Pollution detection and removal system for nuclear waste barrel

Abstract

The invention particularly relates to a pollution detection and removal system for a nuclear waste barrel, and belongs to the technical field of pollution detection and removal of nuclear waste barrels. The device comprises a supporting frame, a barrel moving device, a conveying roller way and a rotating device. The barrel moving device is arranged on the top of the supporting frame and can move in the long side edge direction of the supporting frame. The conveying roller way is used for conveying the vertical nuclear waste barrel from a starting position to a clamping position, and the barrel moving device is used for clamping the vertical nuclear waste barrel on the conveying roller way, overturning the vertical nuclear waste barrel into an inverted state and then placing the inverted nuclear waste barrel on the rotating device; the vertical nuclear waste barrel on the conveying roller way is clamped to the rotating device through the moving device to be in a horizontal shape, at the moment, the integrated detection and decontamination device conducts pollution detection and decontamination on the barrel surface and the bottom and top of the barrel body of the nuclear waste barrel on the rotating device, and dead-corner-free detection and decontamination of the nuclear waste barrel are achieved.

Description

Technical Field

[0001] The present invention specifically relates to a nuclear waste barrel contamination detection and removal system, and belongs to the technical field of nuclear waste barrel contamination detection and removal. Background Art

[0002] With the increasing application of nuclear technology in the fields of energy, military, industry and medical care, a large amount of radioactive solid waste is generated. Nuclear waste barrels have become the key medium for the temporary storage, transportation and final disposal of these radioactive solid wastes.

[0003] Some used nuclear waste barrels need to complete contamination detection and removal before they can be used again. However, the existing detection devices and decontamination devices have detection blind spots and decontamination blind spots, that is, the bottom support area of ​​the nuclear waste barrel cannot be detected and removed for contamination, posing a great safety hazard. Summary of the invention

[0004] The technical problem to be solved by the present invention is: how to conduct comprehensive pollution detection and removal on nuclear waste barrels.

[0005] In order to solve the above technical problems, the technical solution proposed in the present invention is: a contamination detection and removal system for nuclear waste barrels, including a support frame, a barrel moving device, a conveyor roller and a rotating device; the barrel moving device is arranged on the top of the support frame and can move along the long side direction of the support frame; the conveyor roller is arranged on the bottom surface of the support frame close to a short side frame of the support frame; the rotating device is arranged next to the conveyor roller; the rotating device is used to place the nuclear waste barrel in a lying state; the conveyor roller is used to transport the nuclear waste barrel in an upright state from the starting position to the clamping position, and is characterized in that: the barrel moving device is used to clamp the nuclear waste barrel in an upright state from the conveyor roller, flip it over to a lying state, and then place it to the rotating device; the contamination detection and removal system of the nuclear waste barrel also includes a detection and decontamination device arranged on the bottom surface of the support frame near another short side frame of the support frame, the detection and decontamination device includes a moving track, a detection mechanism moving platform and a detection mechanism; the detection mechanism moving platform is arranged on the moving track; the detection mechanism includes a detection probe telescope, two end detection probes, a barrel wall detection probe and an L-shaped mounting plate; the detection probe telescope is installed on the detection mechanism moving platform; the two end detection probes are connected to the protruding end of the detection probe telescope through the L-shaped mounting plate; the barrel wall detection probe is arranged on the edge of the detection mechanism moving platform close to the rotating device.

[0006] Furthermore, the detection and decontamination device also includes a decontamination mechanism moving platform and a decontamination mechanism; the decontamination mechanism includes a decontamination claw retractor and a decontamination sponge claw; the decontamination claw retractor is installed on the decontamination mechanism moving platform; the decontamination sponge claw is installed on the protruding end of the decontamination claw retractor.

[0007] Furthermore, the movable track is fixed to the ground and is respectively meshed with the racks on the side walls of the movable track through a first gear under the movable platform of the detection mechanism and a second gear under the movable platform of the decontamination mechanism.

[0008] Furthermore, the two parallel long side frames on the top surface of the support frame form two slide rails; the barrel moving device includes an L-shaped X-axis moving beam, a Z-axis moving beam and a centering clamping and flipping mechanism; the L-shaped long side of the X-axis moving beam is parallel to the ground and is provided with a sliding groove; the X-axis moving beam is clamped on the slide rail through the sliding groove; the L-shaped short side of the X-axis moving beam is perpendicular to the ground and has a hollow groove; the Z-axis moving beam is inserted into the hollow groove; the centering clamping and flipping mechanism is arranged on the end of the Z-axis moving beam close to the ground; the centering clamping and flipping mechanism includes two opposite L-shaped clamping blocks arranged at the end of the Z-axis moving beam close to the ground; the L-shaped long sides of the two L-shaped clamping blocks are perpendicular to the ground and the ends of the long sides are connected to the centering clamps through the flipping shaft.

[0009] Furthermore, the barrel moving device includes an XZ-axis moving truss, a barrel moving arm mounting platform, a barrel moving arm, a centering flip clamp and a centering flip motor; the XZ-axis moving truss is installed on the top of the supporting frame; the X-axis moving frame of the XZ-axis moving truss is parallel to the two parallel long sides of the top surface of the supporting frame; the barrel moving arm mounting platform is installed on the Z-axis moving frame of the XZ-axis moving truss; the barrel moving arm is installed on the barrel moving arm mounting platform and is perpendicular to the ground; the centering flip clamp is installed on the end of the barrel moving arm close to the ground; the centering flip motor is installed on the centering flip clamp and connected to the centering flip clamp.

[0010] Furthermore, the barrel moving device also includes an X-axis moving servo motor, a Z-axis moving servo motor, a centering clamping servo motor and a flipping motor; the X-axis moving servo motor is arranged on the L-shaped short side of the X-axis moving beam, and the output shaft end of the X-axis moving servo motor is abutted against the L-shaped long side of the X-axis moving beam; the Z-axis moving servo motor is arranged on the top of the Z-axis moving beam, and the output shaft end of the Z-axis moving servo motor is abutted against the top surface of the Z-axis moving beam; the centering clamping servo motor is arranged at the lower part of the Z-axis moving beam, and the output shaft end of the centering clamping servo motor is connected to the short side of the L-shaped clamping block; the flipping motor is arranged on the outside of the long side of the L-shaped structure of the L-shaped clamping block, and the output shaft of the flipping motor is respectively connected to the two flipping shafts.

[0011] Beneficial effects of the present invention: The present invention uses a moving device to clamp the vertical nuclear waste barrel on the conveying roller onto the rotating device to turn it into a horizontal state. At this time, the integrated detection and decontamination device performs contamination detection and decontamination on the barrel surface, bottom and top of the barrel body of the nuclear waste barrel on the rotating device, thereby realizing dead-angle detection and decontamination of the nuclear waste barrel. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the overall structure of the contamination detection and removal system for the nuclear waste barrel in the first embodiment.

[0013] Figure 2 yes Figure 1 A schematic structural diagram of the barrel moving device in the present invention.

[0014] Figure 3 It is a schematic diagram of the moving track structure of the detection and decontamination device in Example 1.

[0015] Figure 4 yes Figure 3 Side view of.

[0016] Figure 5 It is a schematic diagram of the structure of the detection mechanism in the detection and decontamination device in the first embodiment.

[0017] Figure 6 It is a structural schematic diagram of the decontamination mechanism in the detection and decontamination device in the first embodiment.

[0018] Figure 7 It is a schematic diagram of the structure of the barrel moving device in the second embodiment. DETAILED DESCRIPTION

[0019] The following is a further description of a nuclear waste barrel contamination detection and removal system of the present invention in conjunction with the accompanying drawings and specific embodiments. Embodiment 1

[0020] The contamination detection and removal system of the nuclear waste barrel in this embodiment is as follows: Figure 1 As shown, it includes a support frame 1, a barrel moving device 2, a conveying roller 3, a rotating device 4 and a detection and decontamination device 5; two parallel long side frames on the top surface of the support frame 1 form two slide rails; the barrel moving device 2 is arranged on the top of the support frame 1 and can move on the slide rails along the long side direction of the support frame 1; the conveying roller 3 is arranged on the bottom surface of the support frame 1 near a short side frame of the support frame 1; the rotating device 4 is arranged next to the conveying roller 3; the rotating device 4 is used to place the nuclear waste barrel in a lying state; the conveying roller 3 is used to transport the nuclear waste barrel in an upright state from the starting position to the clamping position, and the barrel moving device 2 is used to clamp the nuclear waste barrel in an upright state from the conveying roller 3, flip it into a lying state, and then place it on the rotating device 4; like Figure 2 As shown, the barrel moving device 2 includes an L-shaped X-axis moving beam 21, a Z-axis moving beam 22, a centering clamping and flipping mechanism 23, an X-axis moving servo motor, a Z-axis moving servo motor, a centering clamping servo motor and a flipping motor; the L-shaped long side of the X-axis moving beam 21 is parallel to the ground and is provided with a sliding groove; the X-axis moving beam 21 is clamped on the slide rail through the sliding groove; the L-shaped short side of the X-axis moving beam 21 is perpendicular to the ground and has a hollow groove; the Z-axis moving beam 22 is inserted into the hollow groove; the centering clamping and flipping mechanism 23 is arranged on the end of the Z-axis moving beam 22 close to the ground; the centering clamping and flipping mechanism 23 includes two opposite L-shaped clamping blocks 231 arranged at the end of the Z-axis moving beam 22 close to the ground; the two L-shaped clamping blocks The L-shaped long sides of the block 231 are perpendicular to the ground and the ends of the long sides are connected to the centering fixture 233 through the flip shaft 232; the X-axis moving servo motor is arranged on the L-shaped short side of the X-axis moving beam 21, and the output shaft end of the X-axis moving servo motor is in contact with the L-shaped long side of the X-axis moving beam 21; the Z-axis moving servo motor is arranged on the top of the Z-axis moving beam 22, and the output shaft end of the Z-axis moving servo motor is in contact with the top surface of the Z-axis moving beam; the centering clamping servo motor is arranged at the bottom of the Z-axis moving beam, and the output shaft end of the centering clamping servo motor is connected to the short side of the L-shaped clamping block 231; the flip motor is arranged outside the long side of the L-shaped structure of the L-shaped clamping block 231, and the flip motor is connected to two flip shafts 232 respectively. The barrel moving device 2 is used to clamp the nuclear waste barrel from the conveying roller 3 to the rotating device 4.

[0021] The nuclear waste barrel contamination detection and removal system in this embodiment also includes a detection and decontamination device arranged on the bottom surface of the support frame near another short side frame of the support frame, such as Figure 3 and 4 As shown, the detection and decontamination device 5 includes a moving track 51, a detection mechanism moving platform 52, a decontamination mechanism moving platform 53, a detection mechanism 54 and a decontamination mechanism 55; the moving track 51 is fixed to the ground, the detection mechanism moving platform 52 and the decontamination mechanism moving platform 53 are both arranged on the moving track 51, and are respectively meshed with the rack 57 on the side wall of the moving track 51 through the first gear 521 below the detection mechanism moving platform 52 and the second gear 531 below the decontamination mechanism moving platform 53; as shown Figure 5 As shown, the detection mechanism 54 includes a detection probe telescope 541, two end detection probes 542, a barrel wall detection probe 543 and an L-shaped mounting plate 544; the detection probe telescope 541 is installed on the detection mechanism moving platform 52; the two end detection probes 542 are connected to the extended end of the detection probe telescope 541 through the L-shaped mounting plate 544; the barrel wall detection probe 543 is arranged on the detection mechanism moving platform 52 near the edge of the nuclear waste barrel through the L-shaped mounting plate 544; Figure 6As shown, the decontamination mechanism 55 includes a decontamination jaw retractor 551 and a decontamination sponge jaw 552; the decontamination jaw retractor 551 is installed on the decontamination mechanism moving platform 53; the decontamination sponge jaw 552 is installed on the extended end of the decontamination jaw retractor 551. The detection and decontamination device 5 is used to detect and remove contamination from the nuclear waste barrel on the rotating device 4.

[0022] The pollution detection and removal system workflow in this embodiment is as follows: 1) The nuclear waste barrel to be inspected and decontaminated moves to the designated position via the conveyor roller 3; 2) The centering clamping and flipping mechanism 23 on the barrel moving device 2 holds and clamps the barrel body under the drive of the centering clamping servo motor. At this time, the flipping motor drives the flipping shaft 232 on the centering clamping and flipping mechanism 23 to rotate and drive the centering clamp 233 to flip the vertical nuclear waste barrel to a horizontal position and place it on the rotating device 4; 3) The rotating device 4 drives the nuclear waste barrel placed horizontally on the rotating device 4 to rotate; 4) The detection mechanism mobile platform 52 in the detection and decontamination device 5 drives the detection mechanism 54 to the detection position under the drive of the motor through the cooperation of the first gear 521 and the rack 57, and starts the detection. During the process, the detection mechanism mobile platform 52 cooperates with the detection probe telescope 541 to complete the movement in the X direction and the Y direction. The rotation device 4, the detection mechanism mobile platform 52, and the detection probe telescope 541 cooperate to enable the detection probes 542 at both ends and the barrel wall detection probe 543 to complete the detection of all surfaces of the nuclear waste barrel.

[0023] 5) The system determines which areas need to be wiped based on the detection results.

[0024] 6) The decontamination mechanism mobile platform 54, driven by the motor, drives the decontamination mechanism 55 to move to the position that needs to be wiped through the cooperation of the second gear 541 and the rack 57 to start decontamination. During the process, the decontamination mechanism mobile platform 53 cooperates with the decontamination clamping claw retractor 551 to complete the movement in the X direction and the Y direction. The rotating device 4, the decontamination mechanism mobile platform 54, and the decontamination clamping claw retractor 551 cooperate with the decontamination sponge clamp 522 to clamp the decontamination sponge to complete the contamination that needs to be wiped on the nuclear waste barrel.

[0025] 7) The barrel transfer device 2 clamps the decontaminated nuclear waste barrel from the rotating device 4 back to the conveying roller 3. Embodiment 2

[0026] The nuclear waste barrel contamination detection and removal system in this embodiment is the same as that in the first embodiment except that the structure of the barrel moving device 2 is different from that of the barrel moving device 2 in the first embodiment.

[0027] The structure of the barrel moving device 2 in this embodiment is as follows Figure 7As shown, it includes an XZ-axis moving truss 24, a barrel moving arm mounting platform 25, a barrel moving arm 26, a centering flip clamp 27 and a centering flip motor 28; the XZ-axis moving truss 24 is installed on the top of the supporting frame 1; the X-axis moving frame 241 of the XZ-axis moving truss 24 is parallel to the two parallel long sides of the top surface of the supporting frame 1; the barrel moving arm mounting platform 25 is installed on the Z-axis moving frame 242 of the XZ-axis moving truss 24; the barrel moving arm 26 is installed on the barrel moving arm mounting platform 25 and is perpendicular to the ground; the centering flip clamp 27 is installed on the end of the barrel moving arm 26 close to the ground; the centering flip motor 28 is installed on the centering flip clamp 27 and connected to the centering flip clamp 27.

Claims

1. A contamination detection and removal system for nuclear waste barrels, comprising a support frame, a barrel moving device, a conveying roller and a rotating device; the barrel moving device is arranged on the top of the support frame and can move along the long side direction of the support frame; the conveying roller is arranged on the bottom surface of the support frame near a short side frame of the support frame; the rotating device is arranged next to the conveying roller; the rotating device is used to place the nuclear waste barrel in a lying state; the conveying roller is used to convey the nuclear waste barrel in an upright state from a starting position to a clamping position, characterized in that: The barrel moving device is used to clamp the nuclear waste barrel in an upright state on the conveying roller, flip it over to a lying state, and then place it on the rotating device; the contamination detection and removal system of the nuclear waste barrel also includes a detection and decontamination device arranged on the bottom surface of the support frame close to another short side frame of the support frame, and the detection and decontamination device includes a moving track, a detection mechanism moving platform and a detection mechanism; the detection mechanism moving platform is arranged on the moving track; the detection mechanism includes a detection probe telescope, two end detection probes, a cylinder wall detection probe and an L-shaped mounting plate; the detection probe telescope is installed on the detection mechanism moving platform; the two end detection probes are connected to the protruding end of the detection probe telescope through the L-shaped mounting plate; the cylinder wall detection probe is arranged on the edge of the detection mechanism moving platform close to the rotating device through the L-shaped mounting plate.

2. The pollution detection and removal system according to claim 1, characterized in that: The detection and decontamination device also includes a decontamination mechanism moving platform and a decontamination mechanism; the decontamination mechanism moving platform is arranged on the moving track; the decontamination mechanism includes a decontamination claw retractor and a decontamination sponge claw; the decontamination claw retractor is installed on the decontamination mechanism moving platform; the decontamination sponge claw is installed on the protruding end of the decontamination claw retractor.

3. The pollution detection and removal system according to claim 2, characterized in that: The movable track is fixed to the ground and is respectively meshed with the racks on the side walls of the movable track through a first gear under the movable platform of the detection mechanism and a second gear under the movable platform of the decontamination mechanism.

4. The pollution detection and removal system according to any one of claims 1 to 3, characterized in that: The two parallel long side frames on the top surface of the support frame form two slide rails; the barrel moving device includes an L-shaped X-axis moving beam, a Z-axis moving beam and a centering clamping and flipping mechanism; the L-shaped long side of the X-axis moving beam is parallel to the ground and is provided with a sliding groove; the X-axis moving beam is clamped on the slide rail through the sliding groove; the L-shaped short side of the X-axis moving beam is perpendicular to the ground and has a hollow groove; the Z-axis moving beam is inserted into the hollow groove; the centering clamping and flipping mechanism is arranged on the end of the Z-axis moving beam close to the ground; the centering clamping and flipping mechanism includes two opposite L-shaped clamping blocks arranged at the end of the Z-axis moving beam close to the ground; the L-shaped long sides of the two L-shaped clamping blocks are perpendicular to the ground and the ends of the long sides are connected to the centering clamps through the flip shaft.

5. The pollution detection and removal system according to any one of claims 1 to 3, characterized in that: The barrel moving device comprises an XZ-axis moving truss, a barrel moving arm mounting platform, a barrel moving arm, a centering flipping clamp and a centering flipping motor; the XZ-axis moving truss is mounted on the top of the support frame; the X-axis moving frame of the XZ-axis moving truss is parallel to the two parallel long sides of the top surface of the support frame; the barrel moving arm mounting platform is mounted on the Z-axis moving frame of the XZ-axis moving truss; the barrel moving arm is mounted on the barrel moving arm mounting platform and is perpendicular to the ground; The centering and turning clamp is installed on the end of the barrel moving arm close to the ground; the centering and turning motor is installed on the centering and turning clamp and connected with the centering and turning clamp.

6. The pollution detection and removal system according to claim 4, characterized in that: The barrel moving device also includes an X-axis moving servo motor, a Z-axis moving servo motor, a centering clamping servo motor and a flipping motor; the X-axis moving servo motor is arranged on the L-shaped short side of the X-axis moving beam, and the output shaft end of the X-axis moving servo motor is abutted against the L-shaped long side of the X-axis moving beam; the Z-axis moving servo motor is arranged on the top of the Z-axis moving beam, and the output shaft end of the Z-axis moving servo motor is abutted against the top surface of the Z-axis moving beam; the centering clamping servo motor is arranged at the lower part of the Z-axis moving beam, and the output shaft end of the centering clamping servo motor is connected to the short side of the L-shaped clamping block; the flipping motor is arranged outside the long side of the L-shaped structure of the L-shaped clamping block, and the output shaft of the flipping motor is respectively connected to the two flipping shafts.

Images