A hydraulic control system for decommissioning nuclear facilities

Abstract

The present invention relates to a hydraulic control system for nuclear facility decommissioning. The system comprises a first regulating valve assembly, a second regulating valve assembly, a third regulating valve assembly, and a logic control valve assembly. By controlling their states (i.e., controlling their switching values), the system meets the actuation requirements of different end-use tools for nuclear facility decommissioning operations. This eliminates the need to adjust the opening size or hydraulic pressure value (analog value) based on the actuation requirements of the end-use tools for different nuclear facility decommissioning operations, thereby improving the radiation resistance of the hydraulic control system for nuclear facility decommissioning.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic control, and in particular to a hydraulic control system for decommissioning nuclear facilities. Background Art

[0002] Nuclear facilities are characterized by high radioactivity levels, large scale, diverse equipment types, and complex on-site conditions. Decommissioning of such facilities typically involves remotely controlled robotic arms carrying various end-use tools for dismantling and sorting the equipment. During the decommissioning process, each end-use tool must be lightweight to facilitate gripping by the robotic arm and capable of delivering significant payloads to complete decommissioning operations such as clamping, sawing, drilling, and shearing. Furthermore, given the radiation resistance requirements of decommissioning operations, hydraulic drives are being considered for the end-use tools.

[0003] There are many types of end-tools for decommissioning, and the control is relatively complex. In addition, if the hydraulic pipeline is too long, there will be a large pressure drop, which will affect the output load of the subsequent end-tools. Usually, the hydraulic control system is arranged at the decommissioning site with the robotic arm body, which requires the hydraulic control to have good radiation resistance. However, there are a large number of analog adjustment links in the existing hydraulic control system. Since the analog adjustment itself has high requirements for adjustment accuracy (or adjustment amplitude), it is difficult to ensure its adjustment accuracy in an environment with nuclear magnetic interference, and thus it is difficult to meet the radiation resistance requirements when arranged at the decommissioning site. Summary of the Invention

[0004] In view of this, the present invention provides a hydraulic control system for nuclear facility decommissioning, which improves the radiation resistance of the hydraulic control system for nuclear facility decommissioning to meet the radiation resistance requirements when deployed at the decommissioning site.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] A hydraulic control system for decommissioning a nuclear facility, the hydraulic control system comprising: a hydraulic system, a first regulating valve assembly, a second regulating valve assembly, a third regulating valve assembly, a logic control valve assembly, and a first oil circuit interface assembly; the first oil circuit interface assembly comprising a first oil circuit interface pair and a second oil circuit interface pair; the first oil circuit interface pair and the second oil circuit interface pair each comprising an oil supply circuit interface and an oil return circuit interface;

[0007] The hydraulic system is connected to the first regulating valve assembly, the second regulating valve assembly and the third regulating valve assembly respectively; the hydraulic system is used to output hydraulic oil that meets the requirements of different nuclear facility decommissioning operations;

[0008] The first regulating valve assembly, the second regulating valve assembly, and the third regulating valve assembly are respectively connected to the first port pair, the second port pair, and the third port pair of the logic control valve assembly. The first regulating valve assembly is used to adjust the state of the hydraulic oil to meet the clamping operation; the first port pair, the second port pair, and the third port pair each include an oil delivery port and an oil return port.

[0009] The second regulating valve assembly is used to adjust the state of the hydraulic oil to meet the shearing operation, sawing feed operation, and drilling feed operation;

[0010] The third regulating valve assembly is used to adjust the state of the hydraulic oil to meet the sawing rotation operation and the drilling rotation operation respectively;

[0011] The logic control valve assembly is further connected to the first oil circuit interface pair and the second oil circuit interface pair, respectively, and the logic control valve assembly is used to adjust the conduction state between the first port pair, the second port pair, the third port pair and the first oil circuit interface pair and the second oil circuit interface pair;

[0012] The first oil circuit interface pair is used to connect the end tool that performs clamping operation, shearing operation, sawing feeding operation and drilling feeding operation, and the first oil circuit interface pair is used to connect the end tool that performs cutting rotation operation and drilling rotation operation.

[0013] Optionally, the hydraulic system includes an oil tank, a hydraulic pump driven by a dual-speed motor, a three-position bidirectional electromagnetic overflow valve, and a cleaning filter module;

[0014] The hydraulic pump is arranged in the oil tank, and the output end of the hydraulic pump is connected to the oil pipeline and the input end of the three-position two-way electromagnetic overflow valve respectively;

[0015] The output end of the three-position two-way electromagnetic overflow valve is connected to one end of the cleaning filter module;

[0016] The other end of the cleaning filter module is connected to the oil tank.

[0017] Optionally, a temperature control switch and a liquid level switch are further provided in the oil tank, and the temperature control switch and the liquid level switch are used for monitoring and early warning of the temperature and liquid level inside the oil tank.

[0018] Optionally, the first regulating valve assembly includes a first pressure regulating valve and a first proportional reversing valve;

[0019] One end of the first pressure regulating valve is connected to the oil delivery pipeline, the other end of the first pressure regulating valve is connected to the first port of the first proportional reversing valve, and the second port of the first proportional reversing valve is connected to the oil delivery port aligned with the first port;

[0020] The third port of the first proportional reversing valve is connected to the oil return port in the center of the first port pair; the fourth port of the first proportional reversing valve is connected to the oil return pipeline.

[0021] Optionally, the second regulating valve assembly includes a first pressure regulating and switching valve group, a second pressure regulating and switching valve group, a third pressure regulating and switching valve group and a second proportional reversing valve;

[0022] One end of the first pressure regulating and switching valve group, the second pressure regulating and switching valve group and the third regulating valve are all connected to the oil pipeline;

[0023] The other ends of the first pressure regulating and switching valve group, the second pressure regulating and switching valve group and the third regulating valve are all connected to the first port of the second proportional reversing valve, and the second port of the second proportional reversing valve is connected to the oil delivery port in the middle of the second port;

[0024] The third port of the second proportional reversing valve is connected to the oil return port in the center of the second port pair;

[0025] The fourth port of the second proportional reversing valve is connected to the oil return pipeline.

[0026] Optionally, the first pressure regulating and switching valve group, the second pressure regulating and switching valve group and the third pressure regulating and switching valve group all include a second regulating valve and a switching valve;

[0027] The first pressure regulating and switching valve group is used to adjust the state of the hydraulic oil to meet the shearing operation;

[0028] The second pressure regulating and switching valve group is used to adjust the state of the hydraulic oil to meet the sawing and feeding operation;

[0029] The third pressure regulating and switching valve group is used to adjust the state of the hydraulic oil to meet the drilling feed operation.

[0030] Optionally, the third regulating valve assembly includes a third proportional reversing valve;

[0031] The first port of the third proportional reversing valve is connected to the oil pipeline;

[0032] The second port of the third proportional reversing valve is connected to the oil delivery port in the center of the third port pair;

[0033] The third port of the third proportional reversing valve is connected to the oil return port in the center of the third port pair;

[0034] The fourth port of the third proportional reversing valve is connected to the oil return pipeline.

[0035] Optionally, the logic control valve assembly includes: a first solenoid switch valve, a second solenoid switch valve, a fifth solenoid switch valve, an eighth solenoid switch valve, a ninth solenoid switch valve and an eleventh solenoid switch valve;

[0036] Two ends of the first electromagnetic switch valve are respectively connected to the oil delivery port in the first port pair and the oil delivery interface in the first oil interface pair;

[0037] The two ends of the second electromagnetic switch valve are respectively connected to the oil return port in the first port pair and the oil return line interface in the first oil line interface pair;

[0038] The two ends of the fifth electromagnetic switch valve are respectively connected to the oil delivery port in the second port pair and the oil delivery interface in the first oil interface pair;

[0039] Two ends of the eighth solenoid switch valve are respectively connected to the oil return port in the second port pair and the oil return interface in the first oil interface pair;

[0040] Both ends of the ninth solenoid switch valve are respectively connected to the oil delivery port in the second port pair and the oil delivery interface in the second oil interface pair;

[0041] Two ends of the eleventh electromagnetic switch valve are respectively connected to the oil return port in the second port pair and the oil return channel interface in the second oil channel interface pair.

[0042] Optionally, the hydraulic control system further comprises a second oil circuit interface assembly, the second oil circuit interface assembly being used to connect to an end tool of another robotic arm for performing a different nuclear facility decommissioning operation;

[0043] The second oil circuit interface assembly includes a third oil circuit interface pair and a fourth oil circuit interface pair.

[0044] Optionally, the logic control valve assembly includes: a first solenoid switch valve, a second solenoid switch valve, a third solenoid switch valve, a fourth solenoid switch valve, a fifth solenoid switch valve, a sixth solenoid switch valve, a seventh solenoid switch valve, an eighth solenoid switch valve, a ninth solenoid switch valve, a tenth solenoid switch valve, an eleventh solenoid switch valve and a twelfth solenoid switch valve;

[0045] Two ends of the first electromagnetic switch valve are respectively connected to the oil delivery port in the first port pair and the oil delivery interface in the first oil interface pair;

[0046] The two ends of the second electromagnetic switch valve are respectively connected to the oil return port in the first port pair and the oil return line interface in the first oil line interface pair;

[0047] Two ends of the third electromagnetic switch valve are respectively connected to the oil return port in the first port pair and the oil return interface in the third oil interface pair;

[0048] Two ends of the fourth electromagnetic switch valve are respectively connected to the oil delivery port in the first port pair and the oil delivery interface in the third oil interface pair;

[0049] The two ends of the fifth electromagnetic switch valve are respectively connected to the oil delivery port in the second port pair and the oil delivery interface in the first oil interface pair;

[0050] The two ends of the sixth electromagnetic switch valve are respectively connected to the oil delivery port in the second port pair and the oil delivery interface in the third oil interface pair;

[0051] Two ends of the seventh solenoid switch valve are respectively connected to the oil return port in the second port pair and the oil return interface in the third oil interface pair;

[0052] Two ends of the eighth solenoid switch valve are respectively connected to the oil return port in the second port pair and the oil return interface in the first oil interface pair;

[0053] Both ends of the ninth solenoid switch valve are respectively connected to the oil delivery port in the second port pair and the oil delivery interface in the second oil interface pair;

[0054] The two ends of the tenth electromagnetic switch valve are respectively connected to the oil delivery port in the third port pair and the oil delivery interface in the fourth oil interface pair;

[0055] The two ends of the eleventh solenoid switch valve are respectively connected to the oil return port in the second port pair and the oil return interface in the second oil interface pair;

[0056] The two ends of the twelfth electromagnetic switch valve are respectively connected to the oil return port in the third port pair and the oil return line interface in the fourth oil line interface pair.

[0057] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0058] The present invention discloses a hydraulic control system for nuclear facility decommissioning, comprising: a hydraulic system, a first regulating valve assembly, a second regulating valve assembly, a third regulating valve assembly, a logic control valve assembly, and a first oil circuit interface assembly; the hydraulic system is connected to the first regulating valve assembly, the second regulating valve assembly, and the third regulating valve assembly, respectively; the first regulating valve assembly, the second regulating valve assembly, and the third regulating valve assembly are connected to the first port pair, the second port pair, and the third port pair of the logic control valve assembly, respectively; and the logic control valve assembly is further connected to the first oil circuit interface pair and the second oil circuit interface pair, respectively. The present invention provides the first regulating valve assembly, the second regulating valve assembly, the third regulating valve assembly, and the logic control valve assembly, and achieves the actuation requirements of different end-tools for nuclear facility decommissioning operations by controlling their states (i.e., controlling the switching quantity), eliminating the need to adjust the opening size or hydraulic pressure value (analog quantity) according to the actuation requirements of the end-tools for different nuclear facility decommissioning operations, thereby improving the radiation resistance of the hydraulic control system for nuclear facility decommissioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technical personnel in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0060] Figure 1 A schematic structural diagram of a hydraulic control system for nuclear facility decommissioning provided by an embodiment of the present invention;

[0061] Figure 2 A schematic structural diagram of a logic control valve assembly provided in an embodiment of the present invention;

[0062] Figure 3 This is a diagram of the oil path during clamping operation provided by an embodiment of the present invention.

[0063] Reference numerals:

[0064] 1. Fuel tank; 2. Hydraulic pump; 3. Three-position two-way electromagnetic overflow valve; 4. Cleaning filter module; 5. Temperature switch; 6. Liquid level switch; 7. First pressure regulating valve; 8. First proportional reversing valve; 9. First pressure regulating and switching valve group; 10. Second pressure regulating and switching valve group; 11. Third pressure regulating and switching valve group; 12. Second proportional reversing valve; 13. Third proportional reversing valve; 14. Logic control valve assembly; 15. First oil circuit interface assembly; 16. End tool for sawing operations; 17. End tool for drilling operations; 18. End tool for shearing operations ; 19. End tool for performing clamping operation; 20. Second oil circuit interface assembly; 14-1. First solenoid switch valve; 14-2. Second solenoid switch valve; 14-3. Third solenoid switch valve; 14-4. Fourth solenoid switch valve; 14-5. Fifth solenoid switch valve; 14-6. Sixth solenoid switch valve; 14-7. Seventh solenoid switch valve; 14-8. Eighth solenoid switch valve; 14-9. Ninth solenoid switch valve; 14-10. Tenth solenoid switch valve; 14-11. Eleventh solenoid switch valve; 14-12. Twelfth solenoid switch valve. DETAILED DESCRIPTION

[0065] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0066] The purpose of the present invention is to provide a hydraulic control system for decommissioning nuclear facilities, to improve the radiation resistance of the hydraulic control system for decommissioning nuclear facilities, so as to meet the radiation resistance requirements when arranged at the decommissioning site.

[0067] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0068] The present invention proposes a hydraulic control system for the end tools used in decommissioning operations such as clamping, sawing, drilling and shearing. It aims to control different decommissioning end tools through the simplest hydraulic system, meet the radiation resistance requirements of decommissioning operations, and improve the safety and convenience of nuclear facility decommissioning operations.

[0069] Example 1

[0070] like Figure 1As shown, embodiment 1 of the present invention provides a hydraulic control system for decommissioning nuclear facilities, the hydraulic control system comprising: a hydraulic system, a first regulating valve assembly, a second regulating valve assembly, a third regulating valve assembly, a logic control valve assembly 14 and a first oil circuit interface assembly 15; the first oil circuit interface assembly 15 comprises a first oil circuit interface pair and a second oil circuit interface pair; the first oil circuit interface pair and the second oil circuit interface pair both comprise an oil supply circuit interface and an oil return circuit interface; the end tool comprises an end tool 16 for performing sawing operations, an end tool 17 for performing drilling operations, an end tool 18 for performing shearing operations, and an end tool 19 for performing clamping operations. The hydraulic system is connected to the first regulating valve assembly, the second regulating valve assembly and the third regulating valve assembly respectively; the hydraulic system is used to output hydraulic oil that meets the decommissioning operations of different nuclear facilities; the first regulating valve assembly, the second regulating valve assembly and the third regulating valve assembly are respectively connected to the first port pair, the second port pair and the third port pair of the logic control valve assembly 14, and the first regulating valve assembly is used to adjust the state of the hydraulic oil that meets the clamping operation; the first port pair, the second port pair and the third port pair all include an oil delivery port and an oil return port; the second regulating valve assembly is used to adjust the state of the hydraulic oil that meets the shearing operation, the sawing feed operation, the drilling feed operation The state of the hydraulic oil in the industry; the third regulating valve assembly is used to adjust the state of the hydraulic oil that meets the sawing rotation operation and the drilling rotation operation respectively; the logic control valve assembly 14 is also connected to the first oil circuit interface pair and the second oil circuit interface pair respectively, and the logic control valve assembly 14 is used to adjust the conduction state of the first port pair, the second port pair, the third port pair and the first oil circuit interface pair and the second oil circuit interface pair; the first oil circuit interface pair is used to connect the end tool that performs clamping operation, shearing operation, sawing feed operation and drilling feed operation, and the first oil circuit interface pair is used to connect the end tool that performs cutting rotation operation and drilling rotation operation.

[0071] Among them, the hydraulic system includes an oil tank 1, a hydraulic pump 2 driven by a dual-speed motor, a three-position two-way electromagnetic overflow valve 3 and a cleaning filter module 4; the hydraulic pump 2 is arranged in the oil tank 1, and the output end of the hydraulic pump 2 is respectively connected to the oil pipeline and the input end of the three-position two-way electromagnetic overflow valve 3; the output end of the three-position two-way electromagnetic overflow valve 3 is connected to one end of the cleaning filter module 4; the other end of the cleaning filter module 4 is connected to the oil tank 1.

[0072] A temperature control switch and a liquid level switch 6 are also provided in the oil tank 1 , and the temperature control switch and the liquid level switch 6 are used for monitoring and early warning of the temperature and liquid level inside the oil tank 1 .

[0073] The first regulating valve assembly includes a first pressure regulating valve 7 and a first proportional reversing valve 8; one end of the first pressure regulating valve 7 is connected to the oil pipeline, the other end of the first pressure regulating valve 7 is connected to the first port of the first proportional reversing valve 8, the second port of the first proportional reversing valve 8 is connected to the oil delivery port in the center of the first port; the third port of the first proportional reversing valve 8 is connected to the oil return port in the center of the first port; the fourth port of the first proportional reversing valve 8 is connected to the oil return pipeline.

[0074] The second regulating valve assembly includes a first pressure regulating and switching valve group, a second pressure regulating and switching valve group, a third pressure regulating and switching valve group and a second proportional reversing valve 12; one end of the first pressure regulating and switching valve group, the second pressure regulating and switching valve group and the third regulating valve are all connected to the oil pipeline; the other ends of the first pressure regulating and switching valve group, the second pressure regulating and switching valve group and the third regulating valve are all connected to the first port of the second proportional reversing valve 12, and the second port of the second proportional reversing valve 12 is connected to the oil delivery port in the middle of the second port pair; the third port of the second proportional reversing valve 12 is connected to the oil return port in the middle of the second port pair; the fourth port of the second proportional reversing valve 12 is connected to the oil return pipeline.

[0075] The first pressure regulating and switching valve group, the second pressure regulating and switching valve group and the third pressure regulating and switching valve group all include a second regulating valve and a switching valve; the first pressure regulating and switching valve group is used to adjust the state of the hydraulic oil to meet the shearing operation; the second pressure regulating and switching valve group is used to adjust the state of the hydraulic oil to meet the sawing feed operation; the third pressure regulating and switching valve group is used to adjust the state of the hydraulic oil to meet the drilling feed operation.

[0076] The third regulating valve assembly includes a third proportional reversing valve 13; the first port of the third proportional reversing valve 13 is connected to the oil delivery pipeline; the second port of the third proportional reversing valve 13 is connected to the oil delivery port in the third port pair; the third port of the third proportional reversing valve 13 is connected to the oil return port in the third port pair; and the fourth port of the third proportional reversing valve 13 is connected to the oil return pipeline.

[0077] like Figure 2As shown, the logic control valve assembly 14 includes: a first electromagnetic switch valve 14-1, a second electromagnetic switch valve 14-2, a fifth electromagnetic switch valve 14-5, an eighth electromagnetic switch valve 14-8, a ninth electromagnetic switch valve 14-9 and an eleventh electromagnetic switch valve 14-11; the two ends of the first electromagnetic switch valve 14-1 are respectively connected to the oil delivery port in the first port pair and the oil delivery interface in the first oil interface pair; the two ends of the second electromagnetic switch valve 14-2 are respectively connected to the oil return port in the first port pair and the oil return interface in the first oil interface pair; the The two ends of the fifth electromagnetic switch valve 14-5 are respectively connected to the oil delivery port in the second port pair and the oil delivery circuit interface in the first oil circuit interface pair; the two ends of the eighth electromagnetic switch valve 14-8 are respectively connected to the oil return port in the second port pair and the oil return circuit interface in the first oil circuit interface pair; the two ends of the ninth electromagnetic switch valve 14-9 are respectively connected to the oil delivery port in the second port pair and the oil delivery circuit interface in the second oil circuit interface pair; the two ends of the eleventh electromagnetic switch valve 14-11 are respectively connected to the oil return port in the second port pair and the oil return circuit interface in the second oil circuit interface pair.

[0078] The hydraulic control system provided in Example 1 of the present invention mainly includes an oil tank 1, a hydraulic pump 2, a three-position two-way electromagnetic overflow valve 3, a filter, a temperature switch 5, a liquid level switch 6 and various pressure regulating and switching valve groups, various proportional reversing valves, a logic control valve assembly 14, a first oil circuit interface assembly 15, etc. The control of the hydraulic control system is mainly the electromagnetic switching valve, the liquid level switch 6 and the temperature switch 5, all of which are switching quantities and have good radiation resistance.

[0079] The hydraulic pump 2 in the hydraulic control system is driven by a two-speed motor and controlled by a three-position two-way electromagnetic overflow valve 3, which meets different pressure and flow requirements with minimum power and reduces the size and weight of the control system; during the clamping operation, the two-speed motor rotates at a low speed, and the three-position two-way electromagnetic overflow valve 3 turns to a small flow outlet, outputting a larger pressure to meet the small flow and high pressure operation requirements of the end tool performing the shearing operation; during the sawing and drilling operations, the two-speed motor rotates at a high speed, and the three-position two-way electromagnetic overflow valve 3 turns to a large flow outlet, outputting a larger flow to meet the large flow and lower load requirements of the sawing and drilling operations.

[0080] The hydraulic control system is provided with a cleaning filter module 4 to clean the hydraulic oil in the system, thereby ensuring the cleanliness of the hydraulic oil and improving the safety and reliability of the system.

[0081] The hydraulic control system is equipped with a liquid level switch 6 and a temperature switch 5 to ensure that the working liquid level and temperature meet the requirements.

[0082] Example 2

[0083] The hydraulic control system provided in Example 2 of the present invention also includes a second oil circuit interface component 20, which is used to connect the end tool of another robotic arm to perform different nuclear facility decommissioning operations; the second oil circuit interface component 20 includes a third oil circuit interface pair and a fourth oil circuit interface pair.

[0084] At this time, if Figure 2 As shown, the logic control valve assembly 14 includes: a first solenoid switch valve 14-1, a second solenoid switch valve 14-2, a third solenoid switch valve 14-3, a fourth solenoid switch valve 14-4, a fifth solenoid switch valve 14-5, a sixth solenoid switch valve 14-6, a seventh solenoid switch valve 14-7, an eighth solenoid switch valve 14-8, a ninth solenoid switch valve 14-9, a tenth solenoid switch valve 14-10, an eleventh solenoid switch valve 14-11 and a twelfth solenoid switch valve 14-12; both ends of the first solenoid switch valve 14-1 are connected to the second solenoid switch valve 14-2, the third solenoid switch valve 14-3, the fourth solenoid switch valve 14-4, the fifth solenoid switch valve 14-5, the sixth solenoid switch valve 14-6, the seventh solenoid switch valve 14-7, the eighth solenoid switch valve 14-8, the ninth solenoid switch valve 14-9, the tenth solenoid switch valve 14-10, the eleventh solenoid switch valve 14-11 and the twelfth solenoid switch valve 14-12; The oil delivery port in the first port pair is connected to the oil delivery interface in the first oil circuit interface pair; the two ends of the second electromagnetic switch valve 14-2 are respectively connected to the oil return port in the first port pair and the oil return interface in the first oil circuit interface pair; the two ends of the third electromagnetic switch valve 14-3 are respectively connected to the oil return port in the first port pair and the oil return interface in the third oil circuit interface pair; the two ends of the fourth electromagnetic switch valve 14-4 are respectively connected to the oil delivery port in the first port pair and the oil delivery interface in the third oil circuit interface pair; the two ends of the fifth electromagnetic switch valve 14-5 are respectively connected to the oil return port in the first port pair and the oil return interface in the third oil circuit interface pair; The ends of the sixth solenoid switch valve 14-6 are respectively connected to the oil delivery port in the second port pair and the oil delivery interface in the first oil interface pair; the two ends of the seventh solenoid switch valve 14-7 are respectively connected to the oil return port in the second port pair and the oil return interface in the third oil interface pair; the two ends of the eighth solenoid switch valve 14-8 are respectively connected to the oil return port in the second port pair and the oil return interface in the first oil interface pair; the ninth solenoid switch valve 1 The two ends of 4-9 are respectively connected to the oil delivery port in the second port pair and the oil delivery circuit interface in the second oil circuit interface pair; the two ends of the tenth electromagnetic switch valve 14-10 are respectively connected to the oil delivery port in the third port pair and the oil delivery circuit interface in the fourth oil circuit interface pair; the two ends of the eleventh electromagnetic switch valve 14-11 are respectively connected to the oil return port in the second port pair and the oil return circuit interface in the second oil circuit interface pair; the two ends of the twelfth electromagnetic switch valve 14-12 are respectively connected to the oil return port in the third port pair and the oil return circuit interface in the fourth oil circuit interface pair.

[0085] The hydraulic control system of the second embodiment of the present invention is provided with two oil circuit interface components (a first oil circuit interface component 15 and a second oil circuit interface component 20). Each oil circuit interface component can be quickly replaced with the end tool performing each decommissioning operation, and the two oil circuit interface components can meet the dual-machine output requirements of the dual robotic arms, and can simultaneously complete the end tool operation of one robotic arm carrying the clamping operation and the other robotic arm carrying the end tool operation of other operations (cutting operation, sawing feed operation, drilling feed operation, etc.); the first oil circuit interface component 15 and the second oil circuit interface component 20 each include two oil circuit interface pairs, which can meet the oil circuit requirements of the two execution ends.

[0086] For example, the first proportional reversing valve 8 and the first oil circuit interface of the hydraulic control system form a separate circuit, and the front end of the first proportional reversing valve 8 is provided with a first pressure regulating valve 7 for enabling the clamping end tool to output different clamping pressures and clamping speeds.

[0087] The second proportional reversing valve 12 and the third oil circuit interface pair of the hydraulic control system form another circuit, which respectively controls the sawing feed operation or the drilling feed operation, and can output different feed speeds to disintegrate different decommissioning objects with the most reasonable process parameters; the second proportional reversing valve 12 is shared by the shearing operation, the sawing feed operation and the drilling feed operation. The front end of the second proportional reversing valve 12 is equipped with different pressure regulating and switching valve groups. According to the end tool connected to the third oil circuit interface pair, the corresponding switching valve in the pressure regulating and switching valve group is opened to carry out different decommissioning operations at the appropriate pressure;

[0088] Example 3

[0089] The hydraulic control system of the present invention is provided with a logic control valve assembly 14. Through the electromagnetic switch valve in the logic control valve assembly 14, the hydraulic oil required by the end tools to meet different decommissioning operation requirements is output to different oil circuit interfaces in different logical combinations, thereby improving the environmental adaptability of the robotic arm.

[0090] The working principle of the hydraulic control system of the present invention is:

[0091] When all the end tools are not working, the three-position two-way electromagnetic overflow valve 3 is in the normally open position, the main oil circuit is depressurized, and the hydraulic oil returns to the oil tank 1 directly through the cleaning filter module 4; during shearing operations, the three-position two-way electromagnetic overflow valve 3 is in the high-pressure and low-flow position, the hydraulic pump 2 rotates at a low speed, and the hydraulic control system establishes high pressure; during sawing and drilling operations, the three-position two-way electromagnetic overflow valve 3 is in the low-pressure and high-flow position, the hydraulic pump 2 rotates at a high speed, the hydraulic control system establishes low pressure, and outputs a large flow.

[0092] The oil circuit during clamping operation is as follows: the hydraulic oil passes through the first pressure regulating valve 7 to set the pressure, then passes through the first proportional reversing valve 8 for control, and then quickly selects the corresponding oil circuit interface pair through the logic control valve assembly 14 to control the forward and backward direction of the hydraulic cylinder of the end tool of the clamping operation, as well as the feed speed. The oil circuit direction is as follows Figure 3 The specific working status shown is shown in Table 1.

[0093] Table 1 Working status table

[0094]

[0095] In Table 1, a represents a state where the first port and the second port are conductive, and b represents a state where the third port and the fourth port are conductive.

[0096] The oil circuits for shearing operation, drilling feed operation and sawing feed operation are: the first pressure regulating and switching valve group 9, the second pressure regulating and switching valve group 10, and the third pressure regulating and switching valve group 11, so as to realize the corresponding pressure regulation when the oil cylinders of the three operations are working, that is, when a certain switching valve is energized, the corresponding second pressure regulating valve works; the hydraulic oil passes through the second proportional reversing valve 12, and then quickly selects the corresponding first oil circuit interface component 15 through the logic control valve assembly 14 to control the movement direction and feed speed of the end tool of the operation. The specific working status is detailed in Table 1.

[0097] The oil circuit for drilling rotation and sawing rotation operations is as follows: the hydraulic oil passes through the third proportional reversing valve 13, and then through the logic control valve assembly 14 to quickly select the corresponding first oil circuit interface assembly 15 or the second oil circuit interface assembly 20 to control the movement direction and feed speed of the end tool performing the operation. The specific working status is detailed in Table 1.

[0098] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0099] 1) The hydraulic pump 2 is driven by a two-speed motor and controlled by a three-position, two-way electromagnetic relief valve 3, meeting different pressure and flow requirements with minimal power, reducing the size and weight of the control system;

[0100] 2) The entire hydraulic control system mainly uses switch quantity control to have good radiation resistance;

[0101] 3) Shared proportional reversing valves for end tools of shearing, sawing and drilling operations to simplify the system;

[0102] 4) Through the logic control valve assembly 14, the two oil circuit interface assemblies can quickly adapt to the end tool of any operation, thereby improving the environmental adaptability and flexibility of the robot arm.

[0103] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0104] The principles and implementation methods of the present invention are described in detail using specific examples in the embodiments of the present invention. The description of the above embodiments is only intended to help understand the method and core concept of the present invention. At the same time, for those skilled in the art, the specific implementation methods and application scope may vary based on the concept of the present invention. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A hydraulic control system for decommissioning a nuclear facility, characterized in that: The hydraulic control system includes: a hydraulic system, a first regulating valve assembly, a second regulating valve assembly, a third regulating valve assembly, a logic control valve assembly, and a first oil circuit interface assembly; the first oil circuit interface assembly includes a first oil circuit interface pair and a second oil circuit interface pair; the first oil circuit interface pair and the second oil circuit interface pair each include an oil supply circuit interface and an oil return circuit interface; The hydraulic system is connected to the first regulating valve assembly, the second regulating valve assembly and the third regulating valve assembly respectively; the hydraulic system is used to output hydraulic oil that meets the requirements of different nuclear facility decommissioning operations; The first regulating valve assembly, the second regulating valve assembly, and the third regulating valve assembly are respectively connected to the first port pair, the second port pair, and the third port pair of the logic control valve assembly. The first regulating valve assembly is used to adjust the state of the hydraulic oil to meet the clamping operation; the first port pair, the second port pair, and the third port pair each include an oil delivery port and an oil return port. The second regulating valve assembly is used to adjust the state of the hydraulic oil to meet the shearing operation, sawing feed operation, and drilling feed operation; The third regulating valve assembly is used to adjust the state of the hydraulic oil to meet the sawing rotation operation and the drilling rotation operation respectively; The logic control valve assembly is further connected to the first oil circuit interface pair and the second oil circuit interface pair, respectively, and the logic control valve assembly is used to adjust the conduction state between the first port pair, the second port pair, the third port pair and the first oil circuit interface pair and the second oil circuit interface pair; The first oil circuit interface pair is used to connect the end tool that performs clamping operation, shearing operation, sawing feeding operation and drilling feeding operation, and the second oil circuit interface pair is used to connect the end tool that performs cutting rotation operation and drilling rotation operation; The hydraulic system includes an oil tank, a hydraulic pump driven by a two-speed motor, a three-position two-way electromagnetic overflow valve and a cleaning filter module; The hydraulic pump is arranged in the oil tank, and the output end of the hydraulic pump is connected to the oil pipeline and the input end of the three-position two-way electromagnetic overflow valve respectively; The output end of the three-position two-way electromagnetic overflow valve is connected to one end of the cleaning filter module; The other end of the cleaning filter module is connected to the fuel tank; The first regulating valve assembly includes a first pressure regulating valve and a first proportional reversing valve; One end of the first pressure regulating valve is connected to the oil delivery pipeline, the other end of the first pressure regulating valve is connected to the first port of the first proportional reversing valve, and the second port of the first proportional reversing valve is connected to the oil delivery port aligned with the first port; The third port of the first proportional reversing valve is connected to the oil return port in the center of the first port pair; the fourth port of the first proportional reversing valve is connected to the oil return pipeline.

2. The hydraulic control system for nuclear facility decommissioning according to claim 1, characterized in that: A temperature control switch and a liquid level switch are also provided in the oil tank, and the temperature control switch and the liquid level switch are used for monitoring and early warning of the temperature and liquid level inside the oil tank.

3. The hydraulic control system for nuclear facility decommissioning according to claim 1, characterized in that: The second regulating valve assembly includes a first pressure regulating and switching valve group, a second pressure regulating and switching valve group, a third pressure regulating and switching valve group and a second proportional reversing valve; One end of the first pressure regulating and switching valve group, the second pressure regulating and switching valve group and the third regulating valve are all connected to the oil pipeline; The other ends of the first pressure regulating and switching valve group, the second pressure regulating and switching valve group and the third regulating valve are all connected to the first port of the second proportional reversing valve, and the second port of the second proportional reversing valve is connected to the oil delivery port in the middle of the second port; The third port of the second proportional reversing valve is connected to the oil return port in the center of the second port pair; The fourth port of the second proportional reversing valve is connected to the oil return pipeline.

4. The hydraulic control system for nuclear facility decommissioning according to claim 1, characterized in that: The first pressure regulating and switching valve group, the second pressure regulating and switching valve group and the third pressure regulating and switching valve group all include a second regulating valve and a switching valve; The first pressure regulating and switching valve group is used to adjust the state of the hydraulic oil to meet the shearing operation; The second pressure regulating and switching valve group is used to adjust the state of the hydraulic oil to meet the sawing and feeding operation; The third pressure regulating and switching valve group is used to adjust the state of the hydraulic oil to meet the drilling feed operation.

5. The hydraulic control system for nuclear facility decommissioning according to claim 1, characterized in that: The third regulating valve assembly includes a third proportional reversing valve; The first port of the third proportional reversing valve is connected to the oil pipeline; The second port of the third proportional reversing valve is connected to the oil delivery port in the center of the third port pair; The third port of the third proportional reversing valve is connected to the oil return port in the center of the third port pair; The fourth port of the third proportional reversing valve is connected to the oil return pipeline.

6. The hydraulic control system for nuclear facility decommissioning according to claim 1, characterized in that: The logic control valve assembly includes: a first solenoid switch valve, a second solenoid switch valve, a fifth solenoid switch valve, an eighth solenoid switch valve, a ninth solenoid switch valve and an eleventh solenoid switch valve; Two ends of the first electromagnetic switch valve are respectively connected to the oil delivery port in the first port pair and the oil delivery interface in the first oil interface pair; The two ends of the second electromagnetic switch valve are respectively connected to the oil return port in the first port pair and the oil return line interface in the first oil line interface pair; The two ends of the fifth electromagnetic switch valve are respectively connected to the oil delivery port in the second port pair and the oil delivery interface in the first oil interface pair; Two ends of the eighth solenoid switch valve are respectively connected to the oil return port in the second port pair and the oil return interface in the first oil interface pair; Both ends of the ninth solenoid switch valve are respectively connected to the oil delivery port in the second port pair and the oil delivery interface in the second oil interface pair; Two ends of the eleventh electromagnetic switch valve are respectively connected to the oil return port in the second port pair and the oil return channel interface in the second oil channel interface pair.

7. The hydraulic control system for nuclear facility decommissioning according to claim 1, characterized in that: The hydraulic control system further includes a second oil circuit interface assembly, the second oil circuit interface assembly being used to connect to an end tool of another robotic arm that performs a different nuclear facility decommissioning operation; The second oil circuit interface assembly includes a third oil circuit interface pair and a fourth oil circuit interface pair.

8. The hydraulic control system for nuclear facility decommissioning according to claim 7, characterized in that: The logic control valve assembly includes: a first solenoid switch valve, a second solenoid switch valve, a third solenoid switch valve, a fourth solenoid switch valve, a fifth solenoid switch valve, a sixth solenoid switch valve, a seventh solenoid switch valve, an eighth solenoid switch valve, a ninth solenoid switch valve, a tenth solenoid switch valve, an eleventh solenoid switch valve and a twelfth solenoid switch valve; Two ends of the first electromagnetic switch valve are respectively connected to the oil delivery port in the first port pair and the oil delivery interface in the first oil interface pair; The two ends of the second electromagnetic switch valve are respectively connected to the oil return port in the first port pair and the oil return line interface in the first oil line interface pair; Two ends of the third electromagnetic switch valve are respectively connected to the oil return port in the first port pair and the oil return interface in the third oil interface pair; Two ends of the fourth electromagnetic switch valve are respectively connected to the oil delivery port in the first port pair and the oil delivery interface in the third oil interface pair; The two ends of the fifth electromagnetic switch valve are respectively connected to the oil delivery port in the second port pair and the oil delivery interface in the first oil interface pair; The two ends of the sixth electromagnetic switch valve are respectively connected to the oil delivery port in the second port pair and the oil delivery interface in the third oil interface pair; Two ends of the seventh solenoid switch valve are respectively connected to the oil return port in the second port pair and the oil return interface in the third oil interface pair; Two ends of the eighth solenoid switch valve are respectively connected to the oil return port in the second port pair and the oil return interface in the first oil interface pair; Both ends of the ninth solenoid switch valve are respectively connected to the oil delivery port in the second port pair and the oil delivery interface in the second oil interface pair; The two ends of the tenth electromagnetic switch valve are respectively connected to the oil delivery port in the third port pair and the oil delivery interface in the fourth oil interface pair; The two ends of the eleventh solenoid switch valve are respectively connected to the oil return port in the second port pair and the oil return interface in the second oil interface pair; Two ends of the twelfth electromagnetic switch valve are respectively connected to the oil return port in the third port pair and the oil return line interface in the fourth oil line interface pair.

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