CN110436327A - More barrels of mechanical hoisting devices of radioactive waste bucket - Google Patents

Abstract

The invention discloses a multi-barrel mechanical hoisting device for radioactive waste barrels, which belongs to the technical field of radioactive solid waste treatment and includes a mechanical part and a control part, which are connected by communication. The mechanical part includes equipment racks, rotating systems, balancing systems and mechanical spreaders. The equipment frame includes a fixed seat, a balance box girder, a connecting flange, and a spreader connecting shaft; the rotating system includes a slewing drive, a gear motor and an encoder; the balance system includes a balance block, a gear reducer, a motor, a sensor, a gear bracket, and a support rail , sprocket and limit switch; the mechanical spreader includes lifting lugs, connecting flanges, top connecting blocks, telescopic motors, sensors, electric push rods, upper plates, fixed blocks, wedge plates and grabbing hooks; the mechanical spreaders are connected by pins In the lower part of the balance box girder. The invention can improve the hoisting efficiency, hoisting automation level and stacking volume ratio of radioactive waste barrels.

Description

Mechanical hoisting equipment for radioactive waste barrels

technical field

The invention belongs to the technical field of radioactive solid waste treatment and disposal, and relates to a multi-barrel mechanical hoisting device for radioactive waste barrels.

Background technique

In my country's radioactive waste treatment and disposal industry, steel drums are commonly used packaging and disposal containers for radioactive waste. At present, when lifting, positioning and stacking radioactive waste steel drums, single-drum lifting equipment is usually used for operation. The single-drum mechanical spreader equipment adopts mechanical claws, and there is no electric control in the process of grasping and releasing the claws. When the spreader is lowered to contact with the top cover of the steel drum, the gravity of the spreader itself triggers the opening and contraction of the mechanical grabbing hook, and the grabbing hook shrinks and grabs. Hold the edge of the steel drum firmly, and then lift it up to automatically grab the waste bin. When stacking, the spreader falls to a certain position and automatically releases the mechanical claws; during the lifting operation, the operation process is that the crane (carrying the spreader) moves to the radioactive waste barrel transport vehicle or Above the temporary storage area, the falling spreader is positioned through artificial vision positioning or video recognition. The gravity of the spreader triggers the opening and contraction of the mechanical grab hook to grab the waste bin. After lifting, the crane moves to the designated position, and then manually or automatically locates the drop. The spreader, the gravity of the spreader triggers the opening of the mechanical grab again, releases the waste bin, and completes the positioning and stacking.

At present, the spreaders for radioactive waste barrels are all single-barrel spreaders, all of which are non-standard equipment. Compared with the needs of radioactive waste treatment and disposal in my country, the lifting efficiency is low, resulting in high labor intensity; most single-barrel The spreader cannot realize automatic grabbing and stacking, and the operator has a high risk of radiation exposure; and when positioning and stacking, the gap between the waste barrel and the disposal unit wall and the distance between the barrels are large, and the disposal volume ratio is low. In the process of radioactive waste treatment and disposal, there is an urgent need to improve the hoisting efficiency of radioactive waste barrels, the level of hoisting automation and the stacking volume ratio.

Contents of the invention

The object of the present invention is to provide a multi-barrel mechanical hoisting device for radioactive waste barrels, which can solve the aforementioned defects in the prior art. Specifically: Combined with the interface conditions of the disposal site, operating conditions, operating modes and types of lifting equipment, improve the lifting equipment for radioactive waste barrels, realize the disposal process of lifting and stacking multiple barrels at the same time, improve the efficiency of lifting and stacking, and reduce the number of cranes. Operation frequency and personnel labor intensity, reduce the risk of personnel exposure to radiation, and appropriately increase the utilization rate of single-layer disposal volume. Provide design reference and engineering reference for field renovation and expansion projects. The purpose of the present invention is achieved through the following technical solutions.

The multi-barrel mechanical hoisting equipment for radioactive waste barrels includes a mechanical part and a control part. The mechanical part and the control part are connected by communication, and the control part sends control signals to the mechanical part to realize the control of the mechanical part. The mechanical part includes equipment racks, rotating systems, balancing systems and mechanical spreaders. The equipment frame includes a fixed seat, a balance box beam, a connecting flange, a spreader connecting shaft, and the lifting lug is fixedly connected with the fixed seat. The fixed seat and the balanced box beam are fixed on the upper and lower surfaces of the rotating system through flanges, and the spreader connecting shaft It is fixed under the balance box girder, and the design of the balance box girder can carry multiple mechanical cranes, so that the lifting device of the present invention can lift multiple radioactive waste barrels at one time, which greatly improves the lifting efficiency. The rotation system includes a rotary drive, a deceleration motor and an encoder. The rotation system is mainly used for adjusting the angle in the horizontal direction when the equipment is working. This design allows the hoisting device of the present invention to lift and grab the radioactive waste barrel by adjusting the horizontal position of the radioactive waste barrel Improve the work efficiency when stacking waste bins, and improve the utilization rate of single-layer disposal volume. The balance system includes balance weights, reducers, motors, sensors, drive shafts, deceleration brackets, support rails, sprockets and travel switches. Balance weights, sensors, drive shafts, deceleration brackets, support rails and sprockets are installed inside the balance box girder , the reducer and motor are set outside the balance box girder, the balance weight is installed on the support rail, and connected with the sprocket, reducer and drive shaft, the balance system is mainly used to carry the weight of objects on both sides of the balance box girder when the equipment is working When it is uneven, the balance box girder is balanced by the movement of the balance block. The design of the balance system makes the lifting equipment of the present invention ensure the balance and safety of the equipment when lifting multiple waste buckets at one time and the weight of the lifting waste buckets is different. . The mechanical spreader includes lifting lugs, connecting flanges, top connecting blocks, telescopic motors, sensors, electric push rods, upper plates, fixing blocks, wedge plates and grabbing hooks. The lifting lugs and top connecting blocks are respectively fixed on the upper and lower surfaces of the connecting flanges , the top connecting block and the wedge plate are respectively fixed on the upper and lower surfaces of the upper plate, the telescopic motor is fixed inside the top connecting block, connected with the electric push rod, the end of the electric push rod is connected with the fixed block, the end of the hook of the spreader is connected with the push rod bolt of the fixed block Connection, the middle part is connected with the wedge-shaped plate push rod bolts, and the mechanical spreader is mainly used for positioning and grabbing the waste bin when the equipment is working.

Furthermore, the hoisting equipment of the present invention and the telescopic sleeve of the crane adopt a hard connection method, and a pin shaft is used as a load-bearing connector at the connection. The center of gravity of the lifting device itself is designed to be the center of the equipment, that is, the position of the pin shaft connected to the spreader. However, in order to prevent the influence of errors in the processing and production of the hoisting equipment, the center of gravity of the hoisting device is shifted during installation, and the device is tilted. The equipment is kept in balance through the adjustment of the balance block in the balance system. At the same time, the equipment control system records the balance state at this time, and This state is the initial state of the hoisting equipment to ensure that the hoisting device is always in a balanced state during normal use.

Further, the overall structure of the balanced box girder is a straight box structure, and the balanced box girder includes ribs, connecting plates, stiffened plates, bottom plates, side plates, cover plates, blocking plates, connecting flanges, reinforcing plates and bolt assemblies.

Furthermore, a mechanical limit device is installed on the balance box girder to prevent the slider from slipping due to accidental overtravel.

Further, the communication connection between the mechanical part and the control part has two ways of long-distance connection and short-range wireless connection. The control part mainly controls the hoisting, positioning and positioning of the radioactive waste barrel by the mechanical part, and realizes long-distance control through remote connection, which can reduce the risk of personnel being exposed to radiation; through short-range wireless connection, wireless remote control can be used in some cases The device is relatively close to manual operation to improve the control accuracy. The two modes of operation are implemented independently and can be converted to each other.

Further, the control part includes a host operating system, a spreader core control system, a spreader visual monitoring system, a spreader anti-collision system and a spreader self-balancing system. The core control system of the spreader adopts a high-performance computing controller to complete signal acquisition, signal monitoring, equipment logic control, core computing, dynamic process monitoring and alarm functions.

Further, the control part includes image acquisition means, image recognition means and coordinate calculation means. The hoisting and positioning of the waste bin adopts the visual monitoring and positioning method. A coordinate system is established in the disposal site. Multiple sets of camera devices in the disposal site take pictures of the position of the waste bin and analyze the specific coordinates. The crane and spreader are moved and adjusted appropriately to capture At the same time, the spreader is equipped with a weight sensing system. The system recognizes the grasping status of the mechanical grab hook, and starts lifting action after meeting the lifting conditions.

Further, the control part also includes a coordinate memory device. The positioning and stacking method is basically the same as the lifting positioning method, and the coordinate memory function is added. According to the parameters of the hoisting source item and the operating records of the spreader, it is impossible for the spreader to fall twice at the same position. Through the camera photography and coordinate calculation, the spreader is guaranteed , The crane numerical control system automatically identifies the area to be stacked and whether there are obstacles.

The specific working process of the hoisting equipment of the present invention is as follows. When the multi-barrel mechanical lifting equipment for radioactive waste barrels is working, first connect the equipment with the telescopic sleeve, then lift the telescopic rod, and after reaching a certain height, adjust the rotation mechanism of the equipment to adjust the equipment to a parallel posture with the waste barrel transport vehicle. When starting hoisting, move the equipment to the top of the waste bucket transport vehicle, find the hoisting center of the vehicle by adjusting the rotating mechanism and the driving monitoring system, and lower the telescopic rod when the driving reaches the center point. Through the laser ranging and visual monitoring system, monitor the distance between the crane and the waste bin. When it is close to the target object, adjust the hook of the spreader to release it in place. At the same time, the spreader rotates and moves by operating the driving back and forth to perform accurate positioning. Continue Lower the spreader. During the lowering process, the centering situation is observed through the camera. When it is observed that all the cranes give out the centering signal, the driving stops and descends, and the operating cranes are automatically buckled and grasped. It works fine. When the system gives a signal of normal grabbing, lift the telescopic sleeve, and detect the specific weighing of each crane, and perform self-balancing and automatic adjustment according to the horizontal displacement sensor. After the balance adjustment is completed, the waste bucket is raised to a certain height, and then The crane is operated to transport the waste barrel to the set coordinates of the storage place. Lower the telescopic rod until the waste bin is close to the ground or close to the surface of other waste bins, stack the waste bins through the visual monitoring system and laser distance measurement monitoring, and determine whether the position of the waste bin needs to be adjusted to ensure that the waste bins are stacked neatly. After the waste bin is aligned, it continues to be lowered. The gravity sensor judges that the waste bin is placed stably, and the telescopic rod automatically stops lowering. The specific grab hook of the operating crane is released, and the telescopic rod is lifted to complete the lifting of the waste bin.

The hoisting equipment of the present invention can simultaneously lift a plurality of waste steel barrels, the sling itself has a rotating function, the projected area of the sling itself is smaller than the projected area of the waste barrels on the horizontal plane, and the gap between the slings lifting the waste barrels is small, It can improve the disposal volume rate of the disposal site; at the same time, the control of the spreader mainly adopts numerical control technology, and the waste barrel transport vehicle or the temporary storage area can be accurately positioned through the camera and multiple sensing devices in the disposal site unit, and then the relevant special program remotely controls the crane and The spreader moves and rotates to adapt to the position of the waste bin to be processed (the wireless remote control can also be used for close-range operation), and finally accurately positioned to the designated area for stacking.

The hoisting equipment of the present invention can achieve precise positioning and meet the requirements for positioning and stacking accuracy of radioactive waste barrels in the disposal site; The volume ratio is improved; the hoisting efficiency of the new spreader is improved compared with the single bucket spreader; the numerical control system can realize manual long-distance and automatic operation.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the multi-barrel mechanical hoisting equipment for radioactive waste barrels of the present invention.

Figure 2 is a schematic diagram of the connection structure of the spreader.

Figure 3 is a schematic diagram of the structure of the rotating system.

Figure 4 is a schematic diagram of the balanced box girder structure.

Fig. 5a is a schematic diagram of the balance system structure.

Fig. 5b is a schematic diagram of another structure of the balancing system.

Fig. 6a is a schematic diagram of the structure of the mechanical spreader.

Fig. 6b is a schematic diagram of another structure of the mechanical hanger.

Fig. 7a is a schematic diagram of the wedge plate structure of the mechanical spreader.

Fig. 7b is another schematic diagram of the wedge plate structure of the mechanical spreader.

Fig. 8 is a structural schematic diagram of the grab hook of the mechanical spreader.

Fig. 9a is a schematic structural diagram of the top connection block of the mechanical spreader.

Fig. 9b is another structural schematic diagram of the top connection block of the mechanical spreader.

Reference signs: 1-equipment frame, 2-rotation system, 3-balance system, 4-mechanical spreader, 5-hanging lug, 6-fixed seat, 7-rotating drive, 8-encoder, 9-reduction motor , 10-balance box girder, 11-slinger connecting pin, 12-connecting seat, 13-reducer/motor, 14-drive shaft, 15-support rail, 16-balance weight, 17-sprocket, 18-telescopic Motor/electric push rod, 19-top connection block, 20-grapple hook, 21-wedge plate, 22-fixed block, 23-upper plate, 24-side plate, 25-telescopic motor fixed block, 26-upper and lower method orchid.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

The multi-barrel mechanical hoisting equipment for radioactive waste barrels includes a mechanical part and a control part. The mechanical part and the control part are connected by communication, and the control part sends control signals to the mechanical part to realize the control of the mechanical part.

As shown in FIG. 1 , the mechanical part includes equipment frame 1 , rotating system 2 , balancing system 3 , and mechanical hanger 4 . The equipment rack includes lifting lugs, fixing bases, balance box beams, connecting flanges, and spreader connecting shafts. The lifting lugs are fixedly connected to the fixing bases, and the fixing bases and the balancing box girders are respectively fixed on the upper and lower surfaces of the rotating system through flanges. The lifting lug is used for the connection between the hoisting equipment and the telescopic sleeve of the crane, and is connected by a pin; The balance box girder is a load-bearing beam hoisted by multiple waste bins.

As shown in FIG. 2 , the connection structure of the spreader includes lifting lugs 5 and fixing seats 6 . The connection structure of the spreader and the telescopic sleeve of the crane are hard-connected, and the pin shaft is used as a load-bearing connector at the connection. The center of gravity of the hoisting device itself is designed to be the center of the equipment, that is, the position of the connecting pin of the connecting structure of the spreader. The hoisting equipment provides flange parts to be connected with the fixing base 6 .

As shown in Figure 3, the rotary system includes a rotary drive 7, a geared motor 9 and an encoder 8. The rotary drive is composed of a rotary bearing, a worm gear output mechanism, a worm gear reducer, and an electric motor. The rotary drive realizes the fine adjustment of the overall angle of the spreader. And it has the function of rotating self-locking. The rotating mechanism is mainly used to adjust the angle in the horizontal direction when the equipment is working, to keep the direction of the spreader consistent with the waste bin to be grabbed or the area to be stacked, so as to facilitate accurate grabbing and stacking.

The design of the balanced box girder enables the hoisting equipment of the present invention to hoist multiple radioactive waste barrels at one time, which greatly improves hoisting efficiency. As shown in Figure 4, the balance box girder package hanger is connected to the pin shaft 11 and the connecting seat 12. The overall structure of the balance box girder is a straight box structure, and the mechanical crane is fixedly connected to the balance box girder through the pin shaft. Load bearing beam for hoisting multiple waste bins.

As shown in Figures 5a and 5b, the balance system includes a balance box girder 10, a reducer and a motor 13, a drive shaft 14, a support rail 15, a balance weight 16 and a sprocket 17, wherein the drive shaft, support rail, balance weight, and sprocket and other components are installed inside the balance box girder 10, the reducer, motor and sprocket are installed outside the balance box girder, the balance weight is installed on the support rail, connected with the sprocket, reducer, motor and drive shaft, and the balance When the equipment is working, the system is mainly used to balance the force on both sides of the balance box girder through the signal fed back by the level detector and the movement of the balance weight driven by the reducer and the motor when the weight of the objects on both sides of the balance box girder is uneven. Ensure the balance and safety of the equipment. The design of the balance system can satisfy the mass difference between the two sides of the balance box girder within the range of 50Kg, and ensure the balance of the balance box girder and the normal operation of the spreader.

As shown in Figures 6a, 6b, 7a, 7b, 8, 9a and 9b, the mechanical spreader includes a telescopic motor/electric push rod 18, a top connection block 19, a grab hook 20, a wedge plate 21, a fixed block 22 and an upper plate 23 , The mechanical spreader is connected with the balance box girder, and the connection method is connected by a pin shaft. The mechanical spreader is mainly used for positioning, grabbing and stacking the waste bin during the operation of the equipment. The wedge-shaped plate 21 and the grapple 21 are integral structures, and weight sensors, displacement sensors, alignment sensors and cameras are arranged on the mechanical spreader to ensure that the spreader can accurately and safely grab the waste bucket. According to the characteristics of the hoisting source item, the mechanical hoisting hook is designed as a three-claw type, with relative angles of 135°, 135° and 90°, so as to ensure that the waste bin can be smoothly grasped when the waste bin is placed in a tighter code. The minimum distance between the edges of the hoisting waste bin is 30mm. The mechanical grapple is installed between two wedge-shaped plates through push rod bolts to ensure the stability and durability of the grapple, and it also plays an auxiliary positioning role when grabbing the waste bucket.

The control part is integrated and compatible with the mechanical part. When the waste bin is hoisted at the disposal site, a control intermediate device is equipped on the wall of the disposal unit to realize long-distance wireless operation. The control part mainly controls hoisting positioning and positioning stacking, and wireless remote control can also be used The device is relatively close to manual operation, and the two operation modes are implemented independently and can be converted to each other.

The hoisting and positioning of the waste bin adopts the visual monitoring and positioning method. A coordinate system is established in the disposal site. Multiple sets of camera devices in the disposal site take pictures of the position of the waste bin and analyze the specific coordinates. The crane and spreader are moved and adjusted appropriately to capture At the same time, the spreader is equipped with a weight sensing system. The system recognizes the grasping status of the mechanical grab hook, and starts lifting action after meeting the lifting conditions.

The positioning and stacking method is basically the same as the lifting positioning method, and the coordinate memory function is added. According to the parameters of the hoisting source item and the operating records of the spreader, it is impossible for the spreader to fall twice at the same position. Through the camera photography and coordinate calculation, the spreader is guaranteed , The crane numerical control system automatically identifies the area to be stacked and whether there are obstacles.

The specific working process of the hoisting equipment of the present invention is as follows. When the multi-barrel mechanical hoisting equipment for radioactive waste barrels is working, first connect the equipment with the telescopic sleeve, then lift the telescopic rod, and after reaching a certain height, adjust the rotation mechanism and translation transmission mechanism of the equipment, and adjust the equipment to be in line with the waste barrel transport vehicle. Parallel posture. When starting hoisting, move the equipment to the top of the waste bucket transport vehicle, find the hoisting center of the vehicle by adjusting the rotation mechanism, translational transmission structure and driving monitoring system, and lower the telescopic rod when the driving reaches the center point. Through the laser ranging and visual monitoring system, monitor the distance between the crane and the waste bin. When it is close to the target object, adjust the hook of the spreader to release it in place. At the same time, the spreader rotates and moves by operating the driving back and forth to perform accurate positioning. Continue Lower the spreader. During the lowering process, the centering situation is observed through the camera. When it is observed that all the cranes give out the centering signal, the driving stops and descends, and the operating cranes are automatically buckled and grasped. It works fine. When the system gives a signal of normal grabbing, lift the telescopic sleeve, and detect the specific weighing of each crane, and perform self-balancing and automatic adjustment according to the horizontal displacement sensor. After the balance adjustment is completed, the waste bucket is raised to a certain height, and then The crane is operated to transport the waste barrel to the set coordinates of the storage place. Lower the telescopic rod until the waste bin is close to the ground or close to the surface of other waste bins, stack the waste bins through the visual monitoring system and laser distance measurement monitoring, and determine whether the position of the waste bin needs to be adjusted to ensure that the waste bins are stacked neatly. After the waste bin is aligned, it continues to be lowered. The gravity sensor judges that the waste bin is placed stably, and the telescopic rod automatically stops lowering. The specific grab hook of the operating crane is released, and the telescopic rod is lifted to complete the lifting of the waste bin.

Claims (8)

1. more barrels of mechanical hoisting devices of radioactive waste bucket, including mechanical part and control section, mechanical part and control section Communication connection, mechanical part include equipment rack, rotary system and mechanical suspender, which is characterized in that mechanical part further includes putting down Balance system；Equipment rack includes fixing seat, balance box beam, connecting flange, suspender connecting shaft；Rotary system include revolution driving, Decelerating motor and encoder；Balance system includes balance weight, speed reducer, motor, sensor, drive shaft, reduction carrier, support Rail, sprocket wheel and travel switch；Mechanical suspender includes lifting lug, connecting flange, top link block, telescope motor, sensor, electronic pushes away Bar, upper plate, fixed block, clapboard and grapple；Mechanical suspender is connected to balance box beam lower part by pin shaft.

2. more barrels of mechanical hoisting devices of radioactive waste bucket according to claim 1, which is characterized in that balance box beam is whole Structure be linear type box-structure, fixed with rotary system by flanged joint, balance box beam include gusset, strengthening tendons plate, bottom plate, Side plate, cover board, closure plate, connecting plate, securing plate and bolt assembly.

3. more barrels of mechanical hoisting devices of radioactive waste bucket according to claim 2, which is characterized in that inside balance box beam Equipped with mechanical stop limiter.

4. more barrels of mechanical hoisting devices of radioactive waste bucket according to claim 1, which is characterized in that mechanical part and control There is long-range connection to connect two ways with short-range wireless for the communication connection of part processed.

5. more barrels of mechanical hoisting devices of radioactive waste bucket according to claim 1, which is characterized in that control section includes Upper operating system, suspender core control system, suspender visual monitor system, suspender collision avoidance system and suspender self-balancing system System.

6. more barrels of mechanical hoisting devices of radioactive waste bucket according to claim 1, which is characterized in that control section includes Image acquiring device, pattern recognition device and coordinate computing device.

7. more barrels of mechanical hoisting devices of radioactive waste bucket according to claim 6, which is characterized in that also wrap control section Include coordinate memory storage.

8. more barrels of mechanical hoisting devices of radioactive waste bucket according to claim 1, which is characterized in that the hanging device Hard connecting mode is used between crane extension sleeve, junction is using pin shaft as load-bearing connector.