CN115319685A - Dismounting device for end plug of container - Google Patents

Dismounting device for end plug of container Download PDF

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Publication number
CN115319685A
CN115319685A CN202211109619.7A CN202211109619A CN115319685A CN 115319685 A CN115319685 A CN 115319685A CN 202211109619 A CN202211109619 A CN 202211109619A CN 115319685 A CN115319685 A CN 115319685A
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CN
China
Prior art keywords
axis
workbench
end plug
assembly
grabbing
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CN202211109619.7A
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Chinese (zh)
Inventor
陆金琪
耿乐乐
徐德耀
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Shanghai Apollo Machinery Co Ltd
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Shanghai Apollo Machinery Co Ltd
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Application filed by Shanghai Apollo Machinery Co Ltd filed Critical Shanghai Apollo Machinery Co Ltd
Priority to CN202211109619.7A priority Critical patent/CN115319685A/en
Publication of CN115319685A publication Critical patent/CN115319685A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

The invention discloses a device for assembling and disassembling a container end plug, which comprises a moving rack assembly, a vision control system, a grabbing assembly, a bridging assembly and two table-board moving assemblies, wherein the moving rack assembly comprises a stainless steel rack body, a workbench, a Y-axis motor, a wall-penetrating sealing mechanism and a Y-axis transmission mechanism, and the vision control system comprises an irradiation-resistant camera and a controller; the two table board moving assemblies are arranged on the workbench, and each table board moving assembly comprises a lifting workbench and a Z-axis lifting mechanism for driving the lifting workbench to do Z-axis motion; the grabbing components and the bridging components are arranged on the lifting working tables of the two table-board moving components in a one-to-one correspondence manner; the grabbing component comprises a bottom plate, an X-axis linear motor module, a clamping jaw, a transition connecting rod and a grabbing slideway. The dismounting device for the container end plug can realize quick replacement of parts and long-distance dismounting of the container end plug, effectively ensures the safety of workers and has higher reliability and economy.

Description

Device for disassembling and assembling end plug of container
Technical Field
The invention relates to a device for assembling and disassembling a container end plug.
Background
When the nuclear power station operates, a spent fuel assembly is generated, and part of special-purpose small-caliber spent fuel is loaded into a container and transported to a post-treatment site. When the container is transported to a processing facility, personnel cannot access the container by close proximity to remove and install the container top end plug due to radioactivity. If the end plug is manually disassembled and assembled, the damage to the human body is great, and the safety production is affected.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a device for assembling and disassembling a container end plug, which can realize quick replacement of parts and long-distance assembly and disassembly of the container end plug, effectively ensure the safety of workers and have higher reliability and economy.
The technical scheme for realizing the purpose is as follows: a container end plug disassembly and assembly device comprising a mobile gantry assembly, a vision control system, a grasping assembly, a bridging assembly, and two tabletop movement assemblies, wherein:
the movable rack assembly comprises a stainless steel rack body, a workbench, a Y-axis motor, a wall penetrating sealing mechanism and a Y-axis transmission mechanism, wherein the stainless steel rack body is arranged on the Y-axis transmission mechanism, the workbench is arranged at the top end of the stainless steel rack body, the output end of the Y-axis motor is connected with the Y-axis transmission mechanism through the wall penetrating sealing mechanism, the Y-axis motor drives the Y-axis transmission mechanism to drive the stainless steel rack body to do Y-axis motion, a transverse lead shielding plate and a longitudinal lead shielding plate are arranged on the workbench, and the transverse lead shielding plate and the longitudinal lead shielding plate are distributed in a T shape;
the vision control system comprises an irradiation-resistant camera and a controller, and the irradiation-resistant camera is arranged on the workbench through a holder;
the two table board moving assemblies are arranged on the workbench and are respectively arranged at two sides of the transverse lead shielding plate, and each table board moving assembly comprises a lifting workbench and a Z-axis lifting mechanism for driving the lifting workbench to do Z-axis motion;
the grabbing components and the bridging components are arranged on the lifting working tables of the two table top moving components in a one-to-one correspondence manner, and the grabbing components are adjacent to the irradiation-resistant cameras;
the grabbing component comprises a bottom plate, an X-axis linear motor module, a clamping jaw, a transition connecting rod and a grabbing slideway, the bottom plate is arranged on a corresponding lifting workbench, the X-axis linear motor module and the grabbing slideway are respectively arranged on the bottom plate through a base, and the clamping jaw is positioned in the grabbing slideway; the output end of the X-axis linear motor module is connected with the clamping jaw, and the X-axis linear motor module drives the clamping jaw to do X-axis motion; one end of the transition connecting rod is connected with the clamping jaw, and the other end of the transition connecting rod is connected with a container end plug to be disassembled and assembled;
the bridging assembly comprises a bridging slide rail, an X-axis motor and an X-axis moving rail, the X-axis moving rail is arranged on the corresponding lifting workbench, the bridging slide rail is arranged on the X-axis moving rail, and the X-axis motor drives the bridging slide rail to move along the X-axis moving rail in an X-axis manner;
the controller is respectively communicated with the irradiation-resistant camera, the Y-axis motor, the Z-axis lifting mechanism, the X-axis linear motor module and the X-axis motor.
The dismounting device for the end plug of the container comprises a base, a plurality of Y-axis transmission mechanisms, a plurality of transmission blocks, a plurality of Y-axis rails, a plurality of transmission blocks and a plurality of stainless steel frame bodies, wherein the Y-axis transmission mechanisms comprise two Y-axis rails, the transmission screws and the transmission blocks, the two Y-axis rails are symmetrically arranged on two sides of the transmission screws, the transmission blocks are connected to the transmission screws, two sides of the bottom end of each stainless steel frame body are correspondingly arranged on the two Y-axis rails one to one, and the middle of the bottom end of each stainless steel frame body is connected with the transmission blocks.
The dismounting device for the end plug of the container is characterized in that the Z-axis lifting mechanism comprises a transverse transmission rod, a longitudinal transmission rod, two X-shaped cross support frames and two longitudinal rails, and the middle part of the transverse transmission rod is connected with the longitudinal transmission rod through a sliding block; the sliding block is externally connected with the output end of the Z-axis motor; the two longitudinal rails are arranged on the workbench in a bilateral symmetry manner and are respectively arranged at two sides of the longitudinal transmission rod, and each longitudinal rail is provided with a sliding seat; two ends of the transverse transmission rod are connected with the sliding seats on the two longitudinal rails in a one-to-one correspondence manner; two ends of the transverse transmission rod are connected with one edge of the bottom ends of the two X-shaped cross supporting frames in a one-to-one correspondence manner; the other sides of the bottom ends of the two X-shaped cross supporting frames are connected to the workbench, and the top ends of the two X-shaped cross supporting frames are connected to the bottom end of the lifting workbench;
the Z-axis motor drives the transverse transmission rod to move longitudinally along the longitudinal transmission rod, the transverse transmission rod drives one edge of the bottom ends of the two X-shaped cross support frames to move longitudinally along the corresponding longitudinal rail, and therefore the cross angle of the X-shaped cross support frames is adjusted, and the lifting workbench is driven to move in a Z-axis mode.
In the device for disassembling and assembling the end plug of the container, the Z-axis motors of the two table-board moving assemblies are respectively installed on the workbench through the quick disassembling and assembling mechanisms.
Foretell container end plug dismouting device, wherein, quick assembly disassembly mechanism includes fixing base, fixed jack catch and handle, the fixing base passes through the bolt and installs on the workstation, fixed jack catch and handle respectively with the fixing base links to each other, Z axle motor is firmly grasped to fixed jack catch.
In the device for detaching and assembling an end plug of a container, the Z-axis motor is an irradiation-resistant motor, and the Z-axis motors of the two table-board moving assemblies are located on the same side of the transverse lead shielding plate and are both adjacent to the grabbing assembly; the transverse lead shield separates the two Z-axis motors from the bridging assembly.
In the above apparatus for assembling and disassembling a container end plug, the controller is connected to the Z-axis motor of the Z-axis lifting mechanism.
In the device for assembling and disassembling a container end plug, the Y-axis motor and the controller are arranged outside the hot chamber, and the Y-axis transmission mechanism is arranged inside the hot chamber; the irradiation-resistant camera is connected with the controller through an irradiation-resistant cable.
The dismounting device for the end plug of the container is characterized in that the Y-axis motor, the X-axis linear motor module and the X-axis motor respectively adopt irradiation-resistant motors.
The device for disassembling and assembling the container end plug can be used as one of devices of a spent fuel transfer system, can realize quick replacement of parts and long-distance disassembly and assembly of the container end plug, effectively ensures the safety of workers, and has higher reliability and economy.
Drawings
FIG. 1 is a perspective view showing a device for attaching and detaching a container end plug according to the present invention;
FIG. 2 is a schematic view of the installation of the components on the work bench;
FIG. 3 is a block diagram of a traveling gantry assembly of the apparatus for attaching and detaching a container end plug of the present invention;
FIG. 4 is a schematic view of a visual control system of the apparatus for attaching and detaching a container end plug according to the present invention;
FIG. 5 is a schematic view of the table moving assembly of the apparatus for attaching and detaching a container end plug according to the present invention;
FIG. 6 is a schematic view of the quick-release mechanism;
FIG. 7 is a schematic view showing the construction of a grasping unit of the apparatus for attaching and detaching a container end plug of the present invention;
FIG. 8 is a schematic view of the mounting of the grasping assembly on the elevating platform;
fig. 9 is a schematic view showing the structure of the bridging member of the apparatus for attaching and detaching a container end plug according to the present invention.
Detailed Description
In order that those skilled in the art will better understand the technical solution of the present invention, the following detailed description is given with reference to the accompanying drawings:
referring to fig. 1 to 9, a device for assembling and disassembling a container end plug according to a preferred embodiment of the present invention includes a moving gantry assembly 1, a vision control system 2, a gripping assembly 3, a bridge assembly 4, and two table moving assemblies 5. The vision control system 2 and the two table-board moving assemblies 5 are respectively arranged on the workbench of the moving rack assembly 1, and the grabbing assembly 3 and the bridging assembly 4 are respectively arranged on the two table-board moving assemblies 5.
Referring to fig. 3 again, the moving stage assembly 1 includes a stainless steel frame 11, a worktable 12, a Y-axis motor 13, a wall-penetrating sealing mechanism 14 and a Y-axis transmission mechanism 15, the stainless steel frame 11 is disposed on the Y-axis transmission mechanism 15, the worktable 12 is disposed at the top end of the stainless steel frame 11, the Y-axis motor 13 is disposed outside the hot room, the Y-axis transmission mechanism 15 is disposed in the hot room, an output end of the Y-axis motor 13 is connected to the Y-axis transmission mechanism 15 through the wall-penetrating sealing mechanism 14, the Y-axis motor 13 drives the Y-axis transmission mechanism 15 to drive the stainless steel frame 11 to move along the Y-axis, so as to drive the worktable 12 to move along the Y-axis, the worktable 12 is provided with a transverse lead shielding plate 16 and a longitudinal lead shielding plate 17, and the transverse lead shielding plate 16 and the longitudinal lead shielding plate 17 are distributed in a T shape. The transverse lead shielding plate 16 and the longitudinal lead shielding plate 17 are used for shielding gamma rays.
The Y-axis transmission mechanism 15 comprises two Y-direction rails 151, a transmission screw 152 and transmission blocks 153, the two Y-direction rails 151 are symmetrically arranged on two sides of the transmission screw 152, the transmission blocks 153 are connected to the transmission screw 152, two sides of the bottom end of the stainless steel frame 11 are correspondingly arranged on the two Y-direction rails 151 one by one, and the middle of the bottom end of the stainless steel frame 11 is connected with the transmission blocks 153. The Y-axis motor 13 drives the transmission screw 152 to rotate, and along with the rotation of the transmission screw 152, the transmission block 153 generates Y-direction displacement, so as to drive the stainless steel frame body 11 and the worktable 12 at the top end thereof to do Y-axis motion.
Each part of the moving rack assembly 1 is made of austenitic stainless steel section bars and steel plates through welding and processing, and has good bearing capacity; the whole steel structure is adopted, the high-radiation heat exchanger can be used for a long time in a high-radiation environment in a hot chamber, the failure rate is reduced, and the operation safety of a mechanical structure is ensured.
The Y-axis motor 13 is used for providing power, the Y-axis motor 13 is led to the outside of the hot chamber through the wall penetrating sealing mechanism 14, and quick connection is realized through a coupling, so that the Y-axis motor is convenient to inspect, maintain or replace parts. The workbench 12 is provided with various adaptive hole grooves, positioning pins, grooves, platforms and the like, so that the positioning precision of each part mounted on the workbench is ensured, the feasibility of remote maintenance is realized, the workbench can be adapted to various fast-assembling mechanisms and parts, and the installation, the maintenance and other work are facilitated.
Referring to fig. 4 again, the vision control system 2 includes an irradiation-resistant camera 21 and a controller 22, the irradiation-resistant camera 21 is disposed on the workbench 12 through a cradle head 23; the controller 22 is arranged outside the reheating chamber, and the irradiation-resistant camera 21 is connected with the controller 22 through an irradiation-resistant cable 24. The holder 23 is used for realizing that the radiation-resistant camera 21 rotates in the circumferential 360-degree direction and the axial 360-degree direction. The irradiation-resistant camera 21 can capture images of all angles in real time, can monitor the working process of the end plug dismounting device, and transmits the monitoring images to the upper operation station and the mobile operation station in real time.
Referring to fig. 2, 5 and 6, two table top moving assemblies 5 are disposed on the working table 12 and respectively disposed on two sides of the transverse lead shielding plate 16, and each table top moving assembly 5 includes a lifting working table 51 and a Z-axis lifting mechanism for driving the lifting working table to perform Z-axis movement; the Z-axis lifting mechanism comprises a transverse transmission rod 52, a longitudinal transmission rod 53, two X-shaped crossed support frames 54 and two longitudinal rails 55, and the middle part of the transverse transmission rod 52 is connected with the longitudinal transmission rod 53 through a sliding block 56; the slide block 56 is externally connected with the output end of a Z-axis motor 57; the two longitudinal rails 55 are arranged on the workbench 12 in a bilateral symmetry manner and are respectively arranged at two sides of the longitudinal transmission rod 53, and a sliding seat 58 is arranged on each longitudinal rail 55; the two ends of the transverse transmission rod 52 are connected with the sliding seats 58 on the two longitudinal rails 55 in a one-to-one correspondence; and two ends of the transverse transmission rod 52 are connected with one side of the bottom ends of the two X-shaped cross support frames 54 in a one-to-one correspondence manner; the other sides of the bottom ends of the two X-shaped cross support frames 54 are connected to the workbench 12, and the top ends of the two X-shaped cross support frames 54 are connected to the bottom end of the lifting workbench 51; the Z-axis motor 57 drives the transverse transmission rod 52 to move longitudinally along the longitudinal transmission rod 53 through the slider 56, and the transverse transmission rod 52 drives one edge of the bottom ends of the two X-shaped cross support frames 54 to move longitudinally along the corresponding longitudinal rail 55, so as to adjust the cross angle of the X-shaped cross support frames 54 and drive the lifting table 51 to move Z-axis.
The table board moving assembly 5 is of a pure mechanical structure, is not easy to damage and is not easy to detach after being installed on the workbench.
The Z-axis motor 57 adopts an irradiation-resistant motor, the Z-axis motors 57 of the two table board moving assemblies are positioned at the same side of the transverse lead shielding plate 16 and are adjacent to the grabbing assembly 3, namely the Z-axis motor 57 and the grabbing assembly 3 are positioned at the same side of the transverse lead shielding plate 16; the transverse lead shielding plate 16 separates the two Z-axis motors 57 from the bridging assembly 4, thereby reducing the irradiation time of gamma rays and prolonging the service life.
Referring to fig. 2 and 6, the Z-axis motors 57 of the two table top moving assemblies 5 are respectively fixed on the worktable 12 through the fast dismounting mechanism 59, and the fast dismounting mechanism 59 adopts a clamping mechanism easy for remote operation, so that the fast dismounting, replacing and maintaining of the Z-axis motors 57 are facilitated. The quick-dismounting mechanism 59 comprises a fixed seat 591, a fixed jaw 592 and a handle 593, the fixed seat 591 is fixed on the workbench through bolts, the fixed jaw 592 and the handle 593 are respectively connected with the fixed seat 591, and the fixed jaw 592 is used for grasping the Z-axis motor 57, so that quick dismounting, replacement and maintenance of the Z-axis motor 57 can be realized.
The grabbing components 3 and the bridging components 4 are correspondingly arranged on the lifting working tables 51 of the two table-board moving components one by one, and the grabbing components 3 are adjacent to the irradiation-resistant cameras 21; thus, one table top moving assembly 5 is used to mount and control the movement of the gripper assembly 3 in the Z-axis, and the other table top moving assembly 5 is used to mount and control the movement of the bridge assembly 4 in the Z-axis.
Referring to fig. 7 and 8, the grabbing assembly 3 includes a bottom plate 31, an X-axis linear motor module 32, a clamping jaw 33, a transition connecting rod 34 and a grabbing slideway 35, the bottom plate 31 is disposed on a corresponding lifting table 51, the X-axis linear motor module 32 and the grabbing slideway 35 are respectively disposed on the bottom plate 31 through a base 36, and the clamping jaw 33 is disposed in the grabbing slideway 35; the output end of the X-axis linear motor module 32 is connected with the clamping jaw 33, and the X-axis linear motor module 32 drives the clamping jaw 33 to do X-axis motion; one end of the transition connecting rod 34 is connected with the clamping jaw 33, and the other end is connected with a container end plug to be disassembled and assembled.
The transition connecting rod 34 is connected with a hole on the end plug of the container, and the clamping jaw 33 carries out X-axis movement through the X-axis linear motor module 32, can grasp the transition connecting rod 34 and automatically lock, and the end plug is pulled out of the container or is loaded into the container mouth. Specifically, the method comprises the following steps: when the end plug needs to be disassembled, the transition connecting rod 34 is pre-installed on the end plug to be disassembled outside the hot chamber, the grabbing slide 35 can go deep into the feed port of the transportation container to be directly butted with the end plug, the clamping jaw 33 clamps the transition connecting rod 34 connected to the end plug tightly, and the X-axis linear motor module 32 drives the clamping jaw 33 to pull the end plug to one side continuously until the end plug is pulled out of a fixed length. When the end plug is installed again, the reverse operation is carried out, the clamping jaw 33 is clamped and connected with the transition connecting rod 34 on the end plug, the grabbing slide way 35 can penetrate into the feed inlet, the X-axis linear motor module 32 drives the clamping jaw 33 to continuously push the end plug, and the end plug is installed into the container opening.
Referring to fig. 9, the bridging assembly 4 includes a bridging slide 41, an X-axis motor 42 and an X-axis moving rail 43, the X-axis moving rail 43 is disposed on the corresponding lifting table 51, the bridging slide 41 is disposed on the X-axis moving rail 43, and the X-axis motor 42 drives the bridging slide 41 to move along the X-axis moving rail 43 in the X-axis direction. The bridging member 4 acts as a bridge between the transport container and the other piece of equipment (mobile inversion unit) so that the inner container slides from the end plug, through the bridging member 4, and into the next piece of equipment.
The bridging component 4 can move in the X, Y and Z axis directions, assists the coaxiality of the inner container when the inner container is displaced between the transport container and the movable turnover device, and avoids the problem that the inner container cannot smoothly enter the movable turnover device due to the influence of the end cover structure of the container when the inner container is pushed out of the transport container. When the grabbing component 3 of the end plug dismounting device takes out the inner lead shielding end plug of the transportation container, the whole container end plug dismounting device adjusts Z axial movement through a Z-axis lifting mechanism, the Y-axis motor 13 adjusts Y axial movement, the center of the bridging slide 41 aligns to the center of a channel port for taking out a lead plug, the coaxial concentricity is achieved, the X-axis moving track 43 of the bridging component carries the bridging slide 41 to move towards the position of the channel port, the front end of the bridging slide 41 stops when reaching the port of the lead plug of the transportation container, meanwhile, the moving turnover device moves to the tail end of the bridging slide 41, and the coaxiality of the locking saddle component of the moving turnover device and the bridging slide 41 is ensured by adjusting the displacement quantity of the Z axis and the Y axis. At the moment, the central line of the inner container, the central line of the bridging slideway and the central line of the locking saddle assembly are collinear, the bridging slideway is connected with the transport container and the movable turnover device end to end respectively, the inner container is pushed out to a fixed position on the movable turnover device by a worker outside the hot chamber, and the inner container is completely pulled out of the transport container by a head grabbing mechanism on the movable turnover device. The bridging member is then displaced in the X, Y and Z directions to its initial position or the same is done to remove the remaining container for storage.
Referring to fig. 4, the controller 22 is in communication with the radiation-resistant camera 21, the Y-axis motor 13, the Z-axis motor 57 of the Z-axis lifting mechanism, the X-axis linear motor module 32, and the X-axis motor 42, respectively. The Y-axis motor 13, the X-axis linear motor module 32 and the X-axis motor 42 are respectively radiation-resistant motors. Resistant irradiation camera 21 is supplementary catches the distribution position of waiting the lead shielding end plug of tearing open in the transport container, transmit image to controller 22, controller 22 is according to the distribution position of waiting the lead shielding end plug of tearing open in the transport container, control Y axle motor 13, Z axle motor 57, X axle linear electric motor module 32 and the motion of X axle motor 42, adjust each subassembly Y axle, the X axle, Z axle displacement, can accurately target in place when guaranteeing to snatch subassembly 3 and get lead plug and bridging subassembly 4 bridging inner container.
The main metal material of the device for assembling and disassembling the end plug of the container is austenitic stainless steel such as 06Cr18Ni11Ti and the like. The mechanism in the hot chamber does not use organic materials as much as possible, and radiation-resistant materials such as ethylene propylene diene monomer, fluororubber and the like are mostly adopted in parts which need to use the organic materials such as sealing elements and the like) cables adopt low-smoke, halogen-free, flame-retardant and radiation-resistant cables, and polyvinyl chloride is forbidden. The electric appliances in the hot chamber mostly adopt radiation-resistant products with qualified quality. The workbench 12 can be provided with a quick-mounting and-dismounting mechanism for fixedly connecting the quick-wear parts, and each module can be quickly mounted and dismounted in a remote way.
The device for assembling and disassembling the container end plug has three degrees of freedom in the X direction, the Y direction and the Z direction, can identify the position of the shielding end plug of the transportation container, and takes out or assembles the shielding end plug into the transportation container after grabbing the shielding end plug. The end plug dismounting device is used for dismounting the shielding end plug of the transportation container, and rotating the shielding end plug to a corresponding position to provide a space for subsequent operation of the movable turnover device. After the follow-up operation is completed, the shielding end plug can be assembled back to the transportation container by the end plug assembling and disassembling device. The controller can be used for manually and automatically switching operation modes, positioning is carried out through the irradiation-resistant camera, and parameter basis is provided for adjustment of execution actions of all components in the equipment.
Compared with the device for disassembling and assembling the end plug of the container, the device for disassembling and assembling the end plug of the container can disassemble and assemble the end plug of the container in a remote, manual and automatic switching operation mode, effectively ensures the safety of workers, and has the following beneficial effects:
(1) The whole device adopts a mechanical mechanism, so that the failure rate can be reduced, the service life can be prolonged, the maintenance period can be shortened, and the reliability and the economy are higher;
(2) The whole device is in modular design, has a quick-release structure, can realize quick replacement of parts, and can quickly install and dismantle each component on the workbench;
(3) The whole device is designed according to the actual working environment and can work in the radiation environment;
(4) The whole device is designed according to actual use requirements, has originality, and has no related similar equipment comparison in the structural principle;
(5) The moving rack assembly 1 is integrally made of a steel structure, the service life is long in a high-radioactivity environment, the failure rate is reduced, Y-axis power is led to the outside of the hot chamber, and the quick-wear parts and the electric elements are convenient to inspect and maintain.
In conclusion, the dismounting device for the container end plug can be used as one of devices of a spent fuel transfer system, can realize quick replacement of parts and long-distance dismounting of the container end plug, effectively ensures the safety of workers, and has high reliability and economy.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.

Claims (9)

1. A container end plug disassembly and assembly device comprising a mobile gantry assembly, a vision control system, a grasping assembly, a bridge assembly, and two tabletop movement assemblies, wherein:
the movable rack assembly comprises a stainless steel rack body, a workbench, a Y-axis motor, a wall penetrating sealing mechanism and a Y-axis transmission mechanism, wherein the stainless steel rack body is arranged on the Y-axis transmission mechanism, the workbench is arranged at the top end of the stainless steel rack body, the output end of the Y-axis motor is connected with the Y-axis transmission mechanism through the wall penetrating sealing mechanism, the Y-axis motor drives the Y-axis transmission mechanism to drive the stainless steel rack body to do Y-axis motion, a transverse lead shielding plate and a longitudinal lead shielding plate are arranged on the workbench, and the transverse lead shielding plate and the longitudinal lead shielding plate are distributed in a T shape;
the vision control system comprises an irradiation-resistant camera and a controller, and the irradiation-resistant camera is arranged on the workbench through a holder;
the two table-board moving assemblies are arranged on the workbench and are respectively arranged on two sides of the transverse lead shielding plate, and each table-board moving assembly comprises a lifting workbench and a Z-axis lifting mechanism for driving the lifting workbench to do Z-axis motion;
the grabbing components and the bridging components are arranged on the lifting working tables of the two table top moving components in a one-to-one correspondence manner, and the grabbing components are adjacent to the irradiation-resistant cameras;
the grabbing component comprises a bottom plate, an X-axis linear motor module, a clamping jaw, a transition connecting rod and a grabbing slideway, the bottom plate is arranged on a corresponding lifting workbench, the X-axis linear motor module and the grabbing slideway are respectively arranged on the bottom plate through a base, and the clamping jaw is positioned in the grabbing slideway; the output end of the X-axis linear motor module is connected with the clamping jaw, and the X-axis linear motor module drives the clamping jaw to do X-axis motion; one end of the transition connecting rod is connected with the clamping jaw, and the other end of the transition connecting rod is connected with a container end plug to be disassembled and assembled;
the bridging assembly comprises a bridging slide rail, an X-axis motor and an X-axis moving rail, the X-axis moving rail is arranged on the corresponding lifting workbench, the bridging slide rail is arranged on the X-axis moving rail, and the X-axis motor drives the bridging slide rail to move along the X-axis moving rail in an X-axis manner;
the controller is respectively communicated with the irradiation-resistant camera, the Y-axis motor, the Z-axis lifting mechanism, the X-axis linear motor module and the X-axis motor.
2. The device for assembling and disassembling a container end plug according to claim 1, wherein the Y-axis transmission mechanism comprises two Y-rails symmetrically disposed at both sides of the driving screw, a driving screw connected to the driving screw, and a driving block connected to the two Y-rails, wherein both sides of the bottom end of the stainless steel frame body are disposed on the two Y-rails in a one-to-one correspondence, and the middle portion of the bottom end of the stainless steel frame body is connected to the driving block.
3. The device for disassembling and assembling a container end plug according to claim 1, wherein the Z-axis lifting mechanism comprises a transverse transmission rod, a longitudinal transmission rod, two X-shaped cross support frames and two longitudinal rails, and the middle part of the transverse transmission rod is connected with the longitudinal transmission rod through a sliding block; the sliding block is externally connected with the output end of the Z-axis motor; the two longitudinal rails are arranged on the workbench in a bilateral symmetry manner and are respectively arranged at two sides of the longitudinal transmission rod, and each longitudinal rail is provided with a sliding seat; two ends of the transverse transmission rod are connected with the sliding seats on the two longitudinal rails in a one-to-one correspondence manner; two ends of the transverse transmission rod are connected with one edge of the bottom ends of the two X-shaped cross supporting frames in a one-to-one correspondence manner; the other sides of the bottom ends of the two X-shaped cross supporting frames are connected to the workbench, and the top ends of the two X-shaped cross supporting frames are connected to the bottom end of the lifting workbench;
the Z-axis motor drives the transverse transmission rod to move longitudinally along the longitudinal transmission rod, the transverse transmission rod drives one edge of the bottom ends of the two X-shaped cross support frames to move longitudinally along the corresponding longitudinal rail, and therefore the cross angle of the X-shaped cross support frames is adjusted, and the lifting workbench is driven to move in a Z-axis mode.
4. The apparatus of claim 3, wherein the Z-axis motors of the two table-top moving assemblies are mounted on the table by quick-release mechanisms, respectively.
5. The apparatus of claim 4, wherein said quick-release mechanism comprises a holder mounted on said table by bolts, a holding jaw and a handle, said holding jaw and handle being connected to said holder, respectively, said holding jaw grasping a Z-axis motor.
6. The device for assembling and disassembling a container end plug according to claim 3, wherein the Z-axis motor is a radiation-resistant motor, and the Z-axis motors of the two table-board moving assemblies are positioned on the same side of the transverse lead shielding plate and are adjacent to the grabbing assembly; the transverse lead shield plates separate the two Z-axis motors from the bridging assembly.
7. A container end plug disassembly and assembly device according to claim 3, wherein said controller is connected to a Z-axis motor of said Z-axis lift mechanism.
8. The apparatus of claim 1, wherein said Y-axis motor and controller are disposed outside of said hot cell, and said Y-axis drive mechanism is disposed inside of said hot cell; the irradiation-resistant camera is connected with the controller through an irradiation-resistant cable.
9. The device for assembling and disassembling a container end plug according to claim 1, wherein the Y-axis motor, the X-axis linear motor module and the X-axis motor are radiation-resistant motors respectively.
CN202211109619.7A 2022-09-13 2022-09-13 Dismounting device for end plug of container Pending CN115319685A (en)

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CN202211109619.7A CN115319685A (en) 2022-09-13 2022-09-13 Dismounting device for end plug of container

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211109619.7A CN115319685A (en) 2022-09-13 2022-09-13 Dismounting device for end plug of container

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CN115319685A true CN115319685A (en) 2022-11-11

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211109619.7A Pending CN115319685A (en) 2022-09-13 2022-09-13 Dismounting device for end plug of container

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