CN112573188A - Automatic core switching system for waste radioactive water filter of nuclear power plant - Google Patents
Automatic core switching system for waste radioactive water filter of nuclear power plant Download PDFInfo
- Publication number
- CN112573188A CN112573188A CN202011381349.6A CN202011381349A CN112573188A CN 112573188 A CN112573188 A CN 112573188A CN 202011381349 A CN202011381349 A CN 202011381349A CN 112573188 A CN112573188 A CN 112573188A
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- claw
- power plant
- nuclear power
- connecting block
- end part
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Filtering Of Dispersed Particles In Gases (AREA)
Abstract
The invention discloses an automatic switching system of a nuclear power plant waste radioactive water filter core, which comprises a mechanical arm, a filter core clamp arranged on the mechanical arm, a visual positioning camera for assisting the positioning of the filter core clamp and a control device, wherein the filter core clamp comprises an installation shell, a claw with the middle part and the upper end part hinged with each other, a clamping and grabbing cylinder for opening or closing the lower end part of the claw, a connecting block connected between a piston rod of the clamping and grabbing cylinder and the hinged part of the upper end part of the claw, and a supporting part used for supporting the lower part of the claw below the connecting block when the connecting block moves upwards and the lower end part of the claw is opened and distributing downward pulling force applied to the claw. The switching process does not need to be hoisted by personnel, the automation degree is high, and the hidden danger of misoperation of personnel is eliminated; the problem of low space utilization rate of the storage container is improved.
Description
Technical Field
The invention belongs to the field of nuclear power detection equipment, and particularly relates to an automatic core switching system for a waste radioactive water filter of a nuclear power plant.
Background
In nuclear power plants, various waste filter cartridges are one of the main sources of solid waste. Two units generate more than two hundred waste filter elements each year, the filter elements are mainly of five types, the failure replacement sequence is irregular, most of the filter elements are disassembled and then are loaded into a transport container, the filter elements are transported to a barreling station along a guide rail through a solid waste treatment system, and then the filter elements are replaced into a storage container, and the storage container is filled as far as possible. At present, the process of switching part of waste filter elements of a power station from a transportation container to a storage container is carried out manually by using a manual clamp, personnel are exposed in a radioactive environment, the contamination risk is high, and along with the increasing strictness of the dosage management of the personnel in the power plant, the automatic means is urgently needed to realize unmanned switching or remote control switching.
Disclosure of Invention
The invention aims to provide an automatic switching system for a nuclear power plant waste radioactive water filter core.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a nuclear power plant's useless radioactive water filter core automatic switching system, its include the arm, install in filter core anchor clamps on the arm, be used for assisting visual positioning camera, the controlling means of filter core anchor clamps location, filter core anchor clamps are including installation casing, middle part and upper end articulated hook, make open under the hook or the closed clamp grab the cylinder, connect in press from both sides grab the piston rod of cylinder with connecting block between the articulated department of hook upper end, be used for the connecting block go upward and make the lower tip of hook open the time support in the connecting block below is used for sharing the supporting part of the decurrent pulling force that the hook received.
Preferably, the middle part of the hook claw is hinged through a pin shaft and the pin shaft is fixed in the installation shell, the filter element clamp further comprises a clamping and grabbing cylinder which is arranged in the installation shell and used for pushing a rotating shaft on the upper part of the hook claw to move up and down, when the clamping and grabbing cylinder is withdrawn, the lower end parts of the hook claw swing outwards to be opened, and when the clamping and grabbing cylinder is withdrawn, the lower end parts of the hook claw swing oppositely to be closed.
Preferably, the filter element clamp further comprises a connecting guide rail fixed in the installation shell, and the connecting block is slidably connected to the connecting guide rail.
Preferably, the supporting part includes that two are located symmetrically the supporting component of connecting block both sides, every the supporting component include fixed mounting in push cylinder in the installation casing, with the dog that push cylinder's piston rod is connected, be fixed in the installation casing and be located the dog guide rail of dog below, dog sliding connection in on the dog guide rail, push cylinder stretches out, when pressing from both sides and grabbing the cylinder and withdrawing, the dog is located the below of connecting block.
Furthermore, the dog is L shape, and it is even the board by the first even board of vertical setting and the second of horizontal setting is even constituteed, first even board with the piston rod looks fixed connection that promotes the cylinder, the second even board than first board is closer to the connecting block and its with dog guide rail looks sliding connection.
Preferably, the system comprises a quick-change device connected between the mechanical arm and the mounting shell, a male head of the quick-change device is connected with the mounting shell, and a female head of the quick-change device is connected with the mechanical arm.
Preferably, the mounting shell comprises an extension pipe, a cover plate fixedly connected with the lower end of the extension pipe, a first fixing seat fixedly connected with the cover plate, and a second fixing seat fixedly connected with the lower end of the first fixing seat, the clamping and grabbing cylinder is fixed on the upper end face of the cover plate and located in the lower end of the extension pipe, a mounting space is formed inside the first fixing seat and the second fixing seat, the connecting block and the supporting portion are mounted in the first fixing seat, the upper end portion and the middle portion of the hook claw are located in the second fixing seat, and the lower end portion of the hook claw extends out of the lower end face of the second fixing seat.
The invention has the beneficial effects that: the switching process does not need to be hoisted by personnel, the automation degree is high, and the hidden danger of misoperation of personnel is eliminated; the problem of low space utilization rate of the storage container is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the cartridge clamp with the fingers open;
fig. 3 is a schematic view of the cartridge clamp with the fingers closed.
Detailed Description
The invention is described in detail below with reference to embodiments shown in the drawings to which:
as shown in fig. 1, the automatic core switching system for the waste radioactive water filter in the nuclear power plant includes a mechanical arm 9, a filter core fixture 1 mounted on the mechanical arm 9, a visual positioning camera 2 for assisting the positioning of the filter core fixture 1, a control device 3, a bed frame 4 for adjusting the height of the mechanical arm 9, a quick-change device, a fixture frame 6, and a linear traveling module 0. The control device 3 includes a control cabinet 31 and a control terminal 32.
The filter element clamp 1 comprises a mounting shell 11, a claw 12, a clamping cylinder 13, a connecting block 14, a connecting guide rail 15 and a supporting part, wherein the claw 12 is hinged to the middle part and the upper end part of the mounting shell, the clamping cylinder 13 enables the lower end part of the claw 12 to be opened or closed, the connecting block 14 is connected between a piston rod of the clamping cylinder 13 and the hinged part of the upper end part of the claw 12, the connecting guide rail 15 is fixed in the mounting shell 11, and the supporting part is used for supporting the lower part of the connecting block 14 to distribute downward tensile force applied to the claw 12 when the connecting block. The connecting block 14 is connected to the connecting guide rail 15 in a sliding mode, the middle of each hook claw 12 is hinged through a pin shaft 17, the pin shaft 17 is fixed in the installation shell 11, the filter element clamp 1 further comprises a clamping and grabbing cylinder 13 which is installed in the installation shell 11 and used for pushing a rotating shaft on the upper portion of each hook claw 12 to move up and down, when the clamping and grabbing cylinder 13 retracts, the lower end portions of the two hook claws 12 swing outwards to be in an open state, and when the clamping and grabbing cylinder 13 retracts, the lower end portions of the two hook claws 12 swing oppositely to be in a closed state.
The supporting portion comprises two supporting components 18 symmetrically arranged on two sides of the connecting block 14, each supporting component 18 comprises a pushing cylinder 19 fixedly arranged in the mounting shell 11, a stop block 110 connected with a piston rod of the pushing cylinder 19, and a stop block guide rail 113 fixed in the mounting shell 11 and located below the stop block 110, the stop block 110 is slidably connected to the stop block guide rail 113, the pushing cylinder 19 extends out, and when the clamping and grabbing cylinder 13 retracts, the stop block 110 is supported below the connecting block 14. The stopper 110 is L-shaped and comprises a first connecting plate 111 vertically arranged and a second connecting plate 112 transversely arranged, the first connecting plate 111 is fixedly connected with the piston rod of the pushing cylinder 19, and the second connecting plate 112 is closer to the connecting block 14 than the first connecting plate 111 and is slidably connected with a stopper guide rail 113.
The quick-change device is connected between the mechanical arm 9 and the mounting housing 11. The male part 51 of the quick-change device is connected to the mounting housing 11 and the female part 52 of the quick-change device is connected to the robot arm 9.
The mounting housing 11 includes an extension pipe 114, a cover plate 115 fixedly connected to a lower end of the extension pipe 114, a first fixing seat 116 fixedly connected to the cover plate 115, and a second fixing seat 117 fixedly connected to a lower end of the first fixing seat 116, the clamping and grabbing cylinder 13 is fixed to an upper end surface of the cover plate 115 and located in a lower end of the extension pipe 114, a mounting space is formed inside the first fixing seat 116 and the second fixing seat 117, the connecting block 14 and the supporting portion are mounted in the first fixing seat 116, an upper end and a middle portion of the hook 12 are located in the second fixing seat 117, and a lower end of the hook extends out of a lower end surface of the second fixing seat 117. The pin 17 is fixed in the second fixed seat 117.
And an empty storage container 7 is hoisted on the left side of the linear walking module 0, a storage model in the manual reset control device 3 is empty, and the storage model is updated according to the type of the filter element and the actual position of the filter element after the filter element is placed. When the Nth transport container 8 filled with the waste filter element moves to a designated position and stops, after a clicking system starts, the mechanical arm 9 automatically moves the vision positioning camera to a position right above the transport container 8 from the initial position, and performs position positioning and filter element model identification by using the vision extraction characteristic parameters, so that the shape and size information of the filter element is known; the pushing cylinder 19 retracts, and the clamping cylinder 13 extends out to close the hook claw 12; the tail end of the mechanical arm 9 deviates a fixed distance, so that the position of the filter element clamp 1 is moved to the position of an original visual positioning camera, then the hook 12 is lowered to a proper height to extend into an inner hole of the filter element according to the acquired height information of the filter element, the clamping cylinder 13 is sequentially retracted, the pushing cylinder 19 is sequentially pushed to extend, so that the hook 12 is opened, and at the moment, the gravity of the filter element is borne by the stop block 110; then, the mechanical arm 9 drives the filter element to automatically move the visual positioning camera to a position right above the storage container 7, and the optimal placement position is determined according to the type of the filter element; the tail end of the mechanical arm 9 deviates a fixed distance, so that the position of the filter element clamp 1 is moved to the position of the original visual positioning camera 2, the hook claw 12 is lowered to a proper height to enable the filter element to contact the bottom of the storage container 7, the air cylinder 19 is pushed to retract, the clamping and grabbing air cylinder 13 extends out, and the hook claw 12 is closed; then the tail end of the mechanical arm 9 rises, and the claw 12 is taken out of the inner hole of the filter element; the mechanical arm 9 automatically moves the visual positioning camera to a position right above the filter element, extracts characteristic parameters by using visual positioning to perform position positioning, and updates a storage model in a control system; the mechanical arm 9 returns to the initial position. The process is circulated until the storage container 7 is full, and the next storage container 7 is replaced. When no filter element is processed, the mechanical arm 9 is used for moving the filter element clamp 1 to the position above the clamp frame 6, then the quick-change device is loosened, the filter element clamp 1 is stored on the clamp frame 6, and the mechanical arm 9 returns to the initial safe position.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. The utility model provides a nuclear power plant's useless radioactive water filter core automatic switching system, its include the arm, install in filter core anchor clamps on the arm, be used for assisting vision location camera, the controlling means of filter core anchor clamps location, its characterized in that: the filter element clamp comprises an installation shell, a claw, a clamping cylinder, a connecting block and a supporting part, wherein the claw is hinged to the middle part and the upper end part of the installation shell, the clamping cylinder enables the lower end part of the claw to be opened or closed, the connecting block is connected between a piston rod of the clamping cylinder and the hinged part of the upper end part of the claw, and the supporting part is used for supporting the lower end part of the claw below the connecting block when the connecting block goes upward and the lower end part of the claw is opened and is used for distributing downward tensile force.
2. The automatic switching system of nuclear power plant waste radioactive water filter cartridges according to claim 1, characterized in that: the filter element clamp is characterized in that the middle of the hook claw is hinged through a pin shaft and the pin shaft is fixed in the installation shell, the filter element clamp further comprises a clamping and grabbing cylinder which is arranged in the installation shell and used for pushing a rotating shaft on the upper portion of the hook claw to move up and down, when the clamping and grabbing cylinder withdraws, the lower end portions of the hook claw swing outwards to be opened, and when the clamping and grabbing cylinder withdraws, the lower end portions of the hook claw swing oppositely to be closed.
3. The automatic switching system of nuclear power plant waste radioactive water filter cartridges according to claim 1, characterized in that: the filter element clamp further comprises a connecting guide rail fixed in the installation shell, and the connecting block is connected to the connecting guide rail in a sliding mode.
4. The automatic switching system of nuclear power plant waste radioactive water filter cartridges according to claim 1, characterized in that: the supporting part comprises two supporting assemblies symmetrically arranged on two sides of the connecting block, each supporting assembly comprises a pushing cylinder fixedly arranged in the mounting shell, a stop block connected with a piston rod of the pushing cylinder, and a stop block guide rail fixed in the mounting shell and located below the stop block, the stop block is slidably connected to the stop block guide rail, the pushing cylinder stretches out, and when the clamping cylinder retracts, the stop block is supported below the connecting block.
5. The automatic switching system of nuclear power plant waste radioactive water filter cartridges as claimed in claim 4, wherein: the dog is L shape, and it is even the board by the first even board of vertical setting and the second of horizontal setting is constituteed, first even board with the piston rod looks fixed connection of pushing cylinder, the second even board than first board is closer to the connecting block and its with dog guide rail looks sliding connection.
6. The automatic switching system of nuclear power plant waste radioactive water filter cartridges according to claim 1, characterized in that: the system comprises a quick-change device connected between the mechanical arm and the mounting shell, a male head of the quick-change device is connected with the mounting shell, and a female head of the quick-change device is connected with the mechanical arm.
7. The automatic switching system of nuclear power plant waste radioactive water filter cartridges according to claim 1, characterized in that: the mounting shell comprises an extension pipe, a cover plate fixedly connected with the lower end part of the extension pipe, a first fixing seat fixedly connected with the cover plate and a second fixing seat fixedly connected with the lower end part of the first fixing seat, the clamping and grabbing cylinder is fixed on the upper end face of the cover plate and located in the lower end part of the extension pipe, a mounting space is formed inside the first fixing seat and the second fixing seat, the connecting block and the supporting part are mounted in the first fixing seat, the upper end part and the middle part of the hook claw are located in the second fixing seat, and the lower end part of the hook claw extends out of the lower end face of the second fixing seat.
8. The automatic switching system of nuclear power plant waste radioactive water filter cartridges according to claim 1, characterized in that: the filter element clamp is multiple and different in size, and the system further comprises a clamp support for placing the filter element clamp.
9. The automatic switching system of nuclear power plant waste radioactive water filter cartridges according to claim 1, characterized in that: the system also includes a visual positioning camera for assisting in positioning.
10. The automatic switching system of nuclear power plant waste radioactive water filter cartridges according to claim 1, characterized in that: the system further comprises a linear walking module for driving the mechanical arm to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011381349.6A CN112573188B (en) | 2020-11-30 | 2020-11-30 | Automatic core switching system for waste radioactive water filter of nuclear power plant |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011381349.6A CN112573188B (en) | 2020-11-30 | 2020-11-30 | Automatic core switching system for waste radioactive water filter of nuclear power plant |
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| Publication Number | Publication Date |
|---|---|
| CN112573188A true CN112573188A (en) | 2021-03-30 |
| CN112573188B CN112573188B (en) | 2022-06-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011381349.6A Active CN112573188B (en) | 2020-11-30 | 2020-11-30 | Automatic core switching system for waste radioactive water filter of nuclear power plant |
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| Country | Link |
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| CN (1) | CN112573188B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116571998A (en) * | 2023-04-11 | 2023-08-11 | 深圳昱拓智能有限公司 | Filter element mounting device, filter element replacing device and replacing method thereof |
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| CN208120566U (en) * | 2018-04-11 | 2018-11-20 | 上海益集工程技术有限公司 | A kind of slack tank special hanger for hoisting |
| CN109591054A (en) * | 2018-12-06 | 2019-04-09 | 西安法士特汽车传动有限公司 | A kind of gripping apparatus self-locking mechanism |
| CN211077632U (en) * | 2019-10-22 | 2020-07-24 | 四川漫味龙厨生物科技有限公司 | Raw material transportation manipulator capable of clamping and grabbing non-planar food bags |
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2592642A1 (en) * | 1986-01-06 | 1987-07-10 | Cubertafond Rene | Device for handling a hollow body, such as a tubular section |
| CN201208750Y (en) * | 2008-05-20 | 2009-03-18 | 余智明 | Material automatic grabbing device |
| CN201369178Y (en) * | 2009-01-22 | 2009-12-23 | 中广核工程有限公司 | Small hole grabbing tool for grabbing waste filter element |
| CN201817198U (en) * | 2010-08-25 | 2011-05-04 | 东风汽车有限公司 | Device for simultaneously hoisting multiple annular forgings |
| CN103316457A (en) * | 2013-06-28 | 2013-09-25 | 王永志 | Recyclable grab |
| 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 |
| CN208120566U (en) * | 2018-04-11 | 2018-11-20 | 上海益集工程技术有限公司 | A kind of slack tank special hanger for hoisting |
| CN109591054A (en) * | 2018-12-06 | 2019-04-09 | 西安法士特汽车传动有限公司 | A kind of gripping apparatus self-locking mechanism |
| CN211077632U (en) * | 2019-10-22 | 2020-07-24 | 四川漫味龙厨生物科技有限公司 | Raw material transportation manipulator capable of clamping and grabbing non-planar food bags |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116571998A (en) * | 2023-04-11 | 2023-08-11 | 深圳昱拓智能有限公司 | Filter element mounting device, filter element replacing device and replacing method thereof |
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| Publication number | Publication date |
|---|---|
| CN112573188B (en) | 2022-06-28 |
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