CN217620586U - Rotating device for HIC sealing - Google Patents
Rotating device for HIC sealing Download PDFInfo
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- CN217620586U CN217620586U CN202220662821.1U CN202220662821U CN217620586U CN 217620586 U CN217620586 U CN 217620586U CN 202220662821 U CN202220662821 U CN 202220662821U CN 217620586 U CN217620586 U CN 217620586U
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- mechanical arm
- gripper
- hic
- gripping apparatus
- arm
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Abstract
The utility model relates to a rotary device for HIC is sealed, including support column, the arm that fills, gripping apparatus arm and gripping apparatus elevating gear, fill the arm and the gripping apparatus arm pass through the gear with the support column is connected, gripping apparatus elevating gear arranges on the gripping apparatus arm, fill the arm and the rotary part of gripping apparatus arm all with the axle center installation of support column. Through set up mechanical dead stop structure at the arm lower extreme to the rotation range of restriction arm, arrange limit switch on the gripping apparatus elevating gear and realize that the apron gripping apparatus moves on suitable high position. Adopt a rotary device for HIC is sealed, can realize support, rotatory and raising and lowering functions in location when apron gripping apparatus snatchs the apron to and realize the support and the rotational positioning function to pouring the mouth.
Description
Technical Field
The utility model belongs to radioactive waste treatment field, concretely relates to a rotary device for HIC is sealed.
Background
At present, aiming at the problem of low and medium radioactive waste treatment, some nuclear power plants (such as gulf nuclear power plants) in China begin to adopt High Integrity Containers (HIC) to contain radioactive wastes, and because the HIC has good shielding property and stability, the HIC can be safely stored for 300 years under the environmental conditions of dryness, wetness, cold, heat, salt corrosion, impact and the like. The HIC consists of a concrete barrel body and a cover plate, after radioactive wastes are filled in the HIC, gaps between the HIC barrel body and the waste bodies and between the HIC barrel body and the cover plate need to be sealed, and the sealing material can be organic materials such as epoxy resin or concrete mortar. Since the above operations are carried out in a radioactive environment, it is necessary to rely on a complete set of remotely controlled capping devices, among which the rotating means are indispensable.
A rotary device in the current market is provided with a rotatable upright post in the middle, two electric push rods are arranged on the upright post, and a perfusion cantilever and a gripping apparatus cantilever are driven to move up and down through the electric push rods; and the motor arranged below the upright post drives the upright post to rotate, so that the cantilever is driven to rotate. The design has the defects of complex structure, poor positioning accuracy and the like.
Disclosure of Invention
To the defect that exists among the prior art, the utility model aims to provide a rotary device for HIC is sealed, the device simple structure, can realize remote control, fix a position accurate, but remote operation, the range of application is wide, is fit for using under the radioactive environment.
In order to achieve the above purpose, the utility model adopts the technical scheme that: a rotating device for HIC sealing comprises a supporting column, a perfusion mechanical arm, a gripper mechanical arm and a gripper lifting device, wherein the perfusion mechanical arm and the gripper mechanical arm are connected with the supporting column through gears; the gripper mechanical arm comprises a mechanical arm body, a driving motor, a driving gear, a fixed gear, a connecting plate, a rotating part and an interface of a gripper lifting device; the perfusion mechanical arm comprises a mechanical arm body, a driving motor, a driving gear, a fixed gear, a connecting plate, a rotating part and a perfusion nozzle interface; the gripper lifting device is arranged on the gripper mechanical arm and comprises a lifting driving motor, a coupler, a lead screw lifter and a limit switch; the rotating parts of the pouring mechanical arm and the gripping apparatus mechanical arm are coaxially mounted with the supporting column.
Further, for the perfusion mechanical arm and the gripper mechanical arm, one side of the connecting plate is connected with the driving motor in a flange mode, and the other side of the connecting plate is connected with the rotating component.
Further, the rotating component comprises a conical roller bearing and a positioning spacer.
Furthermore, a driving gear is installed on an output shaft of the driving motor, and a fixed gear matched with the driving gear is installed on the supporting column through two fixed keys which are symmetrically arranged.
Further, the priming mechanical arm is located below the gripper mechanical arm.
Furthermore, an interface flange of the gripping apparatus is reserved at the lower end of the gripping apparatus lifting device.
Furthermore, a positioning boss is arranged on the upper portion of the supporting column, a middle partition section is arranged at a specific position below the mechanical arm connected with the positioning boss, and when the mechanical arm rotates to a certain angle, the middle partition section on the mechanical arm and the positioning boss on the supporting column form a mechanical dead stop structure.
Furthermore, an interface of the gripper lifting device, which is used for mounting the lead screw lifting device, at the tail end of the gripper mechanical arm is designed into a U-shaped semi-open form, and a positioning block made of polytetrafluoroethylene is arranged at the interface of the gripper lifting device.
Furthermore, the lower part of the support column is provided with a conical seat.
Furthermore, fill mouth interface arrangement of arm and set up to retractable, can be according to the flexible length of different encapsulating mouth size adjustment.
The utility model has the effects that: adopt the utility model discloses a rotary device for HIC is sealed has following advantage:
(1) The whole device has simple structure and convenient operation;
(2) The gripping apparatus mechanical arm and the perfusion mechanical arm only move in the circumferential direction without longitudinal movement, and the height dimension is set according to the HIC mounting height, so that an electric push rod structure is omitted, the structure of the device is simplified, and the positioning precision is improved;
(3) The rotation angle of the gripping apparatus mechanical arm and the filling mechanical arm is controlled by the dual functions of the mechanical stop structure and the limit switch in the rotation motion, so that the rotation positioning precision of the mechanical arm is further improved;
(4) The support column is simple in structure and can be machined and formed at one time, and the whole structure has higher strength and rigidity by means of the auxiliary support of the lower conical seat.
Drawings
Fig. 1 is a schematic view of an overall structure of a rotating device for HIC seal according to the present invention;
fig. 2 is a schematic structural view of a gripper mechanical arm in a rotating device for HIC sealing according to the present invention;
fig. 3 is a front view and a top view of a connection plate of a rotating device for HIC sealing according to the present invention;
fig. 4 is a schematic view of the working principle of the mechanical dead-stop structure of the mechanical arm in the rotating device for HIC seal according to the present invention;
fig. 5 is a schematic view illustrating an operating state of a rotating device for HIC seal according to the present invention;
in the figure: the automatic filling machine comprises a support column 1, a filling mechanical arm 2, a middle partition 3, a gripper mechanical arm 4, a gripper lifting device 5, a gripper 6, a filling nozzle 7, an HIC8, a driving motor 4.1, a connecting plate 4.2, a driving gear 4.3, a fixed gear 4.4, a rotating component 4.5, a conical roller bearing 4.5.1, a positioning spacer 4.5.2, a gripper body 4.6, a gripper lifting device interface 4.7 and a positioning boss 4.8.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and detailed description.
Example one
As shown in fig. 1, the utility model provides a rotary device for HIC seal, including support column 1, filling arm 2, well bay 3, gripping apparatus arm 4 and gripping apparatus elevating gear 5.
The support column lower part sets up the awl seat to increase overall structure's intensity and rigidity.
As shown in fig. 2, the gripper robot 4 includes a driving motor 4.1, a connecting plate 4.2, a driving gear 4.3, a fixed gear 4.4, a rotating component 4.5, a robot body 4.6, a gripper lifting device interface 4.7, and a positioning boss 4.8. The rotating member 4.5 comprises a tapered roller bearing 4.5.1 and a locating spacer 4.5.2.
The fixed gear 4.4 is mounted on the support column 1 by a key and keyway arrangement, and fig. 3 is a front and top view of the connecting plate 4.2, as shown in fig. 3, the connecting plate 4.2 being flanged on one side to the drive motor 4.1 and on the other side to the rotating member 4.5. The rotating part 4.5 is in interference fit with the support column 1, the mechanical arm body 4.6 is driven to rotate together by means of rotation of the two sets of conical roller bearings 4.5.1, and the positioning boss 4.8 is arranged below the mechanical arm body 4.6.
The gripper lifting device 5 comprises a screw rod lifter, a lifting driving motor, a coupler and a limit switch.
The pouring mechanical arm 2 is arranged on the same support column 1 and located below the gripper mechanical arm 4, the main structure of the pouring mechanical arm is the same as that of the gripper mechanical arm, and the pouring mechanical arm 2 comprises a mechanical arm body, a driving motor, a driving gear, a fixed gear, a connecting plate, a rotating part and a pouring nozzle interface. The difference lies in that the tail end of the pouring mechanical arm 2 is provided with a mounting interface of a pouring nozzle, and the tail end of the gripper mechanical arm body 4.6 is provided with a gripper lifting device interface 4.7. The driving motor and the lead screw lifter of the gripper lifting device 5 are arranged on the gripper mechanical arm 4, the lower end of the gripper mechanical arm is provided with an interface flange of the gripper, and the upper and lower movements of the gripper are realized through the movement of the lead screw lifter.
Fig. 4 is a cross-sectional view of a positioning column 1 in different states, in order to realize that the rotation ranges of a gripper mechanical arm 4 and a perfusion mechanical arm 2 are respectively 0-90 degrees and-90-0 degrees, as shown in fig. 4, a positioning boss 4.8 is arranged on the upper portion of a support column 1, a middle partition section 3 is arranged at a specific position below the mechanical arm connected with the support column 1, when the mechanical arm rotates to a certain angle, the middle partition section 3 on the mechanical arm and the positioning boss 4.8 on the support column 1 form a mechanical dead stop structure, and the mechanical arm cannot rotate continuously along the original action direction and can only rotate in the opposite direction, so that the mechanical arm is accurately controlled to be positioned at an initial station or an operation station.
The driving motor 4.1 of the mechanical arm is a cycloidal pin gear speed reducing motor which has a large rotating speed ratio and can ensure stable and reliable rotating motion.
The gripper lifting device interface 4.7 of the gripper mechanical arm 4 tail end used for installing the screw lifting device is designed into a U-shaped semi-open form, and meanwhile, a locating block made of polytetrafluoroethylene is arranged at the interface and used for supporting the screw and eliminating the swing of the gripper.
Fill mouth interface arrangement that arm 2 fills sets up to the retractable, according to the flexible length of different encapsulating mouth size adjustment, and then the distance of adjustment and HIC8 to satisfy the location demand.
In order to further improve the rotary positioning precision of the mechanical arm, a limit switch can be arranged besides the mechanical stop device.
As shown in fig. 5, the rotating device provided in this patent is integrated with the HIC cover gripper 6, the pouring spout 7, etc. to explain the specific working principle of the device:
1) In an initial working state, the gripper mechanical arm 4 and the perfusion mechanical arm 2 are positioned at two sides of the support column 1 and form an angle of 90 degrees with a central connecting line of the support column 1;
2) The gripper mechanical arm 4 rotates clockwise by 90 degrees and is positioned right above the HIC 8;
3) The gripper lifting device 5 drives a motor to enable the screw rod to descend to a set height, and the HIC8 cover plate is grabbed or released through the gripper 6;
4) After the action is finished, the gripper mechanical arm 4 rotates back to the initial position;
5) The perfusion mechanical arm 2 rotates 90 degrees anticlockwise, the perfusion nozzle 7 is positioned right above the HIC8 perfusion gap, and perfusion operation is started;
6) After the completion of the priming, the priming robot 2 rotates back to the initial position.
Can see through above-mentioned embodiment, the utility model discloses a but a rotary device for HIC is sealed has simple structure, can realize remote control, fix a position accurate remote operation, and the range of application is wide, is fit for the advantage that uses under the radioactive environment.
The device of the present invention is not limited to the specific embodiments described in the embodiments, and those skilled in the art can obtain other embodiments according to the technical solution of the present invention, which also belongs to the technical innovation scope of the present invention.
Claims (10)
1. A rotary device for a HIC seal, characterized by: the device comprises a support column, a perfusion mechanical arm, a gripper mechanical arm and a gripper lifting device, wherein the perfusion mechanical arm and the gripper mechanical arm are connected with the support column through gears; the gripper mechanical arm comprises a mechanical arm body, a driving motor, a driving gear, a fixed gear, a connecting plate, a rotating part and an interface of a gripper lifting device; the pouring mechanical arm comprises a mechanical arm body, a driving motor, a driving gear, a fixed gear, a connecting plate, a rotating part and a pouring nozzle interface; the gripper lifting device is arranged on the gripper mechanical arm and comprises a lifting driving motor, a coupler, a lead screw lifter and a limit switch; the rotating parts of the pouring mechanical arm and the gripping apparatus mechanical arm are coaxially mounted with the supporting column.
2. A rotary device for HIC seals according to claim 1, wherein: for the perfusion mechanical arm and the gripper mechanical arm, one side of the connecting plate is connected with the driving motor in a flange mode, and the other side of the connecting plate is connected with the rotating component.
3. A rotary device for a HIC seal according to claim 2, wherein: the rotating component comprises a conical surface roller bearing and a positioning spacer bush.
4. A rotary device for a HIC seal according to claim 3, wherein: and a driving gear is arranged on an output shaft of the driving motor, and a fixed gear matched with the driving gear is arranged on the supporting column through two fixed keys which are symmetrically arranged.
5. A rotary device for a HIC seal according to claim 2, wherein: the pouring mechanical arm is positioned below the gripper mechanical arm.
6. A rotary device for a HIC seal according to claim 1, wherein: and an interface flange of the gripping apparatus is reserved at the lower end of the gripping apparatus lifting device.
7. A rotary device for HIC seals according to claim 2, wherein: the mechanical arm is characterized in that a positioning boss is arranged at the upper part of the supporting column, a middle partition section is arranged at a specific position below the mechanical arm connected with the positioning boss, and when the mechanical arm rotates to a certain angle, the middle partition section on the mechanical arm and the positioning boss on the supporting column form a mechanical stop structure.
8. A rotary device for HIC seals according to claim 2, wherein: the gripper lifting device is characterized in that a gripper lifting device interface used for mounting a lead screw lifting device at the tail end of the gripper mechanical arm is designed into a U-shaped semi-open form, and a polytetrafluoroethylene positioning block is arranged at the gripper lifting device interface.
9. A rotary device for a HIC seal according to claim 1, wherein: the lower part of the supporting column is provided with a conical seat.
10. A rotary device for HIC seals according to claim 1, wherein: the pouring nozzle interface device of the pouring mechanical arm is arranged to be telescopic, and the telescopic length can be adjusted according to different sizes of the pouring nozzles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220662821.1U CN217620586U (en) | 2022-03-25 | 2022-03-25 | Rotating device for HIC sealing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220662821.1U CN217620586U (en) | 2022-03-25 | 2022-03-25 | Rotating device for HIC sealing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217620586U true CN217620586U (en) | 2022-10-21 |
Family
ID=83645782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220662821.1U Active CN217620586U (en) | 2022-03-25 | 2022-03-25 | Rotating device for HIC sealing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217620586U (en) |
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2022
- 2022-03-25 CN CN202220662821.1U patent/CN217620586U/en active Active
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