CN113460649B - Automatic uranium conversion material feeding assembly with caching function - Google Patents

Automatic uranium conversion material feeding assembly with caching function Download PDF

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Publication number
CN113460649B
CN113460649B CN202110711191.2A CN202110711191A CN113460649B CN 113460649 B CN113460649 B CN 113460649B CN 202110711191 A CN202110711191 A CN 202110711191A CN 113460649 B CN113460649 B CN 113460649B
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CN
China
Prior art keywords
tank
butt joint
screw rod
conveying device
factory building
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CN202110711191.2A
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Chinese (zh)
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CN113460649A (en
Inventor
雷洁珩
李全兴
赵江南
雷泽勇
邓健
钟林
雷林
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University of South China
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University of South China
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/53—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices between conveyors which cross one another
    • B65G47/54—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices between conveyors which cross one another at least one of which is a roller-way
    • 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
    • B65G13/00—Roller-ways
    • B65G13/02—Roller-ways having driven rollers
    • B65G13/06—Roller driving means
    • B65G13/07—Roller driving means having endless driving elements
    • 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
    • B65G65/00—Loading or unloading
    • B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
    • B65G65/34—Emptying devices
    • B65G65/40—Devices for emptying otherwise than from the top
    • 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
    • B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
    • B65G69/18—Preventing escape of dust
    • B65G69/181—Preventing escape of dust by means of sealed systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Abstract

The automatic uranium conversion material feeding assembly with the caching function comprises a plant; the device also comprises a translation conveying device B, a translation conveying device C, a rotary lifting conveying device B, an auxiliary rod screwing device and a dust-raising prevention capping device which are fixedly arranged on the upper layer of the factory building; the sealing can kit moves back and forth among the translation conveying device B, the rotary lifting conveying device B and the translation conveying device C; the sealing tank kit comprises a positioning chassis, a sealing tank and a butt joint seat. The automatic feeding system is applied to uranium conversion materials, and can realize unattended UO in the third floor of a factory building2Automatic continuous feeding operation, and can realize automatic return of all empty tank containers in original way after feeding is completed, in order to realize automatic UO2The dosing operation provides the necessary structural support.

Description

Automatic uranium conversion material feeding assembly with caching function
Technical Field
The invention relates to the technical field of uranium conversion related equipment, in particular to an automatic uranium conversion material feeding assembly with a caching function.
Background
At present, China is adjusting the medium-long term development planning of nuclear power, strengthening the development of coastal nuclear power and scientifically planning the nuclear power construction in inland areas. With the rapid development of nuclear power, the installed capacity is rapidly increased, and higher requirements are provided for the supply of nuclear fuel.
The uranium ore is a main raw material for preparing nuclear fuel, and the whole preparation flow from the uranium ore to the nuclear fuel can be subjected to two steps of uranium purification and uranium conversion in sequence. Uranium purification refers to the conversion of uranium ore concentrates to refined UO2The production process of (1). Uranium conversion refers to conversion from refined UO2To UF6The production process of (1).
UO produced in uranium purification step2The powder material is stored in a special sealed container for standby. The sealed container is provided with a discharge hole which can be closed or opened at the lower end, and the capacity and the volume are designed to be smaller so as to be convenient for transportation or storage. When going to the uranium conversion step, it is necessary to seal the UO in the multi-tank vessel2The powder is discharged into a transfer silo, an operation known as UO2And (5) feeding operation.
In the current industry, UO2The feeding operation is carried out in the three-layer factory building. One floor of factory building is stored with a plurality of tanks filled with UO2A sealed container of powder material, a hydrofluorination device (for treating UO) which is communicated in sequence is arranged on the second floor of the factory building2) And a transfer bin, wherein a discharge port communicated with the transfer bin is arranged at the third floor of the plant, and the discharge port is used for receiving UO poured out from the sealed container2And (3) powder material. Executing UO2When the material feeding operation is carried out, the multi-tank sealed containers are lifted to the third floor of the factory building from the first floor of the factory building by a manually operated travelling crane, and then the sealed containers are butted with the discharge port one by one to pour the materials.
UO described above2The feeding operation has the following disadvantages:
1. the sealed container is manually lifted from the first floor of the factory building to the third floor of the factory building, and after the materials are butted and poured, the empty sealed container needs to be manually lifted back to the first floor of the factory building. The operation of up-and-down reciprocating lifting is time-consuming and labor-consuming, and the labor intensity of workers is high.
2. And operating personnel are required to be equipped in the third floor of the factory building all the time, and the operator is responsible for opening or closing the discharge hole at the lower end of the sealed container when the sealed container is in butt joint with the discharge hole. When the material is poured, the control screw rod is manually screwed to open the discharge hole at the lower end of the sealed container, and after the material is poured, the control screw rod is manually screwed to close the discharge hole at the lower end of the sealed container. The operation of manually opening and closing the sealed container wastes time and labor, and the manual labor intensity is high.
3. When the three buildings of the factory building are butted and poured, the UO2The powder material is easy to leak out from the contact surface between the discharge port of the sealed container and the discharge port of the third building of the factory building, and generates dust and UO2Has the characteristics of radioactivity, high stability and high stability,directly endangering the health of the operators located in the third floor of the factory building.
4. On the one hand, to avoid UO2The powder material is diffused to the outside of the factory building to pollute the environment, the factory building is isolated from the outside, and on the other hand, the second floor of the factory building is provided with hydrofluorination equipment, the operation temperature of the hydrofluorination equipment is very high, and the two aspects jointly cause the higher environment temperature in the factory building. In hot summer, the indoor temperature of the third building of the factory building is as high as 50-60 ℃, and the working environment of operators positioned in the third building of the factory building is very severe.
Based on the defects, a set of the catalyst is designed for UO2However, in the automatic feeding system, how to realize unattended automatic continuous feeding operation in the third floor of the factory building and realize automatic return of all empty tank containers in the original way after feeding is finished is the design difficulty of the whole automatic feeding system.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an automatic uranium conversion material feeding assembly with a cache function, which is applied to an automatic uranium conversion material feeding system, is used as an important component of the automatic uranium conversion material feeding system, and can realize unattended UO (unmanned open channel) in a third floor of a factory building2Automatic continuous feeding operation, and can realize automatic return of all empty tank containers in original way after feeding is completed, in order to realize automatic UO2The dosing operation provides the necessary structural support.
The technical scheme of the invention is as follows: the automatic uranium conversion material feeding assembly with the caching function comprises a plant; the interior of the factory building is divided into three layers in the vertical direction, the three layers are respectively a lower layer, a middle layer and an upper layer from bottom to top, a discharge port communicated to a transfer bin is arranged on a floor of the upper layer, a lifting channel communicated with the lower layer, the middle layer and the upper layer is arranged at the edge of a near wall of the factory building, a lower opening communicated with the lower end of the lifting channel is arranged on a wall body of the lower layer of the factory building, and an upper opening communicated with the upper end of the lifting channel is arranged on a wall body of the upper layer of the factory building;
the device also comprises a translation conveying device B, a translation conveying device C, a rotary lifting conveying device B, an auxiliary rod screwing device and a dust-raising prevention capping device which are fixedly arranged on the upper layer of the factory building; the sealing can kit moves back and forth among the translation conveying device B, the rotary lifting conveying device B and the translation conveying device C;
the sealing tank kit comprises a positioning chassis, a sealing tank and a butt joint seat; a pit for positioning the sealed tank is arranged in the positioning chassis, a slope surface is arranged on the side wall of the pit so that the size of the pit is gradually reduced from the upper end to the lower end, and a blanking port is arranged at the bottom of the pit; the sealing tank comprises a tank body, a screw rod, a nut and a conical annular plate; the tank body is internally provided with a gas inlet for accommodating UO2The lower end of the tank body is provided with a plurality of support legs and a discharge hole communicated to the inner cavity; the screw rod is rotatably arranged in the inner cavity of the tank body and is arranged along the axial direction of the tank body, and the upper end head of the screw rod extends out of the upper end of the tank body; the nut is in threaded connection with the screw rod; the conical annular plate is fixedly connected with the nut and moves along the axial direction of the tank body along with the nut so as to close or open the discharge hole; when the sealed tank is stably placed in the pit of the positioning chassis, the discharge port of the sealed tank is opposite to and attached to the blanking port of the positioning chassis, and the support legs of the sealed tank are abutted against the edge line of the bottom of the pit of the positioning chassis, so that the sealed tank is positioned; the lower end of the butt joint seat is detachably connected to the upper end head of the screw rod, and the upper end of the butt joint seat is provided with a second butt joint part;
the upper end of the translation conveying device B is provided with a rolling conveying surface D, two ends of the rolling conveying surface D are respectively provided with a tank inlet D and a tank discharge D, the tank inlet D is opposite to and close to an upper opening of the upper layer of the workshop, and the tank inlet D of the rolling conveying surface D is close to and flush with a rolling conveying surface of the elevator at the upper butt joint position;
a rolling conveying surface E is arranged at the upper end of the translation conveying device C, and a tank inlet and outlet opening B is formed in one end of the rolling conveying surface E;
the upper end of the rotary lifting conveying device B is provided with a rolling conveying surface F, one end of the rolling conveying surface F is provided with a tank inlet F, the other end of the rolling conveying surface F is provided with a discharge hole and a tank outlet F, the rotary lifting conveying device B can drive the rolling conveying surface F to lift in the vertical direction and/or rotate on the horizontal plane, so that the rolling conveying surface F is switched between a first posture and a second posture, when the rolling conveying surface F is in the first posture, the tank inlet F is closely adjacent and flush with the tank outlet D of the translation conveying device B, the tank outlet F is closely adjacent and flush with the tank inlet B of the translation conveying device C, and when the rolling conveying surface F is in the second posture, the discharge hole is vertically opposite to and closely adjacent to the discharge hole on the upper floor of the factory building;
the auxiliary twisting rod device comprises a multi-degree-of-freedom mechanical arm and a mechanical claw; one end of the multi-degree-of-freedom mechanical arm is fixedly arranged on a floor on the upper layer of a factory building, the other end of the multi-degree-of-freedom mechanical arm is connected with the mechanical claw, one end, connected with the multi-degree-of-freedom mechanical arm, of the mechanical claw is a fixed end, one end, relatively far away from the multi-degree-of-freedom mechanical arm, of the mechanical claw is a butt joint end, the mechanical claw is in butt joint with a second butt joint part on the upper end of the butt joint seat through the butt joint end, and the butt joint seat is screwed in a butt joint state;
the dust-raising prevention capping device comprises a mobile driving mechanism and a cover plate; remove actuating mechanism one end and install on the floor on factory building upper strata, the other end and apron are connected to the drive apron removes and then shields or open the bin outlet on the factory building upper strata floor.
The further technical scheme of the invention is as follows: the rotary lifting conveying device B comprises a scissor type lifting base F, a second rotary driving assembly, a support F, a roller assembly F, an end locking assembly and an end leg supporting assembly; the scissor type lifting base F is fixedly arranged on the ground on the upper layer of the factory building; the bracket F is rotatably arranged on the scissor type lifting base F through a second rotating driving component, and is driven by the scissor type lifting base F to do lifting motion in the vertical direction on one hand and driven by the second rotating driving component to do rotation in the horizontal plane on the other hand; the roller assembly F comprises a plurality of rollers F which are arranged in parallel and horizontally, the rollers F are rotatably arranged on a bracket F, and the rolling conveying surface F is formed by all the rollers F in the roller assembly F together at the upper ends; the roller F in the roller assembly F comprises four types of rollers, namely a long electric roller, a long common roller, a short electric roller and a short common roller, wherein the short electric roller and the short common roller are arranged on two sides of a discharge hole, each side of the discharge hole adopts a mode that the short electric rollers and the short common rollers are arranged in a staggered mode, the long electric rollers and the long common rollers are arranged at two ends of the discharge hole, and each end of the discharge hole adopts a mode that the long electric rollers and the long common rollers are arranged in a staggered mode; the end locking assembly is arranged on the support F, is positioned at one end of the support F relatively close to the tank discharge opening F, and is used for locking or unlocking a positioning chassis placed on the rolling conveying surface F; the end supporting leg assemblies are symmetrically arranged on two sides of the lower end, relatively close to the tank discharge opening F, of the support F, and the length of the end supporting leg assemblies can be extended and retracted, so that support is provided for the support F at different heights.
The further technical scheme of the invention is as follows: the second rotary driving component comprises a second driving motor, a gear C and a gear D; the second driving motor is fixedly arranged on the scissor type lifting base F; and the gear C is fixedly arranged on a crankshaft of the second driving motor, and the gear D is rotatably arranged on the scissor type lifting base F, is meshed with the gear C and is welded and fixed with the support F at the upper end.
The further technical scheme of the invention is as follows: the end locking assembly comprises a screw rod seat A, a bidirectional threaded screw rod, a nut A, a third driving motor, a Z-shaped connecting frame and an electromagnet; the screw rod seat A is fixedly arranged at the lower end of one end of the bracket F, which is relatively close to the tank discharging opening F; the two-way threaded screw rod is horizontally and movably arranged on the screw rod seat A and is positioned at the lower end of the bracket F, and two ends of the two-way threaded screw rod are provided with external threads with opposite thread turning directions; the two nuts A are respectively in threaded connection with external threads at two ends of the bidirectional threaded screw rod; the third driving motor is fixedly arranged on the screw rod seat A and is connected with one end of the bidirectional threaded screw rod through a coupler so as to drive the bidirectional threaded screw rod to rotate; the lower ends of the two Z-shaped connecting frames are fixedly connected to the two nuts A respectively, the upper ends of the two Z-shaped connecting frames extend into two sides of the upper end of the tank discharging port F respectively, the two Z-shaped connecting frames synchronously move in the same direction or synchronously move in the opposite direction under the driving of a third driving motor, and the upper ends of the two Z-shaped connecting frames extend into a region right above the tank discharging port F or exit from a region right above the tank discharging port F; two electromagnets are embedded and installed at the upper ends of the two Z-shaped connecting frames.
The further technical scheme of the invention is as follows: the end part leg supporting component comprises a screw rod seat B, a screw rod, a nut B, a fourth driving motor and an L-shaped leg support; the screw rod seat B is fixedly arranged at the lower end of one end of the bracket F, which is relatively close to the tank discharging opening F; the screw rod is vertically and movably arranged on the screw rod seat B and is positioned at the lower end of the bracket F; the nut B is connected to the screw rod in a threaded manner; the fourth driving motor is fixedly arranged on the screw rod seat B and is connected with the upper end of the screw rod through a coupler so as to drive the screw rod to rotate; the upper end of the L-shaped supporting leg is fixedly connected with the nut, and the lower end of the L-shaped supporting leg is provided with a flexible cushion pad.
The further technical scheme of the invention is as follows: the auxiliary screwing rod device also comprises a butt joint control assembly; the butt joint control assembly comprises a camera, an image comparison module and a control unit; the camera is directly or indirectly fixedly arranged on the fixed end of the mechanical claw and has a visual field range of the butt joint end of the mechanical claw; the image comparison module is connected with the camera in a communication mode; the signal input end of the control unit is connected with the image comparison module in a communication mode, and the signal output end of the control unit is respectively connected with the multi-degree-of-freedom mechanical arm and the speed reduction motor of the mechanical claw in a communication mode.
The further technical scheme of the invention is as follows: the mechanical claw comprises a speed reducing motor, a torque sensor, a base and a shifting finger; the speed reducing motor is fixedly arranged at the tail end of the multi-degree-of-freedom mechanical arm, the rear end of the torque sensor is connected with a crankshaft of the speed reducing motor, the front end of the torque sensor is connected with the base, the surface of one side of the base is connected with the front end of the torque sensor, three shifting fingers are fixedly connected to the surface of the other side of the base, and the three shifting fingers are uniformly distributed around the crankshaft of the speed reducing motor in an annular mode; correspondingly, the second butt joint part of the butt joint seat comprises three fan-shaped hollow-out areas which are uniformly distributed in an annular manner around the first butt joint part of the butt joint seat; the butt joint seat is in butt joint with the three shifting fingers of the mechanical claw through the three fan-shaped hollow areas and is driven to rotate by the mechanical claw.
The further technical scheme of the invention is as follows: the upper end of the screw rod of the sealing tank is provided with a prismatic column head; correspondingly, the first butt joint part of the butt joint seat is a prism hole matched with the prism head; the butt joint seat is detachably inserted on the prismatic head of the screw rod through the prismatic hole, and the screw rod is driven to rotate synchronously by the rotation of the butt joint seat.
The further technical scheme of the invention is as follows: an outer circle positioning surface and an annular step surface are sequentially arranged on the outer wall of the lower end of the sealing tank from bottom to top, and the outer circle positioning surface and the annular step surface are both positioned on the outer side of the discharge port; when the sealing tank is placed on the positioning base plate, the excircle positioning surface of the sealing tank and the inner wall surface of the blanking port of the positioning base plate form transition fit; the conical annular plate is cylindrical along a path swept by the screw rod in a moving way, and the cylindrical shape is defined as a first cylinder; the outer circle positioning surface extends towards the upper end and the lower end to form a space which is cylindrical, and the space is defined as a second cylinder; the second cylinder fully encloses the first cylinder.
The further technical scheme of the invention is as follows: the upper layer of the factory building is also provided with a negative pressure dust removal port communicated to the transfer bin; it also comprises negative pressure dust removing equipment; the negative pressure dust removing equipment comprises a shell, a filter element arranged in the shell and a negative pressure fan arranged in the shell; one end of the shell is provided with an air inlet, and the other end of the shell is provided with an air outlet; the air inlet of casing seal installation is on the negative pressure dust removal mouth on factory building upper strata, and the gas outlet of casing opens in factory building upper strata space, or communicates to the factory building outside through the tuber pipe.
The invention has the following advantages:
1. the automatic feeding system is applied to uranium conversion materials, and unattended UO can be realized in a factory building third floor2Automatic continuous feeding operation, and can realize automatic return of all empty tank containers in original way after feeding is completed, in order to realize automatic UO2The dosing operation provides the necessary structural support.
2. The translation conveying device B is used for caching the sealed tank to be fed, and the translation conveying device C is used for caching the empty sealed tank after feeding is completed. When the material is thrown, a batch of sealed cans to be thrown are conveyed to the translation conveying device B in a centralized mode to queue up, the rotary lifting conveying device B receives one sealed can on the translation conveying device B to throw the material, after the material is thrown, the empty sealed can is output to the translation conveying device C to be temporarily cached, the rotary lifting conveying device B repeats the operation until the material is thrown for one batch of sealed cans, and all the empty sealed cans are cached on the translation conveying device C. When the sealed cans are recovered, all the empty sealed cans return to the translation conveying device B in the original way to wait for the unloading of operators or other equipment. The continuous feeding operation of a batch of seal pots can be realized in the operation process, the input seal pot and the output seal pot both adopt a centralized operation mode, the operation time is saved, and the operation efficiency is improved.
3. Considering the UO2The powder material has the characteristics of radioactivity and easy dust raising, and the structure of the sealing tank is skillfully designed. The sealed tank is provided with a discharge port at the lower end, and the discharge port is closed and opened by attaching and separating the conical annular plate and the inner wall of the discharge port. When the discharge port is closed, sealing is realized by the attachment of the two conical surfaces, a sealing ring can be arranged between the two conical surfaces according to actual requirements, the sealing effect is good, and UO cannot occur2Powder leakage problem. When the discharge port is opened, an opening-adjustable annular gap, UO, is formed2The powder material falls through the annular gap, so that the dust generated due to the over-high discharging speed is avoided.
The invention is further described below with reference to the figures and examples.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the internal structure of a plant;
FIG. 3 is a schematic structural view of a sealed can kit;
FIG. 4 is a schematic structural view of a positioning chassis;
FIG. 5 is a schematic view showing the internal structure of the hermetic vessel;
FIG. 6 is a schematic structural view of the docking station;
FIG. 7 is a schematic structural view of the translation conveying device B;
FIG. 8 is a schematic structural view of the translation and transport device C;
FIG. 9 is a schematic view of the rotary elevating conveyor B from a perspective;
fig. 10 is a schematic structural view of the rotary elevating conveyor B from another view angle;
FIG. 11 is a schematic view of the auxiliary screw device;
FIG. 12 is a schematic structural view of a dust-proof cover device;
FIG. 13 is a schematic structural view of the translation conveying device A;
FIG. 14 is a schematic view of the rotary elevating conveyor A from one perspective;
fig. 15 is a schematic structural view of the rotary lifting and lowering conveyor a from another perspective;
FIG. 16 is a schematic structural view of a multi-level storage transporter;
FIG. 17 shows UO2Schematic state at the beginning of step S01 of the powder material continuous feeding method;
FIG. 18 shows a UO2A schematic state diagram of the powder material continuous feeding method S02 when the step a is finished;
FIG. 19 shows UO2A schematic state diagram of the powder material continuous feeding method S02 at the end of the step;
FIG. 20 shows UO2A state schematic diagram of the powder material continuous feeding method S03 at the end of the sub-step c;
FIG. 21 shows UO2A schematic state diagram of the powder material continuous feeding method S05 at the beginning of the sub-step of the step b;
fig. 22 is a schematic structural diagram of an automatic uranium conversion material feeding system to which the present invention is applied.
Description of the invention: the plant in figures 1 and 18 omits parts of the walls and the ceiling, only the walls adjacent to the elevators are kept, and the height of the lower floor of the plant is appropriately reduced so as to highlight the structure and the positional relationship of the components inside the plant; the length of the translation conveying device B shown in FIG. 7 does not represent the real length thereof, and the length can be adaptively designed according to actual needs when the translation conveying device B is applied; the length of the translation conveyor C shown in fig. 8 does not represent the actual length thereof, and the length can be adaptively designed according to actual needs when being applied.
Illustration of the drawings: a lower layer 11; a middle layer 12; an upper layer 13; a boom hoist 14; a transfer bin 15; a discharge opening 16; a lifting channel 17; a lower opening 18; an upper opening 19; a negative pressure dust removal port 10; a positioning chassis 21; a pit 211; a ramp surface 2111; a blanking port 2112; an outer circle positioning surface 2213; annular step surface 2214; a sealing can 22; a tank 221; legs 2211; a discharge port 2212; a screw 222; a prism head 2221; a nut 223; a conical annular plate 224; a docking cradle 23; the prism holes 231; a sector-shaped hollowed-out area 232; the translation conveying device A4; bracket B41; a roller B421; a tank inlet B422; a tank discharge port B423; a multi-stage storage conveyor 5; scissor lift base a 51; bracket a 52; a roller A531; a chassis outlet 532; a placement interval 54; a rotary lifting conveying device A6; scissor lift base C61; a first driving motor 621; gear a 622; gear B623; bracket C63; a roll C641; a tank inlet C642; a tank discharge port C643; the translation conveying device B7; bracket D71; a roller D721; a tank inlet D722; a tank discharge port D723; the translation conveyor C8; bracket E81; a roller E821; tank inlet and outlet B822; a rotary elevating conveyor B9; scissor lift base F91; a second drive motor 921; gear C922; a gear D923; bracket F93; a roller F941; a tank inlet F942; a discharge aperture 943; a tank discharge port F944; a screw base A951; a third drive motor 954; a Z-shaped shelf 955; a screw base B961; a screw rod 962; a fourth drive motor 964; an L-shaped support leg 965; a flexible cushion 9651; a multi-degree-of-freedom mechanical arm 101; a reduction motor 1021; a torque sensor 1022; a base 1023; a finger 1024; a camera 103; a movement driving mechanism 104; a cover plate 105.
Detailed Description
Example 1:
as shown in fig. 1 to 16, the uranium conversion material automatic feeding assembly with the buffering function comprises a factory building. The three-layer is divided into in the vertical direction to the factory building inside, from supreme lower floor 11 that is respectively down followed, middle level 12 and upper strata 13, lower floor 11 is equipped with cantilever crane 14, middle level 12 is equipped with the transfer feed bin 15 that has the feed inlet, be equipped with the bin outlet 16 that communicates to transfer feed bin 15 on the floor of upper strata 13, the factory building is equipped with in the edge that leans on the wall and link up lower floor 11, middle level 12 and upper strata 13's lift passageway 17, be equipped with on the wall body of factory building lower floor 11 and communicate to the lower uncovered 18 of lift passageway 17 lower extreme, be equipped with on the wall body of factory building upper strata 13 and communicate to the last uncovered 19 of lift passageway 16 upper end.
Automatic material assembly of throwing of uranium conversion material with buffer memory function still includes fixed setting at the translation conveyor B7, translation conveyor C8, rotatory lift conveyor B9, supplementary wrong pole device and the dustproof capping device of factory building upper strata 13. The uranium conversion material automatic feeding assembly with the buffering function further comprises a sealing tank suite which can move back and forth among the translation conveying device B7, the rotary lifting conveying device B9 and the translation conveying device C8.
The sealed can kit comprises a positioning chassis 21, a sealed can 22 and a docking cradle 23.
The positioning chassis 21 is internally provided with a pit 211 for positioning the sealed tank, the side wall of the pit 211 is provided with a slope surface 2111 so that the size of the pit 211 is gradually reduced from the upper end to the lower end, and the bottom of the pit 211 is provided with a blanking port 2112.
The sealing can 22 includes a can body 221, a screw 222, a nut 223, and a conical annular plate 224. The tank 221 is provided therein for accommodating UO2The inner cavity of the powder material, the lower end of the tank body 221 is provided with a plurality of support legs 2211 and a discharge hole 2212 communicated to the inner cavity. The screw 222 is rotatably installed in the inner cavity of the tank 221 and is arranged along the axial direction of the tank 221, the upper end of the screw 222 extends out of the upper end of the tank 221, and the upper end of the screw 222 is provided with a prismatic head 2221. Nut 223 is threaded onto threaded rod 222. The conical ring-shaped plate 224 is fixedly coupled to the nut 223 and moves along the axial direction of the can 221 with the nut 223 to close or open the discharge port 2212. When the sealed can 22 is stably placed in the concave pit 211 of the positioning chassis 21, the discharge port 2212 of the sealed can 22 is opposite to and attached to the blanking port 2112 of the positioning chassis 21, and the support legs 2211 of the sealed can 22 are abutted to the edge line of the bottom of the concave pit 211 of the positioning chassis 21, so that the positioning of the sealed can 22 is realized.
The docking seat 23 is provided with a first docking portion and a second docking portion, and the first docking portion is a prismatic hole 231 matched with the prismatic head 2221 of the screw 222. The docking seat 23 is detachably inserted into the prism head 2221 of the screw 222 through the prism hole 231, and the rotation of the docking seat 23 drives the screw 222 to rotate synchronously.
The translating conveyor B7 includes a carriage D71 and a roller assembly D. The bracket D71 is fixedly installed on the ground of the upper layer 13 of the factory building. The roller assembly D comprises a plurality of rollers D721 which are arranged in parallel and horizontally, the rollers D721 are rotatably installed on a support D71, all the rollers D721 in the roller assembly D form a rolling conveying surface D together at the upper end, two ends of the rolling conveying surface D are respectively provided with a tank inlet D722 and a tank outlet D723, and the tank inlet D722 is opposite to and close to the upper opening 19 of the upper layer 13 of the factory building. The rollers D721 in the roller assembly D include two types of electric rollers and common rollers, which are arranged in a staggered manner (2-3 common rollers are arranged between every two adjacent 2 electric rollers, and both ends of the rolling conveying surface D are electric rollers). The can entrance D722 of the translatory transport device B7 is located immediately adjacent and flush with the rolling transfer surface of the elevator in the upper docked position.
The translating conveyor C8 includes a carriage E81 and a roller assembly E. The support E81 is fixedly arranged on the ground of the upper layer 13 of the factory building. The roller assembly E comprises a plurality of rollers E821 which are arranged side by side and horizontally, the rollers E821 are rotatably installed on a support E81, all the rollers E821 in the roller assembly E form a rolling conveying surface E together at the upper end, and one end of the rolling conveying surface E is provided with a tank inlet and outlet B822. The roller E in the roller assembly E comprises two types of rollers, namely electric rollers and common rollers, wherein the two types of rollers are arranged in a staggered mode (2-3 common rollers are arranged between every two adjacent 2 electric rollers, and both ends of a rolling conveying surface E are the electric rollers).
The rotary elevating conveyor B9 includes a scissor lift base F91, a second rotary drive assembly, a bracket F93, a roller assembly F, an end lock assembly, and an end leg assembly. The scissor type lifting base F91 is fixedly arranged on the ground of the upper layer 13 of the factory building. The support F93 is rotatably mounted on the scissor type lifting base F91 through a second rotary driving assembly, and the support F93 is driven by the scissor type lifting base F91 to perform lifting movement in the vertical direction on one hand and is driven by the second rotary driving assembly to perform rotation in the horizontal plane on the other hand. The roller assembly F comprises a plurality of rollers F941 which are arranged in parallel and horizontally, the rollers F941 are rotatably installed on a support F93, all the rollers F941 in the roller assembly F jointly form a rolling conveying surface F at the upper end, one end of the rolling conveying surface F is provided with a tank inlet F942, the other end of the rolling conveying surface F is provided with a discharge hole 943 and a tank outlet F944, and the support F93 is communicated with the discharge hole 943 up and down. Roller F941 in roller subassembly F includes four kinds of cylinders of long electric roller, long ordinary roller, short electric roller, short ordinary roller, short electric roller and short ordinary roller are arranged in the both sides of relief hole 943, in arbitrary one side of relief hole 943, all adopt the mode of short electric roller and short ordinary roller staggered arrangement (arrange 2-3 short ordinary rollers between every 2 adjacent short electric roller), long electric roller and long ordinary roller are arranged at the both ends of relief hole 943, in arbitrary one end of relief hole 943, all adopt the mode of long electric roller and long ordinary roller staggered arrangement (arrange 2-3 long ordinary rollers between every 2 adjacent long electric roller). The end locking assembly is arranged on the bracket F93 and is positioned at one end of the bracket F93, which is relatively close to the tank discharge opening F944, and is used for locking or unlocking the positioning chassis 21 placed on the rolling conveying surface F, when the positioning chassis 21 is locked, the blanking opening 2112 of the positioning chassis 21 is vertically opposite to the discharge hole 943 of the rotary lifting conveying device B9, and when the positioning chassis 21 is unlocked, the positioning chassis 21 can be discharged from the tank discharge opening F944 of the rolling conveying surface F. The end leg assemblies are symmetrically disposed on opposite sides of the lower end of the leg support frame F93 opposite the can discharge opening F944 and are extendable and retractable in length to provide support for the leg support frame F93 at different heights. The rolling conveying surface F at the upper end of the rotary lifting conveying device B9 can ascend and descend in the vertical direction and/or rotate on the horizontal plane, so that the rolling conveying surface F is switched between a first posture and a second posture, when the rolling conveying surface F is in the first posture, the tank inlet F942 is adjacent and flush with the tank outlet D723 of the translation conveying device B7, the tank outlet F944 is adjacent and flush with the tank inlet and outlet B822 of the translation conveying device C8, and when the rolling conveying surface F is in the second posture, the discharge hole 943 is vertically opposite and adjacent to the discharge port 16 on the floor 13 of the factory building.
The auxiliary twisting rod device comprises a multi-degree-of-freedom mechanical arm 101 and a mechanical claw. One end of the multi-degree-of-freedom mechanical arm 101 is fixedly installed on the floor of the upper layer 13 of the factory building, the other end of the multi-degree-of-freedom mechanical arm 101 is connected with a mechanical claw, one end, connected with the multi-degree-of-freedom mechanical arm 101, of the mechanical claw is a fixed end, one end, relatively far away from the multi-degree-of-freedom mechanical arm 101, of the mechanical claw is a butt joint end, the mechanical claw is in butt joint with a second butt joint portion at the upper end of the butt joint seat 23 through the butt joint end, and the butt joint seat 23 is screwed in a butt joint state.
The dust-proof cover device includes a movement driving mechanism 104 and a cover plate 105. The moving driving mechanism 104 has one end installed on the floor of the upper layer 13 of the factory building and the other end connected to the cover plate 105 to drive the cover plate 105 to move to shield or open the discharge opening 16 on the floor of the upper layer 13 of the factory building.
Preferably, the outer wall of the lower end of the sealing can 22 is provided with an outer circle positioning surface 2213 and an annular step surface 2214 in sequence from bottom to top, and both the outer circle positioning surface 2213 and the annular step surface 2214 are positioned on the outer side of the discharge hole 2212. When the sealed pot 22 is placed on the positioning base plate 21, the outer circle positioning surface 2213 of the sealed pot 22 forms transition fit with the inner wall surface of the blanking port 2112 of the positioning base plate 21. The path traversed by conical annular plate 224 along screw 222 is cylindrical, defining the cylinder as the first cylinder. The outer circle positioning surface 2213 extends to the upper end and the lower end to form a cylindrical space, and the cylindrical space is defined as a second cylinder. The second cylinder fully encloses the first cylinder. Based on the structure, on one hand, UO in feeding operation can be solved to a greater extent2The powder material is floated and volatilized, and on the other hand, the stability of the combination of the sealing tank and the positioning chassis is ensured.
Preferably, the second rotary drive assembly includes a second drive motor 921, a gear C922 and a gear D923. A second drive motor 921 is fixedly mounted on scissor lift base F91. The gear C922 is fixedly installed on the crankshaft of the second driving motor 921, and the gear D923 is rotatably installed on the scissor lift base F91, and is engaged with the gear C922, and is welded to the bracket F93 at the upper end.
Preferably, the end locking assembly includes a screw mount a951, a two-way threaded screw, a nut a, a third drive motor 954, a Z-bracket 955, and an electromagnet. The screw mount A951 is fixedly mounted at the lower end of one end of the support F93 relatively close to the can discharge port F944. The bidirectional threaded screw rod is horizontally arranged and movably mounted on the screw rod seat A951 and is positioned at the lower end of the support F93, and external threads with opposite thread turning directions are arranged at two ends of the bidirectional threaded screw rod. The two nuts A are respectively in threaded connection with external threads at two ends of the bidirectional threaded screw rod. The third driving motor 954 is fixedly mounted on the screw seat a951, and is connected with one end of the bidirectional threaded screw rod through a coupler so as to drive the bidirectional threaded screw rod to rotate. The lower ends of the two Z-shaped connecting frames 955 are respectively fixedly connected to the two nuts a, the upper ends of the two Z-shaped connecting frames respectively extend into two sides of the upper end of the tank discharging port F944, the two Z-shaped connecting frames 955 synchronously move in the same direction or synchronously move back to back under the driving of the third driving motor 954, and further extend into an area right above the tank discharging port F944 or exit from an area right above the tank discharging port F944 at the upper ends. Two electromagnets are embedded in the upper ends of the two Z-shaped brackets 955.
Preferably, the end leg assembly includes a screw base B961, a screw 962, a nut B, a fourth drive motor 964, and an L-shaped leg 965. A screw boss B961 is fixedly mounted to the lower end of the bracket F93 at an end relatively close to the tank discharge port F944. The screw rod 962 is vertically and movably arranged on the screw rod seat B961 and is positioned at the lower end of the bracket F93. The nut B is screwed on the screw rod 962. The fourth driving motor 964 is fixedly installed on the screw rod seat B961 and connected with the upper end of the screw rod 962 through a coupler so as to drive the screw rod 962 to rotate. L-shaped supporting leg 965 is fixedly connected to upper end and nut 963, and has a flexible buffering pad 9651 at lower end.
Preferably, the gripper includes a reduction motor 1021, a torque sensor 1022, a base 1023, and a finger 1024. The speed reducing motor 1021 is fixedly installed at the tail end of the multi-degree-of-freedom mechanical arm 101, the rear end of the torque sensor 1022 is connected with a crankshaft of the speed reducing motor 1021, the front end of the torque sensor 1021 is connected with the base 1023, the base 1023 is connected with the front end of the torque sensor 1022 on one side surface, three shifting fingers 1024 are fixedly connected to the other side surface, and the three shifting fingers 1024 are uniformly distributed around the crankshaft of the speed reducing motor 1021 in an annular mode. Correspondingly, the second docking portion of the docking station 23 is three fan-shaped hollow areas 232 uniformly distributed around the prism hole 231 in a ring shape. The docking seat 23 is docked with three fingers 1024 of the gripper through three fan-shaped hollow areas 232, and is driven by the gripper to rotate.
Preferably, a first bump for image recognition to position the pose of the docking seat is arranged at the edge of the docking seat 23. Correspondingly, a second bump for image recognition and positioning of the pose of the mechanical claw is arranged at the edge of the finger 1024 of the mechanical claw.
Preferably, the auxiliary screwing rod device further comprises a docking control assembly, and the docking control assembly comprises a camera 103, an image comparison module and a control unit. The camera 103 is mounted directly or indirectly fixed on the fixed end of the gripper with a view of the butt end of the gripper. The image comparison module is connected with the camera 103 in a communication mode. The signal input end of the control unit is connected with the image comparison module in a communication mode, and the signal output end of the control unit is respectively connected with the multi-degree-of-freedom mechanical arm 101 and the speed reduction motor 1021 of the mechanical gripper in a communication mode.
Preferably, the multi-degree-of-freedom mechanical arm 101 is composed of at least three lead screw nut pairs, and the lead screw nut pairs can drive the mechanical claws to move within a certain space range.
Preferably, the moving driving mechanism 104 is a horizontally arranged sliding table of lead screw nuts, which can drive the cover plate 105 to move linearly and reciprocally on the horizontal plane.
Preferably, the support F93 is provided with a row of deviation-rectifying wheels on each side of the rolling conveying surface F, and the two rows of deviation-rectifying wheels are arranged oppositely to define the moving path of the positioning chassis on the rolling conveying surface F together.
Preferably, the upper layer 13 of the factory building is also provided with a negative pressure dust removal port 10 communicated to the transfer bin. The automatic uranium conversion material feeding system further comprises negative pressure dust removal equipment (not shown in the figure); the negative pressure dust removing equipment comprises a shell, a filter element arranged in the shell and a negative pressure fan arranged in the shell; one end of the shell is provided with an air inlet, and the other end of the shell is provided with an air outlet; the air inlet of casing seal installation is on the negative pressure dust removal mouth on factory building upper strata, and the gas outlet of casing opens in factory building upper strata space, or communicates to the factory building outside through the tuber pipe. Based on this structure, when throwing the material operation, start negative-pressure air fan, can effectively restrain the inside raise dust of transfer feed bin 15 in negative pressure dust removal mouth 10 department production negative pressure, avoided the UO at to a great extent2The powder material leaks/drifts out from the contact surface between the discharge port 2212 of the sealed tank 22 and the discharge port 16 of the upper layer 13 of the factory building.
As shown in fig. 17 to 21, the uranium transformation material automatic feeding assembly with a buffering function is provided with two application methods which are sequentially connected from front to back, namely UO2A powder material continuous feeding method and a sealed tank set recycling method.
Before the material operation is thrown in the execution, uranium conversion material automatic feeding assembly that has buffer memory function is in initial condition, under initial condition:
a. the rolling conveying surface F of the rotary lifting conveying device B9 is in a first posture;
b. the electromagnet of the end locking assembly remains energized, and the upper end of the Z-shaped bracket 955 extends into the region directly above the can discharge port F944;
c. the L-shaped legs 965 of the end leg assemblies are in lower contact with the floor of the upper floor 13 of the plant;
d. the cover plate 105 of the dust-proof cover device shields the discharge opening 16 of the upper layer 13 of the factory building;
e. the image comparison module stores an image of the mechanical claw in the docking seat 23 in advance, and the image is shot by the camera 103.
UO2The continuous feeding method of the powder material comprises the following steps:
and S01, conveying the sealed tank suite to the rotary lifting conveying device B:
a. after a sealed can kit to be fed is placed on a rolling conveying surface D of a translation conveying device B7, a roller assembly D is started to drive the sealed can kit to move on the rolling conveying surface D until the sealed can kit is discharged from a can discharge opening D723, and then the sealed can kit enters a rolling conveying surface F of a rotary lifting conveying device B9 through a can inlet F942;
b. and the roller assembly F is started to drive the sealing tank suite arranged on the roller assembly F to move towards the tank discharge port F of the rolling conveying surface F, and when the sealing tank suite moves to be right above the rotating center of the support F, the roller assembly F stops acting to ensure the stability in subsequent rotation.
S02, the rotary elevating conveyor B is changed to the second posture:
a. the scissor type lifting base F91 is started to lift the bracket F93 and the roller assembly F, so that the bracket F93 and the roller assembly F are prevented from interfering with the translation conveying device B7 and the translation conveying device C8 during subsequent rotation;
b. the second rotary driving component is started to drive the bracket F93 and the roller component F to rotate 90 degrees on the horizontal plane;
c. starting the scissor type lifting base F91, lowering the bracket F93 and the roller assembly F, and changing the rolling conveying surface F into a second posture;
d. the roller assembly F is started to drive the sealing tank suite arranged on the roller assembly F to move towards the tank discharge opening F of the rolling conveying surface F, when the positioning chassis of the sealing tank suite is contacted with the electromagnet, the positioning chassis is immediately adsorbed and fixed by the electromagnet, and meanwhile, the roller assembly F stops acting;
when the step is finished, the blanking port 2112 of the positioning chassis 21, the discharge hole 943 of the rotary lifting conveying device B9 and the discharge port 16 of the upper layer 13 of the factory building are sequentially communicated from top to bottom;
in the step, the following operations are executed while the a-d steps are carried out: the movable driving mechanism is started to drive the cover plate to leave the discharge opening 16, so that the discharge opening 16 of the upper layer 13 of the factory building is opened.
S03, the current sealed tank kit executes feeding:
a. the camera 103 is started to obtain a real-time image of the butt joint end of the gripper, the image comparison module compares the real-time shooting image of the camera 103 with a prestored image and feeds the comparison result back to the control unit, the control unit controls and adjusts the pose of the multi-degree-of-freedom mechanical arm 101 and the action of the gripper according to the image comparison result to enable the real-time shooting image and the prestored image to gradually converge, and when the similarity between the real-time shooting image and the prestored image reaches or is higher than 95%, the butt joint is completed; at this time, three fingers 1024 of the gripper are respectively inserted into the three fan-shaped hollow areas 232 of the docking seat 23;
b. the gear motor 1021 of gripper starts, drives base 1023 and finger 1024 and rotates, drives through finger 1024 and to dock the screw rod 222 rotation of seat 23 and seal pot 22, and then drives nut 223 and conical ring shape board 224 and remove along screw rod 222 to open discharge gate 2212 with seal pot 22 lower extreme, UO in the seal pot 22 inner chamber2The powder material is discharged from the discharge port 2212, and then is put into the transfer bin 15 of the workshop middle layer 12 through the blanking port 2112 of the positioning chassis 21, the discharge hole 943 of the rotary lifting conveying device B9 and the discharge port 16 of the workshop upper layer 13 in sequence;
c. after the feeding is finished, the speed reducing motor 1021 of the mechanical claw is started to drive the base 1023 and the shifting finger 1024 to rotate, the shifting finger 1024 drives the butt joint seat 23 and the screw 222 of the sealed tank 22 to rotate, and then the nut 223 and the conical annular plate 224 are driven to move along the screw 222, so that the discharge hole 2212 at the lower end of the sealed tank 22 is closed;
d. the multi-degree-of-freedom mechanical arm 101 acts to move the mechanical claw upwards, so that the three fingers 1024 of the mechanical claw exit from the three fan-shaped hollow areas 232 of the butt joint seat;
in the step b, the negative pressure fan is started while the step b is carried out, negative pressure is generated at the negative pressure dust removal port 10, so that dust flying in the transfer material bin 15 is inhibited, and UO is avoided2The powder material leaks/drifts out from the contact surface between the discharge port 2212 of the sealed tank 22 and the discharge port 16 of the upper layer 13 of the factory building.
S04, the rotary elevating conveyor B is changed to the first posture:
a. the scissor type lifting base F91 is started to lift the bracket F93 and the roller assembly F, so that the bracket F93 and the roller assembly F are prevented from interfering with the translation conveying device B7 and the translation conveying device C8 during subsequent rotation;
b. the second rotary driving component is started, and the driving bracket F93 and the roller component F rotate for 90 degrees on the horizontal plane;
c. the scissor lift base F91 is actuated to lower the carriage F93 and roller assembly F to change the rolling conveying surface F to the first attitude.
S05, transferring the empty sealed can kit onto the translating conveyor C:
a. the electromagnet is powered off to release the relative fixed relation between the Z-shaped connecting frame 955 and the positioning chassis 21, and then, the third driving motor is started to drive the two Z-shaped connecting frames 955 to move back to back, so that the two Z-shaped connecting frames exit from the region right above the can discharge opening F944, and the sealed can kit can be conveniently discharged from the can discharge opening F944 in the subsequent step;
b. the roller assembly F is started, and drives the sealed can bundle placed on the rolling conveyance plane F to move to the can discharge port F944, and after the sealed can bundle is discharged from the can discharge port F944, the sealed can bundle enters the rolling conveyance plane E of the translation conveyance device C8 through the can entrance/exit port B822, and is temporarily placed on the rolling conveyance plane E.
S06, sequentially feeding multiple groups of sealing can kits:
a. repeatedly executing the steps S01-S05 for multiple times to finish the feeding operation of the plurality of groups of sealed tank suites, and finishing the feeding operation of the group of sealed tank suites after executing each round of the steps S01-S05;
b. when the predetermined number of groups of the sealed can sets have finished the feeding operation, the empty sealed can sets are temporarily placed on the rolling conveying surface E of the translation conveyor C8.
The recovery method of the sealed tank set comprises the following steps:
the roller assembly E is started to drive the seal pot assemblies placed on the rolling conveyance plane E to move to the pot inlet and outlet port B822, and all the seal pot assemblies are sequentially discharged from the pot inlet and outlet port B822. After being discharged from the can inlet/outlet port B822, the sealed can bundle enters the rolling conveying surface F of the rotary elevating conveyor B9 through the can outlet port F944, and then the roller assembly F is started to drive the sealed can bundle placed on the rolling conveying surface F to move to the can inlet port F942 until the sealed can bundle is discharged from the can inlet port F942; after being discharged from the can inlet F942, the sealed can assembly enters the rolling conveying surface D of the translation conveying device B7 through the can outlet D944 to be subjected to subsequent unloading processing by an operator or other equipment.
The automatic uranium conversion material feeding system further comprises a lifting elevator arranged in the lifting channel 17, a translation conveying device A4 fixedly arranged on the lower layer 11 of a workshop, a multi-level storage conveying device 5 and a rotary lifting conveying device A6, as shown in figures 1-22.
The multi-stage storage and transportation device 5 is used for storing a plurality of positioning chassis 21 and can transport the stored positioning chassis 21 to the translation transportation device a 4. The translation conveying device A4, the rotary lifting conveying device A6 and the elevator are communicated in sequence to form a conveying link for conveying the sealed tank suite, and the conveying link can convey the sealed tank suite to the translation conveying device B.
The elevator comprises a lifting platform 31, a traction drive and a transmission mechanism. The lifting platform 31 is installed in the lifting channel 17 through a traction driving device and performs lifting motion in the vertical direction. The transmission mechanism comprises a plurality of rollers 321 which are arranged in parallel and horizontally, the rollers 321 are rotatably installed on the lifting platform 31, all the rollers 321 form a rolling transmission surface together at the upper end, one end of the rolling transmission surface is provided with a tank inlet and outlet A322, and the rolling transmission surface synchronously moves up and down along with the lifting platform 31 so as to move back and forth between an upper butt joint position and a lower butt joint position. The rollers 321 in the conveying mechanism include two types of motorized rollers and common rollers, and the two types of rollers are arranged in a staggered manner (2-3 common rollers are arranged between every two adjacent motorized rollers, and both ends of the rolling conveying surface are motorized rollers). When the rolling conveying surface of the elevator is in the upper docking position, the rolling conveying surface is immediately adjacent and flush with the tank inlet D722 of the translatory transport device B7. When the rolling transfer surface of the elevator is in the lower docking position, the rolling transfer surface is immediately adjacent and flush with the discharge opening C643 of the rotary elevating conveyor a6 (in the second posture state).
The translation conveyor a4 includes a bracket B41 and a roller assembly B. The support B41 is fixedly arranged on the ground of the lower floor 11 of the factory building. The roller assembly B comprises a plurality of rollers B421 which are arranged in parallel and horizontally, the rollers B421 are rotatably installed on a support A41, all the rollers B421 in the roller assembly B form a rolling conveying surface B together at the upper end, and the two ends of the rolling conveying surface B are respectively provided with a tank inlet B422 and a tank outlet B423. The roller B421 in the roller assembly B comprises two types of rollers, namely electric rollers and common rollers, which are arranged in a staggered manner (2-3 common rollers are arranged between every two adjacent 2 electric rollers, and both ends of the rolling conveying surface B are the electric rollers).
The multi-tier storage and transportation apparatus 5 includes a scissor lift base a51, a stand a52, and a roller assembly a. The scissor type lifting base A51 is fixedly installed on the ground of the lower layer 11 of the factory building. Bracket a52 is attached to scissor lift base a51 and is driven by scissor lift base a51 to move vertically. The multiple groups of roller assemblies A are arranged on the bracket A52 at intervals from top to bottom, and a placement section 54 for placing the butt joint seat is arranged between the adjacent roller assemblies A. The roller assembly A comprises a plurality of rollers A531 which are arranged in parallel and horizontally, the rollers A531 are rotatably installed on a support A, all the rollers A531 in the roller assembly A form a rolling conveying surface A at the upper end together, and a chassis inlet and a chassis outlet 532 are respectively arranged at the two ends of the rolling conveying surface A. The roller A in the roller assembly A comprises electric rollers and common rollers which are arranged in a staggered mode (2-3 common rollers are arranged between every two adjacent electric rollers, and the two ends of the rolling conveying surface A are both the electric rollers). The plurality of rolling conveying surfaces A (driven by the scissor type lifting base A51) arranged from top to bottom inside the multi-level storage and conveying device 5 synchronously lift in the vertical direction, and the chassis outlet 532 of each rolling conveying surface A can be moved to be adjacent to and flush with the tank inlet B422 of the translation conveying device A4 through lifting.
The rotary elevating conveyor a6 includes a scissor lift base C61, a first rotary drive assembly, a bracket C63 and a roller assembly C. The scissor type lifting base C61 is fixedly installed on the ground of the lower floor 11 of the factory building. The support C63 is rotatably mounted on the scissor lift base C61 by a first rotary drive assembly which is driven by the scissor lift base C61 for vertical lifting movement on the one hand and by the first rotary drive assembly for horizontal rotation on the other hand. The roller assembly C comprises a plurality of rollers C641 which are arranged side by side and horizontally, the rollers C641 are rotatably installed on a bracket C63, all the rollers C641 in the roller assembly C form a rolling conveying surface C together at the upper end, and the two ends of the rolling conveying surface C are respectively provided with a tank inlet C642 and a tank outlet C643. The rollers C641 in the roller assembly C include two types of electric rollers and common rollers, which are arranged in a staggered manner (2-3 common rollers are arranged between every two adjacent electric rollers, and both ends of the rolling conveying surface C are electric rollers). The rolling conveying surface C at the upper end of the rotary lifting conveying device A6 can be lifted in the vertical direction and/or rotated on the horizontal plane, so that the rolling conveying surface C can be switched between a first position and a second position, when the rolling conveying surface C is in the first position, the tank inlet C642 is closely adjacent to and flush with the tank outlet B423 of the translation conveying device A4, and when the rolling conveying surface C is in the second position, the tank outlet C643 is closely adjacent to and flush with the rolling conveying surface of the elevator in the lower butt joint position.

Claims (10)

1. The automatic uranium conversion material feeding assembly with the caching function comprises a plant; the interior of the factory building is divided into three layers in the vertical direction, the three layers are respectively a lower layer, a middle layer and an upper layer from bottom to top, a discharge port communicated to a transfer bin is arranged on a floor of the upper layer, a lifting channel communicated with the lower layer, the middle layer and the upper layer is arranged at the edge of a near wall of the factory building, a lower opening communicated with the lower end of the lifting channel is arranged on a wall body of the lower layer of the factory building, and an upper opening communicated with the upper end of the lifting channel is arranged on a wall body of the upper layer of the factory building;
the method is characterized in that: the device also comprises a translation conveying device B, a translation conveying device C, a rotary lifting conveying device B, an auxiliary rod screwing device and a dust-raising prevention capping device which are fixedly arranged on the upper layer of the factory building; the sealing can kit moves back and forth among the translation conveying device B, the rotary lifting conveying device B and the translation conveying device C;
the sealing tank kit comprises a positioning chassis, a sealing tank and a butt joint seat; a pit for positioning the sealed tank is arranged in the positioning chassis, a slope surface is arranged on the side wall of the pit so that the size of the pit is gradually reduced from the upper end to the lower end, and a blanking port is arranged at the bottom of the pit; the sealing tank comprises a tank body, a screw rod, a nut and a conical annular plate; the tank body is internally provided with a groove for accommodating UO2The lower end of the tank body is provided with a plurality of support legs and a discharge hole communicated to the inner cavity; the screw rod is rotatably arranged in the inner cavity of the tank body and is arranged along the axial direction of the tank body, and the upper end head of the screw rod extends out of the upper end of the tank body; the nut is in threaded connection with the screw rod; the conical annular plate is fixedly connected with the nut and moves along the axial direction of the tank body along with the nut so as to close or open the discharge hole; when the sealing tank is stably placed in the pit of the positioning chassis, the discharge port of the sealing tank is opposite to and attached to the blanking port of the positioning chassis, and the support legs of the sealing tank are abutted against the edge line of the bottom of the pit of the positioning chassis, so that the positioning of the sealing tank is realized; the lower end of the butt joint seat is detachably connected to the upper end head of the screw rod, and the upper end of the butt joint seat is provided with a second butt joint part;
the upper end of the translation conveying device B is provided with a rolling conveying surface D, two ends of the rolling conveying surface D are respectively provided with a tank inlet D and a tank discharge D, the tank inlet D is opposite to and close to an upper opening of the upper layer of the workshop, and the tank inlet D of the rolling conveying surface D is close to and flush with a rolling conveying surface of the elevator at the upper butt joint position;
a rolling conveying surface E is arranged at the upper end of the translation conveying device C, and a tank inlet and outlet opening B is formed in one end of the rolling conveying surface E;
the upper end of the rotary lifting conveying device B is provided with a rolling conveying surface F, one end of the rolling conveying surface F is provided with a tank inlet F, the other end of the rolling conveying surface F is provided with a discharge hole and a tank outlet F, the rotary lifting conveying device B can drive the rolling conveying surface F to vertically lift and/or rotate on a horizontal plane, so that the rolling conveying surface F is switched between a first posture and a second posture, when the rolling conveying surface F is in the first posture, the tank inlet F is closely adjacent and flush with the tank outlet D of the translation conveying device B, the tank outlet F is closely adjacent and flush with the tank inlet and outlet B of the translation conveying device C, and when the rolling conveying surface F is in the second posture, the discharge hole is vertically opposite to and closely adjacent to the discharge hole in the upper floor of the factory building;
the auxiliary twisting rod device comprises a multi-degree-of-freedom mechanical arm and a mechanical claw; one end of the multi-degree-of-freedom mechanical arm is fixedly arranged on a floor on the upper layer of a factory building, the other end of the multi-degree-of-freedom mechanical arm is connected with the mechanical claw, one end, connected with the multi-degree-of-freedom mechanical arm, of the mechanical claw is a fixed end, one end, relatively far away from the multi-degree-of-freedom mechanical arm, of the mechanical claw is a butt joint end, the mechanical claw is in butt joint with a second butt joint part on the upper end of the butt joint seat through the butt joint end, and the butt joint seat is screwed in a butt joint state;
the dust-raising prevention capping device comprises a mobile driving mechanism and a cover plate; remove actuating mechanism one end and install on the floor on factory building upper strata, the other end and apron are connected to the drive apron removes and then shields or open the bin outlet on the factory building upper strata floor.
2. The uranium conversion material automatic feeding assembly with the caching function of claim 1, wherein: the rotary lifting conveying device B comprises a scissor type lifting base F, a second rotary driving assembly, a support F, a roller assembly F, an end locking assembly and an end leg supporting assembly; the scissor type lifting base F is fixedly arranged on the ground on the upper layer of the factory building; the bracket F is rotatably arranged on the scissor type lifting base F through a second rotating driving component, and is driven by the scissor type lifting base F to do lifting motion in the vertical direction on one hand and driven by the second rotating driving component to do rotation in the horizontal plane on the other hand; the roller assembly F comprises a plurality of rollers F which are arranged in parallel and horizontally, the rollers F are rotatably arranged on a bracket F, and the rolling conveying surface F is formed by all the rollers F in the roller assembly F together at the upper ends; the roller F in the roller assembly F comprises four types of rollers, namely a long electric roller, a long common roller, a short electric roller and a short common roller, wherein the short electric roller and the short common roller are arranged on two sides of a discharge hole, each side of the discharge hole adopts a mode that the short electric rollers and the short common rollers are arranged in a staggered mode, the long electric rollers and the long common rollers are arranged at two ends of the discharge hole, and each end of the discharge hole adopts a mode that the long electric rollers and the long common rollers are arranged in a staggered mode; the end locking assembly is arranged on the support F, is positioned at one end of the support F relatively close to the tank discharge opening F, and is used for locking or unlocking a positioning chassis placed on the rolling conveying surface F; the end supporting leg assemblies are symmetrically arranged on two sides of the lower end, relatively close to the tank discharge opening F, of the support F, and the length of the end supporting leg assemblies can be extended and retracted, so that support is provided for the support F at different heights.
3. The uranium conversion material automatic feeding assembly with a caching function as defined in claim 2, wherein: the second rotary driving component comprises a second driving motor, a gear C and a gear D; the second driving motor is fixedly arranged on the scissor type lifting base F; and the gear C is fixedly arranged on a crankshaft of the second driving motor, and the gear D is rotatably arranged on the scissor type lifting base F, is meshed with the gear C and is welded and fixed with the support F at the upper end.
4. The automatic uranium conversion material feeding assembly with the caching function as claimed in claim 3, wherein: the end locking assembly comprises a screw rod seat A, a bidirectional threaded screw rod, a nut A, a third driving motor, a Z-shaped connecting frame and an electromagnet; the screw rod seat A is fixedly arranged at the lower end of one end of the bracket F, which is relatively close to the tank discharging opening F; the two-way threaded screw rod is horizontally and movably arranged on the screw rod seat A and is positioned at the lower end of the bracket F, and two ends of the two-way threaded screw rod are provided with external threads with opposite thread turning directions; the two nuts A are respectively in threaded connection with external threads at two ends of the bidirectional threaded screw rod; the third driving motor is fixedly arranged on the screw rod seat A and is connected with one end of the bidirectional threaded screw rod through a coupler so as to drive the bidirectional threaded screw rod to rotate; the lower ends of the two Z-shaped connecting frames are fixedly connected to the two nuts A respectively, the upper ends of the two Z-shaped connecting frames extend into two sides of the upper end of the tank discharging port F respectively, the two Z-shaped connecting frames synchronously move in the same direction or synchronously move in the opposite direction under the driving of a third driving motor, and the upper ends of the two Z-shaped connecting frames extend into an area right above the tank discharging port F or exit from an area right above the tank discharging port F; two electromagnets are embedded and installed at the upper ends of the two Z-shaped connecting frames.
5. The uranium conversion material automatic feeding assembly with the caching function of claim 4, wherein: the end part leg supporting component comprises a screw rod seat B, a screw rod, a nut B, a fourth driving motor and an L-shaped leg; the screw rod seat B is fixedly arranged at the lower end of one end of the bracket F, which is relatively close to the tank discharging opening F; the screw rod is vertically and movably arranged on the screw rod seat B and is positioned at the lower end of the bracket F; the nut B is connected to the screw rod in a threaded manner; the fourth driving motor is fixedly arranged on the screw rod seat B and is connected with the upper end of the screw rod through a coupler so as to drive the screw rod to rotate; the upper end of the L-shaped supporting leg is fixedly connected with the nut, and the lower end of the L-shaped supporting leg is provided with a flexible cushion pad.
6. An automatic uranium conversion material feeding assembly with a cache function according to any one of claims 1 to 5, wherein: the auxiliary screwing rod device also comprises a butt joint control assembly; the butt joint control assembly comprises a camera, an image comparison module and a control unit; the camera is directly or indirectly fixedly arranged on the fixed end of the mechanical claw and has a visual field range of the butt joint end of the mechanical claw; the image comparison module is connected with the camera in a communication mode; the signal input end of the control unit is connected with the image comparison module in a communication mode, and the signal output end of the control unit is respectively connected with the multi-degree-of-freedom mechanical arm and the speed reduction motor of the mechanical claw in a communication mode.
7. The automatic uranium conversion material feeding assembly with the caching function of claim 6, wherein: the mechanical claw comprises a speed reducing motor, a torque sensor, a base and a shifting finger; the speed reducing motor is fixedly arranged at the tail end of the multi-degree-of-freedom mechanical arm, the rear end of the torque sensor is connected with a crankshaft of the speed reducing motor, the front end of the torque sensor is connected with the base, the surface of one side of the base is connected with the front end of the torque sensor, three shifting fingers are fixedly connected to the surface of the other side of the base, and the three shifting fingers are uniformly distributed around the crankshaft of the speed reducing motor in an annular mode; correspondingly, the second butt joint part of the butt joint seat comprises three fan-shaped hollow-out areas which are uniformly distributed in an annular manner around the first butt joint part of the butt joint seat; the butt joint seat is in butt joint with the three fingers of the mechanical claw through the three fan-shaped hollow areas and is driven to rotate by the mechanical claw.
8. The automatic uranium conversion material feeding assembly with the caching function of claim 7, wherein: the upper end of the screw rod of the sealing tank is provided with a prismatic column head; correspondingly, the first butt joint part of the butt joint seat is a prism hole matched with the prism head; the butt joint seat is detachably connected to the prismatic head of the screw through the prismatic hole in an inserting mode, and the screw is driven to rotate synchronously when the butt joint seat rotates.
9. The uranium conversion material automatic feeding assembly with the caching function of claim 8, wherein: an outer circle positioning surface and an annular step surface are sequentially arranged on the outer wall of the lower end of the sealing tank from bottom to top, and the outer circle positioning surface and the annular step surface are both positioned on the outer side of the discharge port; when the sealing tank is placed on the positioning base plate, the excircle positioning surface of the sealing tank and the inner wall surface of the blanking port of the positioning base plate form transition fit; the path swept by the conical annular plate along the movement of the screw is cylindrical, and the cylindrical shape is defined as a first cylinder; the outer circle positioning surface extends towards the upper end and the lower end to form a space which is cylindrical, and the space is defined as a second cylinder; the second cylinder fully encloses the first cylinder.
10. The uranium conversion material automatic feeding assembly with the caching function of claim 9, wherein: the upper layer of the factory building is also provided with a negative pressure dust removal port communicated to the transfer bin; it also comprises negative pressure dust removing equipment; the negative pressure dust removing equipment comprises a shell, a filter element arranged in the shell and a negative pressure fan arranged in the shell; one end of the shell is provided with an air inlet, and the other end of the shell is provided with an air outlet; the air inlet of casing seal installation is on the negative pressure dust removal mouth on factory building upper strata, and the gas outlet of casing opens in factory building upper strata space, or communicates to the factory building outside through the tuber pipe.
CN202110711191.2A 2021-06-25 2021-06-25 Automatic uranium conversion material feeding assembly with caching function Active CN113460649B (en)

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