CN110335692A - The automatic recycling device of nuclear reactor detector assembly - Google Patents
The automatic recycling device of nuclear reactor detector assembly Download PDFInfo
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- CN110335692A CN110335692A CN201910613307.1A CN201910613307A CN110335692A CN 110335692 A CN110335692 A CN 110335692A CN 201910613307 A CN201910613307 A CN 201910613307A CN 110335692 A CN110335692 A CN 110335692A
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- detector assembly
- nuclear reactor
- automatic recycling
- assembly according
- reactor detector
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- 238000004064 recycling Methods 0.000 title claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 238000002788 crimping Methods 0.000 claims abstract description 31
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 17
- 238000010008 shearing Methods 0.000 claims description 17
- 229910001873 dinitrogen Inorganic materials 0.000 claims description 15
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 206010018325 Congenital glaucomas Diseases 0.000 claims description 8
- 206010012565 Developmental glaucoma Diseases 0.000 claims description 8
- 208000007157 Hydrophthalmos Diseases 0.000 claims description 8
- 201000001024 buphthalmos Diseases 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 241000237858 Gastropoda Species 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- PNEYBMLMFCGWSK-UHFFFAOYSA-N aluminium oxide Inorganic materials [O-2].[O-2].[O-2].[Al+3].[Al+3] PNEYBMLMFCGWSK-UHFFFAOYSA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical group C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 229910052757 nitrogen Inorganic materials 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B09—DISPOSAL OF SOLID WASTE; RECLAMATION OF CONTAMINATED SOIL
- B09B—DISPOSAL OF SOLID WASTE NOT OTHERWISE PROVIDED FOR
- B09B3/00—Destroying solid waste or transforming solid waste into something useful or harmless
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21D—NUCLEAR POWER PLANT
- G21D1/00—Details of nuclear power plant
- G21D1/02—Arrangements of auxiliary equipment
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
This application discloses a kind of automatic recycling devices of nuclear reactor detector assembly.The device includes: rotary positioning apparatus, coordinate locating mechanism, grabbing device, conveying device, shear, crimping device and recyclable device, the coordinate locating mechanism is arranged on the rotary positioning apparatus, the grabbing device, the conveying device are set to the top of the coordinate locating mechanism, the conveying device is located above the grabbing device, the crimping device, recyclable device are set to the top of the coordinate locating mechanism, the recyclable device is located at below the crimping device, and the top of the crimping device is arranged in the shear.Present application addresses need security risk caused by artificial scene replacement as nuclear reactor detector assembly.
Description
Technical field
This application involves nuclear power fields, in particular to a kind of automatic recycling device of nuclear reactor detector assembly.
Background technique
Nuclear power station has many secondarys and generates, wherein neutron in heap when using nuclear energy power generation in nuclear process
Fluence rate is directly proportional to reactor capability, can calculate reactor capability by measuring neutron fluence rate.
Detector assembly is a kind of tool for the measurement of reactor core neutron fluence rate.It is directly installed on reactor pressure appearance
In device, pass through pressure vessel Base top contact signal.It may be implemented under high temperature and pressure and high radiation environment to neutron, temperature and water level
Precise measurement.Structure is complicated for detector assembly, such as: entire length is more than 7m, the detector of main part outer diameter about 7.5mm
A variety of, multiple detecting elements are installed in component, inside, and detector signal is drawn by a large amount of conducting wires, and outside uses tubulose 316L not
Rust steel is sealed against, and reinjecting alumina powder ensures high insulating property between each detector element.Last detector transmission electricity
Core need to be welded with emitter, and welding material size differs greatly and is dissimilar material.It is detailed in attached drawing 1.
Nuclear reactor is after operation after a period of time, and the detector assembly in heap is due to aging, failure and other reasons need
It is regularly replaced.At present mainly by the way of artificial withdrawing, operator needs to work under radiation parameter, if operating
Occur the problems such as operation error, mechanical disorder in journey, easily causes that personal dose's is exceeded.Due to the complexity in heap apical ring border, work
Making personnel, there is also the danger such as fall, damage.
Aiming at the problem that security risk caused by nuclear reactor detector assembly in the related technology needs artificial scene replacement,
Currently no effective solution has been proposed.
Summary of the invention
The main purpose of the application is to provide a kind of automatic recycling device of nuclear reactor detector assembly, to solve core
Reactor detector assembly needs the problem of security risk caused by artificial scene replacement.
To achieve the goals above, according to the one aspect of the application, a kind of nuclear reactor detector assembly is provided
Automatic recycling device.
Automatic recycling device according to the nuclear reactor detector assembly of the application includes: that rotary positioning apparatus, coordinate are fixed
Position mechanism, grabbing device, conveying device, shear, crimping device and recyclable device, the coordinate locating mechanism are arranged in institute
It states on rotary positioning apparatus, the grabbing device, the conveying device are set to the top of the coordinate locating mechanism, described defeated
Device is sent to be located above the grabbing device, the crimping device, recyclable device are set to the top of the coordinate locating mechanism,
The recyclable device is located at below the crimping device, and the top of the crimping device is arranged in the shear.
Further, the rotary positioning apparatus includes: cantilever beam, rotating platform, supporting mechanism and rotation drive device,
The rotation drive device is connected with the rotating platform, and the supporting mechanism, rotating platform, rotation drive device are arranged in institute
State the downside of cantilever beam；The supporting mechanism includes: shell, load-bearing connector, guiding connector, the buphthalmos of setting inside the shell
Wheel and the first nitrogen gas spring, the first nitrogen gas spring are connected with load-bearing connector, guiding connector, and guiding connector and buphthalmos wheel connect
It connects, the shell is connected by the cantilever beam with the rotating platform.
Further, the coordinate locating mechanism includes: three axis mechanism main bodys and driving device, and the driving device passes through
Retarder is connected with the three axis mechanisms main body.
Further, the grabbing device includes: worm drive motor, eccentric turbine, worm screw, pressure sensor and guide rail
Connector, the worm drive motor are connected by shaft coupling with worm screw, and the worm screw connects with the eccentric turbine, the snail
Bar, the eccentric turbine are fixed on the guide-rail coupling member, and the guide-rail coupling member is connected with the coordinate locating mechanism, institute
Pressure sensor is stated to be arranged on the downside of the worm screw.
Further, the conveying device includes: attachment device, be fixed on the roller driving device of attachment device, idler wheel,
Second nitrogen gas spring, wedge block, compressed spring and linear guide, the roller driving device are connected by retarder with idler wheel,
The idler wheel and the second nitrogen gas spring, wedge block connection, the wedge block are connected with compressed spring, and the linear guide setting exists
On the downside of the idler wheel.
Further, the shear includes: electric pushrod and shearing tool, the electric pushrod and the shear knife
Tool connection.
Further, the crimping device includes: two power devices, spool part and linear guides, the power
Device is connected by retarder with the spool part, another described power device passes through retarder and the linear guides
It is flexibly connected.
Further, the driving device includes: horizontal drive motor, vertical drive motor and vertical driving motor, institute
Horizontal drive motor, vertical drive motor, vertical driving motor is stated to connect by ball-screw with mechanism body.
Further, the spool part includes: spool body and spool head, and the power device passes through retarder and spool body
Connection, the spool body are connected with the spool head.
Further, the shear further include: bottom plate, compact heap, connector and cutter head gasket, the bottom plate and institute
Electric pushrod connection is stated, the electric pushrod is connected with the connector, and the connector is connected with the shearing tool；It is described
Compact heap is pressed on electric pushrod, and the cutter head gasket is padded under the shearing tool.
In the embodiment of the present application, it by the way of recycling nuclear reactor detector assembly automatically, is filled by rotational positioning
It sets, the cooperation of coordinate locating mechanism, grabbing device, conveying device, shear, crimping device and recyclable device, having reached can
The purpose for being grabbed, transmit, shear, crimping and being recycled nuclear reactor detector assembly with long-range control, avoids in operating process
There is operation error, mechanical disorder etc., caused by personal dose exceeded situation；Also avoid the complexity due to heap apical ring border
Property, there is the danger such as fall, damage in staff；To realize the technical effect for excluding security risk, and then solve
The technical issues of security risk caused by needing artificial scene to replace as nuclear reactor detector assembly of having determined.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of detector assembly in the related technology；
Fig. 2 is the automatic recycling device structural schematic diagram according to the nuclear reactor detector assembly of the embodiment of the present application；
Fig. 3 is the grabbing device structural schematic diagram according to the embodiment of the present application；
Fig. 4 is the conveying device structural schematic diagram according to the embodiment of the present application；
Fig. 5 is the shear structural schematic diagram according to the embodiment of the present application；
Fig. 6 is the crimping device structural schematic diagram according to the embodiment of the present application；
Fig. 7 is the supporting mechanism structural schematic diagram according to the embodiment of the present application.
Appended drawing reference
1, rotary positioning apparatus；2, coordinate locating mechanism；3, grabbing device；4, conveying device；5, shear；6, it crimps
Device；7, recyclable device；11, cantilever beam；12, supporting mechanism；13, rotation drive device；14, rotating platform；121, shell；
122, load-bearing connector；123, guiding connector；124, buphthalmos wheel；125, the first nitrogen gas spring；21, three axis mechanism main body；22,
Driving device；221, horizontal drive motor；222, vertical drive motor；31, worm drive motor；32, eccentric turbine；33, snail
Bar；34, pressure sensor；35, guide-rail coupling member；41, attachment device；42, roller driving device；43, idler wheel；44, the second nitrogen
Gas spring；45, wedge block；46, compressed spring；47, linear guide；51, electric pushrod；52, cutter；53, bottom plate；54, it compresses
Block；55, connector；56, cutter head gasket；61, power device；62, spool part；621, spool body；622, spool head；63, linear
Guide rail.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the present invention and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 2-5, this application involves a kind of automatic recycling device 7 of nuclear reactor detector assembly, the device packets
It includes: rotary positioning apparatus 1, coordinate locating mechanism 2, grabbing device 3, conveying device 4, shear 5, crimping device 6 and recycling
Device 7, the coordinate locating mechanism 2 are arranged on the rotary positioning apparatus 1, the grabbing device 3, the conveying device 4
It is set to the top of the coordinate locating mechanism 2, the conveying device 4 is located at 3 top of grabbing device, the crimping device
6, recyclable device 7 is set to the top of the coordinate locating mechanism 2, and the recyclable device 7 is located at 6 lower section of crimping device,
The top of the crimping device 6 is arranged in the shear 5.
Specifically, rotary positioning apparatus 1 can drive entire automatic recycling device 7 to be rotated at any angle, thus
It can be rotated by controlling ontology to the position where proximity detector component, convenient for the recycling of detector assembly.Coordinate setting
Mechanism 2 is fixed on rotary positioning apparatus 1, can be rotated with the rotation of rotary positioning apparatus 1, and there is progress whole plane to lead
The effect that any point positions in rail stroke is next so as to guarantee to be pin-pointed to the position where detector assembly
The detector assembly recycling of step provides safeguard.Grabbing device 3, conveying device 4, shear 5, crimping device 6 and recyclable device 7
It is respectively completed crawl (or holding tightly), conveying, shearing, curling and the recycling of detector assembly；Specifically, due to grabbing device 3
Mobilizable left side for being connected to coordinate locating mechanism 2 guarantees that itself can be slided above and below on coordinate locating mechanism 2, sits
Mark positioning mechanism 2 itself can on rotary positioning apparatus 1 before and after, horizontally slip, so as to reach whole plane guide rail stroke
The purpose of interior any point positioning；It is mobile by control top to bottom, left and right, front and rear, it can complete to position detector assembly, that is, grab
Device 3 is taken to be moved to the position that can firmly grasp detector assembly；Then control grabbing device 3 grabs and holds tightly detector assembly,
It is given to conveying device 4 by one of the detector assembly again, detector is delivered up by control conveying device 4.
When being transported to shear 5, control shear 5 shear offs the hard portions of detector assembly leading portion,
It slides from rear side to recycling bin；After the completion of recycling, crimping device 6 is pushed in circular channel to the left, is crimped in the channel
Device 6 can be on the position of contact detector component back segment soft section, then drives the rotation of crimping device 6 to adjust the angle, and makes
Back segment soft section can be engaged in the gap of crimping device 6, realize the fixation at the top of soft section, finally driving curling dress
Set 6 rotations, soft section is crimped it is discoid, achieve the purpose that crimp detector assembly.After the completion of curling, crimping device is controlled
6 move right, since soft section is curled into plate-like diameter greater than circular channel diameter, in the mistake that crimping device 6 moves right
Cheng Zhong can be made plate-like soft section fall off by the reaction force of baffle around circular channel, be slid under crimping device 6
In the recyclable device 7 of side.
In the present embodiment, the circular arc etc. that gap can be the crimp head along crimping device 6 be divided to setting two, four or
It is multiple.
In the present embodiment, recyclable device 7 is equally set in the lower section of shear 5, for before recovery detector component
The hard portions of section.
In the present embodiment, entire crawl, conveying, shearing, curling and removal process, are not necessarily to manual operation, avoid behaviour
The exceeded situation for the personal dose for occurring operation error, mechanical disorder etc. during making, and then avoiding the occurrence of；Also avoid due to
The complexity in heap apical ring border, caused by worker fall, the dangerous situation such as damage；In this way, eliminating the peace of staff
Full hidden danger.
In the present embodiment, each device can be the operation that works independently, and the control platform of distal end is connected by control line,
Operator issues control instruction by the operation in operating platform to complete the control of each device；It is come to personally without personnel
The starting, stopping of modules in field control automatic recycling device 7.Preferably, multiple cameras are arranged at the scene, in real time will
On image transmission to the display of control platform, operator determines the opportunity of control by viewing image, so as to help
The regioselective of operator control emergency stop and detector assembly.
In some embodiments, the control platform of distal end and each device are to be wirelessly connected, and center one in each dress
A wireless transceiver realizes the reception of control instruction；Guarantee the convenience of signal transmission.
In some embodiments, it grabs, hold tightly, conveying, shearing, crimping, control program realization or more can be set in recycling
Movement；Promote intelligence degree.
It can be seen from the above description that the application realizes following technical effect:
In the embodiment of the present application, it by the way of recycling nuclear reactor detector assembly automatically, is filled by rotational positioning
The cooperation for setting 1, coordinate locating mechanism 2, grabbing device 3, conveying device 4, shear 5, crimping device 6 and recyclable device 7, reaches
To can remotely control crawl, transmission, shearing, curling and the purpose for recycling nuclear reactor detector assembly, operation is avoided
Occur operation error, mechanical disorder etc. in the process, caused by personal dose exceeded situation；It also avoids due to heap apical ring border
Complexity, it is dangerous that staff has that fall, damage etc.；To realize the technical effect for excluding security risk,
And then solves the technical issues of security risk caused by artificial scene replacement is needed as nuclear reactor detector assembly.
As preferably, the rotary positioning apparatus 1 includes: cantilever beam 11, rotating platform 14, support machine in the present embodiment
Structure 12 and rotation drive device 2213, the rotation drive device 2213 and the rotating platform 14 connect, the supporting mechanism
12, the downside of the cantilever beam 11 is arranged in rotating platform 14, rotation drive device 2213；The supporting mechanism 12 includes: outer
Shell 121, the load-bearing connector 55122 being arranged in shell 121, guiding connector 55123, buphthalmos wheel 124 and the first nitrogen bullet
Spring 125, the first nitrogen gas spring 125 are connected with load-bearing connector 55122, guiding connector 55123,55123 He of guiding connector
Buphthalmos wheel 124 connects, and the shell 121 is connected by the cantilever beam 11 and the rotating platform 14.Pass through rotating platform 14
Realize the rotation of 360 ° of any positions；The frictional force of rotation can be reduced by buphthalmos wheel 124, improve rotation efficiency；Pass through first
Height difference caused by the adjustable injustice because of ground of nitrogen gas spring 125, enables adaptation to different scenes.
As preferably, the coordinate locating mechanism 2 includes: three axis mechanism main bodys 21 and driving device in the present embodiment
22, the driving device 22 is connected by retarder and the three axis mechanisms main body 21；It is described as preferred in the present embodiment
Driving device 22 includes: horizontal drive motor 221, vertical drive motor 222 and vertical driving motor, the horizontal drive motor
221, vertical drive motor 222, vertical driving motor are connected by ball-screw with mechanism body；There is crawl in mechanism body
The linear track that device 3 slides realizes moving up and down for grabbing device 3；Ball-screw is arranged in mechanism body bottom, can will drive
The rotary motion of dynamic device 22 is converted to translational motion, that is, the front and rear, left and right for realizing mechanism body is mobile；Specifically, logical
It crosses horizontal drive motor 221 to be connected with the ball-screw of lateral arrangement, moving left and right for implementation mechanism main body passes through zigzag tread patterns
Motor 222 is connected with longitudinally arranged ball-screw, the back-and-forth motion of implementation mechanism main body, since grabbing device 3 is arranged in machine
In structure main body, the front and rear, left and right of mechanism body is mobile, i.e., grabbing device 3 all around moves；By vertical driving motor and hang down
The ball-screw directly arranged is connected, and moving up and down for grabbing device 3 is realized, to realize Three Degree Of Freedom position locator group
Part.
As preferably, the grabbing device 3 includes: 33 driving motor 31 of worm screw, eccentric turbine 32, snail in the present embodiment
Bar 33, pressure sensor 34 and guide-rail coupling member 35,33 driving motor 31 of worm screw are connected by shaft coupling and worm screw 33, institute
It states worm screw 33 and the eccentric turbine 32 connects, the worm screw 33, the eccentric turbine 32 are fixed on the guide-rail coupling member 35
On, the guide-rail coupling member 35 and the coordinate locating mechanism 2 connect, and eccentric turbine 32 is arranged in the pressure sensor 34
On the downside of bearing block.By eccentric worm gear, worm screw 33, pressure sensor 34, bearing block, oil-free bushing, bearing, motor, Xiang Guanji
Tool part composition, motor driven worm screw 33 rotate, and worm screw 33 drives turbine rotation, after turning over certain angle, because turbine is
Eccentric structure, therefore the generation of eccentricity is had between turbine and upper and lower bearing block, therefore holding movement can be carried out.
As preferably, the conveying device 4 includes: attachment device 41, is fixed on attachment device 41 in the present embodiment
43 driving device 4222 of idler wheel, idler wheel 43, the second nitrogen gas spring 44, wedge block 45, compressed spring 46 and linear guide 47, it is described
43 driving device 4222 of idler wheel is connected by retarder and idler wheel 43, the idler wheel 43 and the second nitrogen gas spring 44, wedge block 45
Connection, the wedge block 45 and compressed spring 46 connect, and the setting of linear guide 47 is in 43 downside of idler wheel.Idler wheel 43 drives
The positive reverse rotation of dynamic device 4222 can make wedge block 45 move up and down, and (wedge block 45 is contacted with 43 axis of idler wheel, on 43 axis of idler wheel
Have a groove, wedge block 45 is moved up and down by the friction with groove), when wedge block 45 moves down, idler wheel 43 is supportted
It opens, the biggish top of diameter detector can be protruded into, at this point, motor does counter motion, then wedge block 45 moves up, two idler wheels 43
The distance between reduce, until contact detector distance no longer changes, nitrogen gas spring can provide very big pressure at this moment, therefore
When idler wheel 43 rotates, can will be sent on detector by frictional force.
As preferably, the shear 5 includes: electric pushrod 51 and shearing tool 52, the electricity in the present embodiment
Dynamic push rod 51 and the shearing tool 52 connect.As preferred in the present embodiment, the shear 5 further include: bottom plate 53,
Compact heap 54, connector 55 and cutter head gasket 56, the bottom plate 53 and the electric pushrod 51 connect, 51 He of electric pushrod
The connector 55 connects, and the connector 55 and the shearing tool 52 connect；The compact heap 54 is pressed in electric pushrod 51
On, the cutter head gasket 56 is padded under the shearing tool 52.Electric pushrod 51 provides the power that electric pushrod 51 acts, thus
Part is cut into the completion detector assembly of cutter 52；Compact heap 54 is two, is respectively arranged at 51 upside of electric pushrod
The downside and.
As preferred in the present embodiment, the crimping device 6 includes: two power devices 61, spool part 62 and linear
Guide rail 63, a power device 61 are connected by retarder and the spool part 62, another described power device 61 is logical
It crosses retarder and the linear guides 63 is flexibly connected.As preferably, the spool part 62 includes: volume in the present embodiment
Axis body 621 and spool head 622, the power device 61 are connected by retarder and spool body 621, the spool body 621 and institute
State the connection of spool head 622.Power device 61 provides the power that spool part 62 acts, and is revolved by the spool head 622 on spool part 62
Turn being partially around detector assembly thereon, after winding, detector assembly is pushed into recyclable device 7, complete
The recycling of detector assembly.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of automatic recycling device of nuclear reactor detector assembly characterized by comprising rotary positioning apparatus, coordinate
Positioning mechanism, grabbing device, conveying device, shear, crimping device and recyclable device, the coordinate locating mechanism setting exist
On the rotary positioning apparatus, the grabbing device, the conveying device are set to the top of the coordinate locating mechanism, described
Conveying device is located above the grabbing device, and the crimping device, recyclable device are set to the top of the coordinate locating mechanism
Portion, the recyclable device are located at below the crimping device, and the top of the crimping device is arranged in the shear.
2. the automatic recycling device of nuclear reactor detector assembly according to claim 1, which is characterized in that the rotation
Positioning device includes: cantilever beam, rotating platform, supporting mechanism and rotation drive device, the rotation drive device and the rotation
Turn platform connection, the downside of the cantilever beam is arranged in the supporting mechanism, rotating platform, rotation drive device；The support
Mechanism includes: shell, load-bearing connector, guiding connector, buphthalmos wheel and the first nitrogen gas spring of setting inside the shell, the first nitrogen
Gas spring is connected with load-bearing connector, guiding connector, and guiding connector is connected with buphthalmos wheel, and the shell passes through the cantilever
Beam is connected with the rotating platform.
3. the automatic recycling device of nuclear reactor detector assembly according to claim 1, which is characterized in that the coordinate
Positioning mechanism includes: three axis mechanism main bodys and driving device, and the driving device passes through retarder and the three axis mechanisms main body
Connection.
4. the automatic recycling device of nuclear reactor detector assembly according to claim 1, which is characterized in that the crawl
Device includes: that worm drive motor, eccentric turbine, worm screw, pressure sensor and guide-rail coupling member, the worm drive motor are logical
It crosses shaft coupling to connect with worm screw, the worm screw connects with the eccentric turbine, and the worm screw, the eccentric turbine are fixed on described
On guide-rail coupling member, the guide-rail coupling member is connected with the coordinate locating mechanism, and the pressure sensor is arranged in eccentric vortex
On the downside of the bearing block of wheel.
5. the automatic recycling device of nuclear reactor detector assembly according to claim 1, which is characterized in that the conveying
Device includes: attachment device, is fixed on roller driving device, idler wheel, the second nitrogen gas spring, the wedge block, compression of attachment device
Spring and linear guide, the roller driving device are connected by retarder with idler wheel, the idler wheel and the second nitrogen gas spring, wedge
The connection of shape block, the wedge block are connected with compressed spring, and the linear guide is arranged on the downside of the idler wheel.
6. the automatic recycling device of nuclear reactor detector assembly according to claim 1, which is characterized in that the shearing
Device includes: electric pushrod and shearing tool, and the electric pushrod is connected with the shearing tool.
7. the automatic recycling device of nuclear reactor detector assembly according to claim 1, which is characterized in that the curling
Device includes: two power devices, spool part and linear guides, and a power device passes through retarder and the spool part
Connection, another described power device are flexibly connected by retarder and the linear guides.
8. the automatic recycling device of nuclear reactor detector assembly according to claim 3, which is characterized in that the driving
Device includes: horizontal drive motor, vertical drive motor and vertical driving motor, the horizontal drive motor, zigzag tread patterns electricity
Machine, vertical driving motor are connected by ball-screw with mechanism body.
9. the automatic recycling device of nuclear reactor detector assembly according to claim 6, which is characterized in that the shearing
Device further include: bottom plate, compact heap, connector and cutter head gasket, the bottom plate are connected with the electric pushrod, described electronic to push away
Bar is connected with the connector, and the connector is connected with the shearing tool；The compact heap is pressed on electric pushrod, described
Cutter head gasket is padded under the shearing tool.
10. the automatic recycling device of nuclear reactor detector assembly according to claim 7, which is characterized in that the volume
Shaft member includes: spool body and spool head, and the power device is connected by retarder with spool body, the spool body and the volume
Spindle nose connection.
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| CN110335692B (en) | 2024-05-03 |
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