CN112676830B - Automatic filter element disassembling and transferring device - Google Patents
Automatic filter element disassembling and transferring device Download PDFInfo
- Publication number
- CN112676830B CN112676830B CN202011426948.5A CN202011426948A CN112676830B CN 112676830 B CN112676830 B CN 112676830B CN 202011426948 A CN202011426948 A CN 202011426948A CN 112676830 B CN112676830 B CN 112676830B
- Authority
- CN
- China
- Prior art keywords
- slide rail
- filter
- axis driving
- chassis
- cartridge
- 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.)
- Active
Links
Images
Abstract
The invention relates to an automatic disassembling and transferring device for a filter element of a filter, which comprises: the filter element disassembling assembly is used for disassembling the flange cover on the filter cylinder body and taking out the filter element in the filter cylinder body from the filter cylinder body; the filter element transferring assembly is used for transferring the filter element taken out of the filter cylinder to a preset position; a filter element placement assembly; deposit the container, the filter core is placed the subassembly and is used for snatching the back and place and deposit the container with the filter core of transporting on the filter core transportation subassembly. The above-mentioned scheme that this application provided, degree of automation is high, dismantles subassembly, filter core through the filter core and transports subassembly and the filter core and place the cooperation of subassembly three, and the purpose that the useless filter core of realization that can speak was dismantled and was transported automatically, and the integrated device has reduced staff's input, has reduced the operation risk.
Description
Technical Field
The invention relates to the technical field of industrial automation equipment, in particular to an automatic disassembling and transferring device for a filter element of a filter.
Background
According to the regulations of nuclear power plants, filter elements need to be replaced when the filter elements reach a certain service time or the pressure difference reaches a set value, and the waste filter elements need to be loaded into a shielding container to be transferred to a waste temporary storage for temporary storage when the contact dosage rate of the waste filter elements is more than 2 mSv/h.
However, the existing device for disassembling and transferring the waste filter element is low in automation degree, and a worker is required to operate the whole device, so that the operation risk is inevitably increased.
Disclosure of Invention
Based on this, it is necessary to provide a filter core is from dismantling and transfer device to the lower problem of current useless filter core dismantlement and transfer device degree of automation.
The invention provides an automatic disassembling and transferring device for a filter element of a filter, which comprises a storage container and also comprises:
the filter element disassembling assembly is used for disassembling a flange cover on the filter cylinder body and taking out the filter element in the filter cylinder body from the filter cylinder body;
a filter cartridge transfer assembly for transferring a filter cartridge taken out of the filter cartridge to a preset position;
the filter core placing assembly is used for grabbing the filter core transported on the filter core transporting assembly and placing the filter core into the storage container.
Above-mentioned automatic dismantlement of filter core and transfer device, degree of automation is high, dismantles subassembly, filter core through the filter core and transports subassembly and the filter core and place the cooperation of subassembly three, and the purpose that the useless filter core of realization that can speak was dismantled and was transported automatically, and the integrated device has reduced staff's input, has reduced the operation risk.
In one embodiment, the cartridge removal assembly includes a moving body, a bolt loosening mechanism, a swing bolt pushing mechanism, and a cartridge extraction mechanism;
the bolt loosening mechanism, the swing bolt pushing-away mechanism and the filter element extracting mechanism are all arranged on the movable body.
In one embodiment, the moving body comprises a first crawler-type moving platform and a first chassis, the first chassis is arranged on the first crawler-type moving platform, and a lifting mechanism is arranged on the first chassis;
the bolt unscrewing mechanism comprises a rotating motor and a nut sleeve, the rotating motor is fixed on the lifting mechanism, and the nut sleeve is arranged on an output shaft of the rotating motor;
the movable joint bolt pushing-away mechanism comprises a fixed seat and a mechanical arm, the fixed seat is arranged on the lifting mechanism, and the mechanical arm is arranged on the fixed seat;
the filter element extracting mechanism comprises an expansion piece and an electric clamping jaw, one end of the expansion piece is fixed on the lifting mechanism, and the other end of the expansion piece is connected with the electric clamping jaw.
In one embodiment, the filter element transfer assembly comprises a second crawler-type mobile platform, a second chassis, a linkage mechanism, a cylinder and a filter element container cover
The second chassis is installed through the pivot on the second crawler-type moving platform, just the second chassis can be followed the axial of pivot is rotated, link mechanism's one end with the second chassis is articulated, the other end with the filter core container lid is articulated, filter core container lid detachably installs the open end of barrel, the barrel is kept away from the one end of filter core container lid pass through the rotor arm with the second chassis is articulated.
In one embodiment, the link mechanism comprises a first jacking electric cylinder and a second jacking electric cylinder, one end of the first jacking electric cylinder is hinged with the second chassis, the other end of the first jacking electric cylinder is hinged with the second jacking electric cylinder, and one end of the second jacking electric cylinder, which is far away from the first jacking electric cylinder, is connected with the filter element container cover;
first jacking electronic jar with the electronic jar of second jacking all has for the static primary importance in second chassis and the second place of motion, work as first jacking electronic jar with when the electronic jar of second jacking all is in the primary importance, filter core container lid lock is in the open end of barrel, the barrel with the second chassis is 20 contained angles, works as first jacking electronic jar with when the electronic jar of second jacking all is in the second place, the barrel with the second chassis is 90 contained angles, the filter core container lid is relative the open end of barrel is opened.
In one embodiment, the filter element placing assembly comprises a support frame, an X-axis driving mechanism, a Y-axis driving mechanism, a Z-axis driving mechanism and a mechanical claw;
the X-axis driving mechanism is arranged on the support frame, the Y-axis driving mechanism is arranged on the X-axis driving mechanism, the Z-axis driving mechanism is arranged on the Y-axis driving mechanism, and the mechanical claw is arranged on the Z-axis driving mechanism.
In one embodiment, the filter element placing assembly comprises two X-axis driving mechanisms, the two X-axis driving mechanisms are arranged on the support frame in parallel at intervals, each X-axis driving mechanism comprises a first driving motor, a first lead screw nut and a first slide rail, the first slide rail is arranged on the support frame, the first driving motor is fixed on the first slide rail, the first lead screw is axially arranged on the first slide rail, the first lead screw nut is arranged on the first lead screw, and an output shaft of the first driving motor passes through the first slide rail and then is connected with the first lead screw;
and a second slide rail on the Y-axis driving mechanism is arranged between the two first slide rails, and the second slide rail on the Y-axis driving mechanism is connected with the first screw rod nut.
In one embodiment, the Y-axis driving mechanism further includes a second driving motor, a second lead screw, and a second lead screw nut, a sliding groove on the second slide rail is slidably connected to the first slide rail, and the sliding groove is connected to the first lead screw nut;
the second driving motor is fixed on the second slide rail, the second screw rod is axially arranged on the second slide rail, the second screw rod nut is arranged on the second screw rod, and an output shaft of the second driving motor penetrates through the second slide rail and then is connected with the second screw rod;
and a third slide rail on the Z-axis driving mechanism is arranged on the second slide rail, and the third slide rail on the Z-axis driving mechanism is connected with the second screw rod nut.
In one embodiment, the Z-axis driving mechanism further includes a third driving motor, a third lead screw and a third lead screw nut, a sliding groove on the third sliding rail is slidably connected to the second sliding rail, and a sliding groove on the third sliding rail is connected to the second lead screw nut;
the third driving motor is fixed on the third slide rail, the third screw rod is axially arranged on the third slide rail, the third screw rod nut is arranged on the third screw rod, an output shaft of the third driving motor penetrates through the third slide rail and then is connected with the third screw rod, and the mechanical claw is connected with the third screw rod nut.
In one embodiment, the device further comprises a second visual sensor and a third visual sensor, wherein the second visual sensor is arranged on the second sliding rail, and the third visual sensor is arranged on the third sliding rail.
Drawings
FIG. 1 is a schematic view of a filter cartridge removal assembly according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of a prior art filter cartridge;
FIG. 3 is a schematic view of a filter cartridge transport assembly and a filter cartridge placement assembly according to one embodiment of the present disclosure;
FIG. 4 is another schematic view of FIG. 3;
FIG. 5 is a schematic view of the cartridge transport assembly of FIG. 3;
FIG. 6 is another schematic view of FIG. 5;
fig. 7 is a schematic view of the cartridge positioning assembly of fig. 3.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
As shown in fig. 1 in combination with fig. 3 or 4, in an embodiment of the present invention, there is provided an automatic filter cartridge disassembling and transferring device, including a storage container 90, and further including: the filter element transfer assembly 70 is used for transferring the filter element taken out of the filter cylinder to a preset position, and the filter element placing assembly 80 is used for grabbing the filter element transferred on the filter element transfer assembly 70 and placing the filter element in the storage container 90.
Adopt above-mentioned technical scheme, through filter core dismantlement subassembly, filter core transportation subassembly and the filter core cooperation of placing the subassembly three, the purpose that the useless filter core of realization that can speak was dismantled and was transported automatically, the integrated device has reduced staff's input, has reduced the operation risk.
In some embodiments, as shown in fig. 1, the cartridge removal assembly of the present application includes a moving body 10, a bolt loosening mechanism 40, a swing bolt pushing mechanism 50, and a cartridge extraction mechanism 60, wherein the bolt loosening mechanism 40, the swing bolt pushing mechanism 50, and the cartridge extraction mechanism 60 are all disposed on the moving body 10.
Further, the moving body 10 includes a first crawler-type moving platform and a first chassis, the first chassis is disposed on the first crawler-type moving platform, the first chassis is provided with a lifting mechanism 30, the bolt loosening mechanism 40 includes a rotating motor and a nut sleeve, the rotating motor is fixed on the lifting mechanism 30, and the nut sleeve is disposed on an output shaft of the rotating motor; the swing bolt pushing-away mechanism 50 comprises a fixed seat and a mechanical arm, wherein the fixed seat is arranged on the lifting mechanism 30, and the mechanical arm is arranged on the fixed seat; the filter element extracting mechanism 60 includes an expansion piece and an electric jaw, one end of the expansion piece is fixed on the lifting mechanism 30, and the other end is connected with the electric jaw.
When the filter element disassembling assembly is used, as shown in fig. 2, because four connecting pieces 02 are arranged on the side wall of the existing filter cylinder 01 at intervals of 90 degrees along the circumferential direction, each connecting piece 02 is rotatably connected with a screw 03 through a first pin shaft 04, a nut 031 is connected on the screw 03 in a threaded manner, a fixed arm 05 is also fixedly connected on the side wall of the filter cylinder 01, the fixed arm 05 is connected with a flange cover 06 through a second pin shaft 051, four grooves 061 are arranged on the flange cover 06 along the circumferential direction, the positions of the four grooves 061 correspond to the positions of the four connecting pieces 02, and the filter element 07 is positioned in the inner cavity of the filter cylinder 01;
at the beginning, the flange cover 06 is fastened at the opening end of the filter cylinder 01, at this time, each screw 03 is correspondingly clamped in each groove 061, and simultaneously, the nut 031 is screwed, and the flange cover 06 is fastened at the opening end of the filter cylinder 01.
In some embodiments, in order to conveniently adjust the rotation angle and height of the bolt loosening mechanism 40 and the swing bolt pushing mechanism 50, as shown in fig. 1, the filter cartridge removing assembly in the present application further includes a rotating mechanism 20 and a lifting mechanism 30, the rotating mechanism 20 includes a rotating motor and a rotating base, the lifting mechanism 30 includes an electric telescopic rod and a lifting plate, wherein the rotating motor is fixed on the first chassis, the rotating base is connected to an output shaft of the rotating motor, the electric telescopic rod is fixed on a side of the rotating base facing away from the rotating motor, the lifting plate is disposed at an end of the electric telescopic rod away from the rotating base, the rotating motor on the bolt loosening mechanism 40 is fixed on the lifting plate, a fixed seat on the swing bolt pushing mechanism 50 is fixed on the lifting plate, the rotating base is driven to rotate by the rotating motor, and the lifting plate is driven to move up and down by the electric telescopic rod, therefore, the rotation angle and the height of the rotating motor on the bolt loosening mechanism 40 and the fixed seat on the movable joint bolt pushing-away mechanism 50 can be conveniently adjusted, and further, the nuts 031 on the filter cylinder 01 with different angles and heights can be conveniently loosened.
It should be noted that the structures of the rotating mechanism and the lifting mechanism in the embodiment of the present application are only examples, and in other alternatives, other structures may also be adopted, for example, the rotating mechanism includes a stepping motor, a first rotating gear, and a second rotating gear. The present application is not particularly limited as long as the above-described structure can achieve the object of the present application.
In order to automatically take out the filter element 07 buckled in the flange cover 06 and the filter cylinder 01, the first crawler-type moving platform is firstly moved, so that the nut sleeve on the bolt loosening mechanism 40 on the first crawler-type moving platform is sleeved on the nut 031, then the rotating motor is started, the output shaft of the rotating motor drives the nut sleeve to rotate, so that the nut 031 on the screw rod 03 can be loosened, after each nut 031 is loosened, the movement of a mechanical arm on the movable joint bolt pushing-open mechanism 50 is controlled, the mechanical arm pushes the screw rod 03 to separate each screw rod 03 from the corresponding groove 061, then the mechanical arm pushes the flange cover 06 to open the flange cover 06 relative to the opening end of the filter cylinder 01, finally, the electric clamping jaw is driven by a telescopic piece on the filter element extracting mechanism 60 to move to a preset position, and after the filter element 07 is clamped by the electric clamping jaw, the telescopic part then drives the electric clamping jaw to move in the opposite direction, so that the filter element 07 can be taken out of the filter cylinder body 01.
It should be noted that, in the embodiment of the present application, the telescopic member may be a screw rod mechanism, and in other alternative solutions, other structures may also be adopted, for example, the telescopic member is an electric telescopic rod. The present application does not specifically limit the specific structure of the extensible member as long as the above-described structure can achieve the object of the present application.
In some embodiments, as shown in fig. 5, the filter cartridge transfer assembly 70 of the present application includes a second tracked mobile platform 701, a second chassis, a linkage mechanism, a cylinder 704, and a filter cartridge container cover 706, wherein the second chassis is mounted on the second tracked mobile platform 701 through a rotating shaft, the second chassis is capable of rotating along an axial direction of the rotating shaft, one end of the linkage mechanism is hinged to the second chassis, the other end of the linkage mechanism is hinged to the filter cartridge container cover 706, the filter cartridge container cover 706 is detachably mounted at an open end of the cylinder 704, and an end of the cylinder 704 away from the filter cartridge container cover 706 is hinged to the second chassis through a rotating arm 705.
Specifically, the second tracked mobile platform 701 is provided with a driving motor, and the driving motor is used for driving the tracks on the second tracked mobile platform 701 to run; the second chassis is installed on the second crawler-type moving platform 701 through the pivot, still is provided with the rotation motor on the second crawler-type moving platform 701, and the output shaft of this rotation motor passes through the shaft coupling and is connected with the pivot on the second chassis bottom surface, when needs rotate the second chassis, only need start the rotation motor, the rotation motor drive the pivot on the second chassis rotate can.
Further, as shown in fig. 5 in combination with fig. 6, the link mechanism includes a first lifting electric cylinder 702 and a second lifting electric cylinder 703, one end of the first lifting electric cylinder 702 is hinged to the second chassis, the other end of the first lifting electric cylinder 702 is hinged to the second lifting electric cylinder 703, and one end of the second lifting electric cylinder 703, which is far away from the first lifting electric cylinder 702, is connected to the filter element container cover 706;
first jacking electric cylinder 702 and second jacking electric cylinder 703 all have for the static first position of second chassis and the second position of motion, when first jacking electric cylinder 702 and second jacking electric cylinder 703 all are in the first position, filter core container lid 706 lock is at the open end of barrel 704, barrel 704 is 20 contained angles with the second chassis, when first jacking electric cylinder 702 and second jacking electric cylinder 703 all are in the second position, barrel 704 is 90 contained angles with the second chassis, the open end of the relative barrel 704 of filter core container lid 706 is opened.
Specifically, the one end of first jacking electronic jar 702 is articulated with the second chassis, the other end is articulated with second jacking electronic jar 703, the one end that first jacking electronic jar 702 was kept away from to second jacking electronic jar 703 is connected with filter core container lid 706, the last fixed second connection piece 7061 that is provided with of filter core container lid 706, this second connection piece 7061 is connected with first connection piece 7041 on the barrel 704 through the pivot, and second connection piece 7061 on the filter core container lid 706 can be around the axial rotation of the pivot on first connection piece 7041, the one end that filter core container lid 706 was kept away from to barrel 704 is provided with rotor arm 705, this rotor arm 705 is articulated with the second chassis through rotating pin axle 7051.
When the first jacking electric cylinder 702 and the second jacking electric cylinder 703 are both in the first position, that is, the first jacking electric cylinder 702 and the second jacking electric cylinder 703 are both in a contracted state, at this time, the filter element container cover 706 is buckled at the opening end of the cylinder 704, and an included angle of 20 degrees is formed between the cylinder 704 and the second chassis; when first jacking electric cylinder 702 and second jacking electric cylinder 703 are both in the second position, first jacking electric cylinder 702 and second jacking electric cylinder 703 are both in the extension state promptly, and at this moment, filter core container lid 706 is opened the open end of barrel 704 under the thrust effect of second jacking electric cylinder 703 relatively, and barrel 704 is 90 contained angles with the second chassis.
In some embodiments, to avoid radioactive emissions from radioactive spent filter cartridges placed within the cartridge 704, the cartridge 704 and cartridge container lid 706 of the present application are provided with a radiation protective layer.
In some embodiments, to facilitate operation of the second track-type mobile platform 701, as shown in fig. 5, the filter cartridge transport assembly 70 of the present application further includes a support 707 and a first visual sensor 708, the support 707 is disposed on the second chassis, and the first visual sensor 708 is disposed on the support 707.
When the first vision sensor 708 detects that an obstacle exists in front of the second crawler-type moving platform 701 or the width of the road is smaller than a preset value, the first vision sensor 708 sends a detected signal to a controller on the second crawler-type moving platform 701, and the controller controls the overall rotation direction of the second crawler-type moving platform 701.
It should be noted that the structure of the second chassis on which the first vision sensor is disposed in the embodiment of the present application is only an example, and in other alternative solutions, other structures may be adopted, for example, radar or infrared rays are disposed on the second chassis, and obstacles are detected by radar or infrared rays. The present application does not specifically limit the specific type of structure of the first vision sensor as long as the above-described structure can achieve the object of the present application.
In some embodiments, as shown in fig. 7, the filter cartridge placement assembly 80 of the present application includes a support frame 801, an X-axis drive mechanism 802, a Y-axis drive mechanism 803, a Z-axis drive mechanism 804, and a gripper 805; the X-axis drive mechanism 802 is provided on the support frame 801, the Y-axis drive mechanism 803 is provided on the X-axis drive mechanism 802, the Z-axis drive mechanism 804 is provided on the Y-axis drive mechanism 803, and the gripper 805 is provided on the Z-axis drive mechanism 804.
Specifically, the filter element placing assembly 80 includes two X-axis driving mechanisms 802, the two X-axis driving mechanisms 802 are arranged on the support frame 801 in parallel at intervals, each X-axis driving mechanism 802 includes a first driving motor, a first lead screw nut and a first slide rail, the first slide rail is arranged on the support frame 801, the first driving motor is fixed on the first slide rail, the first lead screw is axially arranged on the first slide rail, the first lead screw nut is arranged on the first lead screw, and an output shaft of the first driving motor passes through the first slide rail and then is connected with the first lead screw; the second slide rail on the Y-axis driving mechanism 803 is disposed between the two first slide rails, and the second slide rail on the Y-axis driving mechanism 803 is connected to the first lead screw nut.
The Y-axis driving mechanism 803 further includes a second driving motor, a second lead screw and a second lead screw nut, a sliding groove on the second sliding rail is connected with the first sliding rail in a sliding manner, and the sliding groove is connected with the first lead screw nut; the second driving motor is fixed on the second slide rail, the second screw rod is axially arranged on the second slide rail, the second screw rod nut is arranged on the second screw rod, and an output shaft of the second driving motor penetrates through the second slide rail and then is connected with the second screw rod; the third slide rail on the Z-axis driving mechanism 804 is disposed on the second slide rail, and the third slide rail on the Z-axis driving mechanism 804 is connected with the second lead screw nut.
The Z-axis driving mechanism 804 further comprises a third driving motor, a third screw rod and a third screw rod nut, a sliding groove on the third sliding rail is connected with the second sliding rail in a sliding manner, and a sliding groove on the third sliding rail is connected with the second screw rod nut; the third driving motor is fixed on a third slide rail, a third screw rod is axially arranged on the third slide rail, a third screw rod nut is arranged on the third screw rod, an output shaft of the third driving motor penetrates through the third slide rail and then is connected with the third screw rod, and the mechanical claw 805 is connected with the third screw rod nut.
When the X, Y, Z three-directional positions of the gripper 805 need to be adjusted, a first lead screw is driven to rotate by a first driving motor, the first lead screw drives a first lead screw nut to rotate, because a second slide rail is arranged between the two first slide rails, and a second slide rail on the Y-axis driving mechanism 803 is connected with the first lead screw nut, when the first lead screw nut rotates, the second slide rail can be driven to move along the X-axis direction, because the gripper 805 is arranged on the Y-axis driving mechanism by a Z-axis driving mechanism, when the second slide rail on the Y-axis driving mechanism moves along the X-axis direction, the gripper 805 can be driven to move along the X-axis direction, and when the X-axis direction of the gripper 805 is adjusted, the first driving motor stops rotating;
at the moment, a second driving motor is started, the second driving motor drives a second lead screw to rotate, the second lead screw drives a second lead screw nut to rotate, a third slide rail on the Z-axis driving mechanism 804 is arranged on the second slide rail, and the third slide rail on the Z-axis driving mechanism 804 is connected with the second lead screw nut, so that when the second lead screw nut rotates, the third slide rail can be driven to move along the Y-axis direction, and as the mechanical claw 805 is arranged on the Y-axis driving mechanism through the Z-axis driving mechanism, after the Y-axis direction of the third slide rail is adjusted, the Y-axis direction of the mechanical claw 805 can be adjusted, and at the moment, the second driving motor stops rotating;
then, a third driving motor is started, the third driving motor drives a third screw rod to rotate, the third screw rod drives a third screw rod nut to rotate, so that the third screw rod nut moves along a third slide rail, and as the mechanical claw 805 is connected with the third screw rod nut, after the Z-axis direction of the third screw rod nut is adjusted, the Z-axis direction of the mechanical claw 805 can be adjusted, and at the moment, the third driving motor stops rotating;
finally, the gripper 805 is controlled to grasp the waste filter cartridge stored in the cylinder 704, and then the first driving motor, the second driving motor and the third driving motor are controlled in reverse directions, so that the gripper 805 is located above the storage container 90, and then the waste filter cartridge is placed in the storage container 90 according to a preset position through the gripper 805.
In some embodiments, to facilitate control of the X, Y, and Z-axis travel distance of the gripper 805, as shown in fig. 7, the cartridge positioning assembly 80 further includes a second visual sensor 806 and a third visual sensor 807, the second visual sensor 806 being disposed on the second slide rail, and the third visual sensor 807 being disposed on the third slide rail.
Specifically, the second visual sensor 806 is a pan/tilt/zoom camera, the third visual sensor 807 is an industrial camera, and the pan/tilt/zoom camera is mounted on the second slide rail, so that the X-axis position of the second slide rail and the Y-axis position of the third slide rail can be conveniently detected, and the third visual sensor 807 is mounted on the third slide rail, so that the Z-axis position of the gripper 805 can be conveniently detected, the overall position of the gripper 805 can be conveniently controlled, and the gripper 805 can grasp the waste filter cartridge stored in the cylinder 704.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An automatic filter cartridge disassembly and transfer device, comprising a storage container (90), characterized in that it further comprises:
the filter element disassembling assembly is used for disassembling a flange cover on the filter cylinder body and taking out the filter element in the filter cylinder body from the filter cylinder body;
a cartridge transfer assembly (70) for transferring a cartridge removed from the filter cartridge to a predetermined position;
a filter element placing assembly (80) for grabbing the filter elements transferred on the filter element transferring assembly and placing the filter elements into the storage container (90);
the filter element placing assembly (80) comprises a support frame (801), an X-axis driving mechanism (802), a Y-axis driving mechanism (803), a Z-axis driving mechanism (804) and a mechanical claw (805);
the X-axis driving mechanism (802) is arranged on the supporting frame (801), the Y-axis driving mechanism (803) is arranged on the X-axis driving mechanism (802), the Z-axis driving mechanism (804) is arranged on the Y-axis driving mechanism (803), and the mechanical claw (805) is arranged on the Z-axis driving mechanism (804).
2. The automatic filter cartridge disassembly and transfer device of claim 1, wherein the cartridge disassembly assembly comprises a moving body (10), a bolt unscrewing mechanism (40), a swing bolt pushing mechanism (50) and a cartridge extraction mechanism (60);
the bolt unscrewing mechanism (40), the swing bolt pushing-away mechanism (50) and the filter element extracting mechanism (60) are all arranged on the moving body (10).
3. The automatic filter cartridge dismantling and transferring device according to claim 2, wherein said mobile body (10) comprises a first tracked mobile platform and a first chassis, said first chassis being provided on said first tracked mobile platform, said first chassis being provided with a lifting mechanism;
the bolt unscrewing mechanism (40) comprises a rotating motor and a nut sleeve, the rotating motor is fixed on the lifting mechanism, and the nut sleeve is arranged on an output shaft of the rotating motor;
the swing bolt pushing-away mechanism (50) comprises a fixed seat and a mechanical arm, wherein the fixed seat is arranged on the lifting mechanism, and the mechanical arm is arranged on the fixed seat;
the filter element extracting mechanism (60) comprises an expansion piece and an electric clamping jaw, one end of the expansion piece is fixed on the lifting mechanism, and the other end of the expansion piece is connected with the electric clamping jaw.
4. The automatic filter cartridge disassembly and transfer device of claim 1, wherein the cartridge transfer assembly (70) comprises a second tracked mobile platform (701), a second chassis, a linkage, a cylinder (704), and a cartridge container lid (706);
the second chassis is installed on the second crawler-type mobile platform (701) through a rotating shaft and can rotate along the axial direction of the rotating shaft, one end of the connecting rod mechanism is hinged to the second chassis, the other end of the connecting rod mechanism is hinged to the filter element container cover (706), the filter element container cover (706) is detachably installed at the opening end of the barrel body (704), and one end, far away from the filter element container cover (706), of the barrel body (704) is hinged to the second chassis through a rotating arm (705).
5. The automatic filter cartridge disassembling and transferring device according to claim 4, wherein the link mechanism comprises a first lifting electric cylinder (702) and a second lifting electric cylinder (703), one end of the first lifting electric cylinder (702) is hinged with the second chassis, the other end is hinged with the second lifting electric cylinder (703), and one end of the second lifting electric cylinder (703) far away from the first lifting electric cylinder (702) is connected with the cartridge container cover (706);
first jacking electric cylinder (702) with second jacking electric cylinder (703) all have for the static first position of second chassis and the second position of motion, work as first jacking electric cylinder (702) with second jacking electric cylinder (703) all are in when the first position, filter core container lid (706) lock is in the open end of barrel (704), barrel (704) with the second chassis is 20 contained angles, works as first jacking electric cylinder (702) with second jacking electric cylinder (703) all are in when the second position, barrel (704) with the second chassis is 90 contained angles, filter core container lid (706) are relative the open end of barrel (704) is opened.
6. The automatic filter cartridge disassembly and transfer device of claim 4, wherein a radiation protective layer is disposed on each of the barrel (704) and the cartridge container lid (706).
7. The automatic filter cartridge disassembling and transferring device according to claim 1, wherein the cartridge placing assembly (80) includes two X-axis driving mechanisms (802), the two X-axis driving mechanisms (802) are disposed on the supporting frame (801) in parallel and spaced apart from each other, each X-axis driving mechanism (802) includes a first driving motor, a first lead screw nut, and a first slide rail, the first slide rail is disposed on the supporting frame (801), the first driving motor is fixed on the first slide rail, the first lead screw is disposed on the first slide rail in an axial direction, the first lead screw nut is disposed on the first lead screw, and an output shaft of the first driving motor is connected to the first lead screw after passing through the first slide rail;
and a second slide rail on the Y-axis driving mechanism (803) is arranged between the two first slide rails, and the second slide rail on the Y-axis driving mechanism (803) is connected with the first screw rod nut.
8. The automatic filter cartridge disassembling and transferring device according to claim 7, wherein said Y-axis driving mechanism (803) further comprises a second driving motor, a second lead screw and a second lead screw nut, a sliding groove on said second sliding rail is slidably connected with said first sliding rail, and said sliding groove is connected with said first lead screw nut;
the second driving motor is fixed on the second slide rail, the second screw rod is axially arranged on the second slide rail, the second screw rod nut is arranged on the second screw rod, and an output shaft of the second driving motor penetrates through the second slide rail and then is connected with the second screw rod;
and a third slide rail on the Z-axis driving mechanism (804) is arranged on the second slide rail, and the third slide rail on the Z-axis driving mechanism (804) is connected with the second screw rod nut.
9. The automatic filter cartridge disassembly and transfer device of claim 8, wherein the Z-axis drive mechanism (804) further comprises a third drive motor, a third lead screw, and a third lead screw nut, wherein a slide slot on the third slide rail is slidably connected to the second slide rail, and a slide slot on the third slide rail is connected to the second lead screw nut;
the third driving motor is fixed on the third slide rail, the third screw rod is axially arranged on the third slide rail, the third screw rod nut is arranged on the third screw rod, an output shaft of the third driving motor penetrates through the third slide rail and then is connected with the third screw rod, and the mechanical claw (805) is connected with the third screw rod nut.
10. The automatic filter cartridge disassembly and transfer device of claim 9, further comprising a second visual sensor (806) and a third visual sensor (807), the second visual sensor (806) disposed on the second slide, the third visual sensor (807) disposed on the third slide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011426948.5A CN112676830B (en) | 2020-12-09 | 2020-12-09 | Automatic filter element disassembling and transferring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011426948.5A CN112676830B (en) | 2020-12-09 | 2020-12-09 | Automatic filter element disassembling and transferring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112676830A CN112676830A (en) | 2021-04-20 |
| CN112676830B true CN112676830B (en) | 2022-02-25 |
Family
ID=75446504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011426948.5A Active CN112676830B (en) | 2020-12-09 | 2020-12-09 | Automatic filter element disassembling and transferring device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112676830B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113694658A (en) * | 2021-07-05 | 2021-11-26 | 儋州明成水泥有限公司 | Intelligent system for safe production and optimization of cement |
| CN114307454B (en) * | 2021-12-06 | 2023-06-23 | 中国辐射防护研究院 | Filter element safety replacement device for bag filter |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11171336A (en) * | 1997-12-10 | 1999-06-29 | Okura Yusoki Co Ltd | Conveyor |
| CN105355248A (en) * | 2015-10-20 | 2016-02-24 | 中国原子能科学研究院 | Filter core transferring apparatus |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2860640B1 (en) * | 2003-10-01 | 2006-01-13 | Framatome Anp | METHOD AND DEVICE FOR PACKAGING NON-SEALED NUCLEAR FUEL PENCILS FOR TRANSPORTATION AND LONG-TERM STORAGE OR STORAGE |
| US20060222478A1 (en) * | 2005-03-31 | 2006-10-05 | Tokyo Electron Limited | Processing apparatus, and system and program for monitoring and controlling fan filter unit |
| US7700926B2 (en) * | 2006-01-12 | 2010-04-20 | Draximage General Partnership | Systems and methods for radioisotope generation |
| CN105355253B (en) * | 2015-10-20 | 2017-05-03 | 中国原子能科学研究院 | Method for transferring nuclear power station waste filter |
| CN105913892B (en) * | 2016-06-14 | 2018-08-31 | 中广核工程有限公司 | Nuclear power plant's Spent Radioactive filter element cask flask and movement system |
| CN106966157B (en) * | 2017-05-23 | 2019-04-30 | 大连洁能重工股份有限公司 | The grasping mechanism of useless filter element replacing transhipment cell arrangement |
| CN208868934U (en) * | 2018-09-11 | 2019-05-17 | 上海施赛自动化科技有限公司 | A kind of crawl conveying device |
| CN110570963B (en) * | 2019-09-10 | 2023-04-21 | 四川航天神坤科技有限公司 | Filter core snatchs transfer device |
| CN110605719A (en) * | 2019-09-25 | 2019-12-24 | 汕头大学 | Robot, system and method for online pressurized leakage blocking |
| CN211878198U (en) * | 2020-04-08 | 2020-11-06 | 大连洁能重工股份有限公司 | Auxiliary mounting test bed for waste filter element replacing and transferring unit |
-
2020
- 2020-12-09 CN CN202011426948.5A patent/CN112676830B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11171336A (en) * | 1997-12-10 | 1999-06-29 | Okura Yusoki Co Ltd | Conveyor |
| CN105355248A (en) * | 2015-10-20 | 2016-02-24 | 中国原子能科学研究院 | Filter core transferring apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112676830A (en) | 2021-04-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112676830B (en) | Automatic filter element disassembling and transferring device | |
| KR101977774B1 (en) | Device for installing and uninstalling a vehicle battery | |
| EP3814232B1 (en) | Device for the installation and dismounting of aircraft landing gear | |
| US8573921B2 (en) | Method and a device for lifting and rotating a massive container | |
| JPH0249876B2 (en) | ||
| CN105531149A (en) | Material handling system | |
| CN212195869U (en) | Balance weight device convenient for balance adjustment for unmanned aerial vehicle | |
| EP3787921B1 (en) | Battery exchange system and method | |
| US20150151917A1 (en) | System, Method And Apparatus For Facilitating The Repair Of A Conveyor Belt Roller Assembly | |
| JP6963922B2 (en) | Radioactive material carry-out device, radioactive material carry-in device, radioactive material transport system and its method | |
| CN112599276B (en) | Nuclear power plant radioactive waste filter element carrying device | |
| CN116900706A (en) | Full-automatic energy storage box battery assembly mechanism | |
| CN206735737U (en) | Electronic charging basket lifting device | |
| CN115741775A (en) | Accurate positioning and mounting device for block in small container | |
| CN112719839B (en) | Maintenance equipment for middle section of blast furnace air supply corrugated pipe | |
| CN112707093B (en) | Automatic docking method based on vehicle-mounted motion platform | |
| US4728484A (en) | Apparatus for handling control rod drive | |
| CN216781885U (en) | Industrial robot base | |
| CN117566421A (en) | Extraction and transfer device for radioactive filter element | |
| CN218208680U (en) | Visual rotating holder mechanism | |
| CN113665403B (en) | Power exchanging method for power exchanging station | |
| CN115890611A (en) | Nuclear power station iodine filter inspection robot | |
| CN220033391U (en) | Charging mechanism, charging device and system | |
| CN115365918B (en) | Omnidirectional intelligent wall polishing robot and polishing method thereof | |
| CN218097770U (en) | Engineering cost measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |