Clamping and rotating mechanism device for filter element of nuclear wastewater filter

Abstract

The invention relates to a clamping and rotating mechanism device for a filter element of a nuclear wastewater filter, which is characterized in that a chuck jaw on one side actively rotates, and a chuck jaw on the other side rotates in a fixed and driven manner to realize stable clamping. The mechanism device is high in universality and is also suitable for clamping and rotating other cylindrical parts and barrel-shaped parts. According to the mechanism, the compression type spring or the air cylinder is combined with the spherical hinge, so that the positioning plate can rotate within a certain range, and the bottom of the core of the nuclear wastewater filter is tightly attached to the positioning plate and is axially positioned. The core of the nuclear wastewater filter is coaxial with the chuck and the pneumatic finger. According to the elastic positioning element technology disclosed by the invention, pre-tightening force is applied to the spring or the air cylinder, so that the technical effects that the bottom of the core is quickly popped out and a workpiece automatically falls off can be realized after the circumferential clamping force is removed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of nuclear power process equipment, in particular to a nuclear wastewater filter element clamping and rotating mechanism device. BACKGROUND

[0002] Patent CN113276428A discloses a filter element grabbing and positioning mechanism for a filter element interface welding machine, which includes a three-jaw grabbing cylinder connected to a three-jaw cylinder fixing beam. A cylinder fixing beam servo pusher is connected to the three-jaw cylinder fixing beam for moving the three-jaw cylinder fixing beam and the three-jaw grabbing cylinder. In addition, there is a filter element positioning plate for supporting and positioning the filter element body. A plate servo pusher is connected to the filter element positioning plate to move the filter element positioning plate and the filter element body thereon.

[0003] However, the above-mentioned grabbing and positioning mechanism uses a three-jaw grabbing cylinder to fix the filter element. Considering the various specifications of nuclear-grade water filter elements, the diameters and lengths of different specifications of filter elements differ greatly. If the above-mentioned mechanism is used to clamp the filter element during sampling and disassembly, different specifications of cylinder clamps need to be replaced, which has poor universality. During sampling and disassembly, the filter element needs to be displaced as little as possible in the radial direction. The above-mentioned mechanism fixes the filter element by single-sided clamping, which cannot meet the process requirements.

[0004] For radioactive waste nuclear-grade water filter elements, due to their special structure, there is a cylindrical error, and after use, the structure may be deformed to some extent. Therefore, when using a fixed axial positioning, the joint surface cannot be tightly fitted, and when the chuck rotates, the nuclear waste water filter element has a round runout.

[0005] In the prior art, the elastic clamping and positioning of the elastic chuck on the workpiece mainly acts on the circumferential direction of the inner and outer rings. For axial positioning, it can only rely on the fixed protrusions on the claws, and cannot achieve axial elastic support, which cannot meet the process requirements. SUMMARY

[0006] In view of the deficiencies of the prior art, the present application provides a nuclear waste water filter element clamping and rotating mechanism device to partially solve the problems existing in the prior art.

[0007] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a nuclear waste water filter element clamping and rotating mechanism device, comprising: The clamping mechanism comprises a bottom clamping mechanism and a top clamping mechanism; the bottom clamping mechanism comprises a chuck, a rotary drive mechanism, an electromagnetic clutch and a main motor, the chuck is connected with the rotary drive mechanism, the electromagnetic clutch and the main motor through a shaft; the rotary drive mechanism adopts an absolute value servo motor; the electromagnetic clutch controls the connection and separation of the main motor to the chuck; the chuck, the rotary drive mechanism, the electromagnetic clutch and the main motor are all fixedly installed on a first rack; the top clamping mechanism comprises a pneumatic finger module, the front end of the pneumatic finger module is provided with a finger-shaped clamping part designed according to the top shape of the filter core, and the top clamping of the filter core is realized through the opening and closing of the finger-shaped clamping part; in the working conditions of sampling or disassembly, the pneumatic finger module can synchronously follow the rotation of the filter core body; the pneumatic finger module is connected with a gas slip ring through a hollow shaft, and the pneumatic finger module and the gas slip ring are installed on a second rack; The sliding module comprises sliding guide rails and sliding blocks, the first rack and the second rack are connected with the four sliding blocks through screws, and the sliding module realizes motion transmission through a gear and a rack; a first servo motor installed on the first rack and a second servo motor installed on the second rack drive the rotation of the gear to realize the relative motion of the first rack and the second rack; The axial elastic positioning element comprises a compression spring type or a cylinder type elastic positioning element, and is used for the axial close-fitting positioning of the bottom of the filter core; The electric control system is used for controlling the main motor, the electromagnetic clutch, the rotary drive mechanism servo motor, the first servo motor, the second servo motor and the pneumatic finger module.

[0008] As a preferred technical scheme, in the working conditions of sampling or disassembly, the pneumatic finger module can synchronously follow the rotation of the filter core body, and during the process, the pneumatic finger module needs to be continuously supplied with air source, the air inlet and the air outlet of the pneumatic finger module are respectively connected with the corresponding interfaces of the gas slip ring through the hoses in the hollow shaft, the air source is provided for the pneumatic finger module, and the air inlet of the gas slip ring is connected with an external air source.

[0009] As a preferred technical scheme, the pneumatic finger module is connected with the hollow shaft through a screw, the hollow shaft is installed on the second rack through an outer spherical shaft bearing seat, the other end of the hollow shaft is connected with the sliding end of the gas slip ring (32) through a screw, and the tail part of the second rack is designed with a mounting seat to fixedly install the fixed end of the gas slip ring.

[0010] As a preferred technical scheme, the compression spring type elastic positioning member comprises a positioning plate, an elastic shaft, a spring seat, a compression spring, an adjusting screw and a ball hinge joint. The elastic shaft is provided with a pre-compression force by the compression spring, the pre-compression force can be adjusted by screwing the adjusting screw, the elastic shaft and the positioning plate are connected by the ball hinge joint, the ball hinge joint can realize a deflection of ±5°, each positioning plate is supported by two groups of elastic shafts, when the non-planar end surface of the nuclear waste water filter core bottom is in contact with the positioning plate, the elastic shafts have different compression amounts and the ball hinge joints have different rotation angles, so that the axial close fitting positioning is realized.

[0011] As a preferred technical scheme, the cylinder type elastic positioning member comprises a cylinder, a spring seat and a compression spring.

[0012] As a preferred technical scheme, the chuck comprises a claw, the claw can realize two clamping modes of inner supporting and outer clamping, the claw is switched from one clamping mode to another clamping mode under the control of a main motor driving the movement of the claw, the main motor has a current feedback function, each time the mode is switched, the program first moves the claw to a closed position, the closed position is determined by a current feedback signal, and then the program controls the rotation amount of the main motor to realize the mode switching of the claw.

[0013] As a preferred technical scheme, the axial elastic positioning element is installed on the claw, wherein the spring cylinder of the compression spring type elastic positioning member or the cylinder of the cylinder type elastic positioning member is arranged on both sides of the claw, and the positioning plate is installed on the outside of the claw. The axial elastic positioning element can move along the groove of the chuck with the claw, and the number of installations is consistent with the number of claws in the chuck.

[0014] As a preferred technical scheme, the axial elastic positioning element further comprises a quick ejection workpiece, which comprises a reset spring or a cylinder. The reset spring has a wire diameter of 1.5 mm and a compression amount of 20%. The gas source of the cylinder is 0.8 MPa, and the rod length is 30 mm.

[0015] As a preferred technical scheme, when the axial elastic positioning element is a cylinder type elastic positioning member, the gas source is provided in the form of a gas guide slip ring. The fixing part of the gas guide slip ring is installed at the first rack, and the sliding part is connected with the chuck. The gas guide slip ring is of a multiple-in and multiple-out type.

[0016] As a preferred technical scheme, the first servo motor and the second servo motor are absolute value servo motors.

[0017] Compared with the prior art, the technical scheme of the present application has the following beneficial effects: 1. For the nuclear waste water filter core, the present application proposes a universal nuclear waste water filter core clamping and rotating mechanism device, which comprises: one side chuck claw active rotation, the other side fixed driven rotation to realize stable clamping.

[0018] 2. The mechanism device has strong universality and is also applicable to the clamping and rotation of other cylindrical parts and cylindrical parts.

[0019] 3、The water filter cartridge rotating mechanism and sliding module of the present application can be accurately positioned and configured with corresponding electric control program to achieve repeated positioning accuracy ≤0.5mm.

[0020] 4、The elastic positioning element technology disclosed by the present application realizes that the positioning plate can rotate within a certain range by combining the compression spring or air cylinder with the ball hinge, so that the nuclear waste water filter core bottom is tightly attached to the positioning plate for axial positioning. The nuclear waste water filter core is coaxial with the chuck and pneumatic finger module.

[0021] 5、The elastic positioning element technology disclosed by the present application can realize the technical effect of quickly ejecting the core bottom and automatically falling off the workpiece after removing the circumferential clamping force by applying pre-tightening force to the spring or air cylinder. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 A nuclear waste water filter cartridge clamping and rotating mechanism device structure schematic diagram is proposed for the embodiments of the present application; Figure 2 A compression spring type elastic positioning element installation structure schematic diagram is proposed for the embodiments of the present application Figure One ; Figure 3 A compression spring type elastic positioning element installation structure schematic diagram is proposed for the embodiments of the present application Figure Two ; Figure 4 A cylinder type elastic positioning element installation structure schematic diagram is proposed for the embodiments of the present application.

[0023] BRIEF DESCRIPTION OF DRAWINGS: chuck 11; rotating drive mechanism 12; electromagnetic clutch 13; main motor 14; first rack 15; first servo motor 16; sliding module 2; pneumatic finger module 31; air sliding ring 32; second rack 33; second servo motor 34; clamping jaw 21; compression spring type elastic positioning element 3; cylinder type elastic positioning element 4; air guide sliding ring 5; positioning plate 3-1; elastic shaft 3-2; spring seat 3-3; compression spring 3-4; adjusting screw 3-5; ball hinge joint 3-6. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0025] Embodiments Please refer to Figures 1-4The nuclear waste water filter cartridge clamping and rotating mechanism device provided for the embodiment comprises: The clamping mechanism comprises a bottom clamping mechanism and a top clamping mechanism.

[0026] The bottom clamping mechanism is realized by the chuck 11 to clamp different filter cartridge bottoms, so as to clamp the bottoms of 4-inch to 16-inch filter cartridges. The clamping claws 21 on the chuck 11 can realize two clamping modes of inside supporting and outside clamping. The clamping claws 21 used in the inside supporting and outside clamping modes are the clamping claws 21 originally matched with the conventional electric three-jaw chuck, and there is no special requirement for the shape and material. The motor drives the three clamping claws 21 to realize opening and closing movement. The switching of the clamping modes of different specifications of filter cartridges is realized by manual selection of an operator on a touch screen of an automatic control system.

[0027] The stability and accuracy guarantee mechanism when the clamping claws 21 are switched from one mode to another mode is controlled by the main motor 14 driving the movement of the clamping claws 21. The main motor 14 has a current feedback function. Each time the mode is switched, the program first moves the clamping claws 21 to the closed position, and the closing to the position is controlled by the current feedback signal. Then the program controls the rotation amount of the main motor 14 to realize the mode switching of the clamping claws 21.

[0028] The chuck 11 is connected with the rotating drive mechanism 12, the electromagnetic clutch 13, and the main motor 14 through a shaft. The rotating drive mechanism 12 adopts an absolute value servo motor to realize accurate rotary positioning in the filter cartridge sampling process. The electromagnetic clutch 13 controls the connection and separation of the main motor 14 to the chuck 11.

[0029] The chuck 11 has two movement modes: the movement mode of the clamping claws 21 in the chuck 11 driven by the main motor 14, and the overall rotary movement mode of the chuck 11 driven by the rotating drive mechanism 12. The switching of the two movement modes is realized by the electromagnetic clutch. The electromagnetic clutch is turned on to be the movement mode of the clamping claws 21 in the chuck 11 driven by the main motor 14. The electromagnetic clutch is turned off to be the overall rotary movement mode of the chuck 11 driven by the rotating drive mechanism 12. The two modes cannot be parallel.

[0030] During the sampling and disassembly process, the filter cartridge needs to be clamped and fixed first. The electromagnetic clutch 13 is turned on, and the main motor 14 drives the movement of the clamping claws 21 of the chuck 11 to realize the outside clamping or inside supporting clamping and fixing of the filter cartridge. Whether the clamping is in place is judged by the current signal transmitted to the control system by the main motor 14. After the clamping is in place, the electromagnetic clutch is turned off. During the sampling and disassembly process, the specified angle rotation of the filter cartridge needs to be realized. At this time, the rotating drive mechanism 12 drives the overall rotation of the chuck 11 to drive the filter cartridge to realize the specified angle rotation.

[0031] The chuck 11, the rotary drive mechanism 12, the electromagnetic clutch 13, and the main motor 14 are all fixedly installed on the first frame 15, wherein the chuck 11 is connected with the hollow shaft through an inner-tooth nylon sleeve coupling, the hollow shaft is installed on the first frame 15 through an outer spherical bearing seat, the rotary drive mechanism 12 is fixed on the first frame 15 by screws, and the main motor 14 is fixed on the tail of the first frame 15 by screws.

[0032] The top clamping mechanism includes a pneumatic finger module 31 to clamp the top of different filter cartridges, and the front end of the pneumatic finger module 31 is provided with fingers designed according to the shape of the top of the filter cartridge, and the top of the filter cartridge is clamped by opening and closing the fingers. The pneumatic finger module 31 is connected with a gas slip ring 32 through a hollow shaft; in the working conditions of sampling or disassembly, the pneumatic finger module 31 will rotate synchronously with the filter cartridge body, and the pneumatic finger module 31 needs to be supplied with continuous air source during the process, and the air inlet and air outlet of the pneumatic finger module 31 are connected with the corresponding interfaces of the gas slip ring through the inner hose of the hollow shaft and the air slip ring respectively to provide air source for the pneumatic finger module 31. The air inlet of the gas slip ring 32 is connected with an external air source. The pneumatic finger module 31 and the gas slip ring 32 are installed on the second frame 33, wherein the pneumatic finger module 31 is connected with the hollow shaft through screws, the hollow shaft is installed on the second frame 33 through an outer spherical bearing seat, and the other end of the hollow shaft is connected with the sliding end of the gas slip ring 32 through screws, and the tail of the second frame 33 is designed with a mounting seat to fix the fixed end of the gas slip ring 32.

[0033] The sliding module is used to realize the movement of the first frame 15 and the second frame 33. The sliding module 2 realizes movement guidance through sliding guide rails and sliding blocks, the first frame 15 and the second frame 33 are connected with four sliding blocks through screws, the sliding module 2 realizes movement transmission through a gear on a rack, and the first servo motor 16 installed on the first frame 15 and the second servo motor 34 installed on the second frame 33 drive the rotation of the gear to realize the relative movement of the first frame 15 and the second frame 33.

[0034] The axial elastic positioning element is mainly used to adapt to the bottom end face of the nuclear waste water filter cartridge to realize the axial positioning of the nuclear waste water filter cartridge. Therefore, a compression spring type elastic positioning element 3 is designed, which includes a positioning plate 3-1, an elastic shaft 3-2, a spring seat 3-3, a compression spring 3-4, an adjusting screw 3-5, and a ball hinge joint 3-6. The elastic shaft 3-2 is provided with a pre-compression force by the compression spring 3-4. The pre-compression force can be adjusted by rotating the adjusting screw 3-5. The elastic shaft 3-2 and the positioning plate 3-1 are connected by the ball hinge joint 3-6, and the ball hinge joint 3-6 can realize a ±5° deflection. Each positioning plate 3-1 is supported by two groups of elastic shafts 3-2, and when the non-planar bottom end face of the nuclear waste water filter cartridge contacts the positioning plate 3-1, the compression amount of the elastic shaft 3-2 is different, and the rotation angle of the ball hinge joint 3-6 is different, so as to realize the axial close-fitting positioning.

[0035] The compression spring type elastic positioning member 3 can also be replaced by a pneumatic cylinder type elastic positioning member 4. The pneumatic cylinder type elastic positioning member 4 is structurally replaced by a pneumatic cylinder instead of the elastic shaft 3-2, the spring seat 3-3 and the compression spring 3-4. The pre-compression force can be adjusted by adjusting the air supply pressure. The pre-tightening force control is more accurate than that of the compression spring type elastic positioning member 3. When the bottom end surface of the nuclear waste water filter core is not flat and contacts the positioning plate 3-1, the pneumatic cylinder has different extension amounts, and the spherical hinge joint 3-6 has different rotation angles, so as to realize the axial close-fitting positioning.

[0036] The axial elastic positioning element size design mainly includes: the spring compression amount or the cylinder extension amount required for the axial close-fitting positioning of the bottom end surface of the nuclear waste water filter core and the size of the positioning plate 3-1.

[0037] In the spring compression amount or cylinder extension amount design, according to the unevenness of the bottom of the nuclear waste water filter core and the size of the clippable inner hole of the bottom, the spring compression amount or the cylinder extension amount is selected as 15 mm. Assuming that the maximum unevenness of the bottom of the nuclear waste water filter core at the contact surface of the positioning plate 3-1 is ±0.5 mm, and during the positioning process, the compression spring 3-4 or the cylinder is designed to be 10 mm, at this time, the spring compression amount or the cylinder extension amount on both sides of the positioning plate 3-1 is 9.5 mm and 10.5 mm, and both sides of the spherical hinge joint 3-6 are deflected.

[0038] The size of the positioning plate 3-1 is based on the structure design of the bottom of the nuclear waste water filter core, and the bottom end surface in the circumferential direction contains multiple screw rods. Since the screw rod position cannot be positioned during feeding, the positioning plate 3-1 needs to avoid the screw rod and contact the bottom end surface. The positioning plate 3-1 is designed as an arc structure, and the arc width is the common set of the inner hole spacing between the bottom end surface of the nuclear waste water filter core and the screw rod of multiple types of nuclear waste water filter cores.

[0039] Further, the axial elastic positioning element is installed on the claw 21, wherein the spring barrel of the compression spring type elastic positioning member 3 or the cylinder of the pneumatic cylinder type elastic positioning member 4 is placed on both sides of the claw 21, and the positioning plate 3-1 is installed outside the claw 21. The inside of the installation plate is spaced apart from the outside of the claw 21 by a gap of 0.5-3 mm, so that the clippable inner hole of the bottom of the nuclear waste water filter core is at the claw 21, and the bottom end surface of the nuclear waste water filter core is closely fitted with the positioning plate 3-1. The axial elastic positioning element can move along with the claw 21 in the chuck groove, and the installation quantity is consistent with the number of claws 21 in the chuck.

[0040] Further, the axial elastic positioning element also provides a quick ejection of the workpiece. Specifically, when the bottom of the nuclear waste water filter core is cut, the bottom loses the support force from the top, at which time the axial positioning pre-tightening force of the bottom is provided by the friction between the clamping jaw 21 and the inner clamping hole. When the clamping jaw 21 moves inward along the chuck rail, the friction disappears, and the elastic shaft 3-2 is ejected by the compression spring or compressed cylinder, so that the bottom of the nuclear waste water filter core is quickly ejected. Preferably, the diameter of the compression spring can be set to 1.5 mm, and the compression amount is 20%; or a cylinder is used, the air source is set to 0.8 MPa, and the rod length is 30 mm. The action time during ejection is extremely short (less than or equal to 1 s), and to improve the reliability of ejection, two elastic elements can be installed, and one elastic element can eject the workpiece during actual work, and the process is not stuck.

[0041] Further, when the end face of the bottom of the waste water filter core is to be tightly attached to the positioning plate 3-1, the compression spring 3-4 or cylinder needs to be compressed, and the force is provided by the pneumatic finger module 31 installed on the second rack 33. When the waste water filter core is loaded, the top is a conical hole, which is supported by the pneumatic finger module 31. The bottom is an inner hole that can be clamped, and the clamping jaw 21 can be inserted into the inner hole. After being supported on both sides, the positioning begins, the clamping jaw 21 extends outward along the chuck groove, and extends to the inner hole 1-3 mm away from the outside of the clamping jaw 21. The second rack 33 slides forward, so that the end face of the bottom of the waste water filter core continuously contacts the positioning plate 3-1, until the two are tightly attached and a certain pre-tightening force is maintained. The clamping jaw 21 continues to extend outward to the inner hole face, achieving circumferential clamping. In this process, the finger-shaped clamping part of the pneumatic finger module 31 is in full contact with the conical hole at the top of the waste water filter core, which can achieve axial positioning of the waste water filter core. At the same time, it can ensure that the axis of the waste water filter core is consistent with the axis of the front and rear clamping mechanisms.

[0042] When the axial elastic positioning element is a cylinder type elastic positioning element 4, the electrical control includes: since the cylinder type elastic positioning element 4 is installed on the rotary chuck, the air source needs to be provided in the form of a gas guide slip ring. The fixing part of the gas guide slip ring 5 is installed at the first rack 15, and the sliding part is connected with the chuck. The gas guide slip ring 5 can be of a multiple-in and multiple-out type. If it is a 2-in and 2-out type, multiple cylinder intake pipes are connected in parallel to one way. The pre-tightening force control of the cylinder type elastic positioning element 4 can be achieved by adjusting the intake pressure. Its extension and retraction are controlled by a solenoid valve. At the same time, its extension and retraction control, the opening and retraction of the clamping jaw 21, and the movement interlocking control of the second rack 33. When the clamping jaw 21 is opened to the position and the second rack 33 is not in action, the cylinder extends. When the second rack 33 moves forward, the cylinder continues to extend. When the second rack 33 moves backward, the clamping jaw 21 retracts, and the cylinder retracts.

[0043] The electronic control system includes control of the main motor 14, the electromagnetic clutch 13, the servo motor of the rotary drive mechanism 12, the first servo motor 16, the second servo motor 34, and the pneumatic finger module 31. The servo motors are absolute servo motors, which, through calculation by the control system, accurately determine the rotation angle of the chuck 11 and the walking positions of the first frame 15 and the second frame 33 in real time. Both the first servo motor 16 and the second servo motor 34 are absolute servo motors, allowing for precise control of the relative positions of the frames during operation. To prevent excessive compression or collision when the two frames move towards each other, different protection distance limits are set in the automatic control program based on the specifications of different filter elements. If these limits are exceeded, the first servo motor 16 and the second servo motor 34 automatically alarm and stop immediately.

[0044] By inputting the filter element model, the clamping method of chuck 11 can be automatically selected, and the movement positions of the first frame 15 and the second frame 33 can be calculated. During initialization, the servo motor position can be displayed and automatically returned to zero. The chuck 11 jaws 21 move to the preset position, the pneumatic finger module 31 retracts, the first frame 15 and the second frame 33 move to the preset position, and a reset signal is displayed. When sampling the filter element, the rotary drive mechanism 12 drives the chuck 11 to rotate by a specified angle and hold it. The positioning signal of the rotary drive mechanism 12 can be observed. Here, the filter element model is identified manually by visual inspection, and then the corresponding clamping process is selected in the automatic control system.

[0045] The specific implementation process of this device can be described as follows, taking the internal support clamping method as an example: ① Adjust adjusting screws 3-5 according to the workpiece size to ensure that the preload of compression spring 3-4 meets the usage requirements; ② Install the compression spring type elastic positioning component 3 onto the jaw 21; ③ The main motor 14 drives the jaws 21 on the chuck 11 to close to the appropriate size; ④ After aligning the bottom of the filter element with the chuck 11; ⑤ The main motor 14 drives the jaws 21 on the chuck 11 to open until they clamp the bottom inner hole of the filter element.

[0046] ⑥ During the sampling process, the connection between the main motor 14 and the chuck 11 is disconnected by the electromagnetic clutch 13, and the chuck 11 is rotated and positioned at a specified angle by the rotary drive mechanism 12. Then, sampling is performed, and the rotation-sampling operation is repeated until all sampling work is completed.

[0047] ⑦ During the disassembly process, the connection between the main motor 14 and the chuck 11 is disconnected by the electromagnetic clutch 13, and the chuck 11 is synchronously rotated throughout the process by the rotary drive mechanism 12, which speeds up the disassembly efficiency.

[0048] In summary, the nuclear waste water filter cartridge clamping and rotating mechanism device disclosed by the application adopts a pneumatic finger module at the tail of the water filter cartridge clamping and rotating mechanism, realizes flexible clamping, improves the universality and follow-up performance of the device, adopts an electromagnetic clutch for the main motor transmission part of the water filter cartridge clamping and rotating mechanism, can meet the opening and closing and rotating positioning requirements of the chuck, can accurately control the relative movement position of the two end racks of the water filter cartridge clamping and rotating mechanism, can realize repeated positioning accuracy of less than or equal to 0.5 mm by configuring a corresponding electric control program, can be suitable for filter cartridges or other cylindrical parts and cylindrical parts with a large range of length changes, and has strong universality, can realize that the positioning plate can rotate within a certain range by combining a compression spring or a cylinder with a ball hinge, so that the bottom of the nuclear waste water filter cartridge is closely attached to the positioning plate, and can realize that the bottom of the filter cartridge is quickly popped out and the workpiece is automatically dropped after the circumferential clamping force is removed by applying a pre-tightening force to the spring or the cylinder.

[0049] Although embodiments of the application have been shown and described, it is to be understood that the application is not limited to these embodiments. It will be obvious to those skilled in the art that various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A nuclear waste water filter cartridge clamping and rotating mechanism apparatus, characterized by, The utility model relates to a filter cartridge clamping device, comprising: Clamping mechanism, including bottom clamping mechanism and top clamping mechanism, wherein the bottom clamping mechanism includes chuck (11), and the rotation drive mechanism (12) that is connected with chuck (11) through shaft, electromagnetic clutch (13) and main motor (14), the electromagnetic clutch (13) controls the coupling and separation of main motor (14) to chuck (11), chuck (11), rotation drive mechanism (12), electric clutch (13) and main motor (14) are all installed fixedly on first rack (15), the top clamping mechanism includes pneumatic finger module (31), the pneumatic finger module (31) front end is equipped with the finger-shaped clamping part according to the filter cartridge top shape design, and the top clamping of filter cartridge is realized through the opening and closing of finger-shaped clamping part, the pneumatic finger module (31) is connected with gas slip ring (32) through hollow shaft, and the pneumatic finger module (31), gas slip ring (32) are installed on second rack (33), Slide module (2), the slide module (2) includes slide rail and sliding block, first rack (15) and second rack (33) are connected with four sliding blocks respectively with screw, the slide module (2) realizes motion transmission through gear and rack, and first servo motor (16) installed on first rack (15) and second servo motor (34) on second rack (33) drive the rotation of gear and realize the relative motion of first rack (15) and second rack (33), Axial elastic positioning element, including compression spring type elastic positioning piece or air cylinder type elastic positioning piece, is used for the axial close-fitting positioning of filter cartridge bottom, Electric control system is used for controlling main motor (14), electromagnetic clutch (13), rotation drive mechanism (12) servo motor, first servo motor (16), second servo motor (34) and pneumatic finger module (31).

2. The water filter cartridge clamp and rotate mechanism apparatus of claim 1, wherein, In the working condition of sampling or disassembly, the pneumatic finger module (31) can follow the synchronous driving rotation of filter cartridge main body, and the pneumatic finger module (31) is provided with continuous gas supply during the process, the gas inlet and gas outlet of pneumatic finger module (31) are connected with the corresponding interface of gas slip ring (32) through the hose in hollow shaft, and the gas source of pneumatic finger module (31) is provided, and the gas inlet of gas slip ring (32) is connected with external gas source.

3. The water filter cartridge clamp and rotate mechanism apparatus of claim 2, wherein, The pneumatic finger module (31) is connected with the hollow shaft through screw, the hollow shaft is installed on second rack (33) through outer spherical surface bearing seat, one end of the hollow shaft is connected with the sliding end of gas slip ring (32) through screw, and the tail of second rack (33) is designed with mounting seat to fixedly install the fixed end of gas slip ring (32).

4. The water filter cartridge clamp and rotate mechanism apparatus of claim 1, wherein, The compression spring type elastic positioning member comprises a positioning plate, an elastic shaft, a spring seat, a compression spring, an adjusting screw and a ball hinge joint; the elastic shaft is provided with a pre-compression force by the compression spring, the pre-compression force can be adjusted by screwing the adjusting screw, the ball hinge joint is between the elastic shaft and the positioning plate, the ball hinge joint can realize a ±5° deflection, each positioning plate is supported by two groups of elastic shafts, when the end surface of the bottom of the nuclear waste water filter core is not in contact with the positioning plate, the compression amount of the elastic shaft is different, the rotation angle of the ball hinge joint is different, so that the axial close-fitting positioning is realized.

5. The water filter cartridge clamp and rotate mechanism apparatus of claim 1, wherein, The cylinder type elastic positioning member comprises a cylinder, a spring seat and a compression spring.

6. The water filter cartridge clamp and rotation mechanism apparatus of claim 4 or 5, wherein, The chuck (11) comprises a claw (21), the claw (21) can realize two clamping modes of inner supporting and outer clamping, when the claw (21) is switched from one clamping mode to another clamping mode, the claw (21) is controlled by the main motor (14) which drives the movement of the claw (21), the main motor (14) has a current feedback function, each time the mode is switched, the program first moves the claw (21) to the closed position, the closed position is determined by the current feedback signal, then the program controls the rotation amount of the main motor (14), and the mode switching of the claw (21) is realized.

7. The water filter cartridge clamp and rotate mechanism apparatus of claim 6, wherein, The axial elastic positioning element is installed on the claw (21), wherein the spring barrel of the compression spring type elastic positioning member or the cylinder of the cylinder type elastic positioning member is arranged on both sides of the claw (21), and the positioning plate is installed on the outside of the claw (21), the axial elastic positioning element can move along with the claw (21) in the chuck groove, and the installation quantity is consistent with the number of claws (21) in the chuck (11).

8. The water filter cartridge clamp and rotate mechanism apparatus of claim 7, wherein, The axial elastic positioning element further comprises a quick ejection workpiece, which comprises a return spring or a cylinder, the return spring has a wire diameter of 1.5 mm and a compression amount of 20%; the gas source of the cylinder is 0.8 MPa, and the rod length is 30 mm.

9. The water filter cartridge clamp and rotate mechanism apparatus of claim 7, wherein, When the axial elastic positioning element is the cylinder type elastic positioning member, the gas source is provided in the form of a gas guide slip ring (5), the fixing part of the gas guide slip ring (5) is installed at the first rack (15), and the sliding part is connected with the chuck (11), and the gas guide slip ring (5) is of a multiple-in and multiple-out type.

10. The water filter cartridge clamp and rotate mechanism apparatus of claim 1, wherein, The first servo motor (16) and the second servo motor (34) are absolute value servo motors.

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