CN113929032A - Nuclear waste bucket seal cover taking device - Google Patents
Nuclear waste bucket seal cover taking device Download PDFInfo
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- CN113929032A CN113929032A CN202111221218.6A CN202111221218A CN113929032A CN 113929032 A CN113929032 A CN 113929032A CN 202111221218 A CN202111221218 A CN 202111221218A CN 113929032 A CN113929032 A CN 113929032A
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- nuclear waste
- barrel
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- moving assembly
- grippers
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- 239000002699 waste material Substances 0.000 title claims abstract description 254
- 238000007789 sealing Methods 0.000 claims abstract description 9
- 230000000712 assembly Effects 0.000 claims description 28
- 238000000429 assembly Methods 0.000 claims description 28
- 238000001514 detection method Methods 0.000 claims description 9
- 210000001503 joint Anatomy 0.000 claims description 4
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000006378 damage Effects 0.000 abstract description 7
- 238000006073 displacement reaction Methods 0.000 abstract description 6
- 239000000941 radioactive substance Substances 0.000 abstract description 4
- 239000002901 radioactive waste Substances 0.000 abstract description 4
- 208000027418 Wounds and injury Diseases 0.000 abstract description 3
- 238000003912 environmental pollution Methods 0.000 abstract description 3
- 208000014674 injury Diseases 0.000 abstract description 3
- 230000005855 radiation Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000002310 reflectometry Methods 0.000 description 2
- 208000019155 Radiation injury Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000872 buffer Substances 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/20—Closing bottles, jars or similar containers by applying caps by applying and rotating preformed threaded caps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/26—Applications of control, warning, or safety devices in capping machinery
- B67B3/262—Devices for controlling the caps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/26—Applications of control, warning, or safety devices in capping machinery
- B67B3/262—Devices for controlling the caps
- B67B3/265—Devices for controlling the caps presence of a cap
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B7/00—Hand- or power-operated devices for opening closed containers
- B67B7/14—Hand- or power-operated devices for opening closed containers for removing tightly-fitting lids or covers, e.g. of shoe-polish tins, by gripping and rotating
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Processing Of Solid Wastes (AREA)
Abstract
The utility model belongs to the technical field of nuclear power, concretely relates to closing cap device is got to nuclear waste bucket. The utility model discloses a capping device is got to nuclear waste bucket, through the main frame with the radial movement subassembly, the axial displacement subassembly, a plurality of first positioning sensor, a plurality of electric spanner, a plurality of grabhook is integrated as an organic whole, through the radial movement subassembly, the control to nuclear waste bucket radial and axial and position angle can be realized to axial displacement subassembly and rotating assembly, the distribution of a plurality of grabhooks and a plurality of electric spanner suits with bellying position and bolt on the bung, and like this, can get the capping device through controlling this disclosed nuclear waste bucket and realize opening and the capping to nuclear waste bucket bung, the staff can carry out remote operation, avoid closely contacting with radioactive waste, effectively reduce the injury that the radiation caused the human body. And meanwhile, the storage, sealing integrity and effectiveness of the nuclear waste are guaranteed, and the radioactive substance is prevented from leaking to cause environmental pollution.
Description
Technical Field
The invention belongs to the technical field of nuclear power, and particularly relates to a device for taking a sealing cover of a nuclear waste bucket.
Background
Nuclear waste such as waste resins, concentrated liquids, etc. generated during the operation of a nuclear power plant needs to be cured and preserved using cement to prevent accidental leakage of radioactive waste. Among the correlation technique, use this type of nuclear waste of metal material's nuclear waste bucket splendid attire usually, after the waste material was filled to nuclear waste bucket splendid attire, nuclear waste bucket itself has stronger radioactivity, can produce radiation injury to the human body, is unfavorable for personnel to be close to the operations such as getting lid, closing cap that nuclear waste bucket carries out nuclear waste bucket, consequently, how safe efficient accomplish getting lid, the closing cap operation of nuclear waste bucket become the problem of awaiting urgent need to solve.
Disclosure of Invention
In order to overcome the problems in the related art, the nuclear waste bucket capping device is provided.
According to an aspect of the embodiments of the present disclosure, there is provided a nuclear waste bucket capping device, including: the device comprises a main frame, a base, a sensor bracket, a wrench bracket, a positioning bracket, a radial moving assembly, an axial moving assembly, a rotating assembly, a plurality of first positioning sensors, a plurality of electric wrenches and a plurality of grippers;
the base is connected to the radial moving assembly through the rotating assembly, the radial moving assembly is connected to the lower end of the main frame, the radial moving assembly can drive the base to move radially, the rotating assembly can drive the base to rotate, a nuclear waste barrel to be treated is horizontally fixed on the base, and an opening area of the nuclear waste barrel for covering a barrel cover is upward;
the plurality of first positioning sensors are connected to the main frame through the sensor support, surround the nuclear waste bin, and are used for detecting the radial position of the nuclear waste bin;
the wrench support is connected to the upper end of the main frame through the axial moving assembly, the plurality of electric wrenches and the plurality of grippers are connected to the wrench support, and the axial moving assembly can drive the wrench support to move axially;
under the condition that the nuclear waste barrel is covered with the barrel cover, if the axial moving assembly drives the wrench support to face and move towards the nuclear waste barrel, each electric wrench can be enabled to be in butt joint with one bolt on the barrel cover, and the plurality of grippers are enabled to grip the protruding portion at the upper end of the barrel cover;
under the condition that the nuclear waste barrel is not connected with the barrel cover, after the barrel cover clamped by the plurality of grabs is arranged on the nuclear waste barrel, if the plurality of electric wrenches are driven, the bolts butted by the electric wrenches can be screwed, so that the barrel cover is fixed on the nuclear waste barrel.
In one possible implementation manner, the nuclear waste bin capping device further comprises a limit switch;
the limit switch is connected to the wrench support, the axial movement assembly is driven to drive the wrench support to face the wrench support and move towards the nuclear waste bin, if the limit switch is in contact with the bin cover, the limit switch is triggered to enable the axial movement assembly to stop moving when power is lost, each electric wrench is in butt joint with one bolt on the bin cover, and the plurality of grippers grip the protruding portion at the upper end of the bin cover.
In one possible implementation, the nuclear waste bin capping device further includes: a second positioning sensor, a third positioning sensor and a fourth positioning sensor;
the second positioning sensor is connected to the main frame and used for detecting whether the nuclear waste bucket is in place on the base or not;
the third positioning sensor is connected to the main frame and used for detecting whether the nuclear waste barrel is covered by the barrel cover or not;
the fourth positioning sensor is connected to the main frame and used for detecting whether each electric wrench is over against a barrel cover bolt of one nuclear waste barrel or a bolt hole of the nuclear waste barrel;
the base is connected on the radial movement assembly through the angle adjusting device, and the angle adjusting device can drive the base to rotate horizontally.
In one possible implementation, the plurality of first positioning sensors includes: each group of first laser sensing assemblies comprise a first laser emitting/receiving device and a first laser reflecting plate opposite to the first laser emitting/receiving device;
a polygon formed by detection laser light paths of the first laser sensing assemblies in each group is a radial circumscribed polygon of a target circumference, and under the condition that the radial outer diameter of the nuclear waste is opposite to the target circumference, the top end of the nuclear waste barrel is opposite to the plurality of grippers;
under the condition that the laser light path of each group of first laser sensing assemblies is not shielded by the nuclear waste barrel, the top end of the nuclear waste barrel is over against the plurality of grippers;
under the condition that the laser light paths of one or more groups of first laser sensing assemblies are shielded by the nuclear waste barrel, the top end of the nuclear waste barrel is not over against the plurality of grippers.
In one possible implementation, the second sensor includes: a second laser transmitter/receiver and a second laser reflector facing the second laser transmitter/receiver;
and under the condition that the nuclear waste bucket is placed on the base, a laser light path between the second laser transmitter/receiver and the second laser reflecting plate is shielded.
In one possible implementation, the third positioning sensor includes: a third laser transmitter/receiver and a third laser reflecting plate directly opposite to the third laser transmitter/receiver;
under the condition that the nuclear waste barrel is covered with the barrel cover, a laser light path between the third laser transmitter/receiver and the third laser reflecting plate is shielded;
and under the condition that the barrel cover of the nuclear waste barrel is not covered, a laser light path between the third laser transmitter/receiver and the third laser reflecting plate is not shielded.
In one possible implementation, the fourth positioning sensor includes: the mechanical arm, the rotating device and the fourth laser transmitter/receiver;
the fourth laser transmitter/receiver is mounted on the mechanical arm through the rotating device, the mechanical arm is mounted on the main frame, the mechanical arm can drive the rotating device to move radially together with the fourth laser transmitter/receiver, and the rotating device can adjust the light path direction of the laser emitted by the fourth laser transmitter/receiver;
the top end of the nuclear waste is over against the plurality of grabs, the nuclear waste barrel is covered with a barrel cover, the mechanical arm and the rotating device are controlled to be in a first state, the fourth laser transmitter/receiver transmits laser along the radial direction, if the laser transmitted along the radial direction by the fourth laser transmitter/receiver is blocked, the fourth laser transmitter is over against a barrel cover bolt, and each electric wrench is over against a bolt of the barrel cover;
the top ends of the nuclear wastes are over against the plurality of grabs, a barrel cover is not covered on the nuclear waste barrel, the mechanical arm and the rotating device are controlled to be in a second state, the fourth laser transmitter/receiver transmits laser along the axial direction, and if the laser transmitted along the axial direction by the fourth laser transmitter/receiver is not shielded and reflected, each electric wrench is over against a bolt hole of one nuclear waste barrel.
In one possible implementation, the plurality of grippers includes a pneumatic assembly capable of driving the plurality of grippers to retract or expand.
In a possible implementation manner, the lower end of each gripper has a radian, and a circle of the radian of the lower end of each gripper and a circle of the edge of the convex part at the upper end of the barrel cover are concentric circles.
In a possible realization, the lower end of each gripper is externally sleeved with a rubber sleeve.
In one possible implementation, the nuclear waste bin capping device further includes: a controller connected to the radial moving assembly, the axial moving assembly, the first plurality of positioning sensors, the electric wrenches, and the grippers, respectively;
and under the condition that the controller determines that the top end of the nuclear waste barrel is not over against the electric wrenches according to the position data acquired from the first positioning sensors, the controller controls the radial moving assembly to slide radially until the controller determines that the top end of the nuclear waste barrel is over against the electric wrenches according to the position data acquired from the first positioning sensors.
In one possible implementation, the plurality of first sensors includes: each group of laser sensing assemblies comprises a laser emitting/receiving device and a laser reflecting plate which is right opposite to the laser emitting/receiving device;
a polygon formed by laser light paths formed by the laser sensing assemblies is a circumscribed polygon of the radial circular section of the nuclear waste material barrel;
for each group of laser sensing assemblies, the controller controls the radial moving assembly to move towards the adjusting direction under the condition that the controller detects that the laser light path of the group of laser sensing assemblies is blocked until the controller detects that the laser light path of the group of laser sensing assemblies is not blocked, and the adjusting direction is perpendicular to the laser light path and faces to the center of a polygon formed by the light paths.
In one possible implementation, the nuclear waste bin capping device further includes: a controller connected to the radial moving assembly, the axial moving assembly, the first plurality of positioning sensors, the second plurality of positioning sensors, the plurality of electric wrenches, and the plurality of grippers, respectively;
the controller controls the radial moving assembly, the axial moving assembly, the plurality of first positioning sensors, the plurality of electric wrenches, and the plurality of grippers to be deactivated in a case where it is determined from the detection data acquired from the second positioning sensor that the nuclear waste bucket is not seated on the base.
In one possible implementation, the nuclear waste bin capping device further includes: a controller connected to the radial moving assembly, the axial moving assembly, the first plurality of positioning sensors, the second plurality of positioning sensors, the plurality of electric wrenches, and the plurality of grippers, respectively;
the controller determines whether the top end of the nuclear waste barrel is facing the plurality of grippers according to the position data acquired from the plurality of first positioning sensors, in a case where it is determined from the detection data acquired from the second positioning sensor that the nuclear waste barrel is in position on the base.
In one possible implementation, the nuclear waste bin capping device further includes: a controller connected to the radial moving assembly, the axial moving assembly, the angle adjusting device, the first positioning sensors, the third positioning sensors, the fourth positioning sensors, the electric wrenches, and the grippers, respectively;
the controller judges whether the nuclear waste barrel is covered by the barrel cover according to the position data acquired from the third positioning sensor under the condition that the top end of the nuclear waste barrel is determined to be over against the electric wrenches according to the position data acquired from the first positioning sensors, and judges whether each electric wrench is over against a barrel cover bolt or a bolt hole of the nuclear waste barrel according to the position data acquired from the fourth positioning sensor;
and under the condition that the controller determines that the nuclear waste barrel covers the barrel cover according to the position data acquired from the third positioning sensor, if the controller judges that each electric wrench is over against a barrel cover bolt according to the position data acquired from the fourth positioning sensor, the controller controls the axial moving assembly to drive the plurality of electric wrenches to axially move downwards, and drives each electric wrench to screw the butted bolts to a loosened state after judging that each electric wrench is butted with one bolt.
In a possible implementation manner, the controller determines that the nuclear waste bin is not covered with the lid according to the position data acquired from the third positioning sensor, and if it is determined that each electric wrench is directly facing a bolt hole of the nuclear waste bin according to the position data acquired from the fourth positioning sensor, the controller controls the axial moving assembly to drive the electric wrenches to axially move downwards, and drives the electric wrenches to screw the butted bolts to a fastened state after it is determined that the lids of the lids carried by the grippers are covered on the nuclear waste bin.
In a possible implementation manner, if the controller determines that each electric wrench is not directly facing the bolt hole of the barrel cover bolt or the nuclear waste bin according to the position data acquired from the fourth positioning sensor, the controller controls the angle adjusting device to drive the nuclear waste bin to rotate until the controller determines that each electric wrench is directly facing the bolt hole of the barrel cover bolt or the nuclear waste bin according to the position data acquired from the fourth positioning sensor.
In one possible implementation, the nuclear waste bin capping device further includes: a controller connected to the radial moving assembly, the axial moving assembly, the angle adjusting device, the first positioning sensors, the third positioning sensors, the fourth positioning sensors, the electric wrenches, and the grippers, respectively;
the controller determines that the top end of the nuclear waste barrel is over against the plurality of grippers according to the position data acquired from the plurality of first positioning sensors and the third positioning sensors, and controls the mechanical arm and the rotating device to act in a first state under the condition that the nuclear waste barrel covers the barrel cover;
the controller determines that the top end of the nuclear waste barrel is over against the plurality of grippers according to the position data acquired from the plurality of first positioning sensors and the third positioning sensors, and controls the mechanical arm and the rotating device to act in a second state under the condition that the barrel cover of the nuclear waste barrel is not covered.
The beneficial effect of this disclosure lies in: the utility model discloses a capping device is got to nuclear waste bucket, through the main frame with the radial movement subassembly, the axial displacement subassembly, a plurality of first positioning sensor, a plurality of electric spanner, a plurality of grabhook is integrated as an organic whole, through the radial movement subassembly, the control to nuclear waste bucket radial and axial and position angle can be realized to axial displacement subassembly and rotating assembly, the distribution of a plurality of grabhooks and a plurality of electric spanner suits with bellying position and bolt on the bung, and like this, can get the capping device through controlling this disclosed nuclear waste bucket and realize opening and the capping to nuclear waste bucket bung, the staff can carry out remote operation, avoid closely contacting with radioactive waste, effectively reduce the injury that the radiation caused the human body. And meanwhile, the storage, sealing integrity and effectiveness of the nuclear waste are guaranteed, and the radioactive substance is prevented from leaking to cause environmental pollution.
Drawings
FIG. 1 is a schematic diagram illustrating a nuclear waste bucket capping device according to an exemplary embodiment.
FIG. 2 is a partial schematic view of a nuclear waste bucket capping device according to an exemplary embodiment.
FIG. 3 is a schematic view illustrating radial positioning of a nuclear waste bucket capping device according to an exemplary embodiment.
Fig. 4 is a flow chart illustrating the sequence of operation of a nuclear waste bucket capping device in accordance with an exemplary embodiment.
In the figure:
10. an axial movement assembly; 11. an electric wrench; 12. a first positioning sensor; 120. a first laser sensing assembly; 121. a first laser reflector; 13. a nuclear waste bin; 14. a main frame; 15. a base; 16. a gripper; 17. and a limit switch.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
FIG. 1 is a schematic diagram illustrating a nuclear waste bucket capping device according to an exemplary embodiment. FIG. 2 is a partial schematic view of a nuclear waste bucket capping device according to an exemplary embodiment. As shown in fig. 1 and 2, the nuclear waste bin capping device includes: the device comprises a main frame 14, a base 15, a sensor support, a wrench support, a positioning support, a radial moving assembly (not shown in the figure), an axial moving assembly 10, a rotating assembly (not shown in the figure), a plurality of first positioning sensors 12, a plurality of electric wrenches 11 and a plurality of grippers 16.
In this disclosure, the radial movement component and the axial movement component may include a slide rail, a slider, and a driving motor, the driving motor may drive the slider to move along the slide rail, the rotation component may include a rotation motor, it should be noted that the radial movement component, the axial movement component, and the rotation component of suitable models and specifications may be selected as needed, and the present disclosure does not limit the models and specifications of the radial movement component, the axial movement component, and the rotation component.
Spatial distribution between a plurality of electric spanner 11 and a plurality of grabhook 16 and the protruding edge of 13 bung upper ends of nuclear waste bucket and the spatial distribution looks adaptation of a plurality of bolts of bung for each grabhook 16 can grab the protruding edge of 13 upper ends of nuclear waste bucket simultaneously, and each electric spanner 11 can dock the bolt on a bung simultaneously.
The sensor support may be a support of a ring structure, the sensor support is connected to the main frame 14 and surrounds the nuclear waste bin 13, the plurality of first position sensors 12 are connected to the sensor support and surrounds the nuclear waste bin 13, the plurality of first position sensors 12 may be used to detect a radial position of the nuclear waste bin 13, and since the radial position of the plurality of grippers 16 is fixed, the alignment of the nuclear waste bin 13 with the plurality of grippers 16 may be assisted according to position data of the plurality of first position sensors 12.
The wrench support can also be a support with an annular structure, the wrench support is connected to the axial moving assembly 10 through a rotating assembly, the axial moving assembly 10 is connected to the upper end of the main frame 14, the electric wrenches 11 and the grabs 16 are connected to the wrench support, when the nuclear waste barrel 13 is covered with the barrel cover, if the axial moving assembly 10 drives the wrench support to face and move towards the nuclear waste barrel 13, each electric wrench 11 can be butted with one bolt on the barrel cover, and the grabs the protruding part on the upper end of the barrel cover through the grabs 16, and after the electric wrenches 11 are driven to loosen the butted bolts, if the axial moving assembly 10 is driven to drive the wrench support to move upwards, the grabbers 16 can drive the barrel cover to be separated from the nuclear waste barrel 13;
under the condition that the nuclear waste barrel 13 is not connected with the barrel cover, after the barrel cover grasped by the plurality of grabs 16 is arranged on the nuclear waste barrel 13, if the plurality of electric wrenches 11 are driven, the bolts butted by the electric wrenches 11 can be screwed, so that the barrel cover is fixed on the nuclear waste barrel 13.
The utility model discloses a capping device is got to nuclear waste bucket, through the main frame with the radial movement subassembly, the axial displacement subassembly, a plurality of first positioning sensor, a plurality of electric spanner, a plurality of grabhook is integrated as an organic whole, through the radial movement subassembly, the control to nuclear waste bucket radial and axial and position angle can be realized to axial displacement subassembly and rotating assembly, the distribution of a plurality of grabhooks and a plurality of electric spanner suits with bellying position and bolt on the bung, and like this, can get the capping device through controlling this disclosed nuclear waste bucket and realize opening and the capping to nuclear waste bucket bung, the staff can carry out remote operation, avoid closely contacting with radioactive waste, effectively reduce the injury that the radiation caused the human body. And meanwhile, the storage, sealing integrity and effectiveness of the nuclear waste are guaranteed, and the radioactive substance is prevented from leaking to cause environmental pollution.
Fig. 3 is a schematic diagram illustrating radial positioning of a nuclear waste bucket capping device according to an exemplary embodiment, as shown in fig. 3, a plurality of first positioning sensors 12 comprising: each group of first laser sensing assemblies 120 comprises a first laser transmitter/receiver and a first laser reflector 121 opposite to the first laser transmitter/receiver, a polygon formed by detection laser light paths of each group of first laser sensing assemblies 120 is a radial circumscribed polygon of a target circumference, and under the condition that the radial outer diameter of the nuclear waste is opposite to the target circumference, the top end of the nuclear waste barrel 13 is opposite to the plurality of grippers 16.
Under the condition that the laser light path of each group of the first laser sensing assemblies 120 is not shielded by the nuclear waste barrel 13, the top end of the nuclear waste barrel 13 can be judged to face the plurality of grippers 16; under the condition that the laser light path of one or more groups of first laser sensing assemblies 120 is blocked by the nuclear waste barrel 13, it can be judged that the top end of the nuclear waste barrel 13 is not over against the plurality of grippers 16.
The plurality of first laser sensor assemblies are simple in structure, the centering mode is quick and accurate, and the centering condition of the nuclear waste and the plurality of grippers 16 can be accurately detected through the circumscribed polygonal light path formed by the plurality of first positioning sensors 12. Effectively improve the centering efficiency of the device for taking the sealing cover from the nuclear waste bucket 13.
In a possible implementation manner, as shown in fig. 2, the capping device for the nuclear waste bin 13 further includes a limit switch 17, the limit switch 17 may be connected to the wrench holder and connected to the axial moving assembly 10, the axial moving assembly 10 is driven to drive the wrench holder to face and move towards the barrel cover, the trigger assembly at the bottom end of the limit switch 17 faces the barrel cover of the nuclear waste bin 13, and if the trigger assembly at the bottom end of the limit switch 17 drops to contact with the barrel cover, the limit switch 17 is triggered to stop the axial moving assembly 10 from being powered off, that is, each electric wrench 11 is abutted to a bolt on the barrel cover, and the plurality of grippers 16 grip the protruding portion at the upper end of the barrel cover. In this way, the axial moving assembly 10 can automatically transport the plurality of grippers 16 and the plurality of electric wrenches 11 to the appropriate positions of the barrel cover and then automatically stop, and the damage to the nuclear waste barrel 13 caused by excessive downward movement of the axial moving assembly 10 can be avoided.
In one possible implementation, the nuclear waste bin capping device further includes: the second positioning sensor is connected to the main frame and used for detecting whether the nuclear waste bucket is in place on the base; the third positioning sensor is connected to the main frame and used for detecting whether the nuclear waste barrel is covered with the barrel cover or not; the fourth positioning sensor is connected to the main frame and used for detecting whether each electric wrench is over against a barrel cover bolt of a nuclear waste barrel or a bolt hole of the nuclear waste barrel.
By way of example, the second sensor comprises: a second laser transmitter/receiver and a second laser reflector facing the second laser transmitter/receiver; the laser path emitted by the second laser emitter/receiver can pass through the space where the nuclear waste barrel is located on the base, so that the laser path between the second laser emitter/receiver and the second laser reflecting plate is shielded under the condition that the nuclear waste barrel is placed on the base; and under the condition that the nuclear waste barrel is placed on the base, a laser light path between the second laser transmitter/receiver and the second laser reflecting plate is not shielded. Therefore, whether the nuclear waste bucket is placed on the base or not can be simply and quickly judged.
By way of example, the third positioning sensor comprises: the third laser emitting/receiving device and the third laser reflecting plate are opposite to the third laser emitting/receiving device, wherein a light path between the third laser reflecting plate opposite to the third laser emitting/receiving device can be opposite to a spatial position where the barrel cover is positioned when the nuclear waste barrel is placed on the base, so that when the laser light path between the third laser emitting/receiving device and the third laser reflecting plate is shielded, the situation that the nuclear waste barrel is covered with the barrel cover can be judged; when the laser light path between the third laser transmitter/receiver and the third laser reflecting plate is not shielded, the situation that the nuclear waste barrel is not covered by the barrel cover can be judged.
By way of example, the fourth positioning sensor comprises: the mechanical arm, the rotating device and the fourth laser transmitter/receiver; the fourth laser transmitter/receiver is mounted on the mechanical arm through the rotating device, the mechanical arm is mounted on the main frame, the mechanical arm can drive the rotating device to move together with the fourth laser transmitter/receiver in the radial direction, and the rotating device can adjust the light path direction of the laser emitted by the fourth laser transmitter/receiver;
the top end of the nuclear waste is over against the plurality of grabs, the barrel cover is covered on the nuclear waste barrel, the mechanical arm and the rotating device are controlled to be in a first state, the first state can be that the mechanical arm contracts, the rotating device controls the fourth laser transmitter/receiver to transmit laser along the radial direction, so that the fourth laser transmitter/receiver can transmit laser over against the spatial position where the barrel cover bolt is located, and the axial plane where the fourth laser transmitter/receiver transmits laser over is over against the drill bit of one electric wrench, therefore, if the laser transmitted along the radial direction by the fourth laser transmitter/receiver is blocked, it can be judged that each electric wrench is over against the bolt of one barrel cover; if the laser emitted by the fourth laser emitter/receiver along the radial direction is shielded, it can be judged that each electric wrench is not aligned with the barrel cover bolt.
The top end of the nuclear waste is over against the plurality of grippers, a barrel cover of the nuclear waste barrel is not covered, and the mechanical arm and the rotating device are controlled to be in a second state, wherein the second state can be that the mechanical arm extends out along the radial direction, and the rotating device controls the fourth laser transmitter/receiver to transmit laser along the axial direction, so that the fourth laser transmitter/receiver can transmit laser to a drill bit of one electric wrench, and each electric wrench is over against a bolt hole of one nuclear waste barrel if the laser transmitted along the axial direction by the fourth laser transmitter/receiver is not shielded and reflected; if the laser emitted by the fourth laser emitter/receiver along the axial direction is shielded and reflected, the electric wrenches do not rightly check the bolt hole alignment of the waste bucket.
In one possible implementation, the plurality of grippers includes a pneumatic assembly capable of driving the plurality of grippers to retract or expand.
In a possible implementation mode, the lower end of each gripper is provided with a radian, and a circle where the radian of the lower end of each gripper is positioned and a circle where the edge of the convex part at the upper end of the barrel cover is positioned are concentric circles. In this way, the gripper can be made to grip the lid more firmly.
In a possible realization, the lower end of each gripper is externally sleeved with a rubber sleeve. In this way, the gripper can be made to grip the lid more firmly.
In one possible implementation, the nuclear waste bin capping device further includes: the controller is respectively connected with the radial moving assembly, the axial moving assembly, the first positioning sensors, the electric wrenches and the grippers;
under the condition that the controller determines that the top end of the nuclear waste barrel is not over against the electric wrenches according to the position data acquired from the first positioning sensors, the controller controls the radial moving assembly to slide radially until the controller determines that the top end of the nuclear waste barrel is over against the electric wrenches according to the position data acquired from the first positioning sensors.
In one possible implementation, the plurality of first sensors includes: each group of laser sensing assemblies comprises a laser emitting/receiving device and a laser reflecting plate which is right opposite to the laser emitting/receiving device; a polygon formed by laser light paths formed by the laser sensing assemblies is a circumscribed polygon of the radial circular section of the nuclear waste bucket; and for each group of laser sensing assemblies, the controller controls the radial moving assembly to move towards the adjusting direction under the condition that the controller detects that the laser light path of the group of laser sensing assemblies is blocked until the controller detects that the laser light path of the group of laser sensing assemblies is not blocked, and the adjusting direction is perpendicular to the laser light path and faces to the center of a polygon formed by the light paths.
Like this, can realize the automatic centering of nuclear waste bucket and a plurality of grabhook through controller and a plurality of first sensor cooperation, quick accuracy avoids the human error, the material resources of using manpower sparingly.
In one possible implementation manner, the controller is respectively connected with the radial moving assembly, the axial moving assembly, the first positioning sensors, the second positioning sensors, the electric wrenches and the grippers;
the controller controls the radial moving assembly, the axial moving assembly, the plurality of first positioning sensors, the plurality of electric wrenches, and the plurality of grippers to be deactivated in a case where it is determined from the detection data acquired by the second positioning sensor that the nuclear waste bucket is not seated on the base. In this way, it is possible to avoid the malfunction of the gripper and the electric wrench in the case where the nuclear waste bin is not in place on the base.
In one possible implementation manner, the controller is respectively connected with the radial moving assembly, the axial moving assembly, the first positioning sensors, the second positioning sensors, the electric wrenches and the grippers;
the controller determines whether the top end of the nuclear waste barrel is over against the plurality of grippers according to the position data acquired from the plurality of first positioning sensors under the condition that the nuclear waste barrel is positioned on the base according to the detection data acquired from the second positioning sensors, so that after the nuclear waste barrel is automatically positioned on the base through the controller, whether the nuclear waste barrel is aligned with the plurality of grippers is judged, and the waste of computing resources of the controller is avoided.
In one possible implementation manner, the controller is respectively connected with the radial moving assembly, the axial moving assembly, the angle adjusting device, the first positioning sensors, the third positioning sensors, the fourth positioning sensors, the electric wrenches and the grippers;
the controller judges whether the nuclear waste barrel is covered with the barrel cover according to the position data acquired from the third positioning sensor under the condition that the top end of the nuclear waste barrel is determined to be over against the electric wrenches according to the position data acquired from the first positioning sensors, and judges whether each electric wrench is over against a barrel cover bolt or a bolt hole of the nuclear waste barrel according to the position data acquired from the fourth positioning sensor;
for example, when the controller determines that the nuclear waste bin is covered by the bin cover according to the position data acquired from the third positioning sensor, if it is determined that each electric wrench is directly facing to one bin cover bolt according to the position data acquired from the fourth positioning sensor, the controller controls the axial moving assembly to drive the plurality of electric wrenches to axially move downwards, and drives each electric wrench to screw the butted bolts to a loosened state after determining that each electric wrench is butted with one bolt (for example, the controller may determine that each electric wrench is butted with one bolt under the condition that the limit switch triggers the axial moving assembly to lose power).
For example, when the controller determines that the nuclear waste bin is not covered by the bin cover according to the position data acquired from the third positioning sensor, if it is determined that each electric wrench is directly facing one bolt hole of the nuclear waste bin according to the position data acquired from the fourth positioning sensor, the controller controls the axial moving assembly to drive the plurality of electric wrenches to axially move downwards, and drives each electric wrench to screw the butted bolts to a fastened state after it is determined that the bin covers carried by the plurality of grippers are covered on the nuclear waste bin.
For example, if the controller determines that each electric wrench is not directly facing the bolt hole of the barrel cover bolt or the nuclear waste bin according to the position data acquired from the fourth positioning sensor, the controller controls the angle adjusting device to drive the nuclear waste bin to rotate until the controller determines that each electric wrench is directly facing the bolt hole of the barrel cover bolt or the nuclear waste bin according to the position data acquired from the fourth positioning sensor.
In a possible implementation mode, the controller determines that the top end of the nuclear waste barrel is over against the plurality of grabs according to position data acquired from the plurality of first positioning sensors and the third positioning sensors, and controls the mechanical arm and the rotating device to act in a first state under the condition that the nuclear waste barrel is covered with the barrel cover;
the controller determines that the top end of the nuclear waste barrel is over against the plurality of grabs according to the position data acquired from the plurality of first positioning sensors and the third positioning sensors, and controls the mechanical arm and the rotating device to act in a second state under the condition that the barrel cover of the nuclear waste barrel is not covered.
In one example of use, the operation of the nuclear waste bucket capping device is as follows:
and step S00, the controller detects whether each mechanism of the nuclear waste bucket capping device is in an initial position, and determines that the state of the nuclear waste bucket capping device is a 'capped initial position' or a 'uncapped initial position'.
And step S01, after the situation that the cap taking and sealing device of the nuclear waste barrel is in the initial position with a cap or the initial position without a cap is determined, allowing the nuclear waste barrel to enter a preset station, so as to prevent the nuclear waste barrel from entering the station by mistake to cause collision and damage to equipment when the equipment is in fault.
And S02 and S03, the controller controls the radial movement assembly to move the nuclear waste barrel in the radial direction according to the position data acquired from the first positioning sensors until the top end of the nuclear waste barrel is aligned with the plurality of grippers, so that the nuclear waste barrel is positioned in the radial X, Y direction.
And S04, after the positioning of the nuclear waste barrel in the radial direction X, Y is realized, the controller judges whether the nuclear waste barrel is covered by the barrel cover according to the position data acquired from the third positioning sensor.
The controller executes the cap taking operation under the condition that the nuclear waste barrel is covered with the barrel cover, the controller controls the fourth positioning sensor to be in the first state, and the fourth positioning sensor detects the bolt by utilizing the difference of the reflectivity of the metal wall and the reflectivity of the bolt. Because 12 bolts are uniformly distributed on the nuclear waste bucket, and the interval between every two bolts is 30 degrees, the device can identify one bolt only by rotating 30 degrees at most. When the bolt is identified by the bolt detector, the device stops rotating, and the positioning in the rotating direction is completed.
The controller executes capping operation under the condition that the nuclear waste barrel is not capped by the barrel cover, the controller controls the fourth positioning sensor to be in the second state, no barrel cover or bolt is arranged on the nuclear waste barrel, and then the bolt hole detector is used for positioning in the rotating direction. The bolt hole detector is a laser sensor arranged on a telescopic mechanical arm, and when the bolt hole detector is positioned in the non-sealing cover rotating direction, the mechanical arm is contracted, so that the interference to the movement direction of the device is avoided. When the rotation direction of the sealing cover is positioned, the mechanical arm relaxes, the laser sensor enters the upper part of the barrel wall, and the bolt hole is detected by laser. Because 12 bolts are uniformly distributed on the nuclear waste bucket, and every two bolts are spaced by 30 degrees, the device can identify one bolt hole only by rotating 30 degrees at most. When the bolt hole is identified, the device stops rotating, and the positioning in the rotating direction is completed.
And step S05, the device descends under the drive of the motor, the electric wrench is close to the bolt or the bolt hole, and when the distance is close enough, the normal unscrewing/screwing operation of the bolt can be ensured, and the axial direction limit switch arranged on the device acts. At the moment, the electric wrench and the bolt/bolt hole are aligned accurately.
At step S06, the wrench starts to turn the loosening/tightening bolt. The electric wrench has a torque and turn number counter. When unscrewing the bolt, need rotate the number of turns and be greater than the effective screw thread number of turns definite value of bolt, guarantee that the bolt breaks away from the bolt hole completely, take the nuclear waste bucket up when preventing device from lifting, damage equipment. When the bolt is screwed down, the number of turns and the torque need to be rotated to reach preset values at the same time, and the problem that the barrel cover is not tightly sealed due to the fact that the bolt is not screwed down is avoided, and therefore leakage of radioactive substances is caused.
And step S07, the gripper acts to take the cover or release the cover. The gripping apparatus is a pair of clamping plates with circular arcs, the radian of the clamping plates is the same as that of the concentric circular rings protruding from the barrel cover, and the rubber sleeve buffers the impact force during clamping, so that the damage of equipment is reduced.
And step S08, the device is driven by the motor to ascend until the Z direction returns to the initial position. If this operation is performed during the cap removal phase, the lid is simultaneously lifted and held by the holding gripper until the capping operation S07 is released.
At step S09, the rotation direction of the device is returned to the original position.
At step S10, the device Y direction returns to the original position.
At step S11, the device X direction returns to the original position.
And step S12, after the initial position is restored in the X direction, the system automatically sets the state of the uncovered initial position/covered initial position.
And step S13, after the state of the device 'uncovered initial position'/'covered initial position' is set, the nuclear waste barrel is allowed to leave the station for other operations.
Except that the nuclear waste barrel enters the preset station in the steps, all operations are automatically completed by program control, manual intervention is not needed, the operation is simple, convenient and quick, and the requirement on the skill of an operator is low. Simultaneously, in order to satisfy system robustness, remote operation when making things convenient for system's trouble, 4 positioning motor, 12 electric spanner, 1 gripping apparatus, 1 bolt hole probe arm all can manually operation.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (18)
1. The utility model provides a closing cap device is got to nuclear waste bucket which characterized in that, the closing cap device is got to nuclear waste bucket includes: the device comprises a main frame, a base, a sensor bracket, a wrench bracket, a positioning bracket, a radial moving assembly, an axial moving assembly, a rotating assembly, a plurality of first positioning sensors, a plurality of electric wrenches and a plurality of grippers;
the base is connected to the radial moving assembly through the rotating assembly, the radial moving assembly is connected to the lower end of the main frame, the radial moving assembly can drive the base to move radially, the rotating assembly can drive the base to rotate, a nuclear waste barrel to be treated is horizontally fixed on the base, and an opening area of the nuclear waste barrel for covering a barrel cover is upward;
the plurality of first positioning sensors are connected to the main frame through the sensor support, surround the nuclear waste bin, and are used for detecting the radial position of the nuclear waste bin;
the wrench support is connected to the upper end of the main frame through the axial moving assembly, the plurality of electric wrenches and the plurality of grippers are connected to the wrench support, and the axial moving assembly can drive the wrench support to move axially;
under the condition that the nuclear waste barrel is covered with the barrel cover, if the axial moving assembly drives the wrench support to face and move towards the nuclear waste barrel, each electric wrench can be enabled to be in butt joint with one bolt on the barrel cover, and the plurality of grippers are enabled to grip the protruding portion at the upper end of the barrel cover;
under the condition that the nuclear waste barrel is not connected with the barrel cover, after the barrel cover clamped by the plurality of grabs is arranged on the nuclear waste barrel, if the plurality of electric wrenches are driven, the bolts butted by the electric wrenches can be screwed, so that the barrel cover is fixed on the nuclear waste barrel.
2. The nuclear waste bucket capping device of claim 1 further comprising a limit switch;
the limit switch is connected to the wrench support, the axial movement assembly is driven to drive the wrench support to face the wrench support and move towards the nuclear waste bin, if the limit switch is in contact with the bin cover, the limit switch is triggered to enable the axial movement assembly to stop moving when power is lost, each electric wrench is in butt joint with one bolt on the bin cover, and the plurality of grippers grip the protruding portion at the upper end of the bin cover.
3. The nuclear waste bucket capping device of claim 1 further comprising: a second positioning sensor, a third positioning sensor and a fourth positioning sensor;
the second positioning sensor is connected to the main frame and used for detecting whether the nuclear waste bucket is in place on the base or not;
the third positioning sensor is connected to the main frame and used for detecting whether the nuclear waste barrel is covered by the barrel cover or not;
the fourth positioning sensor is connected to the main frame and used for detecting whether each electric wrench is over against a barrel cover bolt of a nuclear waste barrel or a bolt hole of the nuclear waste barrel.
4. The nuclear waste bucket capping device of claim 1 wherein the first plurality of positioning sensors comprises: each group of first laser sensing assemblies comprise a first laser emitting/receiving device and a first laser reflecting plate opposite to the first laser emitting/receiving device;
a polygon formed by detection laser light paths of the first laser sensing assemblies in each group is a radial circumscribed polygon of a target circumference, and under the condition that the radial outer diameter of the nuclear waste is opposite to the target circumference, the top end of the nuclear waste barrel is opposite to the plurality of grippers;
under the condition that the laser light path of each group of first laser sensing assemblies is not shielded by the nuclear waste barrel, the top end of the nuclear waste barrel is over against the plurality of grippers;
under the condition that the laser light paths of one or more groups of first laser sensing assemblies are shielded by the nuclear waste barrel, the top end of the nuclear waste barrel is not over against the plurality of grippers.
5. The nuclear waste bucket capping device of claim 3 wherein the second sensor comprises: a second laser transmitter/receiver and a second laser reflector facing the second laser transmitter/receiver;
and under the condition that the nuclear waste bucket is placed on the base, a laser light path between the second laser transmitter/receiver and the second laser reflecting plate is shielded.
6. The nuclear waste bucket capping device of claim 3 wherein the third positioning sensor comprises: a third laser transmitter/receiver and a third laser reflecting plate directly opposite to the third laser transmitter/receiver;
under the condition that the nuclear waste barrel is covered with the barrel cover, a laser light path between the third laser transmitter/receiver and the third laser reflecting plate is shielded;
and under the condition that the barrel cover of the nuclear waste barrel is not covered, a laser light path between the third laser transmitter/receiver and the third laser reflecting plate is not shielded.
7. The nuclear waste bucket capping device of claim 3 wherein the fourth position sensor comprises: the mechanical arm, the rotating device and the fourth laser transmitter/receiver;
the fourth laser transmitter/receiver is mounted on the mechanical arm through the rotating device, the mechanical arm is mounted on the main frame, the mechanical arm can drive the rotating device to move radially together with the fourth laser transmitter/receiver, and the rotating device can adjust the light path direction of the laser emitted by the fourth laser transmitter/receiver;
the top end of the nuclear waste is over against the plurality of grabs, the nuclear waste barrel is covered with a barrel cover, the mechanical arm and the rotating device are controlled to be in a first state, the fourth laser transmitter/receiver transmits laser along the radial direction, if the laser transmitted along the radial direction by the fourth laser transmitter/receiver is blocked, the fourth laser transmitter is over against a barrel cover bolt, and each electric wrench is over against a bolt of the barrel cover;
the top ends of the nuclear wastes are over against the plurality of grabs, a barrel cover is not covered on the nuclear waste barrel, the mechanical arm and the rotating device are controlled to be in a second state, the fourth laser transmitter/receiver transmits laser along the axial direction, and if the laser transmitted along the axial direction by the fourth laser transmitter/receiver is not shielded and reflected, each electric wrench is over against a bolt hole of one nuclear waste barrel.
8. The nuclear waste bucket capping device of claim 1 wherein the plurality of grippers comprises a pneumatic assembly capable of driving the plurality of grippers to retract or expand.
9. A nuclear waste bucket capping device as claimed in claim 1 wherein the lower end of each gripper has a curvature, the curvature of the lower end of each gripper being concentric with the curvature of the raised edge of the upper end of the bucket lid.
10. A nuclear waste bucket capping device as claimed in claim 1 in which a rubber sleeve is externally fitted over the lower end of each gripper.
11. The nuclear waste bucket capping device of claim 1 further comprising: a controller connected to the radial moving assembly, the axial moving assembly, the first plurality of positioning sensors, the electric wrenches, and the grippers, respectively;
and under the condition that the controller determines that the top end of the nuclear waste barrel is not over against the electric wrenches according to the position data acquired from the first positioning sensors, the controller controls the radial moving assembly to slide radially until the controller determines that the top end of the nuclear waste barrel is over against the electric wrenches according to the position data acquired from the first positioning sensors.
12. The nuclear waste bucket capping device of claim 11 wherein the first plurality of sensors comprises: each group of laser sensing assemblies comprises a laser emitting/receiving device and a laser reflecting plate which is right opposite to the laser emitting/receiving device;
a polygon formed by laser light paths formed by the laser sensing assemblies is a circumscribed polygon of the radial circular section of the nuclear waste material barrel;
for each group of laser sensing assemblies, the controller controls the radial moving assembly to move towards the adjusting direction under the condition that the controller detects that the laser light path of the group of laser sensing assemblies is blocked until the controller detects that the laser light path of the group of laser sensing assemblies is not blocked, and the adjusting direction is perpendicular to the laser light path and faces to the center of a polygon formed by the light paths.
13. The nuclear waste bucket capping device of claim 3 further comprising: a controller connected to the radial moving assembly, the axial moving assembly, the first plurality of positioning sensors, the second plurality of positioning sensors, the plurality of electric wrenches, and the plurality of grippers, respectively;
the controller controls the radial moving assembly, the axial moving assembly, the plurality of first positioning sensors, the plurality of electric wrenches, and the plurality of grippers to be deactivated in a case where it is determined from the detection data acquired from the second positioning sensor that the nuclear waste bucket is not seated on the base.
14. The nuclear waste bucket capping device of claim 3 further comprising: a controller connected to the radial moving assembly, the axial moving assembly, the first plurality of positioning sensors, the second plurality of positioning sensors, the plurality of electric wrenches, and the plurality of grippers, respectively;
the controller determines whether the top end of the nuclear waste barrel is facing the plurality of grippers according to the position data acquired from the plurality of first positioning sensors, in a case where it is determined from the detection data acquired from the second positioning sensor that the nuclear waste barrel is in position on the base.
15. The nuclear waste bucket capping device of claim 3 further comprising: a controller connected to the radial moving assembly, the axial moving assembly, the angle adjusting device, the first positioning sensors, the third positioning sensors, the fourth positioning sensors, the electric wrenches, and the grippers, respectively;
the controller judges whether the nuclear waste barrel is covered by the barrel cover according to the position data acquired from the third positioning sensor under the condition that the top end of the nuclear waste barrel is determined to be over against the electric wrenches according to the position data acquired from the first positioning sensors, and judges whether each electric wrench is over against a barrel cover bolt or a bolt hole of the nuclear waste barrel according to the position data acquired from the fourth positioning sensor;
and under the condition that the controller determines that the nuclear waste barrel covers the barrel cover according to the position data acquired from the third positioning sensor, if the controller judges that each electric wrench is over against a barrel cover bolt according to the position data acquired from the fourth positioning sensor, the controller controls the axial moving assembly to drive the plurality of electric wrenches to axially move downwards, and drives each electric wrench to screw the butted bolts to a loosened state after judging that each electric wrench is butted with one bolt.
16. The apparatus according to claim 15, wherein the controller is configured to control the axial moving assembly to drive the plurality of electric wrenches to move axially downward if it is determined that each electric wrench is facing a bolt hole of the nuclear waste bin according to the position data obtained from the fourth positioning sensor when it is determined that the nuclear waste bin is not capped by the cap obtained from the third positioning sensor, and to drive each electric wrench to screw the abutted bolts to a tightened state after it is determined that the caps carried by the plurality of grippers are capped on the nuclear waste bin.
17. The nuclear waste bin cap removing and sealing device according to claim 15 or 16, wherein if the controller determines that each electric wrench is not facing a lid bolt or a bolt hole of the nuclear waste bin according to the position data obtained from the fourth positioning sensor, the controller controls the angle adjusting device to drive the nuclear waste bin to rotate until the controller determines that each electric wrench is facing a lid bolt or a bolt hole of the nuclear waste bin according to the position data obtained from the fourth positioning sensor.
18. The nuclear waste bucket capping device of claim 7 further comprising: a controller connected to the radial moving assembly, the axial moving assembly, the angle adjusting device, the first positioning sensors, the third positioning sensors, the fourth positioning sensors, the electric wrenches, and the grippers, respectively;
the controller determines that the top end of the nuclear waste barrel is over against the plurality of grippers according to the position data acquired from the plurality of first positioning sensors and the third positioning sensors, and controls the mechanical arm and the rotating device to act in a first state under the condition that the nuclear waste barrel covers the barrel cover;
the controller determines that the top end of the nuclear waste barrel is over against the plurality of grippers according to the position data acquired from the plurality of first positioning sensors and the third positioning sensors, and controls the mechanical arm and the rotating device to act in a second state under the condition that the barrel cover of the nuclear waste barrel is not covered.
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| CN202111221218.6A CN113929032B (en) | 2021-10-20 | 2021-10-20 | Nuclear waste barrel cover taking device |
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| CN202111221218.6A CN113929032B (en) | 2021-10-20 | 2021-10-20 | Nuclear waste barrel cover taking device |
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| CN114684556A (en) * | 2022-03-02 | 2022-07-01 | 中国核电工程有限公司 | Vertical sealing transfer device |
| CN115180578A (en) * | 2022-07-18 | 2022-10-14 | 上海外高桥造船有限公司 | Protection device is opened with on-spot paint kettle to production type enterprise |
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