fixed frame 210
220, the first telescopic device 230 is fixed on fixed frame 210, and the telescopic end of the first telescopic device 230 is hinged on telescoping mechanism 220
On；Hydraulic support system 200 is equipped with lifting of hanging basket batch turning system 40 and mechanism 300 is cut out in clamping.
Lifting device 10 selects portal frame crane in this example, can also select hoist engine, even as needed
Elevator counterweight lifting device 10 can be used.Fixed frame 210 uses square structure in this example, can also adopt as needed
With rectangle, triangle, which formulates according to deep-well dimensions.Telescopic device is hydraulic, air pressure, 242 rack gear of gear
212, the telescoping mechanisms such as screw-nut 220, because of the hydraulic feature big, flexible with power, the present embodiment is using hydraulic.
Telescoping mechanism 220, diamond shape, other, because diamond shaped telescoping mechanism 220 stablize, telescopic device convenient for control, this reality
Apply the telescoping mechanism 220 that example uses diamond structure.Lifting of hanging basket batch turning system 40 is the device toppled over for rubbish, passes through rubbish
The hanging basket of storage will can be sling and be overturn by tilting device, pour out the waste in hanging basket or the hanging basket of storage and lifting
The cooperation of device 10 controls the promotion of rubbish loading frame by lifting device 10, and when toppling over, makes the opening of rubbish loading frame
Low, bottom height is held, to realize toppling over for waste, this example is realized using the cooperation of the hanging basket and lifting device 10 of storage
Waste is toppled over, the device that can also be toppled over as needed using rubbish.Mechanism 300 is cut out in clamping can be divided into clamping
Partially and part is cut out, retained part can be mechanical grip 3310, Pneumatic clamping jaw 3310, parallel clamping jaw 3310, Y shape clamping jaw
3310, the combination of any one in clamping jaw 3310 or 3 clamping jaws 3310 etc. and mechanical arm is rotated to clamp object, the present embodiment
Using Pneumatic clamping jaw 3310, can also using mechanical grip 3310, row clamping jaw 3310, Y shape clamping jaw 3310, rotation clamping jaw 3310 or
3 clamping jaws 3310 etc..Shearing part can be the combination of any one and mechanical arm in minitype cutting machine, automatic shearing cutter etc.
Shear waste material, this example shears waste using the combination of any one in automatic shearing cutter etc. and mechanical arm,
Minitype cutting machine can be also used as needed.
Control system is divided into control system frame, Control System Software part, software function and control in the present embodiment
Four part of system interface.
Control system frame
When take to waste in deep-well, control system uses semi control structure, referring to Fig. 7, to master
Function is wanted to carry out modularized design, wherein cutting out 300 control module of mechanism (tow-armed robot control module), hydraulic comprising clamping
Support and control module, lifting of hanging basket batch turning module and lifting device 10 (portal frame lifting control module).
Control system is made of upper computer and lower computer, and host computer uses industrial control computer, and slave computer is using control
Device.Pass through RS485 bus communication, the servo-drive of PLC controller and each sub- control module between host computer and PLC control system
Device is communicated by CANopen.
PLC control system is made of main control module, communication module, I/O module etc., and generally, slave computer completes equipment
Sensor states acquisition, the motion control of AC servo, sequentially-operating execute the functions such as control, data exchange.
Wherein communication module is completed to obtain control information and the current each mechanism status information of passback that control computer is sent
Function；Main control module is divided into four sub- control modules again, and being respectively completed control clamping, to cut out 300 control module of mechanism (double
Arm robot control module) motor performance, lifting of hanging basket motor performance, hydraulic support device supporting movement operation and lifting dress
Set the function of 10 (portal frame lifting control module) translational motions operation.
Control System Software part: exploitation environment and software architecture
Develop environment
Software is write using the LABVIEW of NI company.LabVIEW(Laboratory Virtual instrument
Engineering Workbench) be a kind of patterned programming language exploitation environment, be most general in virtual instrument field
The graphic programming developing instrument of adaptive, the fields such as main application and instrument controlling, data mining, data analysis and display.
Meanwhile the functional development to machine vision part is completed using NI Vision visual development module, which is one
Set includes the function library of various image processing functions, and 400 many kinds of function are integrated into LabVIEW and Measurement by it
Studio, LabWindows/CVI, Visual C++ and Visual Basic are developed in environment, are provided completely for image procossing
Development function, program chart is integrated into automation or production line test application, be used for motion control, instrument controlling sum number
According to acquisition etc..
Software architecture:
Deep-well radioactive waste returns and takes control software, develops and disposes under Windows operating system, and software includes movement
Control module, Mechanical transmission test resolve module (comprising normal solution and inverse solution), visual identity module, data communication module, operation
The functions such as interface and system parameter management module.User can manually control the movement of each mechanism by human-computer interaction interface in real time
(speed and position) or start and stop tow-armed robot show that the current state of each mechanism (contains according to the automatic Cooperation controlling of visual identity
The monitoring data such as the speed of adjustment and position), and transfinite alarm in movement, holding equipment is completed to the automatic of radioactive waste
It cuts, shear and returns and take function.
Software function:
Deep-well radioactive waste return take control software function be mechanism operation control, angle resolve, visual identity and a left side,
Right arm security interlocking protection.
Mechanism operation control, software systems obtain real-time vision signals and each mechanism are current by communicating with plc data
Pose, state set and send control instruction, control lifting device 10 (portal frame), hydraulic to slave computer after motion control parameter
Support device movement makes equipment be fixed to proper operation position, and then mechanism 300 (tow-armed robot) collaboration is cut out in starting clamping
Control module, system will carry out identifying processing to the visual signal obtained in real time and obtain servo-system sensing detection cell feeds back
Data calculate the moving target information of tow-armed robot, plan manipulator motion track and manipulator behavior, complete both arms machine
Device people meets the technical parameter requirement of user to the clamping of waste, cutting, shearing and collecting work.
Angle resolves, and angle stage module is divided into normal solution arithmetic unit and inverse solution arithmetic unit two parts.Normal solution arithmetic unit is by machine
The movement of each kinematic axis of configuration space of the left and right mechanical arm of device people, is converted into the movement of each coordinate components of coordinate space；Inverse solution fortune
Device is calculated by the movement of each coordinate components of coordinate space, is converted to the movement of each kinematic axis of configuration space.
Visual identity, visual identity module obtains digitized image information by Image Acquisition board, with NI
Vision visual development module completes waste identification function.It will be closed before this according to the high Radiation work environmental selection at scene
Suitable video camera and light source, it is ensured that the image information of acquisition has less ambient noise and identification blind area.System obtains continuous
Image information after, first cooperation light source information to image carry out color correction, position correction, afterwards with color mode matching,
The identification of function such as edge analysis go out the color, shape information and form of waste.Vision module will be anti-in real time in the process of implementation
The information such as the form of process duct are presented, until correctly clamping waste.Then ruler to be cut is accurately measured with vision slide calliper rule function
Posture information is sent after very little, similarly, mechanical arm is made to execute corresponding cutting or shearing work.
Left and right arm security interlocking protection, host computer determine its motion range according to the position and attitude of left arm and right arm.When
When Managing system of above position machine sends left arm object pose, host computer judges automatically whether interfere with right arm pose；Similarly, when
When Managing system of above position machine sends right arm object pose, host computer judges automatically whether interfere with left arm pose.It is same with this
When, host computer also according to the detecting elements data such as vision data and distance measuring sensor judge mechanical arm whether into contact with the borehole wall,
If can collide, host computer redefines manipulator motion strategy, prevents mechanical arm from colliding in test and causes to damage
It is bad.
Control system interface: equipment operation interface, the setting of log management and communication
Equipment operation interface has control operating unit, data input cell, condition prompting/alarm unit and information display single
Member.Before execution task, equipment need to be initialized, and its motion control parameter is set, clicked " parameter setting " button and set
Well depth number, environmental location information, the starting of motion range and final position, the speed of service, the parameters such as acceleration are set, and are saved
Data are into local profile, and login system default saves parameter using the last next time.In parameter setting interface
After clicking " exercise data loading " button, operator may be selected the local operation data saved and be loaded into current interface
In, keep operation more convenient, reduces input error.
Control area is divided into position adjustment area and tow-armed robot control zone according to the function of module.Wherein position adjusts
Area includes portal frame crane control, hydraulic pressure support control, lifting of hanging basket batch turning control.Operator can be to the module to be controlled point
It is not controlled.
Manual mode and automatic mode may be selected in tow-armed robot control zone:
Under automatic mode, operator clicks top and runs button, and system is made to start to execute clamping, cutting, acquisition automatically
Equal work, and the image display box real-time display identification process in interface.
Under manual mode, operator observes mechanical arm current state by the acquisition image information frame among interface,
It controls mechanical arm by the position of dragging slider bar or input terminal of manipulator, attitude value and (is changed by Inverse Kinematics Solution operation
It is counted as each axis amount of exercise) reach corresponding position execution respective operations.
Log management, operator can input inquiry condition, such as date range, click inquiry button can be from local guarantor
Deposit the operation note inquired in daily record data under this condition.Simultaneity factor is printable, while can also export the data found.
Communications setting, operation main interface top click " communication port setting " button, can set the company with host and equipment
Port, information etc. are connect, in this control system, is connect with slave computer by industry ethernet, control command is sent and receives and watch
Dress system feedback data.
By control system, it is advantageously implemented deep-well radioactive waste and returns the automatic operating for taking device.
Clamping cuts out in mechanism 300 equipped with radiation protection visual identifying system, can be for shaft bottom different shape, different colours
Waste using different classification grasp modes and is cut or is sheared to the waste of unlike material, quick using manipulator
The problem of Quick universal problem and replacement segmentation knife of mechanism 300, is cut out in the solution that changes the outfit clamping.
Radiation protection vision system, clamping are cut out the movements such as pickup, the cutting of mechanism 300 and are scanned and recognized, and precisely shear
Waste size.Robot realizes the movement in deep-well working face by the moving guide rail 211 on lifting device 10 and hanger
Work is realized and is covered all around to deep-well pickup.
The dynamical motion credit analysis of mechanism 300 is cut out in clamping:
Danavit-Hartenberg coordinates are constructed as shown in figure 8, setting base coordinate system as ∑ x0y0z0, slide plate mark
Frame is ∑ x1y1z1, fixing head frame is ∑ x2y2z2, the frame of each connecting rod of serial manipulator are as follows: ∑3~∑8.In view of connecting rod is
Space connecting-rod, the length, joint torsional angle and joint offset distance for defining each connecting rod i are respectively ai(i=3 ..., 8), αi(i=3 ...,
And d 8)i(i=3 ..., 8) then multiplies operator, frame ∑ according to the right sideiRelative to ∑i-1Affine transformation matrix are as follows:
Wherein:
In view of frame ∑ 1 and ∑ 2 are translation, 3~∑ of ∑ 8 is rotation, and bidding frame ∑ t indicates end-of-arm tooling coordinate system,
Then pose of the end in basic frame are as follows:
The translational velocity of end-of-arm tooling are as follows:
Wherein:
Similarly, the velocity of rotation of end are as follows:
Wherein:
And:
For the dynamics of control, the Lagrangian function of system is as follows:
Then joint power are as follows:
Wherein:
Abbreviation obtains inertia force, centripetal force, coriolis force and gravity subitem are as follows:
It is analysed by the dynamical motion credit, the configuration space of the awareness and understanding that can more remove to left and right mechanical arm is each
The motion principle of kinematic axis.
In this example, enhancing emissivity waste recovery efficiency purpose can be achieved in the present invention, in emissivity waste recovery,
The shaking for taking device is reduced back, avoids waste from being difficult to accurately be put into recycling steel drum, it is discarded can more effectively to recycle radioactivity
Object.Since the deep-well dimensions of storage radioactive waste is different, start control system, control portal frame crane will be hydraulic
The dress of support system 200 is hung in deep-well, and controls hydraulic cylinder, and the telescopic end of hydraulic cylinder is made to drive the telescoping mechanism of diamond structure
220 are close to the borehole wall.The Pneumatic clamping jaw 3310 on mechanical arm is controlled again, and by radiation protection vision system on mechanical arm, crawl is deep
Waste in well is simultaneously put into lifting of hanging basket batch turning system 40 after being sheared to waste by controlling automatic shearing cutter, most
Starting portal frame crane slings lifting of hanging basket batch turning system 40 afterwards, and makes when on the pipeline for reaching import transmission waste material
Lifting of hanging basket batch turning system 40 is overturn, so that waste material is transferred to next tooling, hydraulic support system 200 by transmission line body
Since telescoping mechanism 220 is close to the borehole wall always, when mechanism 300 is cut out in clamping and lifting of hanging basket batch turning system 40 works, protect
The stabilization that mechanism 300 and lifting of hanging basket batch turning system 40 are cut out in clamping has been held, has realized the mesh of enhancing emissivity waste recovery efficiency
's.
Embodiment 2:
Referring to Fig. 1~8, a kind of deep-well radioactive waste, which returns, takes device, including lifting device 10, under lifting device 10
Side is equipped with hydraulic support system 200, and hydraulic support system 200 includes fixed frame 210, is equipped with telescoping mechanism on the outside of fixed frame 210
220, the first telescopic device 230 is fixed on fixed frame 210, and the telescopic end of the first telescopic device 230 is hinged on telescoping mechanism 220
On；Hydraulic support system 200 is equipped with lifting of hanging basket batch turning system 40 and mechanism 300 is cut out in clamping.
Shifting is sling in order to be conducive to hydraulic support system 200, lifting of hanging basket batch turning system 40 and clamping cutting out mechanism 300
It moves in other deep-well and mast-up 13 is included by lifting device 10, mast-up 13 is equipped with the movement for capableing of transverse shifting
Beam is set on moving beam 11 there are two electric block 12, and the moving beam 11 on lifting device 10 can slide on mast-up 13,
And electric block 12 can move on moving beam 11.
Rotating mechanism is a kind of turntable driven with servo motor in the present embodiment, can also select spiral shell as needed
Rotating rotating mechanism, cam-type rotating mechanism and crank-type rotating mechanism.
Pass through grip shears as a preferred mode for the ease of clamping movement and the mutual operation of cutting mechanism
Cutting out mechanism 300 includes fixing head 3100, and 3100 opposite sides of fixing head is respectively equipped with cutting manipulator 3400 and catching robot
3300, catching robot 3300 is equipped with clamping jaw 3310, and 3100 top of fixing head is equipped with rotating mechanism 3200, rotating mechanism 3200
It is fixed on 210 lower part of fixed frame and can be moved on fixed frame 210, when progress building sheltering part, which is returned, to be taken, will be set first
Standby to hang out well head, then rotating mechanism 3200 is started to work, and is driven turntable rotation to be rotated by 90 ° equipment by servo motor, is made
211 direction of guide rails of robots and building direction are vertical, then hang down equipment to proper height, robot is on guide rail 211
It is moved to most end to building direction, wherein clamping jaw 3310 is for the clamping to waste, and fixing head 3100 will be for that will cut
Manipulator 3400 and catching robot 3300 are fixed together.
In order to be conducive to the clamping to waste, as a preferred mode, it is equipped with by fixed frame 210 opposite
Two guide rails 211, guide rail 211 are equipped with the slide plate 240 that can move back and forth on fixed frame 210, and rotating mechanism 3200 is fixed
On slide plate 240, slide plate 240 on moving guide rail 211 makes slide plate 240 that clamping be driven to cut out 300 accurate movement of mechanism to discarding
The top of object.
In order to realize that driving slide plate 240 can be mobile by control system on guide rail 211, as a preferred mode,
It is equipped with rack gear 212 by a wherein guide rail 211, slide plate 240 is equipped with driving device 241, the rotary shaft of driving device 241
It is equipped with gear 242, gear 242 and rack gear 212 engage, and start driving device 241 by control system, make driving device 241
Rotation band moving gear 242 rotate, move gear 242 on rack gear 212, thus drive clamping cut out mechanism 300 arrival refer to
Positioning is set.
Waste cutting is fallen in lifting of hanging basket batch turning system 40 in order to realize, as a preferred mode, lead to
Cutting manipulator 3400 is crossed equipped with cutter 3410, cutter 3410 include the second telescopic device 3411, are bi-directionally connected bar
3412,3413 and shears 3414 are cut in fixation, and fixation is cut 3413 and is fixed on the second telescopic device 3411,3414 one end of shears
It is hinged on fixation to cut on 3413,3414 other end of shears, which is hinged on, to be bi-directionally connected on bar 3412, and it is another to be bi-directionally connected bar 3412
End is connect with the telescopic end of the second telescopic device 3411, starts control system, and so that clamping is cut out the clamping jaw 3310 in mechanism 300 will
Waste crawl in the top of lifting of hanging basket batch turning system 40, make cutting manipulator 3400 drive cutter 3410 to waste into
Row shearing, starts hydraulic cylinder, makes the telescopic end of hydraulic cylinder that the shears 3414 being bi-directionally connected on bar 3412 be driven to cut to fixation
3413 draw close.
In order to realize waste on the transmission line, as a preferred mode, pass through lifting of hanging basket batch turning system
40 include rewinding cylinder 41, is equipped with hanger bracket 42 on the outside of rewinding cylinder 41, hanger bracket 42 is hung on fixed frame 210, and rewinding cylinder 41 is used for
Waste after storage shearing starts the movement of portal frame crane by controller after filling waste in rewinding cylinder 41
Electric block 12 on crossbeam 11 lifts lifting of hanging basket batch turning system 40, and lifting of hanging basket batch turning system 40 is moved to will be useless
Above the transmission line that gurry transfers, and due to, there are two electric block 12, making to transfer far from waste on moving beam 11
The electric block 12 of transmission line the tail portion of lifting of hanging basket batch turning system 40 is improved, by the guide of lifting of hanging basket batch turning system 40
Mouth is lowerd.
The other parts of the present embodiment are same as Example 1, just repeat no more here.
It as above is the embodiment of the present invention.Design parameter in above-described embodiment and embodiment is merely to understand table
The verification process for stating invention, the scope of patent protection being not intended to limit the invention, scope of patent protection of the invention still with
It is all to change with equivalent structure made by specification and accompanying drawing content of the invention subject to its claims, similarly should all
It is included within the scope of the present invention.
Claims (7)
1. a kind of deep-well radioactive waste returns and takes device, including lifting device (10), it is characterised in that: the lifting device
(10) lower section is equipped with hydraulic support system (200), and the hydraulic support system (200) includes fixed frame (210), the fixation
Telescoping mechanism (220) are equipped on the outside of frame (210), are fixed with the first telescopic device (230) on the fixed frame (210), described the
The telescopic end of one telescopic device (230) is hinged on telescoping mechanism (220)；The hydraulic support system (200) is equipped with hanging basket
It promotes batch turning system (40) and mechanism (300) is cut out in clamping.
2. a kind of deep-well radioactive waste according to claim 1 returns and takes device, it is characterised in that: the lifting device
It (10) include mast-up (13), the mast-up (13) is equipped with the moving beam (11) for capableing of transverse shifting, the moving beam
(11) there are two being set on electric block (12).
3. a kind of deep-well radioactive waste according to claim 1 returns and takes device, it is characterised in that: the clamping is cut out
Mechanism (300) includes fixing head (3100), fixing head (3100) opposite sides be respectively equipped with cutting manipulator (3400) and
Catching robot (3300), the catching robot (3300) are equipped with clamping jaw (3310), and fixing head (3100) top is set
Have rotating mechanism (3200), the rotating mechanism (3200) is fixed on fixed frame (210) lower part and can move up in fixed frame (210)
It is dynamic.
4. a kind of deep-well radioactive waste according to claim 3 returns and takes device, it is characterised in that: the fixed frame
(210) two opposite guide rails (211) are equipped with, the guide rail (211), which is equipped with, to be moved back and forth on fixed frame (210)
Slide plate (240), the rotating mechanism (3200) is fixed on slide plate (240).
5. a kind of deep-well radioactive waste according to claim 4 returns and takes device, it is characterised in that: wherein described in one
Guide rail (211) is equipped with rack gear (212), and the slide plate (240) is equipped with driving device (241), the driving device (241)
Rotary shaft is equipped with gear (242), the gear (242) and rack gear (212) engagement.
6. being returned according to a kind of described in any item deep-well radioactive wastes of claim 3~5 and taking device, it is characterised in that: institute
Cutting manipulator (3400) are stated equipped with cutter (3410), the cutter (3410) include the second telescopic device (3411),
It is bi-directionally connected bar (3412), fixes and cuts (3413) and shears (3414), the fixation cuts (3413) and is fixed on the second flexible dress
It sets on (3411), described shears (3414) one end is hinged on fixation and cuts on (3413), shears (3414) other end hinge
It connects on being bi-directionally connected bar (3412), the telescopic end for being bi-directionally connected bar (3412) other end and the second telescopic device (3411)
Connection.
7. a kind of deep-well radioactive waste according to claim 1 returns and takes device, it is characterised in that: the lifting of hanging basket
Batch turning system (40) includes rewinding cylinder (41), is equipped with hanger bracket (42) on the outside of the rewinding cylinder (41), and the hanger bracket (42) is hung
On fixed frame (210).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910406232.XA CN110097993A (en) | 2019-05-16 | 2019-05-16 | A kind of deep-well radioactive waste returns and takes device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910406232.XA CN110097993A (en) | 2019-05-16 | 2019-05-16 | A kind of deep-well radioactive waste returns and takes device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110097993A true CN110097993A (en) | 2019-08-06 |
Family
ID=67448234
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910406232.XA Pending CN110097993A (en) | 2019-05-16 | 2019-05-16 | A kind of deep-well radioactive waste returns and takes device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110097993A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113895945A (en) * | 2021-09-17 | 2022-01-07 | 中国人民解放军63653部队 | Pit radioactive waste retrieves and deals with system |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1190401A (en) * | 1997-09-24 | 1999-04-06 | Daikei Ri | Moving type apparatus for recovering and fermenting food waste |
| JP2006337120A (en) * | 2005-05-31 | 2006-12-14 | Toshiba Corp | Fixing facility and fixing method of radioactive waste |
| CN203359784U (en) * | 2013-07-16 | 2013-12-25 | 中广核工程有限公司 | Lifting device for nuclear power station radioactive waste barrel |
| JP2014174005A (en) * | 2013-03-08 | 2014-09-22 | Kajima Corp | Rebound material recovery device, rebound material recovery method and rebound material reuse method |
| CN105641827A (en) * | 2015-12-30 | 2016-06-08 | 沈阳师范大学 | Undershaft rescue device |
| CN105752850A (en) * | 2016-05-11 | 2016-07-13 | 常州东方机电成套有限公司 | Telescopic sleeve group and waste retrieval crane adopting same |
| CN106297935A (en) * | 2016-11-01 | 2017-01-04 | 中国核动力研究设计院 | In a kind of refuse hole, low-level waste returns access method |
| CN106782730A (en) * | 2016-12-02 | 2017-05-31 | 中国东方电气集团有限公司 | A kind of resistance to irradiation dynamic power machine hand |
| CN107628243A (en) * | 2017-10-21 | 2018-01-26 | 庞海涛 | A kind of garden shaping tree-pruning aircraft |
| CN109530388A (en) * | 2018-10-31 | 2019-03-29 | 东华理工大学 | A kind of active nucleus waste matter recyclable device based on salt cave |
-
2019
- 2019-05-16 CN CN201910406232.XA patent/CN110097993A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1190401A (en) * | 1997-09-24 | 1999-04-06 | Daikei Ri | Moving type apparatus for recovering and fermenting food waste |
| JP2006337120A (en) * | 2005-05-31 | 2006-12-14 | Toshiba Corp | Fixing facility and fixing method of radioactive waste |
| JP2014174005A (en) * | 2013-03-08 | 2014-09-22 | Kajima Corp | Rebound material recovery device, rebound material recovery method and rebound material reuse method |
| CN203359784U (en) * | 2013-07-16 | 2013-12-25 | 中广核工程有限公司 | Lifting device for nuclear power station radioactive waste barrel |
| CN105641827A (en) * | 2015-12-30 | 2016-06-08 | 沈阳师范大学 | Undershaft rescue device |
| CN105752850A (en) * | 2016-05-11 | 2016-07-13 | 常州东方机电成套有限公司 | Telescopic sleeve group and waste retrieval crane adopting same |
| CN106297935A (en) * | 2016-11-01 | 2017-01-04 | 中国核动力研究设计院 | In a kind of refuse hole, low-level waste returns access method |
| CN106782730A (en) * | 2016-12-02 | 2017-05-31 | 中国东方电气集团有限公司 | A kind of resistance to irradiation dynamic power machine hand |
| CN107628243A (en) * | 2017-10-21 | 2018-01-26 | 庞海涛 | A kind of garden shaping tree-pruning aircraft |
| CN109530388A (en) * | 2018-10-31 | 2019-03-29 | 东华理工大学 | A kind of active nucleus waste matter recyclable device based on salt cave |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113895945A (en) * | 2021-09-17 | 2022-01-07 | 中国人民解放军63653部队 | Pit radioactive waste retrieves and deals with system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3643838B1 (en) | A traffic cones and traffic cone lanterns placement and collection system and a method | |
| CN109072586B (en) | Construction machine, in particular crane, and method for controlling same | |
| CN107150911B (en) | Vehicle identification and control system of bagged material loading robot | |
| JP2008049459A (en) | System, method and program for controlling manipulator | |
| CN109969178B (en) | Multi-material autonomous carrying device and method based on multi-sensor | |
| CN108908374A (en) | A kind of express sorter device people and control system | |
| CN105598987A (en) | Determination of object-related gripping regions using robot | |
| CN103350421A (en) | Automatic glaze spraying controlling method and controlling device for simulating skilled worker operation | |
| Iturralde et al. | Cable-driven parallel robot for curtain wall module installation | |
| CN100352621C (en) | Controller of robot for automatic polling high-voltage transmission line | |
| CN112150878A (en) | Artificial intelligence production platform and comprehensive ability training system | |
| CN106346454A (en) | Four-axis mechanical arm type visual traying platform | |
| JP2022531493A (en) | Automated inspection process for batch production | |
| CN111730606B (en) | Grabbing action control method and system of high-intelligence robot | |
| WO2024012480A1 (en) | Sample preparation workstation and sample preparation system | |
| CN110097993A (en) | A kind of deep-well radioactive waste returns and takes device | |
| CN109278021A (en) | It is a kind of for grabbing the robot tool system of thin-wall case class workpiece | |
| CN112276951A (en) | Unmanned search and explosion-removal robot system and working method thereof | |
| CN106429851A (en) | Bridge crane automatic control system based on remote operation | |
| JP2019195885A (en) | Control device and robot system | |
| CN114535144A (en) | Part sorting method, device and equipment and truss equipment | |
| CN206216675U (en) | A kind of four axis robot vision balance platforms | |
| CN110914021A (en) | Operating device with an operating device for carrying out at least one work step, and method and computer program | |
| CN2810918Y (en) | Intelligent mobile robot controller capable of collecting articles automatically | |
| CN113938655A (en) | Method and device for automatically tracking gripping apparatus by camera and material grabbing machine |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190806 |