Cylindrical filter sealing ring replacement device and control method

Abstract

The invention provides a barrel type filter sealing ring replacement device and a control method, belongs to the technical field of filtering equipment, and solves the problems that the replacement efficiency is low and operators are easily injured by radiation due to the fact that the replacement of the current barrel type filter sealing ring depends on manual approaching operation. The device comprises a mounting base; the sealing ring tray is fixedly connected with the top of the mounting base; the through groove is formed in the side surface of the mounting base; and the grabbing mechanism does reciprocating motion in the extending direction of the through groove. According to the device, remote replacement of the sealing ring of the cartridge filter is realized, the replacement efficiency is improved, and the safety of operators is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of filtering equipment, and particularly to a device for replacing the sealing ring of a cartridge filter and a control method therefor. Background Art

[0002] During the use of a cartridge filter for the nuclear fuel reprocessing process, the connection between the lower end of the filter and the cup-shaped base is sealed internally between the cup-shaped base and the cartridge filter through a sealing ring to ensure the internal pressure. In actual use, the sealing ring may be deformed and deteriorated due to long-term contact with radioactive substances, resulting in substandard sealing performance. At this time, on-site personnel need to wear a semi-airtight suit and enter the hot cell to replace the sealing ring. There is no fixed cycle for replacing the sealing ring, and the cycle is randomly variable, and the replacement frequency also increases with use. Replacing the sealing ring through a semi-airtight suit requires a relatively cumbersome operation process on the one hand, and on the other hand, the replacement personnel are also exposed to a certain dose of radiation during the operation, which is harmful to the human body. Summary of the Invention

[0003] The present invention provides a device for replacing the sealing ring of a cartridge filter and a control method therefor, which solves the problems that the current replacement of the sealing ring of the cartridge filter relies on manual close-range operation, with low replacement efficiency and the operators being easily harmed by radiation.

[0004] To solve the above technical problems, the technical solution of the present invention is as follows:

[0005] An embodiment of the present invention provides a device for replacing the sealing ring of a cartridge filter, including:

[0006] An installation base;

[0007] A sealing ring tray fixedly connected to the top of the installation base;

[0008] A through groove provided on the side of the installation base;

[0009] A grasping mechanism that reciprocates along the extending direction of the through groove.

[0010] Optionally, the through groove includes a first slot and a second slot, and the extending directions of the first slot and the second slot are parallel.

[0011] Optionally, the grasping mechanism includes:

[0012] A first grasping component and a second grasping component, the first grasping component is movably connected to the first slot, and the second grasping component is movably connected to the second slot;

[0013] A transmission component, which is movably connected to the first grasping component and the second grasping component, and makes the moving directions of the first grasping component and the second grasping component always opposite;

[0014] A locking component, which is in elastic contact with the first grasping component.

[0015] Optionally, the transmission component is a gear, and the gear is movably installed between the first slot and the second slot.

[0016] Optionally, the first grasping component includes:

[0017] A first U-shaped rod, the first rod of the first U-shaped rod is sleeved in the first slot and makes a reciprocating motion along the extending direction of the first slot;

[0018] A first baffle, which is fixedly connected to the first U-shaped rod.

[0019] Optionally, a first rack is provided on the first rod of the first U-shaped rod, and the first rack meshes with the gear.

[0020] Optionally, the locking component includes:

[0021] A round hole provided on the inner surface of the first slot, and the round hole is adjacent to the first rack;

[0022] A spring provided in the round hole, and the first end of the spring contacts the bottom surface of the round hole;

[0023] A self-locking ball, the top end of the self-locking ball is located in the round hole and contacts the second end of the spring, and the bottom end of the self-locking ball contacts the first rack.

[0024] Optionally, the second grasping component includes:

[0025] A second U-shaped rod, the first rod of the second U-shaped rod is sleeved in the second slot and makes a reciprocating motion along the extending direction of the second slot;

[0026] A second baffle, which is fixedly connected to the second U-shaped rod.

[0027] Optionally, a second rack is provided on the first rod of the second U-shaped rod, and the second rack meshes with the gear.

[0028] The embodiment of the present invention further provides a control method for a cylindrical filter seal ring replacement device. The control method is applied to a controller, and the controller is electrically connected to a first driver and a second driver of the replacement device. The first driver is connected to the mounting base of the replacement device, and the second driver is connected to the grasping mechanism of the replacement device. The control method includes:

[0029] Obtain the real-time data of the first position of the cylindrical filter seal ring and the real-time data of the second position of the replacement device; generate a first control instruction according to the real-time data of the first position and the real-time data of the second position; control the first driver to drive the replacement device to approach the seal ring and reach a first preset position according to the first control instruction; generate a second control instruction according to the first preset position and the real-time data of the second position; control the second driver to drive the grasping mechanism to remove or install the seal ring according to the second control instruction.

[0030] The technical solution of the present invention at least includes the following effects:

[0031] The cylindrical filter seal ring replacement device of the present invention includes: a mounting base; a seal ring tray fixedly connected to the top of the mounting base; a through groove provided on the side of the mounting base; a grasping mechanism that reciprocates along the extension direction of the through groove; through the reciprocating movement of the grasping mechanism along the through groove in a fixed direction, precise grasping and positioning installation of the seal ring are realized. This mechanized operation method replaces the cumbersome adjustment steps in traditional manual replacement, reducing the replacement time; the device adopts a fixedly connected seal ring tray and mounting base, combined with a grasping mechanism that moves in a fixed direction, avoiding direct contact between the operator and the filter and being irradiated, improving the safety of personnel; the seal ring tray provides a pre-positioning support surface for the seal ring, ensuring that the seal ring is evenly stressed during installation. This structural design can effectively prevent the seal ring from being twisted or deformed during assembly, thereby improving the reliability of the sealing interface; the design of the extension direction of the through groove enables the grasping mechanism to have an adjustable stroke range, and in combination with seal ring trays of different sizes, it can adapt to the replacement requirements of various specifications of cylindrical filter seal rings. Description of the Drawings

[0032] Figure 1 is a three-dimensional structure diagram of the cylindrical filter seal ring replacement device provided by the embodiment of the present invention;

[0033] Figure 2 is a top view of the cylindrical filter seal ring replacement device provided by the embodiment of the present invention;

[0034] Figure 3 is a structure diagram of the grasping mechanism of the cylindrical filter seal ring replacement device provided by the embodiment of the present invention;

[0035] Among them, 1. Installation base; 2. Sealing ring tray; 3. Through groove; 4. Cup-shaped base; 5. Gear; 6. First U-shaped rod; 7. First baffle; 8. First rack; 9. Spring; 10. Self-locking ball; 11. Second U-shaped rod; 12. Second baffle; 13. Second rack; 14. Gear dust-proof plate. Detailed implementation

[0036] Hereinafter, exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present invention can be more thoroughly understood and the scope of the present invention can be completely conveyed to those skilled in the art.

[0037] As Figure 1 shown, an embodiment of the present invention provides a cartridge filter sealing ring replacement device, comprising:

[0038] Installation base 1;

[0039] A sealing ring tray 2 fixedly connected to the top of the installation base 1;

[0040] A through groove 3 provided on the side of the installation base 1;

[0041] A grasping mechanism that reciprocates along the extension direction of the through groove 3.

[0042] In this embodiment, the installation base 1 serves as the basic support structure of the entire device, providing a stable operation platform. The installation base 1 is designed with sufficient strength and rigidity, preferably made of metal parts, to ensure that it will not deform or move during operation, thus ensuring the accuracy and safety of the replacement process.

[0043] The sealing ring tray 2 is fixedly connected to the top of the installation base 1, forming a dedicated area for placing and positioning the sealing ring. The sealing ring tray 2 is designed to match the size of the sealing ring of the cartridge filter, and can accurately position the sealing ring at the replacement position, facilitating the grasping mechanism to grasp it. At the same time, the edge of the sealing ring tray 2 has a slight inclination or groove design to assist in the placement and removal of the sealing ring. The sealing ring tray 2 can be made of wear-resistant and corrosion-resistant materials to ensure stability and durability under long-term use.

[0044] The through groove 3 is provided on the side of the installation base 1, providing a movement track for the grasping mechanism. The design of the through groove 3 enables the grasping mechanism to reciprocate along its extension direction, thereby realizing the grasping, movement, and installation of the sealing ring. The size and shape of the through groove 3 match the moving parts of the grasping mechanism to ensure smooth and accurate movement.

[0045] The grasping mechanism reciprocates along the extending direction of the through groove 3 to achieve the grasping, moving, and installation of the sealing ring.

[0046] When replacing the sealing ring, start the grasping mechanism to move it along the through groove 3 towards the sealing ring tray 2. After reaching the grasping position, the grasping component precisely grasps the sealing ring. Then, the entire device drives the sealing ring to move away from the cartridge filter, causing the sealing ring to disengage from the cartridge filter and accurately fall onto the sealing ring tray 2 of the cartridge filter.

[0047] When installing the sealing ring, place the new sealing ring on the sealing ring tray 2 and ensure its correct position. Start the grasping mechanism to move it along the through groove 3 towards the sealing ring tray 2, thereby fixing the sealing ring on the sealing ring tray 2 to prevent it from shifting. Then, the entire device drives the sealing ring to gradually move towards the position on the cartridge filter where the sealing ring needs to be installed. After reaching the installation position, the device squeezes the sealing ring to fix it on the cartridge filter. Then, the grasping mechanism moves along the through groove 3 away from the sealing ring tray 2 to release the sealing ring, thus completing the installation operation of the sealing ring.

[0048] The cartridge filter sealing ring replacement device realizes the rapid and accurate replacement of the sealing ring through an integrated design and precise motion control, which not only improves the maintenance efficiency, reduces the manual operation cost, but also reduces the risk of sealing ring damage or installation error caused by improper operation.

[0049] In an optional embodiment proposed by the present invention, the mounting base 1 is a cylinder, and the bottom of the mounting base 1 is fixedly connected to the cup-shaped base 4.

[0050] The through groove 3 includes a first slot and a second slot, and the extending directions of the first slot and the second slot are parallel.

[0051] The grasping mechanism includes:

[0052] A first grasping component and a second grasping component. The first grasping component is movably connected to the first slot, and the second grasping component is movably connected to the second slot;

[0053] A transmission component, which is movably connected to the first grasping component and the second grasping component, and makes the moving directions of the first grasping component and the second grasping component always opposite;

[0054] A locking component, which is in elastic contact with the first grasping component.

[0055] In this embodiment, the mounting base 1 adopts a cylindrical design, which can significantly improve the anti-overturning ability with the embracing structure of the cup-shaped base 4. At the same time, the axial symmetry of the cylinder facilitates automatic alignment with the central axis of the cartridge filter, ensuring the accuracy of the installation position of the sealing ring; the bottom of the mounting base 1 is connected to the cup-shaped base 4 by welding to ensure the rigidity of the connection part to transfer the load; the cup-shaped base 4 has a notch that can cooperate with the electric follow-up manipulator in the hot chamber and the ground rail transfer frame, thereby facilitating the placement of the device. The through groove 3 is composed of a first groove and a second groove extending in parallel, wherein the groove width of the through groove 3 matches the size of the grabbing component, and the length of the two grooves is close and extends synchronously, ensuring the symmetry of the movement of the grabbing component; the parallel groove design enables the first grabbing component and the second grabbing component to achieve coordinated action through the transmission component. The grabbing mechanism consists of a first grabbing component and a second grabbing component, which are arranged opposite to each other on both sides of the sealing ring tray 2, and can be synchronously moved away from or close to the sealing ring tray 2 through the restriction of the transmission component, thereby realizing the grabbing and release of the sealing ring. The locking component is in elastic contact with the first grasping component and is used to lock the grasping mechanism to prevent the grasping mechanism from malfunctioning.

[0056] like Figure 2 and Figure 3 As shown, in an optional embodiment proposed by the present invention, the transmission component is a gear 5, and the gear 5 is movably installed between the first slot and the second slot;

[0057] The first gripping component comprises:

[0058] A first U-shaped rod 6, wherein the first rod of the first U-shaped rod 6 is sleeved in the first slot and reciprocates along the extension direction of the first slot;

[0059] The first baffle plate 7 is fixedly connected to the first U-shaped rod 6:

[0060] A first rack 8 is disposed on the first rod of the first U-shaped rod 6, and the first rack 8 is meshed with the gear 5;

[0061] The second gripping component comprises:

[0062] A second U-shaped rod 11, wherein the first rod of the second U-shaped rod 11 is sleeved in the second slot and reciprocates along the extension direction of the second slot;

[0063] The second baffle plate 12 is fixedly connected to the second U-shaped rod 11 .

[0064] A second rack 13 is disposed on the first rod of the second U-shaped rod 11 , and the second rack 13 is meshed with the gear 5 .

[0065] In this embodiment, the gear 5 is movably installed between the first slot and the second slot, and its axis is perpendicular to the extending direction of the slots, and is rotatably supported through a bearing seat. This layout enables the gear 5 to remain engaged with the first rack 8 and the second rack 13 simultaneously. The gear 5 adopts a standard involute tooth profile to ensure smooth transmission; the gear 5 is engaged with the two racks simultaneously to achieve power splitting, so that the moving directions of the first grasping member and the second grasping member are always opposite. A gear dust-proof plate 14 is also provided on the side of the gear 5 away from the mounting base 1, and the gear dust-proof plate 14 is fixedly connected to the mounting base 1.

[0066] The first U-shaped rod 6 is processed and formed from cold-drawn round steel. The first rod of the first U-shaped rod 6 is sleeved in the first slot, and limit bosses are provided at both ends of the rod body, which cooperate with the buffers at the ends of the slot to prevent overtravel collision; the first baffle 7 is a flat plate-like body, and the edge on the side close to the seal ring tray 2 is arc-shaped, similar to the shape of the seal ring; the first baffle 7 is fixedly connected to the U-shaped bottom of the first U-shaped rod 6 by welding or bolt connection; the first rack 8 is fixedly welded to the upper surface of the first rod of the first U-shaped rod 6, and the upper surface of the first rod is the surface close to the gear 5; the rack module of the first rack 8 is the same as that of the gear 5;

[0067] The second U-shaped rod 11 and the first U-shaped rod 6 adopt a completely symmetrical design. The first rod of the second U-shaped rod 11 is sleeved in the second slot. The second baffle 12 is also a flat plate-like body, and the edge on the side close to the seal ring tray 2 is arc-shaped, similar to the shape of the seal ring; the second baffle 12 is fixedly connected to the U-shaped bottom of the second U-shaped rod 11 by welding or bolt connection; the second rack 13 is fixedly welded to the upper surface of the first rod of the second U-shaped rod 11, and the upper surface of the first rod is the surface close to the gear 5; the rack module of the second rack 13 is the same as that of the gear 5;

[0068] The grasping and placing of the seal ring by this seal ring replacement device need to be completed in cooperation with the lifting platform of the cartridge filter and the manipulator in the hot chamber. The tooth profile on the gear 5 meshes with the tooth profiles on the first rack 8 and the second rack 13. When the manipulator jaw pulls the first U-shaped rod 6, it can synchronously drive the second U-shaped rod 11 to move. The first U-shaped rod 6 and the second U-shaped rod 11 are respectively connected to two baffles. The synchronous opposite or opposite movement of the first U-shaped rod 6 and the second U-shaped rod 11 causes the first baffle 7 and the second baffle 12 to open and close to realize the loosening and clamping of the seal ring.

[0069] When installing the seal ring, first place the seal ring at the seal ring tray 2, place the device on the lifting platform, open the first baffle 7 and the second baffle 12, raise the seal ring tray 2 to the installation position, and the seal ring will be aligned with the position of the seal ring of the cartridge filter through the seal ring tray 2, and the installation will be completed by extrusion.

[0070] When removing the sealing ring, first place the device on the lifting platform, open the first baffle 7 and the second baffle 12, lift the device to the working position, operate the manipulator to pull the first U-shaped rod 6 to complete the closing action of the first baffle 7 and the second baffle 12; after the first baffle 7 and the second baffle 12 grab the sealing ring, lower the lifting platform to remove the sealing ring.

[0071] like Figure 3 As shown, in an optional embodiment of the present invention, the locking component includes:

[0072] A circular hole is provided on the inner surface of the first slot, the circular hole being adjacent to the first rack 8;

[0073] A spring 9 is arranged in the circular hole, and a first end of the spring 9 contacts the bottom surface of the circular hole;

[0074] The self-locking ball 10 has a top end located in the circular hole and in contact with the second end of the spring 9 , and a bottom end of the self-locking ball 10 in contact with the first rack 8 .

[0075] In this embodiment, the locking component ensures the reliability of the gripping state through a mechanical self-locking mechanism. Its three-level linkage system consisting of a round hole, a spring and a self-locking ball can keep the gripping component stationary when the device is stationary, and automatically unlock when the gripping force reaches a threshold, effectively preventing the seal ring from accidentally falling off during transportation.

[0076] The circular hole is opened on the inner surface of the first slot, and a gap of 0.5-1mm is maintained with the tooth top surface of the first rack 8 to ensure the smooth movement of the self-locking ball; the spring 9 is preferably a conical compression spring, and the first end of the spring 9 is ground flat and a transition fit is adopted with the bottom surface of the circular hole to ensure the axial positioning accuracy; the self-locking ball 10 is preferably made of steel; the pre-tightening force of the spring 9 makes the self-locking ball 10 partially protrude from the circular hole and form a point contact with the tooth groove of the first rack 8;

[0077] When the sealing ring replacement device is stationary, the self-locking ball 10 is pressed tightly against the involute tooth profile on the first rack 8 by the action of the spring 9; when the device pulls down the sealing ring, the radial force that can be generated is not enough to offset the self-locking state of the device, thereby preventing the first baffle 7 and the second baffle 12 from opening when the device grabs the sealing ring and pulls it down; when the manipulator pulls the first baffle 7, the vertical component of the horizontal force of the first baffle 7 on the contact surface of the self-locking ball 10 is greater than the elastic force of the spring 9, and the device gets rid of the self-locking state.

[0078] An embodiment of the present invention provides a control method for a cartridge filter seal ring replacement device, the control method is applied to a controller, the controller is electrically connected to a first driver and a second driver of the replacement device, the first driver is connected to a mounting base 1 of the replacement device, and the second driver is connected to a gripping mechanism of the replacement device; the control method includes:

[0079] Obtain the real-time data of the first position of the cylindrical filter seal ring and the real-time data of the second position of the replacement device; generate a first control instruction according to the first position real-time data and the second position real-time data; control the first driver to drive the replacement device to approach the seal ring and reach the first preset position according to the first control instruction; generate a second control instruction according to the first preset position and the second position real-time data; control the second driver to drive the grasping mechanism to remove or install the seal ring according to the second control instruction.

[0080] In this embodiment, high-precision sensors such as laser rangefinders and vision recognition systems, which are installed near the cylindrical filter or integrated on the replacement device, are used to obtain the position information of the seal ring relative to the replacement device or a fixed reference point in real time. Position sensors such as encoders and accelerometers installed on the replacement device are used to monitor the position state of the replacement device in real time. After receiving the above two-way real-time data, the controller analyzes the relative position relationship between the seal ring and the replacement device, and calculates the first control instruction required to make the replacement device accurately approach the seal ring. According to the first control instruction, the controller sends a signal to the first driver to drive the mounting base 1 to move, so that the whole replacement device approaches the seal ring until it reaches the preset first preset position. This position should ensure that the grasping mechanism can safely and accurately contact the seal ring. When the replacement device reaches the first preset position, the controller uses the second position real-time data to compare with the first preset position again, confirms the position accuracy, and makes fine adjustments according to needs to generate the second control instruction. According to the second control instruction, the controller controls the second driver to act, driving the grasping mechanism to perform the specific operation of removing or installing the seal ring. This includes precise movement and opening / closing control of the grasping mechanism to ensure that the seal ring is safely and firmly removed or installed. After the removal or installation of the seal ring is completed, the controller can confirm the operation result again through the sensor system to ensure that the seal ring has been correctly placed or removed. After the operation is completed, the controller can control the replacement device to return to the initial position or enter the standby state to prepare for the next operation.

[0081] The control method of the cylindrical filter seal ring replacement device realizes the rapid and accurate replacement of the seal ring through an integrated design and precise motion control, which not only improves the maintenance efficiency, reduces the manual operation cost, but also reduces the risk of seal ring damage or installation error caused by improper operation.

[0082] The above is the preferred implementation manner of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A cartridge filter seal ring replacement device, characterized in that: include: Mounting base (1); A sealing ring tray (2) fixedly connected to the top of the mounting base (1); A through slot (3) provided on the side of the mounting base (1); A gripping mechanism performs reciprocating motion along the extension direction of the through slot (3).

2. The cartridge filter seal ring replacement device according to claim 1, characterized in that: The through slot (3) comprises a first slot and a second slot, and the extension directions of the first slot and the second slot are parallel.

3. The cartridge filter seal ring replacement device according to claim 2, characterized in that: The grabbing mechanism comprises: A first grabbing member and a second grabbing member, wherein the first grabbing member is movably connected to the first slot, and the second grabbing member is movably connected to the second slot; A transmission component, wherein the transmission component is movably connected to the first grasping component and the second grasping component, and the movement directions of the first grasping component and the second grasping component are always opposite; A locking component is elastically in contact with the first grabbing component.

4. The cartridge filter seal ring replacement device according to claim 3, characterized in that: The transmission component is a gear (5), and the gear (5) is movably installed between the first slot and the second slot.

5. The cartridge filter seal ring replacement device according to claim 4, characterized in that: The first gripping member comprises: A first U-shaped rod (6), wherein a first rod sleeve of the first U-shaped rod (6) is arranged in the first slot and performs reciprocating motion along the extension direction of the first slot; A first baffle (7), wherein the first baffle (7) is fixedly connected to the first U-shaped rod (6).

6. The cartridge filter seal ring replacement device according to claim 5, characterized in that: A first rack (8) is provided on the first rod of the first U-shaped rod (6), and the first rack (8) is meshed with the gear (5).

7. The cartridge filter seal ring replacement device according to claim 6, characterized in that: The locking component comprises: A circular hole provided on the inner surface of the first slot, the circular hole being adjacent to the first rack (8); a spring (9) disposed in the circular hole, wherein a first end of the spring (9) contacts a bottom surface of the circular hole; A self-locking ball (10), the top end of the self-locking ball (10) is located in the circular hole and contacts the second end of the spring (9), and the bottom end of the self-locking ball (10) contacts the first rack (8).

8. The cartridge filter seal ring replacement device according to claim 4, characterized in that: The second gripping member comprises: A second U-shaped rod (11), wherein a first rod of the second U-shaped rod (11) is sleeved in the second slot and reciprocates along an extension direction of the second slot; A second baffle (12), wherein the second baffle (12) is fixedly connected to the second U-shaped rod (11).

9. The cartridge filter seal ring replacement device according to claim 8, characterized in that: A second rack (13) is provided on the first rod of the second U-shaped rod (11), and the second rack (13) is meshed with the gear (5).

10. A control method for a cartridge filter seal ring replacement device, characterized in that: The control method is applied to a controller, the controller is electrically connected to a first driver and a second driver of the replacement device, the first driver is connected to a mounting base (1) of the replacement device, and the second driver is connected to a gripping mechanism of the replacement device; the control method comprises: Acquire the real-time data of the first position of the cartridge filter sealing ring and the real-time data of the second position of the replacement device; generate a first control instruction according to the real-time data of the first position and the real-time data of the second position; control the first driver to drive the replacement device to approach the sealing ring and reach a first preset position according to the first control instruction; generate a second control instruction according to the first preset position and the real-time data of the second position; control the second driver to drive the grabbing mechanism to remove or install the sealing ring according to the second control instruction.

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