Sucker capping mechanism and nuclear power waste bin temporary cover adding device and method

Abstract

The invention relates to a suction cup capping mechanism and a nuclear power waste bin temporary cover mounting device and method, and belongs to the technical field of tightly covering containers with covers. The mechanism comprises a suction cup power assembly and a suction cup assembly, the device comprises a controller and a vertical rack, a waste bin conveying table and a temporary cover conveying frame are arranged on the lower portion and the upper portion of the vertical rack respectively, and a suction cup fixing plate in the suction cup assembly is fixedly hung in a suspended mode through a vertical spring and a horizontal spring. The suction cup fixing plate and the suction cup arranged on the suction cup fixing plate have elasticity in the spatial three-dimensional direction, when the suction cup sucks a temporary cover and presses the temporary cover downwards to an opening in the top of the nuclear power waste bin, alignment and centering can be adapted, and therefore the positioning precision of the temporary cover additionally installed on the nuclear power waste bin is more concisely ensured.

Description

Technical Field

[0001] The invention relates to a device for automatically adding a temporary cover to a nuclear power waste barrel, belonging to the technical field of closing a container with a cover (B67B 3 / 00). Background Art

[0002] With the rapid development of industrial intelligence, in the process of radioactive waste treatment in nuclear power plants or nuclear facilities, in order to prevent operators from being harmed by radiation, the sealing operation of containers such as nuclear waste barrels needs to be realized by remote automatic control. When covering nuclear waste barrels, precise positioning is required. However, due to factors such as processing errors and barrel cover flatness, the positioning accuracy of the commonly used positioning detection methods of existing capping devices, such as photoelectric sensors and position sensors, is not high; and the positioning method using visual sensing increases the positioning accuracy, but the cost is relatively high. Summary of the invention

[0003] The technical problem to be solved by the present invention is: how to improve the positioning accuracy of remotely controlling the automatic capping of nuclear power waste barrels in a more concise way.

[0004] The present invention proposes a technical solution to solve the above technical problems. The first one is: a suction cup cover mechanism, which is used to suck the temporary cover for the nuclear power waste barrel and press the temporary cover to the top opening of the nuclear power waste barrel, and the suction cup cover mechanism includes a suction cup power component and a suction cup component;

[0005] The suction cup power assembly includes a quadrilateral support bottom plate and a support top plate which are parallel to each other. The four sides of the support bottom plate are fixedly connected to the inner side wall of the top enclosure frame of the vertical frame. A vertical downward pressure cylinder and a guide column are arranged between the support bottom plate and the support top plate. A first rod hole and a first guide hole adapted to the guide column are provided on the support bottom plate.

[0006] The suction cup assembly comprises an inverted cylinder with an opening facing downward and a suction cup fixing plate placed in the inverted cylinder, a threaded hole corresponding to the first rod hole is opened on the top wall of the inverted cylinder, a vertical spring and a horizontal spring evenly distributed on the inner circumference are arranged in the inverted cylinder, one end of the vertical spring is fixed to the inner side of the top wall of the inverted cylinder and the other end is fixed to the suction cup fixing plate, one end of the horizontal spring is fixed to the inner side of the side wall of the inverted cylinder and the other end is fixed to the suction cup fixing plate, the suction cup fixing plate is provided with a downward suction cup, and the suction cup fixing plate is suspended and fixedly hung in the inverted cylinder by the vertical spring and the horizontal spring;

[0007] One end of the downward pressure cylinder is fixed to the supporting bottom plate, and the piston rod at the other end of the downward pressure cylinder extends downward and passes through the first rod hole and is screwed to the threaded hole; one end of the guide column is fixed to the supporting top plate, and the other end of the guide column passes downward through the first guide hole and is fixed to the outer side of the top wall of the inverted cylinder.

[0008] The second technical solution proposed by the present invention to solve the above technical problems is: a temporary cover installation device for nuclear power waste barrels using the suction cup cover mechanism of the above technical solution one, comprising a controller and a vertical frame with a square cross-section surrounded by four columns, the four sides of the vertical frame are empty, a waste barrel conveying platform passing through the empty places on two opposite sides is arranged at the lower part of the vertical frame, and a temporary cover conveying frame passing through the empty places on the other two sides is arranged at the upper part of the vertical frame, the height space of a nuclear power waste barrel is maintained between the lower edge of the temporary cover conveying frame and the upper edge of the waste barrel conveying platform, the temporary cover conveying frame and the waste barrel conveying platform are cross-intersected on the same projection plane, and the waste barrel conveying The delivery platform is used to transport and place the nuclear power waste barrel in the lower space of the vertical frame, the temporary cover delivery rack is used to store the temporary cover and transport the temporary cover to the upper space of the nuclear power waste barrel in the vertical frame, and the suction cup cover adding mechanism is arranged on the top of the vertical frame, and the suction cup cover adding mechanism is used to suck the temporary cover on the temporary cover delivery rack and press the temporary cover to the top opening of the nuclear power waste barrel; the suction cup power assembly and the suction cup assembly are located in the middle of the top of the vertical frame and are respectively arranged on the upper and lower sides of the top frame of the vertical frame, and the four sides of the supporting bottom plate are fixedly connected to the inner side wall of the top frame of the vertical frame; the controller is used to control the operation of the cylinder and the motor.

[0009] Furthermore, a first pin hole seat is fixedly provided on the outer side of the top wall of the inverted cylinder, a seat hole is opened on the supporting base plate for allowing the first pin hole seat to pass through, the center of the first pin hole of the first pin hole seat basically coincides with the center of the seat hole, a second pin hole seat and a third pin hole seat are fixedly provided on the supporting base plate on both sides of the seat hole, and a locking cylinder is horizontally fixedly provided on the supporting base plate, the axis line of the piston rod of the locking cylinder basically coincides with the center of the seat hole, the center of the second pin hole of the second pin hole seat and the center of the third pin hole of the third pin hole seat; a U-shaped connecting rod is threadedly connected to the end of the piston rod of the locking cylinder, and axial pins are fixedly provided in the same direction on both sides of the U-shaped connecting rod. When the piston rod of the locking cylinder is fed and extended, the two axial pins on the U-shaped connecting rod are driven to pass through the first pin hole, the second pin hole and the third pin hole respectively. When the piston rod of the locking cylinder is extended, the pin shaft is driven to pass through the first pin hole, the second pin hole and the third pin hole respectively.

[0010] Furthermore, the temporary cover is bow-shaped and elastic, and its side edge forms a folded edge inclined upward; the inner wall of the nuclear power waste barrel at its top opening is formed with a groove, and when the temporary cover is pressed into the inner wall of the top opening of the nuclear power waste barrel, the folded edge of the temporary cover elastically snaps into the groove.

[0011] Furthermore, a quadrilateral frame beam is fixed to the upper part of the vertical frame, and guide rails are arranged on two parallel horizontal long beams of the frame beam. The temporary cover conveying frame comprises a cover storage bin, a screw nut, a screw, a screw mounting seat, a motor mounting seat and a motor. The cover storage bin is surrounded by four square tubes and fixedly connected to form a quadrilateral frame. The bottom surfaces of the four square tubes are fixedly connected to a bin bottom plate, and slider seats are welded to the four corners of the bottom of the bin bottom plate. A slider is fixed on the slider seat, and the slider is mounted on the guide rail to cooperate with the guide rail and be parallel to the long beam. The screw nut is fixed on the open end face of a square tube parallel to the long beam. The screw is supported by the screw mounting seat, one end of the screw is screwed to the screw nut, and the other end of the screw is connected to the output shaft end of the motor; when the motor is controlled to rotate forward and reverse, the screw rotates to cause the screw nut to move the cover storage bin left and right on the guide rail.

[0012] The third technical solution proposed by the present invention to solve the above technical problems is: a method for installing a temporary cover installation device for a nuclear power waste barrel according to the above technical solution 2, comprising the following steps:

[0013] 1) Nuclear power waste barrels are in place

[0014] The nuclear power waste barrel is delivered to the place through the waste barrel conveying platform. When the nuclear power waste barrel 7 is in place, the controller controls the conveyor belt of the waste barrel conveying platform to stop running;

[0015] 2) Storage bin transportation

[0016] By manually storing some temporary caps in the cap storage bin, the controller starts the motor to drive the screw rod to drive the cap storage bin to move into the vertical frame. When the cap storage bin is in place, the feedback signal is sent to the controller, and the controller gives a signal to stop the motor.

[0017] 3) Suction cup to lift the temporary cover

[0018] The controller sends a signal to retract the piston rod of the locking cylinder, driving the U-shaped connecting rod and the axle pin to withdraw from the first pin hole of the first pin hole seat, the second pin hole of the second pin hole seat, and the third pin hole of the third pin hole seat. The controller sends a signal to feed the piston rod of the pressing cylinder downward, driving the suction cup assembly to feed downward. After the suction cup contacts the temporary cover, the controller sends a signal to close the air intake of the pressing cylinder, and the suction cup assembly stops running; then a vacuum is formed at the bottom of the suction cup through the vacuum generator and a temporary cover is sucked up. The controller opens the air intake of the pressing cylinder to retract its piston rod and drive the suction cup assembly upward. When the suction cup assembly moves upward to the right position, the controller closes the air intake of the pressing cylinder again, and the piston rod of the pressing cylinder and the suction cup assembly stop.

[0019] 4) Cover storage bin returns to its original position

[0020] The controller turns on the motor of the temporary cover conveying rack to drive the screw to rotate, and the screw nut drives the cover storage bin to leave the vertical rack. When the cover storage bin is in place, the controller gives a signal to turn off the motor of the temporary cover conveying rack;

[0021] 5) Covering of nuclear waste barrels

[0022] The controller opens the air intake of the downward pressure cylinder, and the piston rod of the downward pressure cylinder drives the suction cup assembly and the temporary cover to feed downward. When the temporary cover contacts the barrel mouth of the nuclear power waste barrel, the suction cup fixing plate and the suction cup automatically adapt to adjust the contact position of the temporary cover and the barrel mouth of the nuclear power waste barrel under the action of the vertical spring and the horizontal spring. When the temporary cover is completely aligned with the barrel mouth of the nuclear power waste barrel, the piston rod of the downward pressure cylinder drives the suction cup assembly and the temporary cover to continue to feed downward, and the edge fold of the temporary cover is elastically deformed and squeezed into the nuclear power waste barrel. The temporary cover 5 continues to feed downward. When the edge fold of the temporary cover is stuck in the groove of the inner wall of the nuclear power waste barrel, the controller closes the air intake of the downward pressure cylinder, and the piston rod of the downward pressure cylinder stops extending and feeding. At the same time, the controller closes the vacuum generator to make the vacuum at the bottom of the suction cup disappear, and the suction cup is separated from the temporary cover. The controller opens the air intake of the downward pressure cylinder again, and the piston rod of the downward pressure cylinder drives the suction cup assembly to leave the nuclear power waste barrel upward, completing the installation of the temporary cover on the nuclear power waste barrel.

[0023] 6) Circulation and repeated capping of nuclear waste barrels

[0024] The controller starts the waste barrel conveyor, removes the nuclear power waste barrel with the temporary cover installed from the vertical rack and transfers it to the next workstation, places a new nuclear power waste barrel on the waste barrel conveyor, and repeats the above steps to start a new round of installing temporary covers on the nuclear power waste barrels.

[0025] The beneficial effects of the present invention are as follows: 1) Due to the design of a special suction cup cover mechanism, the suction cup fixing plate in the inverted cylinder of the suction cup assembly is suspended and fixed in the inverted cylinder by vertical springs and horizontal springs, so that the suction cup fixing plate and the suction cup arranged thereon have elasticity or flexibility in the three-dimensional direction of space. Therefore, when the suction cup absorbs the temporary cover and the piston rod of the downward pressure cylinder of the suction cup power assembly pushes the inverted cylinder, the suction cup and the temporary cover down to the top opening of the nuclear power waste barrel, it can automatically adapt to alignment and centering elastically or flexibly, thereby more simply ensuring the positioning accuracy of installing the temporary cover on the nuclear power waste barrel; 2) Due to the guide column of the suction cup power assembly connecting the inverted cylinder of the suction cup assembly 1) The outer side of the top wall of the inverted cylinder is ensured, thereby ensuring that the piston rod of the downward pressure cylinder pushes the inverted cylinder, the suction cup and the temporary cover downward more smoothly; 2) Since a horizontal locking cylinder and a pin hole seat are provided on the supporting bottom plate of the suction cup power assembly, in conjunction with the pin hole seat on the inverted cylinder of the suction cup assembly, the piston rod of the locking cylinder extends through the second pin hole, the first pin hole and the third pin hole, thereby preventing the suction cup assembly from suddenly falling due to loss of air circuit pressure when the equipment is idle, thereby damaging the equipment; 3) Since the edge fold of the temporary cover is designed to cooperate with the groove on the inner wall of the top opening of the nuclear power waste barrel, the temporary cover pressed into the top opening of the nuclear power waste barrel can be better fixed and sealed. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The mechanism, device and method of the present invention will be further described below in conjunction with the accompanying drawings.

[0027] Figure 1 This is a structural schematic diagram of a suction cup covering mechanism according to the first embodiment of the present invention;

[0028] Figure 2 yes Figure 1 A schematic diagram of the structure of the sucker power assembly exploded in FIG.

[0029] Figure 3 yes Figure 2 A top view of

[0030] Figure 4 yes Figure 2 Left view of

[0031] Figure 5 yes Figure 1 A schematic diagram of the structure of the sucker assembly exploded in FIG.

[0032] Figure 6 yes Figure 5 Top view of the .

[0033] Figure 7 This is a structural schematic diagram of an automatic installation device for a temporary cover of a nuclear power waste barrel according to a second embodiment of the present invention;

[0034] Figure 8 yes Figure 7 Right view of;

[0035] Fig. 9 yes Figure 7 Middle BB top view;

[0036] Fig.10 yes Figure 7 A schematic diagram of the structure of the temporary cover conveying frame exploded in FIG.

[0037] Fig.11 yes Fig.10 Top view of the .

[0038] Fig.12 yes Figure 1 and Figure 7 A schematic diagram of the structure of the temporary cover exploded in FIG.

[0039] Fig.13 It is a schematic diagram of the assembly process of the temporary cover and the nuclear power waste barrel;

[0040] Fig.14 yes Fig.13 A partial enlarged view of point A in the middle. DETAILED DESCRIPTION

[0041] Embodiment 1

[0042] This embodiment provides a suction cup cover-adding mechanism for sucking a temporary cover of a nuclear power waste barrel, which is used to suck a temporary cover for a nuclear power waste barrel and press the temporary cover onto the top opening of the nuclear power waste barrel. Figure 1 As shown, the suction cup capping mechanism includes a suction cup power assembly 4 and a suction cup assembly 3;

[0043] like Figure 2 , Figure 3 and Figure 4As shown, the suction cup power assembly 4 includes a quadrilateral support bottom plate 4-1 and a support top plate 4-3 which are parallel to each other, and an upright downward pressure cylinder 4-2 and a guide column 4-4 are arranged between the support bottom plate 4-1 and the support top plate 4-3, and a first rod hole 4-11 and a first guide hole 4-12 adapted to the guide column 4-4 are provided on the support bottom plate 4-1. In this embodiment, there are two downward pressure cylinders 4-2, one of which is shown in the figure, and the two downward pressure cylinders 4-2 are symmetrically mounted on the support bottom plate 4-1, and the lower end of the downward pressure cylinder 4-2 is fixed on the support bottom plate 4-1, and the piston rod at the lower end of the downward pressure cylinder 4-2 passes through the hole on the support bottom plate 4-1, and the end of the piston rod is threaded. In this embodiment, there are four guide pillars 4-4, one end (upper end) of the guide pillar 4-4 is fixed on the support top plate 4-3, the other end of the guide pillar 4-4 is fixedly connected to the connecting seat 4-9, the connecting seat 4-9 passes through the first guide hole 4-12, a linear bearing 4-5 is installed in the bearing sleeve 4-6, the bearing sleeve 4-6 is fixedly connected to the fixing seat 4-7, and the fixing seat 4-7 is fixedly installed on the support bottom plate 4-1 by screws. In this way, the middle and lower parts of the guide pillars 4-4 are guided and positioned by the cooperation of the bearing 4-5 and the bearing sleeve 4-6.

[0044] like Figure 5 and Figure 6As shown, the suction cup assembly 3 includes an inverted cylinder 3-1 with an opening facing downward and a suction cup fixing plate 3-7 placed in the inverted cylinder 3-1. A threaded hole 3-11 corresponding to the first rod hole 4-11 is provided on the top wall 3-3 of the inverted cylinder 3-1. A vertical spring 3-2 and a horizontal spring 3-4 evenly distributed on the inner circumference are provided in the inverted cylinder 3-1. One end of the vertical spring 3-2 is fixed to the inner side of the top wall of the inverted cylinder 3-1 and the other end is fixed to the suction cup fixing plate 3-7. One end of the horizontal spring 3-4 is fixed to the inner side of the side wall of the inverted cylinder 3-1 and the other end is fixed to the suction cup fixing plate 3-7. In this embodiment, a connecting column 3-8 is fixed on the suction cup fixing plate 3-7, and one end of the vertical spring 3-2 and one end of the horizontal spring 3-4 are both hung on the connecting column 3-8. A suction cup 3-5 facing downward is provided on the suction cup fixing plate 3-7. In this way, the suction cup fixing plate 3-7 is suspended and fixed in the inverted cylinder 3-1 by the vertical spring 3-2 and the horizontal spring 3-4. In this embodiment, a central guide column 3-6 is installed at the center of the top wall of the inverted cylinder 3-1, and a central hole is formed at the center of the suction cup fixing plate 3-7. The central guide column 3-6 passes through the central hole of the suction cup fixing plate 3-7. One end (upper end) of the central guide column 3-6 is fixed to the center of the top wall of the inverted cylinder 3-1 by screws, and the other end (lower end) of the central guide column 3-6 is fixed with a baffle 3-9; in this way, the suction cup fixing plate 3-7 can guide and limit the movement of the suction cup fixing plate 3-7 when the inverted cylinder 3-1 is pressed down. In this embodiment, three horizontal studs 3-10 evenly distributed along the circumference of the horizontal plane are installed on the side wall of the inverted tube 3-1 and fastened with nuts to hang and fix one end of the horizontal spring 3-4; three vertical studs 3-12 evenly distributed along the circumference of the horizontal plane are installed on the inner side of the top wall of the inverted tube 3-1 and fastened with nuts to hang and fix one end of the vertical spring 3-2.

[0045] like Figure 1-Figure 6 As shown, the piston rod at the other end of the downward pressure cylinder 4-2 extends downward and passes through the first rod hole 4-11 and is screwed to the threaded hole 3-11, thereby connecting to the top wall 3-3 of the inverted cylinder 3-1 of the suction cup assembly 3. The other end of the guide post 4-4 passes downward through the connecting seat 4-9 fixed to the first guide hole 4-12 and is fixed to the outer side of the top wall of the inverted cylinder 3-1 with a screw, thereby fixing the other end of the guide post 4-4 to the outer side of the top wall of the inverted cylinder 3-1.

[0046] like Figure 5 As shown, a first pin hole seat 3-13 is fixedly disposed on the outer side of the top wall of the inverted cylinder 3-1. Figure 2 , 4 As shown, a seat hole 4-13 is provided on the support bottom plate 4-1 of the suction cup power assembly 4 for the first pin hole seat 3-13 to pass through, and the center of the first pin hole of the first pin hole seat 3-13 substantially coincides with the center of the seat hole 4-13. Figure 4As shown, a second pin hole seat 4-14 (there are two groups, which can be regarded as a whole) and a third pin hole seat 4-15 (there are two groups, which can be regarded as a whole) are fixedly provided on the supporting base plate 4-1 on both sides of the seat hole 4-13, and a locking cylinder 4-16 is fixedly provided horizontally on the supporting base plate 4-1, and the axis of the piston rod of the locking cylinder 4-16 is substantially coincident with the center of the seat hole 4-13, the center of the second pin hole of the second pin hole seat 4-14 and the center of the third pin hole of the third pin hole seat 4-15. The end of the piston rod of the locking cylinder 4-16 is threadedly connected with a U-shaped connecting rod 4-17, and axle pins 4-18 are fixed in the same direction on both sides of the U-shaped connecting rod 4-17. When the piston rod of the locking cylinder is extended, the two axle pins 4-18 on the U-shaped connecting rod 4-17 are driven to pass through the first pin hole, the second pin hole and the third pin hole respectively, so as to lock the suction cup assembly 3; when the piston rod of the locking cylinder 4-16 is retracted, the U-shaped connecting rod 4-17 and the axle pin 4-18 are driven to withdraw from the first pin hole of the first pin hole seat 3-13, the second pin hole of the second pin hole seat 4-14 and the third pin hole of the third pin hole seat 4-15. At this time, the suction cup assembly 3 can change its position with the movement of the piston rod of the pressing cylinder 4-2.

[0047] Embodiment 2

[0048] This embodiment is a further improvement on the first embodiment, and proposes a device for automatically installing a temporary cover on a nuclear power waste barrel. Figure 7 , 8 As shown in , 9 and 10, it includes a controller 2 and an erection frame 1 with a square cross section formed by four columns. The four sides of the erection frame 1 are hollow. A waste barrel conveying platform 8 passing through the hollow places on two opposite sides is arranged at the lower part of the erection frame 1. A temporary cover conveying rack 6 passing through the hollow places on the other two sides is arranged at the upper part of the erection frame 1. A height space of a nuclear power waste barrel 7 is maintained between the lower edge of the temporary cover conveying rack 6 and the upper edge of the waste barrel conveying platform 8. The temporary cover conveying rack 6 and the waste barrel conveying platform 8 are cross-shaped on the same projection plane. The waste barrel conveying platform 8 is used to convey and place the nuclear power waste barrel 7 in the lower space of the erection frame 1. The temporary cover conveying rack 6 is used to store the temporary cover 5 and convey the temporary cover 5 to the upper space of the erection frame 1 directly above the nuclear power waste barrel 7. The top of the erection frame 1 is provided with the suction cup capping mechanism of the first embodiment. The suction cup capping mechanism is used to suck the temporary cover 5 on the temporary cover conveying rack 6 and press the temporary cover 5 to the top opening of the nuclear power waste barrel 7. The suction cup power assembly 4 and the suction cup assembly 3 are located in the middle of the top of the vertical frame 1 and are respectively placed on the upper and lower sides of the top frame of the vertical frame 1. The four sides of the support bottom plate 4-1 of the suction cup power assembly 4 are fixedly connected (generally welded) to the inner side wall of the top frame of the vertical frame 1. In this embodiment, a step cabinet 9 is provided next to the vertical frame 1.

[0049] like Figure 7 and Fig.10 As shown, a quadrilateral frame beam 1-1 is fixed to the upper part of the vertical frame 1, and guide rails 1-3 are arranged on two parallel horizontal long beams 1-2 of the frame beam 1-1. Fig.11 and Fig.12 As shown, the temporary cover conveying frame 6 includes a cover storage bin 6-4, a screw nut 6-3, a screw 6-5, a screw mounting seat 6-6, a motor mounting seat 6-7 and a motor 6-8. The cover storage bin 6-4 is surrounded by four square tubes 6-9 and fixedly connected to form a quadrilateral frame. The bottom surfaces of the four square tubes 6-9 are fixedly connected to a bin bottom plate 6-2. Four slider seats 6-11 are welded at the four corners of the bottom of the bin bottom plate 6-2. A slider 6-1 is fixedly provided on the slider seat 6-11. The slider 6-1 is installed on the guide rail 1-3 and cooperates with the guide rail 1-3 and is parallel to the long beam 1-2. The screw nut 6-3 is fixed on the open end face of a square tube 6-9 of the parallel long beam 1-2. The screw nut 6-3 is used in combination with the screw 6-5. The screw 6-5 is supported by the screw mounting seat 6-6. One end of the screw 6-5 is screwed with the screw nut, and the other end of the screw 6-5 is connected to the output shaft end of the motor 6-8. The screw mounting seat 6-6 is fixed to the frame beam 1-1 by screws. The motor 6-8 is supported by the motor mounting seat 6-7, and the motor mounting seat 6-7 is fixed to the frame beam 1-1 by screws. When the motor 6-8 is controlled to rotate forward and reverse, the screw 6-5 is driven to rotate. The screw 6-5 passes through the square tube 6-9 from the opening of the square tube 6-9. The rotating screw 6-5 causes the screw nut 6-3 to move left and right with the storage cover bin 6-4 on the guide rail 1-3.

[0050] like Fig.12 As shown, the temporary cover 5 is arched and elastic, and its side edge forms a folded edge 5-1 that is inclined upward. Fig.13 and Fig.14 As shown, a groove 10 is formed on the inner wall of the nuclear power waste barrel 7 at the top opening thereof. When the temporary cover 5 is pressed into the inner wall of the top opening of the nuclear power waste barrel 7, the folded edge 5-1 of the temporary cover 5 is elastically snapped into the groove 10. Fig.14 As shown, when the temporary cover 5 is pressed into the inner wall of the top opening of the nuclear power waste barrel 7 and passes through three positions, the folded edge 5 - 1 of the temporary cover 5 is elastically snapped into the groove 10 .

[0051] The overall working process of this embodiment is an automatic cycle execution process of "nuclear power waste barrel 7 is in place → temporary cover 5 is in place → suction cup 3-5 sucks up temporary cover 5 → suction cup assembly 3 and temporary cover 5 move up to place → cover storage bin 6-4 is reset → nuclear power waste barrel 7 is covered → suction cup assembly 3 is reset → nuclear power waste barrel 7 is transferred away". The specific process is as follows:

[0052] 1) Nuclear power waste barrel 7 is in place

[0053] The nuclear power waste barrel 7 is transported to the position through the waste barrel conveying platform 8. A baffle is installed at one end of the waste barrel conveying platform 8. A proximity switch is installed on the baffle. When the nuclear power waste barrel 7 is in place, the proximity switch sends a signal to the controller 2. The controller 2 issues an instruction to control the conveyor belt of the waste barrel conveying platform 8 to stop running.

[0054] 2) Cap storage bin 6-4 transport

[0055] A number of temporary covers 5 are manually stored in the cover storage bin 6-4 (the temporary covers 5 are stacked and can be manually added through the step cabinet 9), and the controller 2 starts the motor 6-8 of the temporary cover conveying rack 6. The motor 6-8 drives the screw rod 6-5 to drive the cover storage bin 6-4 to move into the vertical frame 1. A forward travel switch and a reverse travel switch are provided on the guide rail 1-3. When the cover storage bin 6-4 contacts the forward travel switch, a signal is fed back to the controller 2. The controller 2 gives a signal to stop the motor and the cover storage bin 6-4 is transported to its place.

[0056] 3) Suction cup to lift the temporary cover

[0057] Controller 2 sends a signal to retract the piston rod of locking cylinder 4-16, driving U-shaped connecting rod 4-17 and axle pin 4-18 to withdraw from the third pin hole of third pin hole seat 4-15, the first pin hole of first pin hole seat 3-13 and the second pin hole of second pin hole seat 4-14. Controller 2 sends a signal to feed the piston rod of pressing cylinder 4-2 downward, driving suction cup assembly 3 to feed downward, after suction cup 3-5 contacts temporary cover 5, the pressure sensor connected to the air inlet end of pressing cylinder 4-2 senses the pressure change, and feeds back the signal to controller 2, which sends a signal to close the air inlet of pressing cylinder 4-2, and suction cup assembly stops running. Then, a vacuum is formed at the bottom of the suction cup 3-5 through the vacuum generator and a temporary cover 5 is sucked up. The controller 2 opens the air intake of the downward pressure cylinder 4-2 to retract its piston rod and drive the suction cup assembly 3 upward. The suction cup assembly 3 moves upward until the travel switch sends a signal to the controller 2. The controller 2 closes the air intake of the downward pressure cylinder 4-2 again, and the piston rod of the downward pressure cylinder 4-2 and the suction cup assembly stop.

[0058] 4) Cover storage bin 6-4 returns to position

[0059] Controller 2 turns on motor 6-8 of temporary cover conveying rack 6, motor 6-8 drives screw 6-5 to rotate, screw nut 6-3 drives cover storage bin 6-4 to leave vertical rack 1, cover storage bin 6-4 sends a signal to controller 2 when it reaches the reverse travel switch on contact guide rail 1-3, and controller 2 gives a signal to turn off motor 6-8.

[0060] 5) Covering of nuclear waste barrels

[0061] The controller 2 opens the downward pressure cylinder 4-2 to allow air to flow in, and the piston rod of the downward pressure cylinder 4-2 carries the suction cup assembly 3 and the temporary cover 5 downwardly. When the temporary cover 5 contacts the barrel opening of the nuclear power waste barrel 7, the barrel opening is as shown in FIG. Fig.13 In the position 1 shown, the suction cup fixing plate 3-7 and the suction cup 3-5 automatically adapt to adjust the contact position between the temporary cover 5 and the barrel mouth of the nuclear power waste barrel 7 under the action of the vertical spring 3-2 and the horizontal spring 3-4. When the temporary cover 5 is completely aligned with the barrel mouth of the nuclear power waste barrel 7, the piston rod of the downward pressure cylinder 4-2 drives the suction cup assembly 3 and the temporary cover 5 to continue to feed downward, and the edge fold 5-1 of the temporary cover 5 undergoes elastic deformation, thereby being squeezed into the nuclear power waste barrel 7, and reaches the position shown in FIG. Fig.13 Position 2 shown. The temporary cover 5 continues to feed downward and reaches Fig.13 When in position 3 as shown, the edge fold 5-1 of the temporary cover 5 is stuck in the groove 10 of the inner wall of the nuclear power waste barrel 7. At this time, the squeezing force of the inner wall of the nuclear power waste barrel 7 on the temporary cover 5 instantly decreases, and the force on the piston rod of the pressing cylinder 4-2 also instantly decreases. The air intake pressure sensor of the pressing cylinder 4-2 detects the pressure change signal and sends it to the controller 2. The controller 2 turns off the air intake of the pressing cylinder 4-2, and the piston rod of the pressing cylinder 4-2 stops extending and feeding. At the same time, the controller 2 turns off the vacuum generator to make the vacuum at the bottom of the suction cup 3-5 disappear, and the suction cup 3-5 is separated from the temporary cover 5. The controller 2 turns on the air intake of the pressing cylinder 4-2 again, and the piston rod of the pressing cylinder 4-2 carries the suction cup assembly 3 upward to leave the nuclear power waste barrel 7 to complete the installation of the temporary cover 5 on the nuclear power waste barrel 7.

[0062] 6) Circulation and repeated capping of nuclear power waste barrels

[0063] The controller 2 starts the waste barrel conveying platform 8, and the nuclear power waste barrel 7 with the temporary cover 5 installed is removed from the vertical frame 1 and transferred to the next workstation, and a new nuclear power waste barrel 7 is placed on the waste barrel conveying platform 8, and the above steps are repeated to start a new round of installing the temporary cover 5 on the nuclear power waste barrel 7.

[0064] The above description is only a preferred embodiment of the present invention, but the present invention is not limited thereto. All equivalent replacements or equivalent changes of the concepts and technical solutions according to the present invention should be included in the protection scope of the present invention.

Claims

1. A suction cup capping mechanism, used for sucking a temporary cover for a nuclear power waste barrel and pressing the temporary cover onto the top opening of the nuclear power waste barrel, the suction cup capping mechanism comprising a suction cup power assembly and a suction cup assembly; characterized in that : The suction cup power assembly includes a quadrilateral support bottom plate and a support top plate which are parallel to each other. The four sides of the support bottom plate are fixedly connected to the inner side wall of the top enclosure frame of the vertical frame. A vertical downward pressure cylinder and a guide column are arranged between the support bottom plate and the support top plate. A first rod hole and a first guide hole adapted to the guide column are provided on the support bottom plate. The suction cup assembly comprises an inverted cylinder with an opening facing downward and a suction cup fixing plate placed in the inverted cylinder, a threaded hole corresponding to the first rod hole is opened on the top wall of the inverted cylinder, a vertical spring and a horizontal spring evenly distributed on the inner circumference are arranged in the inverted cylinder, one end of the vertical spring is fixed to the inner side of the top wall of the inverted cylinder and the other end is fixed to the suction cup fixing plate, one end of the horizontal spring is fixed to the inner side of the side wall of the inverted cylinder and the other end is fixed to the suction cup fixing plate, the suction cup fixing plate is provided with a downward suction cup, and the suction cup fixing plate is suspended and fixedly hung in the inverted cylinder by the vertical spring and the horizontal spring; One end of the downward pressure cylinder is fixed to the supporting bottom plate, and the piston rod at the other end of the downward pressure cylinder extends downward and passes through the first rod hole and is screwed to the threaded hole; one end of the guide column is fixed to the supporting top plate, and the other end of the guide column passes downward through the first guide hole and is fixed to the outer side of the top wall of the inverted cylinder.

2. The suction cup capping mechanism according to claim 1, characterized in that: A first pin hole seat is fixedly provided on the outer side of the top wall of the inverted cylinder, and a seat hole is opened on the supporting base plate for allowing the first pin hole seat to pass through, and the center of the first pin hole of the first pin hole seat basically coincides with the center of the seat hole, and a second pin hole seat and a third pin hole seat are fixedly provided on the supporting base plate on both sides of the seat hole, and a locking cylinder is horizontally fixedly provided on the supporting base plate, and the axis line of the piston rod of the locking cylinder basically coincides with the center of the seat hole, the center of the second pin hole of the second pin hole seat and the center of the third pin hole of the third pin hole seat; a U-shaped connecting rod is threadedly connected to the end of the piston rod of the locking cylinder, and axle pins are fixedly provided in the same direction on both sides of the U-shaped connecting rod, and when the piston rod of the locking cylinder is fed and extended, the two axle pins on the U-shaped connecting rod are driven to pass through the first pin hole, the second pin hole and the third pin hole respectively, and when the piston rod of the locking cylinder is extended, the pin shaft is driven to pass through the first pin hole, the second pin hole and the third pin hole respectively.

3. A temporary cover installation device for nuclear power waste barrels provided with the suction cup cover mechanism as claimed in claim 1 or 2, comprising a controller and a vertical frame with a square cross section formed by four columns, the four sides of the vertical frame are hollow, a waste barrel conveying platform passing through the hollow places on two opposite sides is provided at the lower part of the vertical frame, and a temporary cover conveying frame passing through the hollow places on the other two opposite sides is provided at the upper part of the vertical frame, a height space of a nuclear power waste barrel is maintained between the lower edge of the temporary cover conveying frame and the upper edge of the waste barrel conveying platform, the temporary cover conveying frame and the waste barrel conveying platform are cross-intersected on the same projection plane, and the waste barrel conveying platform is used to convey nuclear power waste The temporary cover conveying rack is used to store the temporary cover and convey the temporary cover to the upper space of the nuclear power waste barrel in the vertical frame. The suction cup capping mechanism is arranged on the top of the vertical frame, and the suction cup capping mechanism is used to suck the temporary cover on the temporary cover conveying rack and press the temporary cover to the top opening of the nuclear power waste barrel; the suction cup power assembly and the suction cup assembly are located in the middle of the top of the vertical frame and are respectively arranged on the upper and lower sides of the top frame of the vertical frame, and the four sides of the supporting bottom plate are fixedly connected to the inner side wall of the top frame of the vertical frame; the controller is used to control the operation of the cylinder and the motor.

4. The temporary cover installation device for nuclear power waste barrel according to claim 3 is characterized by: The temporary cover is bow-shaped and elastic, and its side edge forms a folded edge inclined upward; the inner wall of the nuclear power waste barrel at its top opening is formed with a groove, and when the temporary cover is pressed into the inner wall of the top opening of the nuclear power waste barrel, the folded edge of the temporary cover elastically snaps into the groove.

5. The temporary cover installation device for nuclear power waste barrel according to claim 3 is characterized by: A quadrilateral frame beam is fixed to the upper part of the vertical frame, and guide rails are arranged on two parallel horizontal long beams of the frame beam. The temporary cover conveying frame comprises a cover storage bin, a screw nut, a screw, a screw mounting seat, a motor mounting seat and a motor. The cover storage bin is surrounded by four square tubes and fixedly connected to a quadrilateral frame. The bottom surfaces of the four square tubes are fixedly connected to a bin bottom plate, and slider seats are welded at the four corners of the bottom of the bin bottom plate. A slider is fixed on the slider seat, and the slider is mounted on the guide rail to cooperate with the guide rail and be parallel to the long beam. The screw nut is fixed on the open end face of a square tube parallel to the long beam. The screw is supported by the screw mounting seat, one end of the screw is screwed to the screw nut, and the other end of the screw is connected to the output shaft end of the motor; when the motor is controlled to rotate forward and reverse, the screw rotates to make the screw nut move the cover storage bin left and right on the guide rail.

6. A method for installing the temporary cover installation device for nuclear power waste barrels as claimed in claim 5, comprising the following steps: 1) Nuclear power waste barrels are in place The nuclear power waste barrel is delivered to the place through the waste barrel conveying platform. When the nuclear power waste barrel 7 is in place, the controller controls the conveyor belt of the waste barrel conveying platform to stop running; 2) Storage bin transportation By manually storing some temporary caps in the cap storage bin, the controller starts the motor to drive the screw rod to drive the cap storage bin to move into the vertical frame. When the cap storage bin is in place, the feedback signal is sent to the controller, and the controller gives a signal to stop the motor. 3) Suction cup to lift the temporary cover The controller sends a signal to retract the piston rod of the locking cylinder, driving the U-shaped connecting rod and the axle pin to withdraw from the first pin hole of the first pin hole seat, the second pin hole of the second pin hole seat, and the third pin hole of the third pin hole seat. The controller sends a signal to feed the piston rod of the pressing cylinder downward, driving the suction cup assembly to feed downward. After the suction cup contacts the temporary cover, the controller sends a signal to close the air intake of the pressing cylinder, and the suction cup assembly stops running; then a vacuum is formed at the bottom of the suction cup through the vacuum generator and a temporary cover is sucked up. The controller opens the air intake of the pressing cylinder to retract its piston rod and drive the suction cup assembly upward. When the suction cup assembly moves upward to the right position, the controller closes the air intake of the pressing cylinder again, and the piston rod of the pressing cylinder and the suction cup assembly stop. 4) Cover storage bin returns to its original position The controller turns on the motor of the temporary cover conveying rack to drive the screw to rotate, and the screw nut drives the cover storage bin to leave the vertical rack. When the cover storage bin is in place, the controller gives a signal to turn off the motor of the temporary cover conveying rack; 5) Covering of nuclear waste barrels The controller opens the air intake of the downward pressure cylinder, and the piston rod of the downward pressure cylinder drives the suction cup assembly and the temporary cover to feed downward. When the temporary cover contacts the barrel mouth of the nuclear power waste barrel, the suction cup fixing plate and the suction cup automatically adapt to adjust the contact position of the temporary cover and the barrel mouth of the nuclear power waste barrel under the action of the vertical spring and the horizontal spring. When the temporary cover is completely aligned with the barrel mouth of the nuclear power waste barrel, the piston rod of the downward pressure cylinder drives the suction cup assembly and the temporary cover to continue to feed downward, and the edge fold of the temporary cover is elastically deformed and squeezed into the nuclear power waste barrel. The temporary cover 5 continues to feed downward. When the edge fold of the temporary cover is stuck in the groove of the inner wall of the nuclear power waste barrel, the controller closes the air intake of the downward pressure cylinder, and the piston rod of the downward pressure cylinder stops extending and feeding. At the same time, the controller closes the vacuum generator to make the vacuum at the bottom of the suction cup disappear, and the suction cup is separated from the temporary cover. The controller opens the air intake of the downward pressure cylinder again, and the piston rod of the downward pressure cylinder drives the suction cup assembly to leave the nuclear power waste barrel upward, completing the installation of the temporary cover on the nuclear power waste barrel. 6) Circulation and repeated capping of nuclear waste barrels The controller starts the waste barrel conveyor, removes the nuclear power waste barrel with the temporary cover installed from the vertical rack and transfers it to the next workstation, places a new nuclear power waste barrel on the waste barrel conveyor, and repeats the above steps to start a new round of installing temporary covers on the nuclear power waste barrels.

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