A remote shearing device and method for high altitude pipelines used in nuclear decommissioning

Abstract

A remote shearing device and method for high-altitude pipelines of nuclear facilities, including a moving mechanism, a cutting mechanism, a clamping and positioning mechanism, and a waste pipe material collection mechanism; an upper platform; and a bottom plate in the moving mechanism. The moving mechanism includes an X slide, a Y slide, and a hollow rotating table; the present invention realizes the automation of shearing, blanking, unloading and other processes through a cutting mechanism and a clamping and positioning mechanism, thereby improving work efficiency and reducing labor intensity.

Description

Technical Field

[0001] The present invention belongs to the technical field of nuclear facility decommissioning and dismantling, and in particular relates to a remote shearing device and method for high-altitude pipelines in nuclear engineering facility decommissioning. Background Art

[0002] There are a large number of reagent delivery pipelines, steam pipelines, compressed air pipelines, etc. in the decommissioning of nuclear engineering facilities, and the pipelines are distributed in different locations. At the same time, these pipelines are close to the wall and at a certain height (1m-6m) from the ground.

[0003] During the demolition process, scaffolding is set up close to the wall to reach the height of the pipeline, and then the pipeline is dismantled by cold cutting methods such as pipeline shearing equipment such as hydraulic shears, reciprocating saws, or hot cutting methods such as ion arc cutting and oxygen cutting. The demolition equipment currently used has the following main problems: 1) The pipelines are distributed in different sites, and the scaffolding needs to be set up before demolition, which is inconvenient to move; 2) The height of the pipelines is inconsistent, the height of the scaffolding is different, and manual work is required on the scaffolding. The shearing equipment has a certain weight, and there are problems such as scaffolding vibration at high altitudes, which has a high labor intensity and risk factor for personnel; 3) During the decommissioning of nuclear facilities, workers are required to wear protective clothing to enter the radiation environment for demolition work. In order to reduce the labor intensity of personnel and prevent workers from reducing radiation, remote control shearing is adopted to improve the efficiency of nuclear decommissioning facility demolition. A remote shearing device and method for high-altitude pipelines of nuclear facilities is invented. Summary of the invention

[0004] The main purpose of the present invention is to provide a remote shearing device and method for high-altitude pipelines in nuclear facilities, which can effectively solve the problems in the background technology.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a remote shearing device and method for high-altitude pipelines of nuclear facilities, including a moving mechanism, a cutting mechanism, a clamping and positioning mechanism, and a waste pipe material collection mechanism;

[0006] It also includes the upper platform;

[0007] The moving mechanism includes a bottom plate.

[0008] The moving mechanism includes an X slide, a Y slide, and a hollow rotating table;

[0009] The X slide includes a servo motor A, a laser limit switch A, a ball screw A, and a slider A; the Y slide includes a slider B, a bottom plate, a servo motor B, a laser limit switch B, and a ball screw B; the hollow rotary table includes a servo motor C; the servo motor A is connected to the ball screw A, the slider A is installed on the ball screw A, the servo motor A drives the ball screw A to drive the slider A to move horizontally in the X direction, the laser limit switch A is installed at the front and rear ends of the ball screw A to limit the displacement in the X direction, the Y slide is installed on the slider A, the servo motor B of the Y slide is connected to the ball screw B, the slider B is installed on the ball screw B, the servo motor B drives the ball screw B to drive the slider B to move longitudinally in the Y direction, the laser limit switch B is installed at the front and rear ends of the ball screw B to limit the displacement in the Y direction, and the bottom plate is connected to the slider B; the servo motor C is installed on the side of the hollow rotary table, the X slide is installed on the upper surface of the hollow rotary table, and the servo motor C drives the hollow rotary table to rotate;

[0010] It also includes an upper platform, and the lower end surface of the hollow rotating table is connected to the upper platform.

[0011] The cutting mechanism includes a hydraulic shear, a supporting fixture, a hydraulic pump, and a hydraulic cylinder; the upper inlet end of the hydraulic cylinder is connected to the output end of the hydraulic pump, the upper outlet end of the hydraulic cylinder is connected to the inlet end of the hydraulic shear, the lower inlet end of the hydraulic cylinder is connected to the outlet end of the hydraulic shear, and the lower outlet end of the hydraulic cylinder is connected to the inlet end of the hydraulic pump;

[0012] The hydraulic shear and the supporting fixture are welded into an integrated structure

[0013] The support clamps are bolted to the base plate.

[0014] The clamping and positioning mechanism includes an adaptive two-finger clamp; the two-finger adaptive two-finger clamp includes a servo motor D, a bracket, a connecting rod mechanism, a two-finger clamp arm, and a spring compensation mechanism; the servo motor D is connected to the connecting rod mechanism, the servo motor D drives the connecting rod mechanism to drive the two-finger clamp arm to grasp, and the spring compensation mechanism is installed on the two-finger clamp arm; the servo motor D and the connecting rod mechanism are installed on the bracket, and the bracket is installed on the base plate.

[0015] The waste pipe material collection mechanism includes a hopper, a rotating shaft support, a telescopic arm, and an electric push rod; the electric push rod is connected to the telescopic arm, the hopper is connected to the telescopic arm, one end of the rotating shaft support is connected to the hopper, and the other end is connected to the upper platform

[0016] The electric push rod pushes the telescopic arm, driving the hopper to move downward with gravity, and the rotating shaft supports the auxiliary hopper to achieve flipping.

[0017] It also includes a front-end camera and a laser positioning module; the front-end camera is located in front of the hollow rotating table and installed on the upper platform; the laser positioning module is installed on the bottom plate

[0018] A method for applying a remote shearing device for a high altitude pipeline used in nuclear decommissioning comprises the following steps:

[0019] a: Lift the remote shearing device for high altitude pipelines used in nuclear decommissioning to a height suitable for shearing operations;

[0020] b: Start the servo motor C of the hollow rotating table of the moving mechanism to drive the XY slide to rotate, adjust it in the horizontal direction, then start the servo motor A of the X slide to drive the ball screw A to drive the Y slide on the slider A to move horizontally in the X direction, and finally start the servo motor B of the Y slide to drive the ball screw B to drive the bottom plate on the slider B to move longitudinally in the Y direction;.

[0021] c: Remotely start the two-finger adaptive two-finger gripper of the gripping and positioning mechanism, and the servo motor D drives the connecting rod mechanism to drive the two-finger gripper arm to grip;

[0022] d: Start the cutting mechanism and adjust the hydraulic oil in the hydraulic cylinder to pass through the hydraulic pump and hydraulic shears in turn. The hydraulic shears are stretched to perform pipeline cutting operations.

[0023] e: The hollow rotating table, X slide and Y slide of the mobile mechanism return to the positive position, and the two-finger adaptive two-finger gripper is released to allow the pipe to fall naturally into the hopper;

[0024] In step a, the remote shearing device for high altitude pipelines used for nuclear decommissioning is lifted to a height suitable for shearing operations by means of a remote control handle.

[0025] In the step b, remote positioning is performed by a laser positioning module controlled by video.

[0026] In step c, the spring compensation mechanism adjusts the gripping force of the two-finger clamp arm and stabilizes the pipeline.

[0027] It also includes step f: when the hopper of the waste pipe material collection mechanism is full and unloading operations are required, the remote control handle will be used to lower the nuclear decommissioning high-altitude pipeline remote shearing device to the unloading height, and the electric push rod will drive the telescopic arm to flip the hopper to the unloading angle.

[0028] The technical effects of the present invention are:

[0029] (1) The present invention performs shearing operations through remote control and remote monitoring, thereby preventing workers from entering a radiation environment to perform operations and reducing the risk factor for workers.

[0030] (2) The present invention realizes automation of shearing, blanking, unloading and other processes through a cutting mechanism and a positioning mechanism, thereby improving work efficiency and reducing labor intensity.

[0031] (3) The present invention uses a lifting device and remote monitoring to adjust the height, and the height of the equipment can be adjusted according to the monitoring, avoiding the need to set up a scaffolding before dismantling and the inconvenience of moving, thereby reducing the labor intensity of personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the structure of the present invention;

[0033] Figure 2 It is a front view structural schematic diagram of the present invention;

[0034] Figure 3 For the present invention Figure 2 A in the middle is an enlarged view of the structural diagram.

[0035] Figure 4 It is a schematic diagram of the top view structure of the present invention;

[0036] Figure 5 For the present invention Figure 4 The structure diagram is enlarged at point B in the middle.

[0037] Figure 6 It is a schematic diagram of the structure of the waste pipe material collection mechanism in the present invention.

[0038] In the figure: 1 moving mechanism; 2 cutting mechanism; 3 clamping and positioning mechanism; 4 waste pipe material collection mechanism; 5X slide; 5.1 servo motor A; 5.2 laser limit switch A; 5.3 ball screw A; 5.4 slider A; Y slide 6; 6.1 slider B; 6.2 bottom plate; 6.3 servo motor B; 6.4 laser limit switch B; 6.5 ball screw B; 7 hollow rotary table; 7.1 servo motor C; 8 upper platform; 9 hydraulic shear; 10 support fixture; 11 hydraulic pump; 12 hydraulic cylinder; 13 adaptive two-finger gripper; 13.1 servo motor D; 13.2 bracket; 13.3 connecting rod mechanism; 13.4 two-finger gripper arm; 13.5 spring compensation mechanism; 14 hopper; 15 shaft support; 16 telescopic arm; 17 electric push rod; 18 front camera; 19 laser positioning module; DETAILED DESCRIPTION

[0039] like Figure 1-6 As shown, the remote shearing device for high altitude pipelines of nuclear decommissioning includes a moving mechanism 1, a cutting mechanism 2, a clamping and positioning mechanism 3, and a waste pipe material collecting mechanism 4.

[0040] The mobile mechanism 1 of the remote shearing device for high-altitude pipelines of nuclear decommissioning includes a high-precision XY slide mobile device and a hollow rotating table 7, wherein the high-precision XY slide mobile device is divided into an X slide 5 and a Y slide 6, the X slide 5 includes a servo motor A5.1, a laser limit switch A5.2, a ball screw A5.3, and a slider A5.4; the Y slide 6 includes a slider B6.1, a bottom plate 6.2, a servo motor B6.3, a laser limit switch B6.4, and a ball screw B6.5; the hollow rotating table 7 includes a servo motor C7.1; the servo motor A5.1 is connected to the ball screw A5.3, and the slider A5.4 is installed on the ball screw A5.3, the servo motor A5.1 drives the ball screw A5.3 to drive the slider A5.4 to move horizontally in the X direction, and the laser The limit switch A5.2 is installed at the front and rear ends of the ball screw A5.3 to limit the displacement in the X direction, the Y slide 6 is installed on the slider A5.4, the servo motor B6.3 of the Y slide 6 is connected to the ball screw B6.5, the slider B6.1 is installed with the ball screw B6.5, the servo motor B6.3 drives the ball screw B6.5 to drive the slider B6.1 to move longitudinally in the Y direction, the laser limit switch B6.4 is installed at the front and rear ends of the ball screw B6.5 to limit the displacement in the Y direction, and the bottom plate 6.2 is connected to the slider B6.1; the servo motor C7.1 is installed on the side of the hollow rotating table 7, the X slide 5 is installed on the upper end surface of the hollow rotating table 7, and the hollow rotating table 7 is driven to rotate by the servo motor C7.1; the lower end surface of the hollow rotating table 7 is connected to the upper platform 8.

[0041] The cutting mechanism 2 includes a hydraulic shear 9, a supporting fixture 10, a hydraulic pump 11, and a hydraulic cylinder 12; the upper inlet end of the hydraulic cylinder 12 is connected to the output end of the hydraulic pump 11, the upper outlet end of the hydraulic cylinder 12 is connected to the inlet end of the hydraulic shear 9, the lower inlet end of the hydraulic cylinder 12 is connected to the outlet end of the hydraulic shear 9, and the lower outlet end of the hydraulic cylinder 12 is connected to the inlet end of the hydraulic pump 11. The hydraulic shear 9 and the supporting fixture 10 are welded into an integrated structure, and the supporting fixture 10 is bolted to the bottom plate 6.2.

[0042] The clamping and positioning mechanism 3 includes an adaptive two-finger clamp 13; the two-finger adaptive two-finger clamp 13 includes a servo motor D13.1, a bracket 13.2, a connecting rod mechanism 13.3, a two-finger clamp arm 13.4, and a spring compensation mechanism 13.5. The servo motor D13.1 is connected to the connecting rod mechanism 13.3, the servo motor D13.1 drives the connecting rod mechanism 13.3 to drive the two-finger clamp arm 13.4 to grasp, the spring compensation mechanism 13.5 is installed on the two-finger clamp arm 13.4, and the spring compensation mechanism 13.5 accurately adjusts the grasping force to adapt to pipes of different sizes. The servo motor D13.1 and the connecting rod mechanism 13.3 are installed on the bracket 13.2, and the bracket 13.2 is installed on the bottom plate 6.2.

[0043] The waste pipe material collecting mechanism 4 includes a hopper 14, a rotating shaft support 15, a telescopic arm 16, and an electric push rod 17; the electric push rod 17 is connected to the telescopic arm 16, the hopper 14 is connected to the telescopic arm 16, one end of the rotating shaft support 15 is connected to the hopper 14, and the other end is connected to the upper platform 8. The electric push rod 17 pushes the telescopic arm 16, driving the hopper 14 to move downward with gravity, and the rotating shaft support 15 assists the hopper 14 to achieve flipping.

[0044] The remote control handle and the mobile mechanism 1, cutting mechanism 2, clamping and positioning mechanism 3, and waste pipe material collection mechanism 4 of the remote shearing device for high altitude pipelines of nuclear decommissioning realize pipeline shearing and waste collection, so as to control the mobile mechanism 1 to drive the cutting mechanism 2 and the clamping and positioning mechanism 3 to move and rotate in the XY direction respectively, the clamping and positioning mechanism 3 assists the cutting mechanism 2 to stably clamp and accurately position the pipeline, the waste pipe material collection mechanism 4 collects and unloads the waste of the sheared pipeline, and the video control observes the shearing situation and operates in time to avoid special situations. The video control includes a front-end camera 18 and a laser positioning module 19; the front-end camera 18 is located in front of the hollow rotating table 7 and installed on the upper platform 8; the laser positioning module 19 is installed between the upper bracket 13.2 of the bottom plate 6.2 and the support fixture 10.

[0045] The method of using the high altitude remote shearing of the present invention is as follows:

[0046] a: Use the remote control handle to lift the remote shearing device for high altitude pipelines used for nuclear decommissioning to a height suitable for shearing operations;

[0047] b: The remote control handle performs remote positioning through the laser positioning module 19 controlled by the video; then the servo motor C7.1 of the hollow rotating table 7 of the moving mechanism 1 is started to drive the XY slide to rotate and adjust the horizontal direction, and then the servo motor A5.1 of the X slide 5 is started to drive the ball screw A5.3 to drive the Y slide 6 on the slider A5.4 to move horizontally in the X direction, and finally the servo motor B6.3 of the Y slide 6 is started to drive the ball screw B6.5 to drive the bottom plate 6.2 on the slider B6.1 to move longitudinally in the Y direction.

[0048] c: The servo motor D13.1 of the two-finger adaptive two-finger clamp 13 of the clamping and positioning mechanism 3 is remotely started to drive the connecting rod mechanism 13.3 to drive the two-finger clamp arm 13.4 to clamp, and the spring compensation mechanism 13.5 adjusts the gripping force of the two-finger clamp arm and stabilizes the pipeline.

[0049] d: The remote control handle remotely starts the cutting mechanism 2, and adjusts the hydraulic oil of the hydraulic cylinder 12 to pass through the hydraulic pump 11 and the hydraulic shear 9 in sequence, and then the hydraulic shear 9 is stretched to perform the pipeline cutting operation.

[0050] e: The hollow rotating table 7, X slide 5 and Y slide 6 of the remote control mobile mechanism 1 return to the positive position, and the two-finger adaptive two-finger clamp 13 is released to allow the pipe to fall naturally into the hopper 14

[0051] f: When the hopper 14 of the waste pipe material collection mechanism 4 is full and needs to be unloaded, the remote control handle will be used to lower the remote shearing device for nuclear decommissioning high-altitude pipelines to the unloading height, and the electric push rod 17 will drive the telescopic arm 16 to flip the hopper 14 to the unloading angle, and the waste pipe will roll and tilt out under the action of gravity and fall into the designated waste bin.

Claims

1. A remote shearing device for high altitude pipelines in nuclear decommissioning, characterized in that: It comprises a moving mechanism (1), a cutting mechanism (2), a clamping and positioning mechanism (3), and a waste pipe material collecting mechanism (4); Also includes an upper platform 8; The moving mechanism (1) includes a bottom plate (6.2); The moving mechanism (1) comprises an X slide table (5), a Y slide table (6), and a hollow rotating table (7); The X slide (5) includes a servo motor A (5.1), a laser limit switch A (5.2), a ball screw A (5.3), and a slider A (5.4); the Y slide (6) includes a slider B (6.1), a base plate (6.2), a servo motor B (6.3), a laser limit switch B (6.4), and a ball screw B (6.5); the hollow rotary table (7) includes a servo motor C (7.1); the servo motor A (5.1) is connected to the ball screw A (5.3), and the slider A (5.4) is installed on the ball screw A (5.3); the servo motor A (5.1) drives the ball screw A (5.3) to drive the slider A (5.4) to move horizontally in the X direction, and the laser limit switch A (5.2) is installed before and after the ball screw A (5.3). The Y slide (6) is mounted on the slider A (5.4), the servo motor B (6.3) of the Y slide (6) is connected to the ball screw B (6.5), the slider B (6.1) is mounted on the ball screw B (6.5), the servo motor B (6.3) drives the ball screw B (6.5) to drive the slider B (6.1) to move longitudinally in the Y direction, the laser limit switch B (6.4) is mounted on the front and rear ends of the ball screw B (6.5) to limit the displacement in the Y direction, and the bottom plate (6.2) is connected to the slider B (6.1); the servo motor C (7.1) is mounted on the side of the hollow rotating table (7), the X slide (5) is mounted on the upper end surface of the hollow rotating table (7), and the hollow rotating table (7) is driven to rotate by the servo motor C (7.1); It also includes an upper platform (8), and the lower end surface of the hollow rotating platform (7) is connected to the upper platform (8); It also includes a front-end camera (18) and a laser positioning module (19); the front-end camera (18) is located in front of the hollow rotating platform (7) and is installed on the upper platform (8); the laser positioning module (19) is installed on the bottom plate (6.2); The cutting mechanism (2) comprises a hydraulic shear (9), a supporting fixture (10), a hydraulic pump (11), and a hydraulic cylinder (12); the upper inlet end of the hydraulic cylinder (12) is connected to the output end of the hydraulic pump (11), the upper outlet end of the hydraulic cylinder (12) is connected to the inlet end of the hydraulic shear (9), the lower inlet end of the hydraulic cylinder (12) is connected to the outlet end of the hydraulic shear (9), and the lower outlet end of the hydraulic cylinder (12) is connected to the inlet end of the hydraulic pump (11); The clamping and positioning mechanism (3) comprises an adaptive two-finger clamp (13); the adaptive two-finger clamp (13) comprises a servo motor D (13.1), a bracket (13.2), a connecting rod mechanism (13.3), a two-finger clamp arm (13.4), and a spring compensation mechanism (13.5); the servo motor D (13.1) is connected to the connecting rod mechanism (13.3); the servo motor D (13.1) drives the connecting rod mechanism (13.3) to drive the two-finger clamp arm (13.4) to grasp; the spring compensation mechanism (13.5) is installed on the two-finger clamp arm (13.4); the servo motor D (13.1) and the connecting rod mechanism (13.3) are installed on the bracket (13.2); the bracket (13.2) is installed on the base plate (6.2); The waste pipe material collecting mechanism (4) comprises a hopper (14), a rotating shaft support (15), a telescopic arm (16), and an electric push rod (17); the electric push rod (17) is connected to the telescopic arm (16), the hopper (14) is connected to the telescopic arm (16), one end of the rotating shaft support (15) is connected to the hopper (14), and the other end is connected to the upper platform (8).

2. A remote shearing device for high altitude pipelines for nuclear decommissioning according to claim 1, characterized in that: The hydraulic shear (9) and the supporting fixture (10) are a welded integrated structure.

3. A remote shearing device for high altitude pipelines for nuclear decommissioning according to claim 2, characterized in that: The supporting fixture (10) is bolted to the base plate (6.2).

4. The remote shearing device for high altitude pipelines in nuclear decommissioning according to claim 1 is characterized in that: The electric push rod (17) pushes the telescopic arm (16), driving the hopper (14) to move downward with gravity, and the rotating shaft support (15) assists the hopper (14) to achieve overturning.

5. A remote shearing method for high altitude pipelines used in nuclear decommissioning, using the remote shearing device for high altitude pipelines used in nuclear decommissioning described in 1-4, characterized in that: The following steps are involved: a: Lift the remote shearing device for high altitude pipelines used in nuclear decommissioning to a height suitable for shearing operations; b: Start the servo motor C (7.1) of the hollow rotating table (7) of the moving mechanism (1) to drive the XY slide to rotate and adjust it in the horizontal direction, then start the servo motor A (5.1) of the X slide (5) to drive the ball screw A (5.3) to drive the Y slide (6) on the slider A (5.4) to move horizontally in the X direction, and finally start the servo motor B (6.3) of the Y slide (6) to drive the ball screw B (6.5) to drive the bottom plate (6.2) on the slider B (6.1) to move longitudinally in the Y direction; c: remotely start the servo motor D (13.1) of the two-finger adaptive two-finger clamp (13) of the clamping and positioning mechanism (3) to drive the connecting rod mechanism (13.3) to drive the two-finger clamp arm (13.4) to clamp; d: starting the cutting mechanism (2), adjusting the hydraulic oil of the hydraulic cylinder (12) to pass through the hydraulic pump (11) and the hydraulic shear (9) in sequence, and then extending the hydraulic shear (9) to perform the pipeline cutting operation; e: The hollow rotating table (7), X slide table (5) and Y slide table (6) of the moving mechanism (1) return to the positive position, and the two-finger adaptive two-finger clamp (13) is released to allow the pipe to fall naturally into the hopper (14).

6. A remote shearing method for high altitude pipelines for nuclear decommissioning according to claim 5, characterized in that: In step a, the remote shearing device for high altitude pipelines used for nuclear decommissioning is lifted to a height suitable for shearing operations by means of a remote control handle.

7. A remote shearing method for high altitude pipelines for nuclear decommissioning according to claim 5, characterized in that: In the step b, remote positioning is performed by means of a laser positioning module (19) controlled by video.

8. A remote shearing method for high altitude pipelines for nuclear decommissioning according to claim 5, characterized in that: In step c, the spring compensation mechanism (13.5) adjusts the gripping force of the two-finger clamp arm and stabilizes the pipeline.

9. A remote shearing method for high altitude pipelines for nuclear decommissioning according to claim 5, characterized in that: The method further comprises step f: when the hopper (14) of the waste pipe material collecting mechanism (4) is full and unloading is required, the remote control handle is used to lower the remote shearing device for the nuclear decommissioning high-altitude pipeline to the unloading height, and the electric push rod (17) drives the telescopic arm (16) to flip the hopper (14) to the unloading angle.

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