An automatic capping system for nuclear industry waste drums

Abstract

The application relates to an automatic cover taking system of a nuclear industry waste barrel, wherein the nuclear industry waste barrel comprises a waste barrel cover, a clamp and a waste barrel barrel body; the clamp is arranged on the waste barrel cover; the waste barrel cover is fixed on the waste barrel barrel body through bolts; the automatic cover taking system comprises a rotating roller, a bolt locking device, a cover taking device, two barrel body clamping fixtures, a visual positioning device and a barrel cover storage device; the bolt locking device is used for locking and loosening the bolts of the nuclear industry waste barrel; the cover taking device is used for fixing the grabbing of the barrel cover through a special vacuum suction cup; and the clamp loosening element and the clamp clamping cylinder are used for opening and fixing the clamp between the barrel cover and the barrel body; the automatic cover taking system can automatically take the cover of the conventional nuclear industry waste barrel, and realizes unmanned and high efficiency of the cover taking of the conventional nuclear industry waste barrel.

Description

Technical Field

[0001] This invention specifically relates to an automatic capping system for nuclear waste containers, belonging to the field of nuclear waste disposal technology. Background Technology

[0002] Nuclear energy plays a significant role in China's energy mix, but its application generates various types of radioactive waste, such as waste resin and concentrate produced during nuclear power plant operation. This nuclear waste requires solidification and preservation with cement to prevent accidental leakage. In related technologies, metal nuclear waste containers are typically used to hold this waste, making the resealing of these containers an unavoidable step. Current technology allows for automated resealing of specially designed nuclear waste containers; however, since these containers are disposable, the cost of custom-made containers is prohibitively high. For ordinary nuclear waste containers where the lid and body are secured with bolts, manual resealing is still required. However, manual resealing is not only inefficient but also exposes the user to direct radiation from the radioactive waste. Summary of the Invention

[0003] The technical problem to be solved by this invention is: how to enable fully unmanned automatic cap removal and sealing of ordinary nuclear waste containers that are fixed to the lid and body with bolts.

[0004] The technical solution proposed in this invention is: an automatic sealing and unsealing system for nuclear industrial waste bins, wherein the nuclear industrial waste bin includes a waste bin lid, a clamp, and a waste bin body; the clamp is disposed on the waste bin lid; the waste bin lid is fixed to the waste bin body by bolts;

[0005] The automatic cap removal system includes a rotating roller conveyor, a bolt locking device, a cap removal device, two barrel clamping fixtures, a vision positioning device, and a cap storage device; the nuclear waste barrel is placed on the rotating roller conveyor; the rotating roller conveyor is equipped with a bolt locking mechanism and a cap removal mechanism facing each other on both sides of the nuclear waste barrel; the bolt locking device is used to tighten or loosen the bolts;

[0006] The cap-removing device includes a first mounting cabinet, a three-coordinate truss, and a cap-removing mechanism. The three-coordinate truss is positioned above the first mounting cabinet. The cap-removing mechanism is mounted on the three-coordinate truss. The cap-removing mechanism includes a mounting disc, multiple sets of vacuum suction cups, clamping tensioners, multiple clamping cylinders, and multiple lid clamping components. The multiple sets of vacuum suction cups are circumferentially symmetrically arranged inside the mounting disc. The clamping tensioners are located at the edge of the mounting disc. The multiple clamping cylinders are symmetrically arranged along the center of the mounting disc at its edge. The multiple lid clamping devices are located on one side of the multiple clamping cylinders. Two barrel clamping fixtures are symmetrically arranged on the bolt locking device and the cap-removing device, respectively. The visual positioning device is located on the bolt locking mechanism. The lid storage device is positioned above the first mounting cabinet and below the cap-removing fixture.

[0007] When the lid is removed or sealed, the two barrel clamping fixtures clamp the barrel body of the waste barrel; the visual positioning device determines whether the nuclear industry waste barrel is in position on the rotating roller conveyor; if it is not in position, the rotating roller conveyor adjusts its position to bring the nuclear industry waste barrel into position; the multiple sets of vacuum suction cups suction the upper surface of the waste barrel lid; the clamping fastener clamps the clamp and causes the clamp to open or tighten; the multiple clamping cylinders clamp the clamp after it has opened or tightened.

[0008] When the lid is closed, the plurality of lid clamping devices press the upper surface of the waste bin lid and make the waste bin lid firmly connected to the waste bin body.

[0009] Furthermore, an L-shaped limiting block is provided above the clamping cylinder.

[0010] Furthermore, the bolt locking device includes a second mounting cabinet and a bolt locking mechanism disposed on the second mounting cabinet. The bolt locking mechanism includes a bolt clamping cylinder, an electric screwdriver, a bolt X module, a bolt Y module, and a bolt Z module. The bolt clamping cylinder is disposed on the upper surface of the second mounting cabinet. The bolt X module is mounted on the extended end of the bolt clamping cylinder. The electric screwdriver is mounted on the bolt X module. The bolt Y module is mounted on the fixed end of the bolt clamping cylinder. The bolt Z module is mounted below the bolt clamping cylinder and perpendicular to the lower surface of the bolt clamping cylinder. The bolt Z module passes through the upper surface of the second mounting cabinet to the middle of the second mounting cabinet.

[0011] Furthermore, the three-coordinate truss includes two support frames, a truss X module, a truss Y module, a truss Z module, and a truss flipping module; the two support frames are arranged parallel to each other above the first mounting cabinet; the truss X module is arranged above one of the two support frames and parallel to the support frame; the truss Y module is arranged above the space between the two support frames; the truss Z module is arranged vertically upward on the inner side of the truss Y module; and the truss flipping module is arranged at the bottom end of the truss Z module.

[0012] Furthermore, the bucket lid storage device includes four bucket lid supports; the bucket lid supports have L-shaped stepped grooves; and the upper part of the bucket lid supports is also provided with a spring structure and a support structure.

[0013] The beneficial effects of this invention are as follows: Because this invention employs a special bolt locking device and a cap-removing device, the bolt locking device can tighten and loosen the bolts of the nuclear waste container through a bolt clamping cylinder and an electric screwdriver. The cap-removing device uses a special vacuum suction cup to grip and fix the container cap, and uses a special clamping and loosening component and a clamping cylinder to open and fix the clamp between the container cap and the container body. This allows the invention to automatically remove the caps from conventional nuclear waste containers, achieving unmanned and highly efficient cap removal from conventional nuclear waste containers. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the nuclear industry waste bin in this invention.

[0015] Figure 2 This is a diagram showing the connection of a nuclear waste container after it has been sealed.

[0016] Figure 3 This is a schematic diagram of the structure of an automatic capping system for nuclear industry waste bins according to the present invention.

[0017] Figure 4 This is a schematic diagram of the bolt locking device.

[0018] Figure 5 This is a structural schematic diagram of a three-coordinate truss.

[0019] Figure 6 This is a schematic diagram of the cap removal mechanism.

[0020] Figure 7 This is a schematic diagram of the visual positioning device.

[0021] Figure 8 This is a schematic diagram of the bucket lid storage device. Implementation

[0022] The automatic capping system for nuclear industry waste containers of the present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0023] This invention discloses an automatic cap-removing system for nuclear industry waste containers, such as... Figure 1 and 2 As shown, the nuclear waste bin 1 includes a waste bin lid 11, a clamp 12, and a waste bin body 13. The clamp 12 is installed on the waste bin lid 11, and the waste bin lid 11 is placed on the waste bin body 13 and fixed by bolts.

[0024] like Figure 3 As shown, the automatic capping system for the nuclear waste drum includes a rotating roller conveyor 2, a bolt locking device 3, a capping device 4, two drum clamping fixtures 5, a vision positioning device 6, and a cap storage device 7. The nuclear waste drum 1 is placed on the rotating roller conveyor 2, which allows the drum 1 to move and rotate. A bolt locking device 3 is located on one side of the rotating roller conveyor 2. This bolt locking device 3 is a prior art device used to tighten or loosen bolts. Figure 4 As shown, the bolt locking device 3 includes a second mounting cabinet 31 and a bolt locking mechanism 32 disposed on the second mounting cabinet 31. The bolt locking mechanism 32 includes a bolt clamping cylinder 321, an electric screwdriver 322, a bolt X module 323, a bolt Y module 324, and a bolt Z module 325; the bolt clamping cylinder 321 is disposed on the upper surface of the second mounting cabinet 31; the bolt X module 323 is mounted on the extended end of the bolt clamping cylinder 321; the electric screwdriver 322 is mounted on the bolt X module 323; the bolt Y module 324 is mounted on the fixed end of the bolt clamping cylinder 321; the bolt Z module 325 is mounted below the bolt clamping cylinder 321 and perpendicular to the lower surface of the bolt clamping cylinder 321; the bolt Z module 325 passes through the upper surface of the second mounting cabinet 31 to the middle of the second mounting cabinet 31.

[0025] like Figure 3 As shown, a cap-removing device 4 is provided on the opposite side of the rotating roller conveyor 2. The cap-removing device 4 includes a first mounting cabinet 41, a three-coordinate truss 42, and a cap-removing mechanism 43. Figure 5 As shown, a three-coordinate truss 42 is positioned above the first mounting cabinet 41. The three-coordinate truss 42 includes two support frames 421, a truss X module 422, a truss Y module 423, a truss Z module 424, and a truss flipping module 425. The two support frames 421 are parallel and spaced apart above the first mounting cabinet 41. The truss X module 422 is positioned above and parallel to one of the support frames 421. The truss Y module 423 is positioned above the space between the two support frames 421. The truss Z module 424 is vertically positioned upwards on the inner side of the truss Y module 423. The truss flipping module 425 is positioned at the bottom end of the truss Z module 424. Figure 5 and Figure 6 As shown, the cap-removing mechanism 43 is mounted on the truss flipping module 425 of the three-coordinate truss 42. The cap-removing mechanism 43 includes a mounting disc 431, multiple sets of vacuum suction cups 432, clamping tensioners 433, multiple clamping cylinders 434, and multiple lid clamping components 435. The multiple sets of vacuum suction cups 432 are circumferentially symmetrically arranged inside the mounting disc 431; the clamping tensioners 433 are located on the edge of the mounting disc 431; the multiple clamping cylinders 434 are symmetrically arranged along the center of the mounting disc 431 on the edge of the mounting disc 431, and an L-shaped limiting block is provided above the clamping cylinders 434; the multiple lid clamping components 435 are located on one side of the multiple clamping cylinders 434.

[0026] like Figure 7 As shown, two barrel clamping fixtures 5 are symmetrically arranged in the middle of the second mounting cabinet 31 and the first mounting cabinet 41, respectively; the visual positioning device 6 is arranged above the second mounting cabinet 31 and is used to determine whether the nuclear waste barrel is in place on the rotating roller conveyor.

[0027] like Figure 3 and Figure 8 As shown, the bucket lid storage device 7 is located above the first mounting cabinet 41 and below the lid retrieval mechanism 43. The bucket lid storage device 7 includes four bucket lid supports 71. L-shaped stepped grooves are provided on the bucket lid supports 71. A spring structure 711 and a support structure 712 are also provided on the upper part of the bucket lid supports.

[0028] The automatic cap-removing system for nuclear industry waste containers of the present invention has the following cap-removing process:

[0029] Step 1: The nuclear waste bin 1 is conveyed to the designated station via the rotating roller conveyor 2. Sensors on the rotating roller conveyor determine whether the bin body 13 is in position on the rotating roller conveyor 2. If it is not in position, the rotating roller conveyor 2 continues to work until it reaches the designated position. If it is in position, the bin body 13 is clamped by two bin body clamping clamps 5 to ensure that the nuclear waste bin 1 is coaxial with the rotating roller conveyor 2 before being released. The visual positioning device 6 determines whether the waste bin lid 11 is in position. If it is not in position, the rotating roller conveyor 2 rotates by the corresponding angle until the waste bin lid 11 is aligned with the bolt locking device 3. If it is in position, the two bin body clamping clamps 5 clamp the waste bin body 13.

[0030] Step 2: The bolt clamping cylinder 321 and electric screwdriver 322 in the bolt locking mechanism 32 reach the front of the bolt through the bolt X module 323, bolt Y module 324 and bolt Z module 325. The bolt clamping cylinder 321 clamps the short side of the bolt, and the electric screwdriver 322 puts the nut in the bolt into the sleeve, and starts to automatically loosen the bolt on the waste bin lid 11. After the bolt is loosened, the bolt locking mechanism 32 returns to the initial position.

[0031] Step 3: The three-coordinate truss 42 in the capping device 4 controls the capping mechanism 43 to move above the waste bin lid 11. The vacuum suction cup 432 of the capping mechanism 43 first sucks up the waste bin lid 11, and then the clamping tensioning component 433 opens the clamp 12 on the waste bin lid 11 to a fixed length. At the same time, the clamping cylinder 434 clamps the clamp 12 to prevent the clamp 12 from loosening and falling off the waste bin lid 11.

[0032] Step 4: The flipping module 425 on the three-coordinate truss 42 drives the cap removal mechanism 43 to flip at a certain angle, lifting one end of the waste bin cap 11 for easy removal. After the waste bin cap 11 is lifted, the cap removal mechanism 43 moves the waste bin cap 11 horizontally a certain distance, and the waste bin cap 11 leaves the waste bin body 13. After the waste bin cap 11 is removed, the clamping tensioning component 433 and the clamping cylinder 434 in the cap removal mechanism 43 loosen the clamp 13 and restore it to its original state. Finally, the three-coordinate truss 42 controls the cap removal mechanism 43 to put the waste bin cap 11 back into the cap storage device 7 and release the vacuum suction cup 432. The three-coordinate truss 42 controls the cap removal mechanism 43 to return to the initial position.

[0033] The capping process is as follows:

[0034] Step 1: The nuclear waste bin 1 is conveyed to the designated station via the rotating roller conveyor 2. The sensor on the rotating roller conveyor determines whether the position of the waste bin body 13 is in place on the rotating roller conveyor 2. If it has not reached the designated position, the rotating roller conveyor 2 continues to work until it reaches the designated position. If it is in place, the waste bin body 13 is clamped by two bin clamping clamps 5 to ensure that the nuclear waste bin 1 and the rotating roller conveyor 2 are coaxial before being released.

[0035] Step 2: The three-coordinate truss 42 controls the cap removal mechanism 43 to move above the bucket lid storage device 7. After the vacuum suction cup 432 of the cap removal mechanism 43 picks up the waste bucket lid 11, the clamp tensioning component 433 opens the clamp 13 to a fixed length. At the same time, the clamp clamping cylinder 434 clamps the clamp 13 to prevent the clamp 13 from loosening and falling off the waste bucket lid 11.

[0036] Step 3: The flipping module 425 on the three-coordinate truss 42 drives the cap-removing mechanism 43 to flip at a certain angle to tilt the waste bin lid 11. Then, the cap-removing mechanism 43 drives the waste bin lid 11 to move horizontally a certain distance and then locks it onto the edge of the waste bin body 13. The flipping module 425 flips it horizontally again, and then the lid clamping component 435 in the cap-removing mechanism 43 presses the waste bin lid 11 firmly. Finally, the clamping component 433 and the clamping cylinder 434 in the cap-removing mechanism 43 release the clamp 13 and restore it to its original state. The vacuum suction cup 432 is released. The three-coordinate truss 42 controls the cap-removing mechanism 43 to return to the initial position.

[0037] Step 4: The visual positioning device 6 determines whether the waste bin lid 11 is in position. If it is not in position, the two bin clamping clamps 5 are released first, and then the corresponding angle is rotated by the rotating roller 2 until the waste bin lid 11 is aligned with the bolt locking device 3. If it is in position, the bolt clamping cylinder 321 and electric screwdriver 322 in the bolt locking mechanism 32 reach the front of the bolt through the bolt X module 323, bolt Y module 324 and bolt Z module 325. The bolt clamping cylinder 321 clamps the short side of the bolt, and the electric screwdriver 322 puts the nut in the bolt into the sleeve and starts to automatically lock the bolt on the waste bin lid 11. After locking the bolt, the bolt locking mechanism 32 returns to the initial position.

Claims

1. An automatic cap-removing system for a nuclear waste bin, the nuclear waste bin comprising a bin lid, a clamp, and a bin body; the clamp is disposed on the bin lid; the bin lid is fixed to the bin body by bolts; the automatic cap-removing system comprises a rotating roller conveyor, a bolt locking device, a cap-removing device, two bin body clamping fixtures, a visual positioning device, and a lid storage device; the nuclear waste bin is placed on the rotating roller conveyor; the rotating roller conveyor is provided with a bolt locking mechanism and a cap-removing mechanism facing each other on both sides of the nuclear waste bin; the bolt locking device is used to tighten or loosen the bolts, characterized in that: The cap removal device includes a first mounting cabinet, a three-coordinate truss, and a cap removal mechanism. The three-coordinate truss is positioned above the first mounting cabinet. The cap removal mechanism is mounted on the three-coordinate truss. The cap removal mechanism includes a mounting disc, multiple sets of vacuum suction cups, clamping tensioners, multiple clamping cylinders, and multiple lid clamping components. The multiple sets of vacuum suction cups are circumferentially symmetrically arranged inside the mounting disc. The clamping tensioners are located at the edge of the mounting disc. The multiple clamping cylinders are symmetrically arranged along the center of the mounting disc at its edge. The multiple lid clamping devices are located on one side of the multiple clamping cylinders. Two barrel clamping fixtures are symmetrically arranged on the bolt locking device and the cap removal device, respectively. The visual positioning device is located on the bolt locking mechanism. The lid storage device is positioned above the first mounting cabinet and below the cap removal mechanism. When the lid is removed or sealed, the two barrel clamping fixtures clamp the barrel body of the waste barrel; the visual positioning device determines whether the nuclear industry waste barrel is in position on the rotating roller conveyor; if it is not in position, the rotating roller conveyor adjusts its position to bring the nuclear industry waste barrel into position; the multiple sets of vacuum suction cups suction the upper surface of the waste barrel lid; the clamping fastener clamps the clamp and causes the clamp to open or tighten; the multiple clamping cylinders clamp the clamp after it has opened or tightened. When the lid is closed, the plurality of lid clamping devices press the upper surface of the waste bin lid and make the waste bin lid firmly connected to the waste bin body.

2. The automatic capping system for nuclear waste bins according to claim 1, characterized in that: An L-shaped limiting block is provided above the clamping cylinder.

3. The automatic capping system for nuclear waste bins according to claim 1, characterized in that: The bolt locking device includes a second mounting cabinet and a bolt locking mechanism disposed on the second mounting cabinet. The bolt locking mechanism includes a bolt clamping cylinder, an electric screwdriver, a bolt X module, a bolt Y module, and a bolt Z module. The bolt clamping cylinder is disposed on the upper surface of the second mounting cabinet. The bolt X module is mounted on the extended end of the bolt clamping cylinder. The electric screwdriver is mounted on the bolt X module. The bolt Y module is mounted on the fixed end of the bolt clamping cylinder. The bolt Z module is mounted below the bolt clamping cylinder and perpendicular to the lower surface of the bolt clamping cylinder. The bolt Z module passes through the upper surface of the second mounting cabinet to the middle of the second mounting cabinet.

4. The automatic capping system for nuclear waste bins according to claim 1, characterized in that: The three-coordinate truss includes two support frames, a truss X module, a truss Y module, a truss Z module, and a truss flipping module; the two support frames are arranged parallel to each other above the first mounting cabinet; the truss X module is arranged above one of the two support frames and parallel to the support frame; the truss Y module is arranged above the space between the two support frames; the truss Z module is arranged vertically upward on the inner side of the truss Y module; and the truss flipping module is arranged at the bottom end of the truss Z module.

5. The automatic capping system for nuclear waste bins according to claim 1, characterized in that: The bucket lid storage device includes four bucket lid supports; L-shaped stepped grooves are provided on the bucket lid supports; and a spring structure and a support structure are also provided on the upper part of the bucket lid supports.

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