CN113336160B - Uncovering device and uncovering method for container structure - Google Patents

Uncovering device and uncovering method for container structure Download PDF

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Publication number
CN113336160B
CN113336160B CN202110667016.8A CN202110667016A CN113336160B CN 113336160 B CN113336160 B CN 113336160B CN 202110667016 A CN202110667016 A CN 202110667016A CN 113336160 B CN113336160 B CN 113336160B
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China
Prior art keywords
cover
container
cover opening
station
mounting frame
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Application number
CN202110667016.8A
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Chinese (zh)
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CN113336160A (en
Inventor
张宝钢
段宏
王广开
吴德慧
宋文博
张朋
谢非
许聪
窦晓洁
梁汝囡
侯学峰
侯留东
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China Nuclear Power Engineering Co Ltd
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China Nuclear Power Engineering Co Ltd
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Priority to CN202110667016.8A priority Critical patent/CN113336160B/en
Publication of CN113336160A publication Critical patent/CN113336160A/en
Application granted granted Critical
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
    • B67B7/00—Hand- or power-operated devices for opening closed containers
    • 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
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
    • 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
    • B65G59/00—De-stacking of articles
    • B65G59/06—De-stacking from the bottom of the stack
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
    • B67B3/00—Closing bottles, jars or similar containers by applying caps
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F5/00—Transportable or portable shielded containers
    • G21F5/06—Details of, or accessories to, the containers
    • G21F5/12—Closures for containers; Sealing arrangements
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Closures For Containers (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a cover opening device and a cover opening method for a container structure, wherein the container structure is positioned in a closed space, the top of the container structure is provided with an opening and a cover body structure, and the cover opening device comprises: the device comprises a workbench, a mounting frame and a cover opening mechanism; the workbench is arranged at the upper end of the closed space, a channel for the upper part of the container structure to extend into is arranged between the workbench and the closed space, and a sealing ring is arranged on the inner wall of the channel and is used for being connected with the upper end of the outer side wall of the container structure in a sealing way; the mounting frame is arranged on the workbench in a sliding mode, the cover opening mechanism is arranged on the mounting frame, and the cover opening mechanism is used for grabbing the cover body structure above the workbench or releasing the cover body structure onto the container structure when moving to correspond to the channel; and the cover opening mechanism is provided with a cover for sealing the upper end opening of the channel when the cover opening device does not work and sealing the top surface of the cover body structure when the cover opening mechanism grabs the cover body structure. The invention realizes that the pollution of the nuclear pollution space to the outer wall of the container structure is avoided while the operation of opening and closing the cover is finished.

Description

Uncovering device and uncovering method for container structure
Technical Field
The invention relates to a cover opening device and a cover opening method for a container structure.
Background
In the radioactive waste treatment process of the nuclear power station, waste with strong radioactivity is generally placed in an inner container, the inner container is then placed in an outer container, and finally the outer container is transported to a closed space for temporary storage, so that radiation damage of nuclear waste to workers in a plant area is avoided.
In the whole process of receiving waste from a double-layer container and finally finishing waste treatment, the double-layer container needs to be opened and closed for many times, the radiation protection safety problem is considered, and automatic equipment is generally needed to open and close the double-layer container. Furthermore, since the outer container inevitably passes through the manual operation area during transportation, it is necessary to ensure that the outer wall of the outer container is not contaminated by nuclear waste during the above-mentioned opening and closing operation.
The chinese patent application CN107720654a discloses a double-cover gripping device, but the device cannot ensure the isolation between the outer wall of the outer container and the nuclear radiation environment while opening and closing the cover of the container, so the double-layer container needs to be transferred into a sealed box to perform the corresponding operation of opening and closing the cover, resulting in low working efficiency, high equipment cost and high transportation cost.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art, provides a cover opening device of a container structure, which improves the cover opening and sealing efficiency and reduces the cost, and also correspondingly provides a cover opening method of the container structure by using the cover opening device.
The technical scheme adopted for solving the technical problem of the invention is as follows:
the invention provides a cover opening device of a container structure, wherein the container structure is positioned in a closed space, the container structure is provided with an opening and a cover body structure, and the cover opening device comprises: the device comprises a workbench, a mounting frame and a first cover opening mechanism;
the workbench is arranged at the upper end of the closed space, a channel is arranged between the workbench and the closed space and used for communicating the closed space with the external space, the upper part of the container structure extends into the channel, and a first sealing ring is arranged on the inner wall of the channel and used for being connected with the upper end of the outer side wall of the container structure in a sealing manner;
the mounting frame is arranged on the workbench in a sliding mode, the first cover opening mechanism is arranged on the mounting frame, and the mounting frame is used for driving the first cover opening mechanism to move to a position corresponding to the channel, so that the first cover opening mechanism can grab the cover body structure on the container structure in the channel above the workbench, or release the grabbed cover body structure onto the container structure in the channel;
and the first cover opening mechanism is provided with a sealing cover for sealing the upper end opening of the channel when the first cover opening mechanism does not work and for sealing the top surface of the cover body structure when the first cover opening mechanism grabs the cover body structure.
Optionally, the sealing cover comprises a cover body and a second sealing ring, the inner side wall of the second sealing ring is connected with the outer side wall of the cover body in a sealing manner, the outer side wall of the second sealing ring is used for being connected with the inner wall of the channel in a sealing manner, and the bottom wall of the second sealing ring is used for being connected with the edge of the top surface of the cover body structure in a sealing manner;
the first cover opening mechanism comprises a first grabbing mechanism used for grabbing or releasing the cover body structure of the container structure, and the first grabbing mechanism is provided with a first grabbing portion extending into the cover body.
Optionally, the first cover opening mechanism further comprises a first driving mechanism, and the first driving mechanism is arranged on the mounting frame and connected with the first grabbing mechanism and is used for driving the first grabbing mechanism to move up and down relative to the mounting frame.
Optionally, the first cover opening mechanism further comprises a tray, the tray is rotatably connected to the mounting frame, and the tray can rotate to a position below the first grabbing portion to support the cover body structure grabbed by the first grabbing portion.
Optionally, the first grabbing portion is a first sucker, the first sucker is connected with an air pipe, and the air pipe penetrates through the cover body and then is connected with an external air source.
Optionally, a butt joint barrel is arranged on the workbench, the upper end and the lower end of the butt joint barrel are both open, the upper end of the butt joint barrel is connected with the workbench in a sealing mode, the lower end of the butt joint barrel extends into the closed space, and the inner cavity of the butt joint barrel forms the channel.
Optionally, the lid opening device further comprises a third driving mechanism, and the third driving mechanism is in transmission connection with the workbench and is used for driving the workbench to approach or leave the enclosed space so as to seal or open the upper end opening of the enclosed space.
Optionally, the container structure comprises an outer container and an inner container, the inner container is positioned in the outer container, the cover structure is an outer cover which is covered on the top opening of the outer container, and the top opening of the inner container is covered with an inner cover;
the cover opening device further comprises a second cover opening mechanism, the second cover opening mechanism is arranged on the mounting frame, and the mounting frame is further used for driving the second cover opening mechanism to move to a position corresponding to the channel so that the second cover opening mechanism can grab or release the inner container in the outer container or the inner cover of the inner container;
the first cover opening mechanism and the second cover opening mechanism are arranged along the moving direction of the mounting frame.
Optionally, the second cap opening mechanism comprises a second driving mechanism and a second grabbing mechanism, the second driving mechanism is arranged on the mounting frame and connected with the second grabbing mechanism and used for driving the second grabbing mechanism to move up and down relative to the mounting frame, and the second grabbing mechanism is used for grabbing or releasing the inner container or the inner cap of the inner container.
Optionally, the second cap opening mechanism further comprises a first clamping mechanism, and the first clamping mechanism is arranged on the mounting frame and used for clamping the inner container when the second grabbing mechanism grabs the inner container.
Optionally, a first uncovering station and a second uncovering station are arranged on the workbench, the channel is arranged on the first uncovering station, the second uncovering station is used for fixing the inner container, and the first uncovering station and the second uncovering station are arranged along the moving direction of the mounting frame.
Optionally, a second cover opening station is provided with a second clamping mechanism for clamping the inner container on the second cover opening station.
Optionally, still be equipped with the station of keeping in on the workstation, the station of keeping in is used for keeping in the inner container, and first uncapping station, the station of keeping in and second uncapping station are arranged along the moving direction of mounting bracket.
Optionally, a temporary storage container is arranged on the temporary storage station and used for temporarily storing the inner container, the upper end of the temporary storage container is opened and is connected with the workbench in a sealing mode, and the lower end of the temporary storage container extends into the closed space.
The invention also provides a method for opening the cover of the container structure by using the cover opening device, which comprises the following steps:
the mounting frame slides to drive the first cover opening mechanism to move to a position corresponding to a first cover opening station, and a sealing cover on the first cover opening mechanism seals an upper end opening of the channel;
the container structure is transferred into the channel, and the first sealing ring realizes the sealing connection between the inner wall of the channel and the outer wall of the container structure;
the first cap opening mechanism extracts the cap structure on the container structure in the channel;
the mounting frame is slidably moved to the first uncovering mechanism to be away from the first uncovering station so as to facilitate the treatment of the medium in the container structure;
after the treatment of the medium in the container structure is completed, the mounting frame slides to the first cover opening mechanism to correspond to the first cover opening station, and the first cover opening mechanism releases the extracted cover body structure to the container structure.
Optionally, the container structure comprises an outer container and an inner container, the inner container is positioned in the outer container, the cover structure is an outer cover which is covered on the top opening of the outer container, and the top opening of the inner container is covered with an inner cover;
the cover opening device further comprises a second cover opening mechanism, the second cover opening mechanism is arranged on the mounting frame, the mounting frame is further used for driving the second cover opening mechanism to be close to or far away from the channel, and the second cover opening mechanism is used for grabbing or releasing the inner container in the outer container or the inner cover of the inner container when moving to correspond to the channel;
the first cover opening mechanism and the second cover opening mechanism are arranged along the moving direction of the mounting frame;
the workbench is provided with a first uncovering station and a second uncovering station, the channel is arranged on the first uncovering station, the second uncovering station is used for fixing the inner container, and the first uncovering station and the second uncovering station are arranged along the moving direction of the mounting frame;
the process of treating the media in the containment structure is as follows:
the mounting frame slides to the second cover opening mechanism to correspond to the first cover opening station, the second cover opening mechanism extracts the inner container in the outer container in the channel, the mounting frame slides to the second cover opening mechanism to correspond to the second cover opening station, and the second cover opening mechanism releases the inner container;
after the inner container is fixed at the second cover opening station, the second cover opening mechanism extracts the inner cover on the inner container, and the mounting frame slides to the second cover opening mechanism to be away from the second cover opening station so as to facilitate the processing of the material in the inner container;
after the materials in the inner container are processed, the mounting frame slides to a second cover opening mechanism corresponding to a second cover opening station, and the second cover opening mechanism releases the extracted inner cover to the inner container;
and releasing the fixation of the inner container, extracting the inner container by the second cover opening mechanism, sliding the rack to the second cover opening mechanism to correspond to the first cover opening station, and releasing the extracted inner container into the outer container in the channel by the second cover opening mechanism.
Optionally, the inner container in the outer container is provided in plurality, and the plurality of inner containers are stacked in the axial direction of the outer container;
the workbench is also provided with a temporary storage station for temporarily storing the inner container, and the first uncapping station, the temporary storage station and the second uncapping station are sequentially arranged along the moving direction of the mounting frame;
the process of treating the media in the containment structure is as follows:
a: the mounting frame drives the second cover opening mechanism to move back and forth so as to extract and release the inner containers from the first layer to the second layer from top to bottom in the outer container in the channel to a temporary storage station, and extract and release the inner container at the lowest layer in the outer container in the channel to the second cover opening station;
b: after the inner container is uncapped, the material is processed and the cover is sealed at the second uncapping station, the second uncapping mechanism releases the inner container into the outer container in the channel;
c: the second cover opening mechanism extracts the inner container on the temporary storage station to the second cover opening station, and releases the inner container to the outer container in the channel after the cover opening-material processing-cover closing process is completed;
d: and c, repeating the step c until all the inner containers on the temporary storage station are released into the outer containers in the channel.
According to the invention, the opening and the closing operation of the container structure are facilitated by arranging the passage between the workbench and the closed space, and when the container structure is not opened, the opening of the passage is closed by the closing cover, so that the closed space of the storage container structure is completely isolated from the operation space above the workbench. When and after the cover is opened, the inner wall of the channel and the upper end of the outer side wall of the container structure are connected in a sealing way through the first sealing ring so as to isolate the contact between the outer side wall of the container structure and the operation space; and the top surface of the cover body structure is sealed through the sealing cover so as to isolate the contact between the top surface of the cover body structure and the operation space, thereby realizing the operation of opening the cover and sealing the cover and simultaneously avoiding the pollution of the nuclear pollution space to the outer wall of the container structure. Therefore, the container structure does not need to be transferred into the sealing box for uncovering operation, the uncovering efficiency is improved, and the uncovering cost is reduced.
Drawings
Fig. 1 is a schematic perspective view of an uncapping device for a container structure according to embodiment 1 of the present invention;
fig. 2 is a schematic perspective view of a cap opening device of a container structure according to embodiment 1 of the present invention (the third driving mechanism is omitted);
fig. 3 is a schematic sectional view of a cap opening device of a container structure according to embodiment 1 of the present invention;
FIG. 4 is a schematic view of the outer container positioned at the passageway and with the outer lid unopened;
FIG. 5 is a schematic view of the outer container placed at the passageway and the outer lid opened;
fig. 6 is a schematic front view of a cap opening device of a container structure according to embodiment 1 of the present invention;
fig. 7 isbase:Sub>A sectional viewbase:Sub>A-base:Sub>A of fig. 6.
In the figure: 1. a work table; 2. a third drive mechanism; 3. a first lid opening mechanism; 4. a second lid opening mechanism; 5. a docking barrel; 6. an outer container; 7. an inner container; 8. a mounting frame; 9. a second clamping mechanism; 10. and (4) temporarily storing the container. 31. A first grasping mechanism; 311. sealing the cover; 312. an air tube; 313. a first suction cup; 314. a second seal ring; 32. a first driver; 33. a tray; 41. a second grasping mechanism; 42. a first clamping mechanism; 51. a first seal ring; 61. and (4) an outer cover.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the scope of the present invention.
In the description of the present invention, it should be noted that the indication of orientation or positional relationship, such as "on" or the like, is based on the orientation or positional relationship shown in the drawings, and is only for convenience and simplicity of description, and does not indicate or imply that the device or element referred to must be provided with a specific orientation, constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected," "disposed," "mounted," "fixed," and the like are to be construed broadly, e.g., as being fixedly or removably connected, or integrally connected; either directly or indirectly through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those skilled in the art.
The invention provides a cover opening device of a container structure, wherein the container structure is positioned in a closed space, the container structure is provided with an opening and a cover body structure, and the cover opening device comprises: the device comprises a workbench, a mounting frame and a first cover opening mechanism;
the workbench is arranged at the upper end of the closed space, a channel is arranged between the workbench and the closed space and used for communicating the closed space with the external space, the upper part of the container structure extends into the channel, and a first sealing ring is arranged on the inner wall of the channel and used for being connected with the upper end of the outer side wall of the container structure in a sealing manner;
the mounting frame is arranged on the workbench in a sliding mode, the first cover opening mechanism is arranged on the mounting frame, and the mounting frame is used for driving the first cover opening mechanism to move to a position corresponding to the channel, so that the first cover opening mechanism can grab the cover body structure on the container structure in the channel above the workbench, or release the grabbed cover body structure onto the container structure in the channel;
and the first cover opening mechanism is provided with a sealing cover for sealing the upper end opening of the channel when the first cover opening mechanism does not work, and for sealing the top surface of the cover body structure when the first cover opening mechanism grabs the cover body structure.
The invention also provides a method for opening the cover of the container structure by using the cover opening device, which comprises the following steps:
the mounting frame slides to drive the first cover opening mechanism to move to a position corresponding to a first cover opening station, and a sealing cover on the first cover opening mechanism seals an upper end opening of the channel;
the container structure is transferred into the channel, and the first sealing ring realizes the sealing connection between the inner wall of the channel and the outer wall of the container structure;
the first cap opening mechanism extracts the cap structure on the container structure in the channel;
the mounting frame is slidably moved to the first uncovering mechanism to be away from the first uncovering station so as to facilitate the treatment of the medium in the container structure;
after the treatment of the medium in the container structure is completed, the mounting frame slides to the first cover opening mechanism to correspond to the first cover opening station, and the first cover opening mechanism releases the extracted cover body structure to the container structure.
Example 1:
as shown in fig. 1-3, the present embodiment provides an opening device for a container structure, which is located in a closed space (not shown), has an open top and is provided with a cover structure. In this embodiment, nuclear waste is kept in the container structure temporarily, and the airtight space is the shielding space to reduce the radiation pollution of nuclear waste to the external world.
The uncapping device of the embodiment comprises: the device comprises a workbench 1, a mounting rack 8 and a first uncovering mechanism 3.
The upper end opening of the sealed space of workstation 1, be equipped with the passageway on the workstation 1, the passageway supplies the upper portion of containment structure to stretch into, refer to fig. 4 and 5, be equipped with first sealing washer 51 on the inner wall of passageway for with the sealed upper end of the lateral wall of containment structure link to each other.
The mounting bracket 8 is slidably arranged on the workbench 1, the first cover opening mechanism 3 is arranged on the mounting bracket 8, and the mounting bracket 8 is used for driving the first cover opening mechanism 3 to move to correspond to the channel, so that the first cover opening mechanism 3 can grab the cover body structure on the container structure in the channel to the top of the workbench 1, or can release the grabbed cover body structure to the container structure in the channel.
With continued reference to fig. 4 and 5, the first uncapping mechanism 3 is provided with a sealing cap 311 for sealing the upper end opening of the passage when the first uncapping mechanism 3 is not in operation, and for sealing the top surface of the cover structure when the first uncapping mechanism 3 grasps the cover structure.
From this, through the upper end opening that sets up the sealed airtight space of workstation, be provided with the passageway on the workstation and be convenient for the operation of uncapping and closing cap of container structure, when uncapping, through closing cap closed passage opening to keep apart the airtight space of storage container structure and the operation space above the workstation completely. When and after the cover is opened, the inner wall of the channel and the upper end of the outer side wall of the container structure are connected in a sealing way through the first sealing ring so as to isolate the contact between the outer side wall of the container structure and the operation space; and the top surface of the cover body structure is sealed through the sealing cover so as to isolate the contact between the top surface of the cover body structure and the operation space, thereby realizing the operation of opening the cover and sealing the cover and simultaneously avoiding the pollution of the nuclear pollution space to the outer wall of the container structure. Therefore, the container structure does not need to be transferred into the sealing box for uncovering operation, the uncovering efficiency is improved, and the uncovering cost is reduced.
In this embodiment, the first lid opening mechanism 3 includes a first driving mechanism and a first grabbing mechanism 31, and the first driving mechanism is disposed on the mounting frame 8 and connected to the first grabbing mechanism 31, and is configured to drive the first grabbing mechanism 31 to move up and down relative to the mounting frame 8. The first grabbing mechanism 31 is used for grabbing or releasing a cover body structure of a container structure, the first grabbing mechanism 31 is provided with a first grabbing portion, the first grabbing portion is a first suction cup 313, the first suction cup 313 extends into the sealing cover, the first suction cup 313 is connected with the lower end of an air pipe 312, the upper end of the air pipe 312 penetrates through the sealing cover and then is connected with an external air source, and the air pipe 312 is connected with the sealing cover in a sealing mode.
In this embodiment, the workbench 1 is provided with the docking barrel 5, both the upper end and the lower end of the docking barrel 5 are open, the upper end of the docking barrel 5 is connected with the workbench 1 in a sealing manner, the lower end of the docking barrel 5 extends into the closed space, the inner cavity of the docking barrel 5 forms the channel, and the first sealing ring 51 is arranged on the inner wall of the docking barrel 5.
In this embodiment, with continued reference to fig. 4 and 5, the sealing cover 311 includes a cover body and a second sealing ring 314, an inner side wall of the second sealing ring 314 is connected to an outer side wall of the cover body in a sealing manner, an outer side wall of the second sealing ring 314 is used for being connected to an inner wall of the docking barrel 5 in a sealing manner, a bottom wall of the second sealing ring 314 is used for being connected to an edge of the top surface of the cover body structure in a sealing manner, and the second sealing ring 314 is a profiled sealing ring.
Under the non-working state of the cover opening device, the first driving mechanism drives the first grabbing mechanism 31 to move downwards to the sealing cover 311 to seal the upper end opening of the butt joint barrel 5, so that the complete isolation of the closed space and the operation space above the workbench is realized.
When the container structure is transferred into the docking drum 5 (as shown in fig. 3), the upper end of the outer side wall of the container structure is connected with the inner wall of the docking drum 5 in a sealing manner by the first sealing ring 51 on the inner wall of the docking drum 5, so that the outer side wall of the container structure is completely isolated from the operating space above the workbench after the cover is opened. Meanwhile, the first sucking disc body 311 arranged at the lower end of the first grabbing mechanism 31 is in butt fit with the cover body structure of the container structure, the first sucking disc body 311 is connected with the air pipe 312, the air pipe 312 is connected with the first negative pressure providing device, so that the first sucking disc body 311 sucks the cover body structure tightly, the second sealing ring 314 is tightly attached to the edge of the top surface of the cover body structure, a closed space is formed between the top surface of the cover body structure and the sealing cover 311, complete isolation of the top surface of the container structure above the workbench after the cover is opened is achieved, and the top surface of the cover body structure after the cover is opened is guaranteed not to be polluted by the nuclear operation space.
When the cover body structure is opened (as shown in fig. 4), the complete isolation of the outer side wall of the container structure after the cover is opened from the operation space above the workbench is realized through the first sealing ring 51 on the inner wall of the butt-joint barrel 5, and the complete isolation of the top surface of the container structure from the operation space above the workbench is realized through the sealing cover 311, so that the outer wall of the container structure is always in a sealing state in the operation process of media in the container structure, and the pollution of the nuclear operation space to the outer wall of the container structure is avoided.
In this embodiment, the first lid opening mechanism 3 further includes a tray 35, and the mounting frame 8 is provided with a rotary driver, which is in transmission connection with the tray 35 and is used for driving the tray 35 to rotate to a position below the first grabbing portion, so as to support the lid structure grabbed by the first grabbing portion.
In this embodiment, the rotary actuator is a pneumatic motor, and the tray 35 is provided with a buffer, and the buffer includes a buffer pin and a spring, and the tray 35 is provided with an accommodating groove for accommodating the spring, and a part of the buffer pin is located in the accommodating groove, and one end of the spring is fixed in the accommodating groove, and the other end of the spring is fixed in the buffer pin.
One part of the buffer pin protrudes out of the accommodating groove, and when the cover body structure drops, the cover body structure is firstly contacted with the buffer pin and buffers the gravity of the cover body structure through the elastic acting force of the spring.
In the present embodiment, the container structure includes an outer container 6 and an inner container 7, the inner container 7 is located in the outer container 6, the cover structure is an outer cover 61, the outer cover 61 is covered on the top opening of the outer container 6, and the inner cover is covered on the top opening of the inner container 7.
The uncapping device further comprises a second uncapping mechanism 4, the second uncapping mechanism 4 is arranged on the mounting frame 8, and the mounting frame 8 is further used for driving the second uncapping mechanism 4 to move to correspond to the channel, so that the second uncapping mechanism 4 can grab or release the inner container 7 in the outer container 6 or the inner cover of the inner container 7.
The first door opening mechanism 3 and the second door opening mechanism 4 are arranged along the moving direction of the mounting frame 8.
In this embodiment, referring to fig. 6 and 7, the second lid opening mechanism 4 includes a second driving mechanism and a second gripping mechanism 41, the second driving mechanism is disposed on the mounting frame 8 and connected to the second gripping mechanism 41 for driving the second gripping mechanism 41 to move up and down relative to the mounting frame 8, and the second gripping mechanism 41 is used for gripping or releasing the inner container 7 or the inner lid of the inner container 7.
Therefore, the first cover opening mechanism 3 and the second cover opening mechanism 4 can be driven to move back and forth by the mounting frame 8 in a sliding mode, and the corresponding cover opening mechanisms are driven to move back and forth up and down by the driving mechanisms, so that cover opening and cover sealing operations of the corresponding covers are achieved.
In this embodiment, the second grabbing mechanism 41 includes a second suction cup, and the second suction cup is connected to the second negative pressure device through an air pipe.
In other embodiments, the first negative pressure device and the second negative pressure device may be the same negative pressure device, and the connection and disconnection with the first suction cup and the second suction cup are realized through the opening and closing of the valve.
In this embodiment, the second lid opening mechanism 4 further includes a first clamping mechanism 42, and the first clamping mechanism 42 is disposed on the mounting frame 8 and used for clamping the inner container 7 when the second gripping mechanism 41 grips the inner container 7, so as to prevent the inner container 7 from falling off during the moving process.
In this embodiment, as shown in fig. 1, the lid opening device further includes a third driving mechanism 2, and the third driving mechanism 2 is in transmission connection with the workbench 1 and is used for driving the workbench 1 to approach or depart from the enclosed space so as to seal or open the upper end opening of the enclosed space. The remote operation of the cover opening device is realized through the third driving mechanism 2, so that the damage of nuclear pollution environment in the shielding space to operators is avoided.
In the present embodiment, the third drive mechanism 2 includes a horizontal driver and a ball screw pair having good movement accuracy. Specifically, the ball screw assembly refers to a ball screw nut assembly. The ball screw pair comprises a screw and a nut seat matched with the screw, the nut seat is fixedly connected with the workbench 1 through a bolt, and the horizontal driver is connected with the screw in a transmission mode and used for driving the screw to rotate.
The third driving mechanism 2 can be replaced by other structures with linear output capacity, such as a cylinder or a cylinder driving mechanism.
In this embodiment, be provided with power transmission assembly between horizontal driver and the lead screw, power transmission assembly passes through universal joint drive lead screw and rotates. The universal coupling has a compensation function, so that the cover opening device is easy to assemble, and the installation cost of the cover opening device is reduced.
In this embodiment, the first driving mechanism includes a first driver 32, a first frame, a first driving gear, and a first rack engaged with the first driving gear. The first driver 32 is fixed on the mounting frame 8 and is in transmission connection with the first driving gear for driving the first driving gear to rotate. The first frame body is fixed on the workbench 1, the first rack is slidably connected to the first frame body, and the first grabbing mechanism 31 is fixed on the first rack.
Wherein, the first driver 32 drives the first driving gear to rotate through the first worm and worm gear mechanism. The worm and worm gear mechanism has a self-locking function, so that the performance of the first driving mechanism is optimized.
The first driving mechanism can also be replaced by other structures for outputting linear motion, such as a cylinder or a cylinder driving mechanism.
In this embodiment, the second driving mechanism includes a second driver, a second frame, a second driving gear, and a second rack engaged with the second driving gear. The second driver is fixed on the mounting rack 8 and is in transmission connection with the second driving gear for driving the second driving gear to rotate. The second frame body is fixed on the working table 1, the second rack is slidably connected to the second frame body, and the second grabbing mechanism 41 is fixed on the second rack.
And the second driver drives the second driving gear to rotate through the second worm and worm gear mechanism. The worm and worm gear mechanism has a self-locking function, thereby optimizing the performance of the second driving mechanism.
The second driving mechanism can also be replaced by other mechanisms for outputting linear motion, such as an air cylinder or oil cylinder driving mechanism.
In this embodiment, be provided with the first bearing group that improves first rack motion precision on the first support body, be provided with the second bearing group that improves second rack motion precision on the second support body, first bearing group rotates to be connected on first support body, and second bearing group rotates to be connected on the second support body.
The first rack and the second rack can be respectively provided with a groove body, and the groove bodies are respectively matched with the first bearing group and the second bearing group so as to improve the motion precision of the first rack and the second rack.
The first bearing set and the second bearing set may include a concentric bearing or/and an eccentric bearing, and the arrangement manner of the first bearing set and the second bearing set is not limited and may be freely selected by those skilled in the art.
Illustratively, the first bearing set includes a concentric bearing and an eccentric bearing defining a passage therebetween with which the first rack mates.
In some possible embodiments, the horizontal drive of the third drive mechanism 2, the first drive 32 of the first drive mechanism, and the second drive of the second drive mechanism may all be hand wheels that are manually operated.
The handwheel is a structure for manually inputting power, and for example, the handwheel of the third driving mechanism 2 can drive a lead screw to rotate so as to drive the workbench 1 to move.
In this embodiment, the workbench 1 is provided with a first uncovering station, a temporary storage station and a second uncovering station, the channel is arranged on the first uncovering station, the temporary storage station is used for temporarily storing the inner containers 7, and when a plurality of inner containers 7 are arranged in the outer container 6, the second uncovering mechanism 4 needs to temporarily store the redundant inner containers 7 onto the temporary storage station so as to facilitate the uncovering-material processing-covering-releasing operation of the remaining inner container 7 into the outer container 6. The second uncap station is used for fixed inner container 7, and first uncap station, temporary storage station and second uncap station are arranged along the moving direction of mounting bracket 8 in proper order.
In this embodiment, the second uncapping station is provided with a second clamping mechanism 9 for clamping the inner container 7 located on the second uncapping station.
In this embodiment, a temporary storage container 10 is provided on the temporary storage station for temporarily storing the inner container 7, the temporary storage container 10 is open at an upper end and hermetically connected to the table 1, and a lower end thereof extends into the enclosed space.
Thereby, the first uncapping mechanism completes the extraction or release of the outer lid of the outer container in the passage of the first uncapping station. The second uncapping mechanism finishes the extraction or the release of the inner container in the outer container in the channel of the first uncapping station and releases the extracted inner container into the temporary storage container 10 on the temporary storage station or onto the second uncapping station. After the inner container is clamped and fixed by the second clamping mechanism 9 at the second uncapping station, the second uncapping mechanism extracts or releases the inner container.
In addition, be equipped with first locator on station and the second station of uncapping of keeping in, be equipped with the second locator on the mechanism 4 of uncapping of second, in this embodiment, first locator is the inductor, and the second locator is the response piece, and when the mechanism 4 of uncapping of second moved to the response piece and corresponds with corresponding inductor, the response piece triggered this inductor, and mounting bracket 8 stops to remove.
Example 2:
the present embodiment provides a method of opening a cover of a container structure using the opening device of embodiment 1, in which a plurality of inner containers 7 in an outer container 6 are provided, and the plurality of inner containers 7 are stacked in the axial direction of the outer container 6.
The uncovering method of the embodiment comprises the following steps:
s1: the mounting bracket 8 slides and drives the first cover opening mechanism 3 to move to correspond to the first cover opening station, the first driving mechanism drives the first grabbing mechanism 31 to move downwards to the first cover 311 which grabs the mechanism 31 to seal the upper end opening of the butt joint barrel 5, the isolation of the upper space and the lower space of the workbench 1 is realized under the non-working state, and the gas in the space above the workbench is prevented from entering the closed space below the workbench.
S2: the container structure is transferred into the docking cylinder 5 while the first sealing ring 51 effects a sealing connection between the inner wall of the docking cylinder 5 and the upper end of the outer wall of the outer container 6, and the bottom wall of the second sealing ring 314 sealingly abuts against the edge of the top surface of the outer lid 61 on the outer container 6.
S3: the first negative pressure device works to drive the first sucking disc body 311 to suck the outer cover 61 tightly, and the first driving mechanism drives the first grabbing mechanism 31 to move upwards so as to realize the extraction of the outer cover 61 on the outer container 6. After the first lid opening mechanism 3 grasps the outer lid 61, the rotary driver drives the tray 35 to rotate to the lower side of the outer lid 61 to receive and clamp the outer lid 61 to prevent the outer lid 61 from falling.
S4: the processing of the medium in the containment structure is completed.
S5: the mounting frame 8 slides to the first uncovering mechanism 3 corresponding to the first uncovering station, a driving mechanism drives the first grabbing mechanism 31 to move downwards until the outer cover 61 closes the upper end opening of the outer container 6, and meanwhile, the sealing cover 311 seals the upper end opening of the butt-joint barrel 5. The first negative pressure means stops operating to cause the first lid opening mechanism 3 to release the outer lid 6.
S6: and (5) conveying away the container structure which is subjected to the cover opening and closing operation, conveying the other container structure to be subjected to the cover opening and closing operation into the docking barrel 5, and repeating the steps S2-S5 until the cover opening and closing operation of all the container structures in the shielded space is completed.
The process of treating the media in the containment structure is as follows:
s4.1: the mounting rack 8 slides to the second cover opening mechanism 4 to correspond to the first cover opening station, the second driving mechanism drives the second grabbing mechanism to move downwards to the inner container 7 in the outer container 6 in the suction channel, and the second driving mechanism drives the second grabbing mechanism to move upwards so as to realize the extraction of the inner container 7. The mounting frame 8 slides to the second cover opening mechanism 4 to correspond to the temporary storage station, and the second driving mechanism drives the second grabbing mechanism to move downwards until the inner container 7 is abutted against the inner bottom wall of the temporary storage container 10. The second vacuum device is deactivated, so that the second gripping mechanism releases the inner container 7 and moves upwards, thereby completing the temporary storage of the inner container 7.
S4.2: and repeating the step S4.1 until the inner containers 7 from the first layer to the second layer from top to bottom in the outer containers 6 in the channel are extracted and released to a temporary storage station.
S4.3: the lowermost inner container 7 of the outer containers 6 is extracted and released to the second decapping station by the cooperation of the mounting frame and the second decapping mechanism 4.
S4.4: the second clamping mechanism 9 clamps and fixes the inner container 7 on the second uncovering station, the second negative pressure device starts to work, the second grabbing mechanism sucks the inner cover on the inner container 7, and the second driving mechanism drives the second grabbing mechanism to move upwards so as to finish the extraction of the inner cover on the inner container 7. The mounting bracket 8 is slid to the second uncapping mechanism 4 away from the second uncapping station to facilitate handling of the material in the inner container 7.
S4.5: after the materials in the inner container 7 are processed, the mounting frame 8 slides to the second cover opening mechanism 4 to correspond to the second cover opening station, the second driving mechanism drives the second grabbing mechanism to move downwards to the inner cover adsorbed by the second grabbing mechanism to close the upper end opening of the inner container 7 on the second cover opening station, and the second negative pressure device stops working, so that the second cover opening mechanism 4 releases the adsorbed inner cover onto the inner container 7.
S4.6: the second clamping mechanism 9 is opened to release the fixation of the inner container 7 which is processed by the materials, the second negative pressure device works, the second grabbing mechanism adsorbs the inner container 7 which is processed by the materials, the second driving mechanism drives the second grabbing mechanism to move upwards to realize the extraction of the inner container 7 which is processed by the materials, the mounting frame 8 slides to the second uncovering mechanism 4 to correspond to the first uncovering station, the second driving mechanism drives the second grabbing mechanism to move downwards to enable the outer bottom wall of the inner container 7 which is processed by the materials to be abutted against the inner bottom wall of the outer container 6, the second negative pressure device stops working to enable the second grabbing mechanism to release the inner container 7, and the second grabbing mechanism moves upwards.
S4.7: the second uncovering mechanism 4 extracts the inner container 7 on the temporary storage station to the second uncovering station, and after the uncovering-material processing-covering process is completed, the second uncovering mechanism 4 releases the inner container 7 to the outer container 6 in the channel.
S4.7: step S4.7 is repeated until all the inner containers 7 at the buffer station are released into the outer container 6 in the tunnel.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. The specific cap taking or closing procedures of the first cap opening mechanism and the second cap opening mechanism are different according to different containers, the working principles are consistent, no specific limitation is made herein, and the first cap opening mechanism and the second cap opening mechanism can be adaptively adjusted according to different containers. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.

Claims (12)

1. A lid opening device for a container structure, the container structure being located in a closed space, the container structure having an opening and being provided with a lid body structure, the lid opening device comprising: the device comprises a workbench (1), a mounting frame (8) and a first cover opening mechanism (3);
the workbench (1) is arranged at the upper end of the closed space, a channel is arranged between the workbench (1) and the closed space and used for communicating the closed space with the external space, the upper part of the container structure extends into the channel, and a first sealing ring (51) is arranged on the inner wall of the channel and used for being connected with the upper end of the outer side wall of the container structure in a sealing manner;
the mounting frame (8) is slidably arranged on the workbench (1), the first cover opening mechanism (3) is arranged on the mounting frame (8), and the mounting frame (8) is used for driving the first cover opening mechanism (3) to move to a position corresponding to the channel, so that the first cover opening mechanism (3) can grab the cover body structure on the container structure in the channel above the workbench (1) or release the grabbed cover body structure onto the container structure in the channel;
the first cover opening mechanism (3) is provided with a sealing cover (311) which is used for sealing the upper end opening of the channel when the first cover opening mechanism (3) is not in operation and sealing the top surface of the cover body structure when the first cover opening mechanism (3) grabs the cover body structure;
the sealing cover (311) comprises a cover body and a second sealing ring (314), the inner side wall of the second sealing ring (314) is connected with the outer side wall of the cover body in a sealing mode, the outer side wall of the second sealing ring (314) is used for being connected with the inner wall of the channel in a sealing mode, and the bottom wall of the second sealing ring (314) is used for being connected with the edge of the top surface of the cover body structure in a sealing mode;
the first cover opening mechanism (3) comprises a first grabbing mechanism (31) for grabbing or releasing the cover body structure of the container structure, and the first grabbing mechanism (31) is provided with a first grabbing part which extends into the cover body;
the workbench (1) is provided with a butt-joint barrel (5), the upper end and the lower end of the butt-joint barrel (5) are both open, the upper end of the butt-joint barrel is hermetically connected with the workbench (1), the lower end of the butt-joint barrel extends into the closed space, and the inner cavity of the butt-joint barrel (5) forms the channel;
a temporary storage station is arranged on the workbench (1) and used for temporarily storing the inner container (7).
2. A cover opening device for a container structure according to claim 1, wherein the first cover opening mechanism (3) further comprises a first driving mechanism provided on the mounting frame (8) and connected to the first gripping mechanism (31) for driving the first gripping mechanism (31) to move up and down relative to the mounting frame (8).
3. A cover opening device for a container structure according to claim 1, wherein the first gripping part is a first suction cup (313), the first suction cup (313) is connected with an air pipe (312), and the air pipe (312) passes through the cover body and is connected with an external air source.
4. An uncovering device for a container structure according to claim 1, characterised in that it further comprises a third driving mechanism (2), said third driving mechanism (2) being in driving connection with the working platform (1) for driving the working platform (1) towards or away from said enclosed space for sealing or uncovering the upper end opening of said enclosed space.
5. The lid opening device for a container structure according to claim 1, wherein the container structure comprises an outer container (6) and an inner container (7), the inner container (7) is located in the outer container (6), the lid structure is an outer lid (61), the outer lid (61) is arranged on the top opening of the outer container (6), and the inner lid is arranged on the top opening of the inner container (7);
the cover opening device further comprises a second cover opening mechanism (4), the second cover opening mechanism (4) is arranged on the mounting frame (8), and the mounting frame (8) is further used for driving the second cover opening mechanism (4) to move to correspond to the channel, so that the second cover opening mechanism (4) can grab or release the inner container (7) in the outer container (6) or the inner cover of the inner container (7);
the first cover opening mechanism (3) and the second cover opening mechanism (4) are arranged along the moving direction of the mounting frame (8).
6. A lid opening device for a container structure according to claim 5, wherein said second lid opening mechanism (4) comprises a second driving mechanism and a second grasping mechanism (41), said second driving mechanism is provided on the mounting frame (8) and connected to the second grasping mechanism (41) for driving the second grasping mechanism (41) to move up and down relative to the mounting frame (8), and the second grasping mechanism (41) is used for grasping or releasing the inner container (7) or the inner lid of the inner container (7).
7. Uncovering device for a container structure according to claim 6, characterised in that said second uncovering mechanism (4) further comprises a first gripping mechanism (42), said first gripping mechanism (42) being provided on the mounting frame (8) for gripping the inner container (7) when the second gripping mechanism (41) grips the inner container (7).
8. A lid opening device for a container structure according to claim 5, wherein a first lid opening station and a second lid opening station are provided on the table (1), the passage being provided in the first lid opening station, the second lid opening station being for fixing the inner container (7), the first lid opening station and the second lid opening station being arranged along the direction of movement of the mounting frame (8).
9. A decapping device for a container structure according to claim 8 wherein the first decapping station, the buffer station and the second decapping station are arranged along a moving direction of the mounting frame (8).
10. A method for opening a cover of a container structure by using the opening device according to any one of claims 1 to 9, comprising the steps of:
the mounting frame (8) slides to drive the first cover opening mechanism (3) to move to a position corresponding to a first cover opening station, and a sealing cover (311) on the first cover opening mechanism (3) seals an upper end opening of the channel;
the container structure is transferred into the channel, a first sealing ring (51) effecting a sealed connection between the inner wall of said channel and the outer wall of the container structure;
a first uncapping mechanism (3) extracts the cover structure on the container structure in the channel;
the mounting frame (8) is slidably moved to the first uncovering mechanism (3) away from the first uncovering station so as to facilitate the treatment of the medium in the container structure;
after the treatment of the medium in the container structure is completed, the mounting frame (8) slides to the first cover opening mechanism (3) to correspond to the first cover opening station, and the first cover opening mechanism (3) releases the extracted cover body structure to the container structure.
11. A method for uncovering according to claim 10 characterised in that the container structure comprises an outer container (6) and an inner container (7), the inner container (7) is located in the outer container (6), the cover structure is an outer cover (61), the outer cover (61) is covered on the top opening of the outer container (6), and the top opening of the inner container (7) is covered with the inner cover;
the cover opening device further comprises a second cover opening mechanism (4), the second cover opening mechanism (4) is arranged on the mounting frame (8), the mounting frame (8) is further used for driving the second cover opening mechanism (4) to be close to or far away from the channel, and the second cover opening mechanism (4) is used for grabbing or releasing the inner container (7) in the outer container (6) or the inner cover of the inner container (7) when moving to correspond to the channel;
the first cover opening mechanism (3) and the second cover opening mechanism (4) are arranged along the moving direction of the mounting frame (8);
a first uncovering station and a second uncovering station are arranged on the workbench (1), the channel is arranged on the first uncovering station, the second uncovering station is used for fixing the inner container (7), and the first uncovering station and the second uncovering station are arranged along the moving direction of the mounting rack (8);
the process of treating the media in the containment structure is as follows:
the mounting frame (8) slides to the second cover opening mechanism (4) to correspond to the first cover opening station, the second cover opening mechanism (4) extracts the inner container (7) in the outer container (6) in the channel, the mounting frame (8) slides to the second cover opening mechanism (4) to correspond to the second cover opening station, and the second cover opening mechanism (4) releases the inner container (7);
after the inner container (7) is fixed at the second uncovering station, the second uncovering mechanism (4) extracts the inner cover on the inner container (7), and the mounting frame (8) slides to the second uncovering mechanism (4) away from the second uncovering station so as to facilitate the processing of the material in the inner container (7);
after the materials in the inner container (7) are processed, the mounting frame (8) is slid to the second cover opening mechanism (4) to correspond to a second cover opening station, and the second cover opening mechanism (4) releases the extracted inner cover onto the inner container (7);
and releasing the fixing of the inner container (7), taking the inner container (7) by the second cover opening mechanism (4), sliding the rack to the second cover opening mechanism (4) to correspond to the first cover opening station, and releasing the taken inner container (7) into the outer container (6) in the channel by the second cover opening mechanism (4).
12. A door uncovering method according to claim 11 characterised in that the inner container (7) in the outer container (6) is provided in plural, plural inner containers (7) being stacked in the axial direction of the outer container (6);
the worktable (1) is also provided with a temporary storage station for temporarily storing the inner container (7), and the first uncovering station, the temporary storage station and the second uncovering station are sequentially arranged along the moving direction of the mounting rack (8);
the process of treating the medium in the container structure is as follows:
a: the mounting frame (8) drives the second cover opening mechanism (4) to move back and forth so as to extract and release the inner containers (7) from the first layer to the second layer from top to bottom in the outer container (6) in the channel to a temporary storage station, and extract and release the inner containers (7) at the lowest layer in the outer container (6) in the channel to the second cover opening station;
b: after the uncapping-material processing-closing cover (311) of the inner container (7) at the second uncapping station is completed, the second uncapping mechanism (4) releases the inner container (7) into the outer container (6) in the channel;
c: the second cover opening mechanism (4) extracts the inner container (7) on the temporary storage station to the second cover opening station, and after the cover opening-material processing-cover closing process is completed, the second cover opening mechanism (4) releases the inner container (7) to the outer container (6) in the channel;
d: and c, repeating the step c until all the inner containers (7) on the temporary storage station are released into the outer containers (6) in the channel.
CN202110667016.8A 2021-06-16 2021-06-16 Uncovering device and uncovering method for container structure Active CN113336160B (en)

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