CN215730898U - Multi-shaft transfer device and high-radiation and high-pollution-characteristic raw material processing system - Google Patents

Abstract

The utility model relates to a multi-shaft transfer device, which is used for transferring and pouring reaction cups in a sealed box body and comprises a base, a clamping mechanism, an X-axis sliding mechanism and a Y-axis sliding mechanism, wherein the X-axis sliding mechanism is arranged on the base and used for driving the clamping mechanism to slide along a first direction, and the Y-axis sliding mechanism is arranged on the X-axis sliding mechanism and used for driving the clamping mechanism to slide along a second direction; the multi-shaft transfer device further comprises two penetrating mechanisms which are connected with the X-axis sliding mechanism and the Y-axis sliding mechanism respectively, and the penetrating mechanisms penetrate through the box body and are used for driving the X-axis sliding mechanism and the Y-axis sliding mechanism. Can drive X axle glide machanism and Y axle glide machanism through the mechanism that runs through the box setting to set up multiaxis transfer device's power supply in the box outside, reduce the influence of box kernel radiation to the power supply, reach the effect that reduces the maintenance frequency and the maintenance cost of device.

Description

Multi-shaft transfer device and high-radiation and high-pollution-characteristic raw material processing system

Technical Field

The utility model relates to nuclear industrial equipment, in particular to a multi-shaft transfer device and a high-radiation and high-pollution raw material processing system.

Background

When raw materials such as nuclear materials and the like with high radiation, high pollution and the like are processed, the processing process is usually carried out in a sealed box body through automatic equipment, and the conditions such as dust concentration, temperature, humidity, pressure and the like in the sealed box body usually have special requirements and cannot be easily opened, so that the overhaul and maintenance cost of the equipment is high;

at present, all power sources of the multi-shaft transfer device in the sealed box body are usually arranged in the sealed box body together, but the precision and the service life of the power sources can be influenced when the multi-shaft transfer device is in a working environment with characteristics of high radiation, high pollution and the like for a long time, and the overhaul frequency and the maintenance cost of equipment are increased.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is desirable to provide a multi-axis transport device and a high radiation and high contamination characteristic material processing system.

A multi-shaft transfer device is used for transferring and pouring reaction cups in a sealed box body and comprises a base, a clamping mechanism, an X-axis sliding mechanism and a Y-axis sliding mechanism, wherein the X-axis sliding mechanism is arranged on the base and used for driving the clamping mechanism to slide along a first direction, and the Y-axis sliding mechanism is arranged on the X-axis sliding mechanism and used for driving the clamping mechanism to slide along a second direction; the multi-shaft transfer device further comprises two penetrating mechanisms which are connected with the X-axis sliding mechanism and the Y-axis sliding mechanism respectively, and the penetrating mechanisms penetrate through the box body and are used for driving the X-axis sliding mechanism and the Y-axis sliding mechanism.

Above-mentioned multiaxis transfer device through X axle glide machanism and Y axle glide machanism, can make the reaction cup realize the removal of two directions under fixture 40 drives, simultaneously, through running through mechanism drive X axle glide machanism and the Y axle glide machanism that runs through the box setting to set up multiaxis transfer device's power supply in the box outside, reduce the influence of box kernel radiation to the power supply, reach the effect that reduces device's maintenance frequency and maintenance cost.

In one embodiment, the penetrating mechanism comprises a motor, a magnetic fluid sealing element and a penetrating shaft, wherein the motor, the magnetic fluid sealing element and the penetrating shaft are arranged outside the box body, one end of the magnetic fluid sealing element is fixedly connected with the outer wall of the box body, the motor is fixedly connected with the other end of the magnetic fluid sealing element, and the penetrating shaft is fixedly connected with an output shaft of the motor and penetrates through the magnetic fluid sealing element and the side wall of the box body to the inside of the box body.

So set up, can guarantee through the magnetic current body sealing member that the axle runs through the leakproofness that the axle runs through the box part at the rotation in-process is good to guarantee the box sealed when running through the axle and rotate.

In one embodiment, the X-axis sliding mechanism includes an X-axis sliding plate and an X-axis driving assembly disposed on the base, and the X-axis driving assembly is configured to drive the X-axis sliding plate to slide along the first direction relative to the base.

In one embodiment, the Y-axis sliding mechanism comprises a Y-axis sliding plate and a Y-axis driving component arranged on the X-axis sliding plate; y axle drive assembly includes integral key shaft and spline housing, the integral key shaft set up in the base just follows the first direction extends to arrange, the spline housing with integral key shaft splined connection, Y axle drive assembly is used for the drive Y axle slide plate is followed the second direction slides.

In one embodiment, the multi-axis transfer device further includes a Z-axis sliding mechanism disposed on the Y-axis sliding mechanism, and the Z-axis sliding mechanism includes a Z-axis driving assembly connected between the Y-axis sliding mechanism and the clamping mechanism and configured to drive the clamping mechanism to slide along a third direction.

So set up, through Z axle glide machanism, cooperation X axle and Y axle glide machanism for the reaction cup can move in the triaxial coordinate system space that mutually perpendicular's three direction formed under fixture drives, has increased the transportation degree of freedom of reaction cup.

In one embodiment, the Z-axis sliding mechanism further comprises the drop-preventing assembly, the drop-preventing assembly comprises a worm, a transmission shaft arranged perpendicular to the worm, and a worm wheel fixedly connected to the transmission shaft, the worm wheel is engaged with the worm, and the transmission shaft is used for driving the Z-axis driving assembly.

So set up, through the auto-lock ability between worm wheel and the worm, the condition that Z axle drive assembly and fixture dropped when having avoided multiaxis transfer device outage takes place, has increased multiaxis transfer device's security.

In one embodiment, the Z-axis sliding mechanism further comprises a fast assembly, the fast assembly comprises a Z-axis motor and two rotating teeth engaged with each other, one of the rotating teeth is fixedly connected with an output shaft of the Z-axis motor, the other rotating tooth is connected with the Z-axis driving assembly, and engaging portions of the rotating teeth have matching inclined surfaces.

So set up for Z axle motor is when being connected with Z axle drive assembly, under the guide effect on the inclined plane of rotation tooth, the rotation tooth of one end can rotate to just with another rotation tooth meshing, need not manual alignment profile of tooth, has simplified the installation, has increased Z axle motor's installation effectiveness.

In one embodiment, the clamping mechanism comprises a rotating assembly fixed relative to the Y-axis sliding mechanism along the second direction and a pneumatic claw assembly fixedly connected to an output shaft of the rotating assembly, and the pneumatic claw assembly is used for clamping the reaction cup.

In one embodiment, the pneumatic claw assembly comprises a pneumatic claw driving piece fixedly connected with the output shaft of the rotating assembly, two connecting plates in sliding connection with the pneumatic claw driving piece, and claws, wherein the claws are provided with two groups of different sizes, and each group of claws is fixedly connected with the two connecting plates respectively.

So set up, press from both sides two reaction cups respectively through two sets of clevises of variation in size, only can realize the material step of falling between two reaction cups through the cooperation of a gas claw driving piece drive gas claw driving piece pivoted runner assembly, reduced the device cost and the operation degree of difficulty.

A high radiation, high contamination property feedstock processing system comprising a multi-axis transfer device according to any one of claims to.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a perspective view of the penetration mechanism of FIG. 1;

FIG. 3 is a schematic perspective view of the X-axis sliding mechanism of FIG. 1;

FIG. 4 is a schematic perspective view of the Y-axis sliding mechanism shown in FIG. 1;

FIG. 5 is a left side view of the Z-axis sliding mechanism of FIG. 1;

FIG. 6 is a schematic cross-sectional view taken at B-B in FIG. 5;

FIG. 7 is a schematic cross-sectional view taken at A-A in FIG. 5;

fig. 8 is a schematic perspective view of the clamping mechanism in fig. 1.

Description of the main elements

100. A multi-axis transfer device; 10. a base; 1. a first direction; 2. a second direction; 3. a third direction;

20. an X-axis sliding mechanism; 210. an X-axis drive assembly; 211. an X-axis lead screw; 212. an X-axis nut; 22. An X-axis slide plate;

30. a Y-axis sliding mechanism; 31. a Y-axis slide plate; 320. a Y-axis drive assembly; 321. a Y-axis lead screw; 322. A Y-axis nut; 323. a spline shaft; 324. a connecting seat; 325. a diverter;

40. a clamping mechanism; 410. a rotating assembly; 420. a gas claw assembly; 421. a claw hand; 422. a connecting plate; 423. a pneumatic claw driving member;

50. a penetration mechanism; 51. a motor; 52. a magnetic fluid seal; 53. penetrating the shaft;

60. a Z-axis sliding mechanism; 610. fast assembly; 611. a Z-axis motor; 612. rotating the teeth; 620. an anti-drop assembly; 621. a worm; 622. a worm gear; 623. a drive shaft; 630. a Z-axis drive assembly; 631. a Z-axis gear; 632. a rack; 633. a connecting member.

The present invention is described in further detail with reference to the drawings and the detailed description.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "mounted on" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1, the present invention provides a multi-axis transfer device, which includes a base 10, a clamping mechanism 40, an X-axis sliding mechanism 20 disposed on the base 10 and configured to drive the clamping mechanism 40 to slide along a first direction 1, and a Y-axis sliding mechanism 30 disposed on the X-axis sliding mechanism 20 and configured to drive the clamping mechanism 40 to slide along a second direction 2, wherein the first direction 1 and the second direction 2 are perpendicular to each other, and the clamping mechanism 40 is configured to clamp a reaction cup, so that the reaction cup can move in two directions under the driving of the clamping mechanism 40.

When the radioactive raw materials such as nuclear materials are poured and transported, in order to ensure safety, the operations such as pouring, transporting and the like are required to be carried out in a sealed box body so as to ensure the safety of the operation process; in addition, most of power sources of the conventional multi-shaft conveying device are arranged in a sealed box body together, but the precision and the service life of the power sources are influenced when the multi-shaft conveying device is in a high-radiation working environment for a long time, and the overhaul frequency and the maintenance cost of equipment are increased.

Based on this, the base 10, the clamping mechanism 40, the X-axis sliding mechanism 20 and the Y-axis sliding mechanism 30 of the multi-axis transfer device provided by the utility model are all arranged in the box body, so as to meet the requirements of dumping and transferring radioactive materials such as nuclear materials and the like, and ensure the safety of the operation process; simultaneously, multiaxis transfer device 100 still includes two through mechanism 50 that run through the box, and two through mechanism 50 are connected with X axle glide machanism 20 and Y axle glide machanism 30 respectively to for X axle glide machanism 20 and Y axle glide machanism 30 provide power, thereby set up multiaxis transfer device 100's power supply in the box outside, in order to reduce the influence of box kernel radiation to the power supply, reach the effect that reduces the maintenance frequency and the maintenance cost of device.

Referring to fig. 2, in some embodiments, the penetrating mechanism 50 includes a motor 51 disposed outside the box, a magnetic fluid seal 52, and a penetrating shaft 53, the magnetic fluid seal 52 is capable of achieving rotary sealing, one end of the magnetic fluid seal 52 is fixedly connected to an outer wall of the box, the motor 51 is fixedly connected to the other end of the magnetic fluid seal 52, the penetrating shaft 53 is fixedly connected to an output shaft of the motor 51 and penetrates through the magnetic fluid seal 52 and a side wall of the box to the box, the motor 51 drives the penetrating shaft 53 to rotate after being started, and the penetrating shaft 53 is capable of ensuring that a portion of the penetrating shaft 53 penetrating through the box has good sealing performance during rotation through the magnetic fluid seal 52, so as to ensure sealing inside the box.

Referring to fig. 3, in some embodiments, the X-axis sliding mechanism 20 includes an X-axis sliding plate 22 and an X-axis driving assembly 210, the Y-axis sliding mechanism 30 is disposed on the X-axis sliding plate 22, and the X-axis driving assembly 210 is connected to one of the through shafts 53 and is configured to drive the X-axis sliding plate 22 to slide along the first direction 1, and further drive the clamping mechanism 40 to slide along the first direction 1.

In the above embodiment, the X-axis driving assembly 210 includes the X-axis lead screw 211 and the X-axis nut 212 in threaded connection with the X-axis lead screw 211, the X-axis nut is fixedly connected to the X-axis sliding plate 22, the X-axis lead screw 211 is arranged along the first direction 1 and is fixedly connected to one of the through shafts 53, the through shaft 53 drives the X-axis lead screw 211 to rotate, so that the X-axis sliding plate 22 is driven by the X-axis nut 212 to slide along the first direction 1.

Referring to fig. 4, in some embodiments, the Y-axis sliding mechanism 30 includes a Y-axis sliding plate 31 and a Y-axis driving assembly 320 disposed on the X-axis sliding plate 22, the clamping mechanism 40 is disposed on the Y-axis sliding plate 31, and the Y-axis driving assembly 320 is connected to another penetrating shaft 53 and is configured to drive the clamping mechanism 40 to slide along the second direction 2.

In the above embodiment, the Y-axis driving assembly 320 includes a Y-axis lead screw 321, a Y-axis nut 322, a spline shaft 323, a connecting seat 324, a steering gear 325, and a spline housing, the spline shaft 323 extends along the first direction 1 and is fixedly connected to the other penetrating shaft 53, the spline shaft 323 is splined to the spline housing, the connecting seat 324 is fixedly connected to the X-axis sliding plate 22, the spline housing is rotatably connected to the connecting seat 324, the X-axis sliding plate 22 is further fixedly connected to the steering gear 325, the spline housing is engaged with an input shaft of the steering gear 325 through a gear, an output shaft of the steering gear 325 is fixedly connected to the Y-axis lead screw 321, the Y-axis lead screw 321 is threadedly connected to the Y-axis nut 322, and the Y-axis nut 322 is fixedly connected to the Y-axis sliding plate 31.

Like this, make X axle sliding plate 22 when following first direction 1 and slide, the spline housing can be under the drive of connecting seat 324, take place to slide along spline shaft 323, and at the in-process that slides, pass through gear engagement all the time between the input shaft of spline housing and steering gear 325, when realizing that X axle sliding plate 22 slides to the optional position along first direction 1, it can drive the spline housing through spline shaft 323 and rotate to run through shaft 53 rotation, thereby drive the input shaft rotation of steering gear 325 through gear engagement, and then drive Y axle lead screw 321 through its output shaft under the steering effect of steering gear 325 and rotate, thereby drive Y axle sliding plate 31 through Y axle nut 322 and slide along second direction 2.

Referring to fig. 5, in some embodiments, the multi-axis transfer device 100 further includes a Z-axis sliding mechanism 60 disposed on the Y-axis sliding mechanism 30 and configured to drive the clamping mechanism 40 to slide along a third direction 3, where the third direction 3 is perpendicular to the first direction 1 and the second direction 2, so that the reaction cup can move within a three-axis coordinate system space formed by the three perpendicular directions under the driving of the clamping mechanism 40.

Referring to fig. 6, in some embodiments, the Z-axis sliding mechanism 60 includes a Z-axis driving assembly 630, the Z-axis driving assembly 630 includes a Z-axis gear 631, a rack 632 engaged with the Z-axis gear 631, and a connecting member 633 fixedly connected to the rack 632, and the clamping mechanism 40 is fixedly connected to the connecting member 633, so that when the Z-axis gear 631 rotates, the rack 632 is driven to slide along the third direction 3, and the clamping mechanism 40 is driven to slide along the third direction 3 by the connecting member 633.

Referring to fig. 7, in some embodiments, the Z-axis sliding mechanism 60 includes an anti-drop assembly 620, the anti-drop assembly 620 includes a worm 621, a transmission shaft 623 rotatably connected to the extending portion of the Y-axis sliding plate 31 and arranged perpendicular to the worm 621, and a worm wheel 622 fixedly connected to the transmission shaft 623, the worm wheel 622 is engaged with the worm 621, the transmission shaft 623 is fixedly connected to a Z-axis gear 631, such that the worm 621 rotates to drive the transmission shaft 623 to rotate through the worm wheel 622, and further drive the Z-axis gear 631 to rotate, and at the same time, the worm wheel 622 and the worm 621 are arranged to enable the transmission shaft 623 to have a self-locking capability, thereby preventing the Z-axis driving assembly 630 and the clamping mechanism 40 from dropping when the multi-axis transfer device 100 is powered off, and increasing the safety of the multi-axis transfer device 100.

In some embodiments, the Z-axis sliding mechanism 60 includes a fast assembly 610, the fast assembly 610 includes a Z-axis motor 611 and two rotating teeth 612 engaged with each other, the Z-axis motor 611 is detachably and fixedly connected to an extending portion of the Y-axis sliding plate 31, one of the rotating teeth 612 is fixedly connected to an output shaft of the Z-axis motor 611, the other rotating tooth 612 is fixedly connected to one end of the worm 621, and an engaging portion of the rotating teeth 612 has a matching inclined surface, so that when the Z-axis motor 611 is installed, only the central axis of the output shaft of the Z-axis motor 611 is aligned with the central axis of the worm 621, the rotating teeth 612 at the end with smaller rotational friction resistance is inserted into the Z-axis motor 611 in the direction of the worm 621, under the guiding effect of the inclined surface of the rotating teeth 612, the rotating teeth 612 can be rotated to just mesh with the other rotating teeth 612, and the connection of the Z-axis motor 611 and the worm can be completed without aligning the teeth, the mounting process is simplified, and the mounting efficiency of the Z-axis motor 611 is increased.

Referring to fig. 8, in some embodiments, the clamping mechanism 40 includes a rotating assembly 410 fixedly connected to the connecting member 633 and a gas claw assembly 420 fixedly connected to an output shaft of the rotating assembly 410, wherein the gas claw assembly 420 is used for clamping the reaction cup, so that the rotating assembly 410 can drive the gas claw assembly 420 to rotate around the output shaft of the rotating assembly 410, and further complete material pouring in cooperation with the reaction cup clamped by the gas claw assembly 420.

In the above embodiment, the pneumatic claw assembly 420 includes the pneumatic claw driving element 423 fixedly connected to the output shaft of the rotating assembly 410, two connecting plates 422 slidably connected to the pneumatic claw driving element 423, and two sets of claws 421 disposed on the connecting plates 422, the claws 421 are provided with two sets of different sizes, each set of claw 421 is respectively fixedly connected to the two connecting plates 422, the pneumatic claw driving element 423 can drive the two connecting plates 422 to slide in a direction approaching to or away from each other, and when the two sets of claws 421 respectively clamp two reaction cups, the two reaction cups are concentrically arranged, so that the claws 421 are driven by the pneumatic claw driving element 423 to clamp the reaction cups to be aligned, and the rotating assembly 410 drives the pneumatic claw assembly 420 to rotate, thereby completing the material pouring between the two different reaction cups.

The utility model also provides a high-radiation high-pollution-characteristic raw material processing system which comprises the multi-axis transfer device according to any one of the embodiments.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A multi-axis transfer device is used for transferring and pouring reaction cups in a sealed box body, and is characterized by comprising a base (10), a clamping mechanism (40), an X-axis sliding mechanism (20) arranged on the base (10) and used for driving the clamping mechanism (40) to slide along a first direction (1), and a Y-axis sliding mechanism (30) arranged on the X-axis sliding mechanism (20) and used for driving the clamping mechanism (40) to slide along a second direction (2);

the multi-axis transfer device (100) further comprises two penetrating mechanisms (50) connected with the X-axis sliding mechanism (20) and the Y-axis sliding mechanism (30), and the penetrating mechanisms (50) penetrate through the box body and are used for driving the X-axis sliding mechanism (20) and the Y-axis sliding mechanism (30).

2. The multi-axis transfer device according to claim 1, wherein the penetrating mechanism (50) comprises a motor (51), a magnetic fluid seal (52) and a penetrating shaft (53), the motor (51), the magnetic fluid seal (52) and the penetrating shaft are arranged outside the box body, one end of the motor (51) is fixedly connected with the outer wall of the box body, the other end of the motor (51) is fixedly connected with the other end of the magnetic fluid seal (52), the penetrating shaft (53) is fixedly connected with the output shaft of the motor (51) and penetrates through the magnetic fluid seal (52) and the side wall of the box body to the inside of the box body.

3. The multi-axis transfer device according to claim 1, wherein the X-axis sliding mechanism (20) comprises an X-axis sliding plate (22) and an X-axis driving assembly (210) disposed on the base (10), the X-axis driving assembly (210) is configured to drive the X-axis sliding plate (22) to slide along the first direction (1) relative to the base (10).

4. The multi-axis transfer device according to claim 3, wherein the Y-axis sliding mechanism (30) comprises a Y-axis sliding plate (31) and a Y-axis driving assembly (320) arranged on the X-axis sliding plate (22); the Y-axis driving assembly (320) comprises a spline shaft (323) and a spline housing, the spline shaft (323) is arranged on the base (10) and extends along the first direction (1), the spline housing is in spline connection with the spline shaft (323), and the Y-axis driving assembly (320) is used for driving the Y-axis sliding plate (31) to slide along the second direction (2).

5. The multi-axis transfer device according to claim 1, wherein the multi-axis transfer device (100) further comprises a Z-axis slide mechanism (60) provided to the Y-axis slide mechanism (30), the Z-axis slide mechanism (60) comprising a Z-axis drive assembly (630), the Z-axis drive assembly (630) being connected between the Y-axis slide mechanism (30) and the gripping mechanism (40) and being configured to drive the gripping mechanism (40) to slide in the third direction (3).

6. The multi-axis transfer device according to claim 5, wherein the Z-axis sliding mechanism (60) further comprises a drop prevention assembly (620), the drop prevention assembly (620) comprises a worm (621), a transmission shaft (623) arranged perpendicular to the worm (621), and a worm wheel (622) fixedly connected to the transmission shaft (623), the worm wheel (622) is engaged with the worm (621), and the transmission shaft (623) is used for driving the Z-axis driving assembly (630).

7. Multiaxial transfer device according to claim 5 where the Z-axis skid mechanism (60) further comprises a fast assembly (610), where the fast assembly (610) comprises a Z-axis motor (611) and two intermeshing rotating teeth (612), where one of the rotating teeth (612) is fixedly connected with the output shaft of the Z-axis motor (611) and the other rotating tooth (612) is connected with the Z-axis drive assembly (630), and where the meshing parts of the rotating teeth (612) have mating slopes.

8. The multi-axis transfer device according to claim 1, wherein the clamping mechanism (40) comprises a rotating assembly (410) fixed relative to the Y-axis sliding mechanism (30) along the second direction (2) and a gas claw assembly (420) fixedly connected to an output shaft of the rotating assembly (410), the gas claw assembly (420) being used for clamping the reaction cup.

9. Multiaxial transfer device according to claim 8 where the pneumatic claw assembly (420) includes a pneumatic claw drive (423) fixedly connected to the output shaft of the rotation assembly (410), two connection plates (422) slidably connected to the pneumatic claw drive (423), and claws (421), where the claws (421) are provided in two sets of different sizes, and each set of claws (421) is fixedly connected to two connection plates (422).

10. A high radiation, high contamination property feedstock processing system comprising a multi-axis transfer device as claimed in any one of claims 1 to 9.

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