CN212863103U - Discharging transfer device for nuclear industry - Google Patents
Discharging transfer device for nuclear industry Download PDFInfo
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- CN212863103U CN212863103U CN202021352388.9U CN202021352388U CN212863103U CN 212863103 U CN212863103 U CN 212863103U CN 202021352388 U CN202021352388 U CN 202021352388U CN 212863103 U CN212863103 U CN 212863103U
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Abstract
The utility model relates to a nuclear industry is with ejection of compact transfer device, its structure includes X axle drive assembly, X axle motion platform, first Z axle snatchs subassembly and second Z axle snatchs subassembly, X axle motion platform sets up on X axle drive assembly and along X axle direction motion, first Z axle snatchs subassembly and second Z axle snatchs subassembly setting on X axle motion platform; the first Z-axis grabbing assembly comprises a first lifting driving device, a first lifting transmission device and a sucker gripper, and the first lifting driving device drives the sucker gripper to move along the Z-axis direction through the first lifting transmission device; the second Z-axis grabbing assembly comprises a second lifting driving device, a second lifting transmission device and an unpowered gripper. The utility model discloses can effectively reduce the drive arrangement quantity that is in the seal box body, especially provide an unpowered tongs that can be applicable to the shield stopper and snatch, can reliably function under the high radiation environment.
Description
Technical Field
The utility model relates to a transfer device, especially a nuclear industry is with ejection of compact transfer device.
Background
When high-radiation, high-pollution or high-risk substances (such as nuclear materials) are treated, all equipment can be arranged in the sealed box body for operation, and only the mechanical arm and the equipment are reserved in the sealed box body. Due to the working environment in the sealed box, workers are generally prohibited from entering the sealed box for operation and the sealed box cannot be opened easily, so that high requirements are provided for the reliability and accuracy of equipment in the sealed box and the operability during later maintenance.
Discharge transport in the nuclear industry requires two steps: the shielding plug of the outer container is opened, the inner container is taken out for transportation, the shielding plug and the inner container need to be grabbed by different grippers, so that the shielding plug and the inner container can be generally completed by 4-6 driving parts (namely, the driving of the two grippers, and the Z axis and the X axis of the two grippers move), abnormal work is easy to occur to the excessive driving parts, particularly the motor, and complicated wiring is inconvenient during later maintenance.
Disclosure of Invention
The utility model aims to solve the technical problem that a nuclear industry is with ejection of compact transfer device is provided, can effectively reduce the drive arrangement quantity in the seal box, especially provides a can be applicable to the unpowered tongs that the shield stopper snatched, can reliably function under the high radiation environment, and the internal line of walking of seal box is simple moreover, and vulnerable equipment changes simply.
The utility model provides a technical scheme that above-mentioned technical problem adopted is:
a discharging and transferring device for nuclear industry structurally comprises an X-axis driving assembly, an X-axis moving platform, a first Z-axis grabbing assembly and a second Z-axis grabbing assembly, wherein the X-axis moving platform is arranged on the X-axis driving assembly and moves along the X-axis direction, and the first Z-axis grabbing assembly and the second Z-axis grabbing assembly are arranged on the X-axis moving platform; the first Z-axis grabbing assembly comprises a first lifting driving device, a first lifting transmission device and a sucker gripper, and the first lifting driving device drives the sucker gripper to move along the Z-axis direction through the first lifting transmission device; the second Z-axis grabbing assembly comprises a second lifting driving device, a second lifting transmission device and an unpowered gripper, the unpowered gripper comprises a shell, a direction conversion device and a clamping jaw device, the shell, the direction conversion device and the clamping jaw device are connected in sequence, the shell can move along the Z-axis direction relative to the direction conversion device and drive the direction conversion device to rotate, the direction conversion device drives the clamping jaw device to move horizontally through rotation, and the second lifting driving device drives the shell to move along the Z-axis direction through the second lifting transmission device.
Furthermore, the direction conversion device is a rotary sleeve, a continuous oblique line guide rail is arranged on the periphery of the rotary sleeve, and a sliding pin matched with the oblique line guide rail is arranged on the shell; the surface of the rotating sleeve matched with the clamping jaw device is provided with an arc-shaped opening, the clamping jaw device comprises a rolling pin, a reset piece and a clamp, the rolling pin is matched with the arc-shaped opening, the rolling pin is connected with the clamp, and the reset piece applies force towards the arc-shaped opening to the rolling pin or the clamp.
Preferably, the diagonal guide is formed in a continuous Y-shape.
Preferably, the second lifting transmission device is a winch.
Preferably, the second Z-axis grabbing component is arranged on a mounting plate, and the mounting plate is detachably connected with the X-axis moving platform.
Preferably, the first lifting transmission device and the second lifting transmission device both comprise worm and gear structures.
Preferably, the first lifting driving device and the second lifting driving device each include a rocking wheel.
Preferably, the X-axis driving assembly comprises an X-axis driving device, a penetrating device and an X-axis transmission device, the penetrating device comprises a penetrating shaft, a coupler and a sealing ring, and the X-axis driving device drives the X-axis transmission device through the penetrating device.
Compared with the prior art, the utility model have following advantage and effect:
1. by arranging the unpowered gripper, the pulling force and the gravity in the Z-axis direction are converted into the power of the clamping jaw device by utilizing the lifting motion, so that the external drive required by the opening and closing of the shielding plug is reduced;
2. all parts are mainly matched mechanically, the operation is stable in a high-radiation working environment, and particularly the reliability of the transmission of a winch in the opening and closing work of a shielding plug with low positioning precision requirement is high;
3. the wiring is simple, all parts are easy to replace, and the second Z-axis grabbing component can be integrally replaced;
4. the transmission devices in the sealed box body are provided with self-locking structures and rocking wheels which can be operated by a manipulator when in failure;
5. the X-axis driving device is arranged externally, so that the number of external drives in the sealed box body is further reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is an axial view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a schematic structural view of a shield plug.
Fig. 4 is a front cross-sectional view of an unpowered hand grip.
Fig. 5 is a schematic structural view of the swivel sleeve.
Fig. 6 is a schematic view showing the surface of the rotating sleeve.
Figure 7 is a cross-sectional view of the plane of the jaw arrangement.
Fig. 8 is a schematic structural view of the first Z-axis grasping assembly.
Description of reference numerals:
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Hoist 32 | |
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Rotating sleeve 333 | Y- |
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Arc opening 3333 | |
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Center opening 338 | |
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Detailed Description
The present invention will be described in further detail with reference to the following examples, which are illustrative of the present invention and are not intended to limit the present invention.
The embodiment is a discharge transfer device for the nuclear industry, and is used for opening the shielding plug 4 on the outer container and taking out the product cup 5 in the outer container during discharge. As shown in fig. 1, the present embodiment is composed of an X-axis driving assembly 1, a first Z-axis grabbing assembly 2 and a second Z-axis grabbing assembly 3, wherein the other components except for an X-axis motor 11 and a penetrating device in the X-axis driving assembly 1 are all arranged in a sealed box body, the X-axis motor 11 arranged outside the sealed box body transmits power to a lead screw 15 through a plurality of mutually connected couplers 13 and penetrating shafts 12, wherein the number of the couplers 13 and the penetrating shafts 12 is related to the number of layers of the sealed box, and when the penetrating device penetrates through the box body of the sealed box, the sealed box and the penetrating shafts 12 are sealed through a sealing ring 14. An X-axis motion platform 17 is arranged on the lead screw 15, and the other side of the X-axis motion platform 17 is connected with a linear guide rail 16, so that the X-axis motion of the X-axis motion platform 17 is realized through the matching of a lead screw nut. The X-axis moving platform 17 is provided with a first Z-axis grabbing component 2 and a second Z-axis grabbing component 3, wherein the second Z-axis grabbing component 3 is integrally detachably fixed on the X-axis moving platform 17 through bolts of the mounting plate 35.
The shield plug 4 of the outer container is opened by the second Z-axis grabbing component 3, as shown in fig. 2, the second Z-axis grabbing component 3 realizes the opening of the shield plug 4 through an unpowered hand grip 33, the unpowered hand grip 33 is lifted through a winch 32, the winch 32 is driven by a second lifting motor 31 through a second speed reducer 321 with a worm and gear structure, the second lifting motor 31 is a radiation-proof motor to meet the working environment in the sealed box, and when the second lifting motor 31 stops working, the winch 32 can also control the second rocking wheel 34 to operate through a manipulator. Referring to fig. 3 to 7, a specific working flow of the unpowered grip 33 for opening the shield plug 4 is described, wherein the shield plug 4 is integrally in a stamp shape, the shield plug head 41 at the top is in an arc shape and has a larger diameter than the shield plug waist 42 at the middle part, the unpowered grip 33 includes a cylindrical support body 334, a central opening 338 allowing the shield plug head 41 to enter is formed at the center of the lower part of the support body 334, 3 groups of clamping jaw devices 337 are uniformly distributed in the radial direction of the central opening 338, the clamping jaw devices 337 are composed of rolling pins 3371, clamps 3372 and return springs 3373, the clamp 3372 is disposed at the edge of the central opening 338, the clamp 3372 is connected to the support 334 by a return spring 3373, the return spring 3373 applies a force to the clamp 3372 away from the central opening 338, the rolling pin 3371 is connected to the end surface of the clamp 3372 away from the central opening 338, and a connecting pin and a lateral slide rail are disposed between the clamp 3372 and the support 334 for guiding. The upper and lower ends of the supporting body 334 are fixedly connected with an upper supporting frame 335 and a lower supporting frame 336 through bolts, the upper supporting frame 335 and the lower supporting frame 336 extend outwards to form a space for installing the rotating sleeve 333, the rotating sleeve 333 is respectively connected with the upper supporting frame 335 and the lower supporting frame 336 in a rolling manner through a steel ball 3332, so that the rotating sleeve 333 can rotate around a central line, an arc-shaped opening 3333 is arranged at the lower part of the rotating sleeve 333, and the arc-shaped opening 3333 is contacted with a rolling pin 3371. The outer side of the upper support frame 335 is provided with a connecting pin, the connecting pin is matched with a vertical slide rail on the shell 332 arranged on the outer side of the upper support frame 335, and the center of the upper part of the support body 334 is also provided with a central guide hole to be matched with a central guide block on the shell 332, so that the shell 332 moves up and down relative to the support body 334 without rotating. The upper end of the housing 332 is fixedly connected with a lifting lug 331, the lifting lug 331 is hung by the winch 32 to realize the lifting of the housing 332, the lower part of the housing 332 is provided with a sliding pin 3321 towards the inner side, the sliding pin 3321 is matched with a continuous Y-shaped guide rail 3331 arranged on the surface of the rotating sleeve 333, because the housing 332 and the supporting body 334 cannot rotate relatively, when the sliding pin 3321 moves obliquely in the Y-shaped guide rail 3331, the rotating sleeve 333 rotates relatively to the supporting body 334, so that the matching surface of the arc-shaped opening 3333 and the rolling pin 3371 is changed, and the clamp 3372 is pushed and released. Specifically, as shown in fig. 5 to 7, the lower portion of the rotating sleeve 333 is provided with 6 arc-shaped openings 3333, the arc-shaped openings 3333 are connected with each other through transition sections, wherein the top of each arc-shaped opening 3333 is a wave peak, the center of each transition section is a wave trough, so that 12 wave peaks and wave troughs are provided, the outer surface of the rotating sleeve 333 is also provided with 12 continuous Y-shaped tracks, and the lower part of the upper right corner of each Y-shaped track is opposite to one wave peak or wave trough, so that when the sliding pin 3321 moves to the upper right corner of the Y-shaped track each time, the rolling pin 3371 is matched with the position of the wave peak or wave trough, so that the housing 332 makes a complete lifting movement relative to the supporting body 334, and the rotating sleeve 333 rotates by the distance between one wave peak and one wave trough to realize the holding and releasing. In operation, first, the sliding pin 3321 is located at the peak position, the clamp 3372 is in an open state, when the unpowered hand grip 33 descends to the shield plug 4 position, the shield plug head 41 enters the central opening 338, the shield plug waist 42 is matched with the position of the clamp 3372, the support 334 continues to descend is prevented by the bottom of the shield plug 4, the shell 332 continues to descend relative to the support 334 under the action of gravity due to the fact that the winch 32 continues to pay out, the rotating sleeve 333 starts to rotate until the sliding pin 3321 moves to the bottom of the Y-shaped track, and the matching surface of the arc-shaped opening 3333 and the rolling pin 3371 rotates from the peak to the valley; when the winch 32 lifts the housing 332, the support body 334 continues to remain on the bottom of the shield plug 4 due to the gravity, the housing 332 rises relative to the support body 334, the rotating sleeve 333 starts to rotate until the sliding pin 3321 moves to the upper right corner of the Y-shaped track, the matching surface of the arc-shaped opening 3333 and the rolling pin 3371 rotates to the wave trough, the clamp 3372 completely clamps the shield plug waist 42, so that the shield plug 4 is lifted up together by continuously lifting the housing 332 to complete the opening action, and when the shield plug 4 is put down, the matching surface of the arc-shaped opening 3333 and the rolling pin 3371 rotates to the wave crest only by repeating the lifting motion of the housing 332 relative to the support body 334, the clamp 3372 is completely opened, and the shield plug 4 is separated from the grip 33.
After the shielding plug 4 of the outer container is opened, the first Z-axis grabbing component 2 takes out the product cup 5, with reference to fig. 8, the first Z-axis grabbing component 2 grabs the product cup 5 through the sucker gripper 23, the sucker gripper 23 is lifted through the first lifting transmission device 22, the first lifting transmission device 22 is in gear-rack cooperation, the V-shaped rack slideway detects the movement position through a mechanical sensor to ensure stable and reliable operation in a nuclear environment, the gear is driven through the first lifting motor 21 through the first speed reducer 221 with a worm gear structure, the first lifting motor 21 is a radiation-proof motor to meet the working environment in a sealed box, and when the first lifting motor 21 stops working, the first lifting transmission device 22 can also control the first rocking wheel 24 to operate through a mechanical arm.
After the product cup 5 is taken out, the first Z-axis grabbing component 2 is driven by the X-axis driving component 1 to move in the X axial direction, and the first Z-axis grabbing component 2 is used for completing blanking after the product cup reaches a blanking position.
In addition, it should be noted that the specific embodiments described in the present specification may differ in the shape of the components, the names of the components, and the like. All equivalent or simple changes made according to the structure, characteristics and principle of the utility model are included in the protection scope of the utility model. Various modifications, additions and substitutions may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.
Claims (8)
1. The utility model provides a nuclear industry is with ejection of compact transfer device which characterized in that: the X-axis motion platform is arranged on the X-axis drive assembly and moves along the X-axis direction, and the first Z-axis grabbing assembly and the second Z-axis grabbing assembly are arranged on the X-axis motion platform; the first Z-axis grabbing assembly comprises a first lifting driving device, a first lifting transmission device and a sucker gripper, and the first lifting driving device drives the sucker gripper to move along the Z-axis direction through the first lifting transmission device; the second Z-axis grabbing assembly comprises a second lifting driving device, a second lifting transmission device and an unpowered gripper, the unpowered gripper comprises a shell, a direction conversion device and a clamping jaw device, the shell, the direction conversion device and the clamping jaw device are connected in sequence, the shell can move along the Z-axis direction relative to the direction conversion device and drive the direction conversion device to rotate, the direction conversion device drives the clamping jaw device to move horizontally through rotation, and the second lifting driving device drives the shell to move along the Z-axis direction through the second lifting transmission device.
2. The discharge transport device for nuclear industry according to claim 1, characterized in that: the direction conversion device is a rotary sleeve, a continuous oblique line guide rail is arranged on the periphery of the rotary sleeve, and a sliding pin matched with the oblique line guide rail is arranged on the shell; the surface of the rotating sleeve matched with the clamping jaw device is provided with an arc-shaped opening, the clamping jaw device comprises a rolling pin, a reset piece and a clamp, the rolling pin is matched with the arc-shaped opening, the rolling pin is connected with the clamp, and the reset piece applies force towards the arc-shaped opening to the rolling pin or the clamp.
3. The discharge transport device for nuclear industry according to claim 2, characterized in that: the oblique line guide rail is in a continuous Y shape.
4. The discharge transport device for nuclear industry according to claim 1, characterized in that: the second lifting transmission device is a winch.
5. The discharge transport device for nuclear industry according to claim 1, characterized in that: the second Z-axis grabbing component is arranged on the mounting plate, and the mounting plate can be detachably connected with the X-axis moving platform.
6. The discharge transport device for nuclear industry according to claim 1, characterized in that: the first lifting transmission device and the second lifting transmission device respectively comprise a worm gear structure.
7. The discharge transport device for nuclear industry according to claim 1, characterized in that: the first lifting driving device and the second lifting driving device both comprise rocking wheels.
8. The discharge transport device for nuclear industry according to claim 1, characterized in that: the X-axis driving assembly comprises an X-axis driving device, a penetrating device and an X-axis transmission device, the penetrating device comprises a penetrating shaft, a coupler and a sealing ring, and the X-axis driving device drives the X-axis transmission device through the penetrating device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021352388.9U CN212863103U (en) | 2020-07-10 | 2020-07-10 | Discharging transfer device for nuclear industry |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021352388.9U CN212863103U (en) | 2020-07-10 | 2020-07-10 | Discharging transfer device for nuclear industry |
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| CN212863103U true CN212863103U (en) | 2021-04-02 |
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| CN202021352388.9U Active CN212863103U (en) | 2020-07-10 | 2020-07-10 | Discharging transfer device for nuclear industry |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113336160A (en) * | 2021-06-16 | 2021-09-03 | 中国核电工程有限公司 | Uncovering device and uncovering method for container structure |
| CN118145308A (en) * | 2024-02-22 | 2024-06-07 | 航天晨光股份有限公司 | Remote automatic control transfer equipment for radioactive material outer cup |
-
2020
- 2020-07-10 CN CN202021352388.9U patent/CN212863103U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113336160A (en) * | 2021-06-16 | 2021-09-03 | 中国核电工程有限公司 | Uncovering device and uncovering method for container structure |
| CN118145308A (en) * | 2024-02-22 | 2024-06-07 | 航天晨光股份有限公司 | Remote automatic control transfer equipment for radioactive material outer cup |
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