Automatic grabbing device suitable for low-middle level radioactive waste barrel
阅读说明:本技术 适用于低中水平放射性废物桶的自动抓取装置 (Automatic grabbing device suitable for low-middle level radioactive waste barrel ) 是由 王德忠 周文涛 杨桧 顾卫国 陈志鹏 张新煜 马元巍 王江玮 唐新海 于 2020-01-09 设计创作,主要内容包括:本发明提供了一种适用于低中水平放射性废物桶的自动抓取装置,包括废物桶抓取支架组件、提升棒组件、压力感应组件、夹取回弹组件以及后台控制系统,压力感应组件安装在废物桶抓取支架组件的中部;提升棒组件包括两个提升棒,当废物桶抓取支架组件运动到放射性废物的上方下降时,压力感应组件先接触废物桶顶盖并将接触信息传输给后台控制系统,此时后台控制系统检测到抓取废物桶主体到位,并夹取移动放射性废物桶到待放位置后继续下降,提升棒组件的底部接触废物桶顶盖并向上运动驱使夹取回弹组件与废物桶主体分离,完成放射性废物桶的移动。本发明实现了无电机控制,结构简单,操作便捷。(The invention provides an automatic grabbing device suitable for a low-middle horizontal radioactive waste barrel, which comprises a waste barrel grabbing bracket component, a lifting rod component, a pressure sensing component, a clamping springback component and a background control system, wherein the pressure sensing component is arranged in the middle of the waste barrel grabbing bracket component; the lifting rod assembly comprises two lifting rods, when the waste barrel grabbing support assembly moves to the position above the radioactive waste to descend, the pressure sensing assembly firstly contacts the top cover of the waste barrel and transmits contact information to the background control system, the background control system detects that the waste barrel grabbing main body is in place at the moment, the radioactive waste barrel is clamped and moved to the position to be released and then continuously descends, the bottom of the lifting rod assembly contacts the top cover of the waste barrel and moves upwards to drive the clamp to clamp the rebound assembly to be separated from the waste barrel main body, and the radioactive waste barrel is moved. The invention realizes the control without motor, has simple structure and convenient operation.)
1. The automatic grabbing device suitable for the radioactive waste barrel placed in a low-middle horizontal position is characterized by comprising a waste barrel grabbing bracket assembly (1), a lifting rod assembly (2), a pressure sensing assembly (3), a clamping and rebounding assembly (4) and a background control system;
the pressure sensing assembly (3) is arranged in the middle of the waste bucket grabbing bracket assembly (1);
the lifting rod assembly (2) comprises two lifting rods (201), and the two lifting rods (201) are arranged in the middle of the waste bucket grabbing bracket assembly (1) and are arranged on two sides of the pressure sensing assembly (3);
the clamping and rebounding assemblies (4) are respectively arranged on two sides of the waste barrel grabbing bracket assembly (1);
when the garbage can grabbing bracket assembly (1) moves to the position above the radioactive garbage can (5) and descends, pressure-sensitive subassembly (3) contact waste drum top cap (502) earlier and give backstage control system with contact information transmission, backstage control system detects the waste drum this moment and snatchs bracket component (1) and snatchs waste drum main part (501) and target in place, the waste drum snatchs bracket component (1) and drives radioactive waste drum (5) of snatching and place and continue to descend after waiting to put the position, bottom contact waste drum top cap (502) of promotion stick subassembly (2) and snatch bracket component (1) upward movement for the waste drum, the waste drum snatchs the clamp of bracket component (1) both sides and gets resilience subassembly and waste drum main part (501) separation, the waste drum snatchs bracket component (1) and leaves radioactive waste drum (5), accomplish the removal of radioactive waste drum (5).
2. The automatic gripping device for low-to-mid horizontal radioactive waste drums according to claim 1, characterized in that the pressure sensing assembly (3) comprises a pressure sensor (301) and a pressure sensor spring (302);
the top of pressure sensor (301) is installed at the middle part that the garbage bin snatched bracket component (1), the bottom at pressure sensor (301) is installed to the one end of pressure sensor spring (302), the other end of pressure sensor spring (302) is the free end.
3. The automatic grabbing device for low and medium level radioactive trash can of claim 1, wherein the trash can grabbing bracket assembly (1) is of door-shaped structure;
the trash can grabbing bracket assembly (1) comprises a grabbing bracket (101);
the lifting rod (201) vertically penetrates through the middle of the grabbing bracket (101), and two ends of the lifting rod respectively extend to protrude above and below the grabbing bracket (101);
the upper end of the lifting rod (201) is sequentially provided with a lifting rod limiting mechanism (203) and a gear chain fixing device (202) along the upward direction;
the lower end of the lifting rod (201) is provided with a lifting rod base (204).
4. The automatic grabbing device for low and medium level radioactive trash can of claim 3, characterized in that the trash can grabbing rack assembly (1) further comprises a plurality of gear racks (102), a plurality of gears (103), two gear chains (104) and a hook structure (107);
the hook structure (107) is arranged at the upper part of the grabbing bracket (101);
the gears (103) are symmetrically arranged on the grabbing bracket (101) through a gear bracket (102);
one end of the gear chain (104) is installed on the lifting rod (201) through a gear chain fixing device (202), and the other end of the gear chain (104) is connected with the clamping and springback assembly (4) sequentially through a gear (103) installed on one side of the grabbing bracket (101).
5. The automatic grabbing device for low and medium level radioactive trash can of claim 4, wherein the gripping springback assembly (4) comprises two gripping locks (401), two gripping lock springback bars (403), two gripping lock springs (404), two gripping lock springback bar bases (405) and two loop hooks (406);
the bottom of each clamp lock (401) is provided with a clamp lock groove (402), one side of each clamp lock (401) opposite to each other is of a slope arc structure with the upper part protruding and the lower part recessed, and one back surface of each clamp lock (401) is of a vertical arc structure;
the clamp lock spring (404) is sleeved on the clamp lock rebound rod (403);
one end of the clamp lock rebound rod (403) is arranged on a vertical arc structure of the clamp lock (401), and the other end of the clamp lock rebound rod (403) is provided with a clamp lock rebound rod base (405);
a ring hook (406) is arranged on the clamp lock rebound rod base (405), and the other end of the gear chain (104) is arranged on the ring hook (406);
when the clip lock (401) moves closer to the clip lock rebound bar base (405), the clip lock spring (404) is compressed.
6. The automatic grabbing device for low and medium level radioactive trash can of claim 5, wherein the clip rebounding assembly (4) further comprises two clip lock bars (407), a clip lock bar spring (409), a roller (410), a rotation shutter (411) and a return bar (412);
the rotary baffle (411) is of a V-shaped structure, the rolling shaft (410) penetrates through the middle of the rotary baffle (411), and two ends of the rolling shaft are installed on the grabbing bracket (101);
the rotary baffle (411) can rotate around the roller (410);
the upper end of the clamping lock rod (407) is a spherical end, the lower end of the clamping lock rod (407) is sleeved with a clamping lock rod spring (409), and the middle part of the clamping lock rod (407) is provided with a clamping lock rod limiting groove (408);
a return rod (412) is installed at one end of the rotary baffle (411), a through hole is formed in the other end of the rotary baffle (411), and the rotary baffle (411) is installed on the clamping lock rod limiting groove (408) in a matched mode through the through hole;
when the return rod (412) moves close to the rotating baffle (411) under the action of external force, the rotating baffle (411) rotates around the roller (410) so as to drive the clamp locking rod (407) to move downwards.
7. The automatic gripping device for low-to-mid horizontal radioactive waste drums according to claim 5, characterized in that a third support groove is provided on the gripping support (101);
one end of the clamp lock spring (404) close to the clamp lock rebound rod base (405) is blocked by a third support groove;
when the clamp lock (401) moves close to the clamp lock rebound rod base (405) under the action of external force, the clamp lock spring (404) is blocked by the third support groove and is compressed and shortened.
8. The automatic grabbing device for a low and medium level radioactive waste container as claimed in claim 6, wherein the end of said return bar (412) close to the rotating shutter (411) is connected to the rotating shutter (411) through a return bar base (413);
the other end of the return rod (412) is of a conical surface structure.
9. The automatic grabbing device for low and medium level radioactive trash can of claim 6, wherein the trash can grabbing rack assembly (1) further comprises two first rack grooves (105) and two grabbing rack grooves (108);
the rotating baffle (411) and one end of the return rod (412) connected with the rotating baffle (411) are arranged in the first bracket groove (105);
the two grabbing bracket grooves (108) form a clamping space for clamping the radioactive waste barrel (5).
10. The automatic gripping device for low-to-mid horizontal radioactive waste drums according to claim 9, characterized in that the gripping brackets (101) are provided with two second bracket grooves (106);
the upper end of the clamp lock rod spring (409) is limited by the clamp lock rod limiting groove (408), and the other end of the clamp lock rod spring (409) is limited by the second support groove (106);
when the clip lock bar (407) moves downward, the clip lock bar spring (409) is compressed to shorten.
Technical Field
The present invention relates to, and in particular, to an automatic gripping device suitable for use with low to medium level radioactive waste drums.
Background
With the development of nuclear energy industry and the application of radioactive isotopes, great economic benefits and social benefits can be brought to human society, but a large amount of radioactive wastes can be generated at the same time. According to the classification of the national standard radioactive waste (GB9133-1995), radioactivity can be classified according to its half-life and radioactivity level into exempt waste, low-level radioactive waste, medium-level radioactive waste and high-level radioactive waste, wherein medium-low level radioactive waste accounts for more than 95% of the volume of the total radioactive waste. After being solidified and reduced in volume, radioactive wastes generated by the nuclear power station are stored in a cement barrel or a steel barrel and enter a waste temporary storage warehouse of the nuclear power station for final disposal. According to the national standard requirement of 'temporary storage regulation of low and medium level radioactive solid wastes' (GB11928-1989), the radioactive waste barrels are classified according to the specific radioactivity, half-life, toxicity and waste treatment requirement of the wastes and put into storage respectively before final disposal, as shown in figure 3, the
Patent document CN105895181B discloses a grasping device for a medium-low radioactive waste barrel, which comprises a main bracket, a grasping motor screw rod, a transmission nut disc and a plurality of single-claw components; the grabbing motor screw rod is fixed in the center of the main support, the transmission nut disc is screwed on the grabbing motor screw rod through threads and is driven by the grabbing motor screw rod to move up and down in the vertical direction under the action of rotation, and the plurality of single-claw components are radially connected to the transmission nut disc and the main support; the grabbing motor screw rod rotates to drive the transmission nut disc to move along the vertical direction, a plurality of single-claw parts are pulled to be synchronously and centripetally folded or centrifugally unfolded, so that the double-claw mechanism can evenly clamp or place the low-radioactivity waste barrel under the uniform stress, and meanwhile, the whole grabbing device can automatically center the low-radioactivity waste barrel under the rolling action of the universal wheels. On one hand, the device is realized by controlling a compound claw mechanism, a sliding rod frame and other mechanisms through a motor no matter the waste barrel is grabbed or released, and the grabbing control of the motor lead screw and the lifting motor lead screw by different motor lead screws is required to be carried out continuously in the process, so that the time and the labor are consumed, and the device is extremely complicated; on the other hand, the device is designed to have a universal wheel mechanism which is in contact with the ground. However, in practical application, the waste barrels are stacked in a plurality of layers, so that the structure of the floor universal wheel can not be normally used obviously, and the design has defects.
Disclosure of Invention
In view of the shortcomings of the prior art, it is an object of the present invention to provide an automatic gripping device suitable for use with low to medium level radioactive waste drums.
The automatic grabbing device suitable for the low-middle horizontal radioactive waste barrel comprises a waste barrel
the
the
the clamping and rebounding
when the waster bin
Preferably, the
the top of
Preferably, the trash can grabbing
the trash can grabbing
the
the upper end of the
the lower end of the
Preferably, the waste bin
the
the plurality of
one end of the
Preferably, the grasping
the bottom of the clamp lock 401 is provided with a clamp lock groove 402, one side of the two clamp locks 401 opposite to each other is a slope arc structure with the upper part protruding and the lower part recessed, and one back surface of the two clamp locks 401 is a vertical arc structure;
the clamp lock spring 404 is sleeved on the clamp lock rebound rod 403;
one end of the clamp lock rebound rod 403 is arranged on a vertical arc structure of the clamp lock 401, and the other end of the clamp lock rebound rod 403 is provided with a clamp lock rebound rod base 405;
a ring hook 406 is arranged on the clamp lock rebound rod base 405, and the other end of the
when the clip lock 401 moves closer to the clip lock rebound rod mount 405, the clip lock spring 404 is compressed.
Preferably, the gripping
the rotating baffle 411 is of a V-shaped structure, the roller 410 penetrates through the middle of the rotating baffle 411, and two ends of the roller are installed on the
the rotary baffle 411 can rotate around the roller 410;
the upper end of the clamp lock rod 407 is a spherical end, the lower end of the clamp lock rod 407 is sleeved with a clamp lock rod spring 409, and the middle part of the clamp lock rod 407 is provided with a clamp lock rod limiting groove 408;
a return rod 412 is installed at one end of the rotary baffle 411, a through hole is formed in the other end of the rotary baffle 411, and the rotary baffle 411 is installed on the lock clamping rod limiting groove 408 in a matched mode through the through hole;
when the return rod 412 moves close to the rotary baffle 411 under the action of external force, the rotary baffle 411 rotates around the roller 410 so as to drive the clamp locking rod 407 to move downwards.
Preferably, a third bracket groove is formed on the grabbing
one end of the clamp lock spring 404 close to the clamp lock rebound rod base 405 is blocked by a third bracket groove;
when the clip lock 401 moves close to the clip lock resilient bar base 405 by an external force, the clip lock spring 404 is compressed to be shortened by being blocked by the third bracket groove.
Preferably, one end of the return rod 412 close to the rotary baffle 411 is connected with the rotary baffle 411 through a return rod base 413;
the other end of the return rod 412 is of a conical structure.
Preferably, the waste bin
the rotary baffle 411 and one end of the return rod 412 connected with the rotary baffle 411 are both arranged in the
the two
Preferably, two
the upper end of the clamp lock rod spring 409 is limited by the clamp lock rod limiting groove 408, and the other end of the clamp lock rod spring 409 is limited by the
when the clip lock bar 407 moves downward, the clip lock bar spring 409 is compressed to shorten.
Compared with the prior art, the invention has the following beneficial effects:
the
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the grasping resilient assembly;
fig. 3 is a schematic view of the
The figures show that:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
According to the automatic grabbing device suitable for the low-middle horizontal radioactive waste barrel, as shown in fig. 1 and 2, the automatic grabbing device comprises a waste barrel grabbing bracket assembly 1, a lifting rod assembly 2, a pressure sensing assembly 3, a clamping springback assembly 4 and a background control system; the trash can grabbing bracket assembly 1 is of a door-shaped structure; the pressure sensing assembly 3 is arranged in the middle of the waste bucket grabbing bracket assembly 1; the lifting rod assembly 2 comprises two lifting rods 201, the two lifting rods 201 are arranged in the middle of the waste bucket grabbing bracket assembly 1 and are arranged on two sides of the pressure sensing assembly 3, and in a preferred example, the two lifting rods 201 are symmetrically arranged relative to the pressure sensing assembly 3; the clamping and rebounding assemblies 4 are respectively arranged on two sides of the waste bucket grabbing bracket assembly 1; when the waster bin snatchs bracket component 1 and moves the top decline of radioactive waster bin 5, the pressure-sensitive subassembly 3 contacts the waster bin top cap 502 earlier and gives backstage control system with contact information transmission, backstage control system detects the waster bin and snatchs bracket component 1 and snatchs waster bin main part 501 and targets in place this moment, the waster bin snatchs bracket component 1 and drives the radioactive waster bin 5 of snatching and place and continue to descend after waiting to put the position, the bottom of lifting rod subassembly 2 contacts waster bin top cap 502 and snatchs bracket component 1 upward movement for the waster bin, the waster bin snatchs the clamp of bracket component 1 both sides and gets resilience subassembly and waster bin main part 501 separation, the waster bin snatchs bracket component 1 and leaves radioactive waster bin 5. The automatic grabbing device adopts the structure of the clamp lock spring 404 and the clamp lock 401, so that the automatic grabbing of the
Specifically, as shown in fig. 1, the
Specifically, as shown in fig. 1, the trash can grabbing
Further, the grabbing
Further, in a preferred embodiment, a total of 6
Specifically, as shown in fig. 1, the gripping
Specifically, as shown in fig. 1, the gripping
Specifically, as shown in fig. 1, a third bracket groove is formed on the grabbing
Specifically, as shown in fig. 1, one end of the return rod 412 close to the rotary baffle 411 is connected to the rotary baffle 411 through a return rod base 413; the other end of the return rod 412 is of a conical structure.
Specifically, as shown in fig. 1, the trash can grabbing
Specifically, as shown in fig. 1, two
Specifically, the
According to the invention, the clamp lock 401 is pulled open by lifting the lifting
The working principle of the invention is as follows:
the crane places the waste bin gripping device above the
The
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
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