Nuclear waste barrel uncapping system

Abstract

The invention relates to a nuclear waste barrel unsealing and sealing system. The system comprises a barrel cover storage rack for storing barrel covers; the conveying device is used for conveying the waste barrels, and the conveying path of the waste barrels passes through the uncapping station; the uncapping device comprises a grabbing mechanism and a bolt screwing mechanism, the grabbing mechanism can vertically ascend and descend, move between the barrel cover storage rack and the uncapping station and rotate around a vertical first axis, the grabbing mechanism is used for grabbing and conveying the barrel cover and controlling the barrel cover to rotate, and the barrel cover is coaxial with the first axis when being grabbed; the bolt screwing mechanism can vertically ascend and descend and is used for screwing or unscrewing bolts on the barrel cover at the unsealing station. According to the invention, automation of uncapping work of the waste barrel can be realized, radioactive risks of manual operation are avoided, and the working efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of nuclear waste treatment technology, and specifically to a nuclear waste container opening and closing system. Background Technology

[0002] In the process of handling radioactive waste, nuclear waste needs to be placed into waste containers and sealed. When filling radioactive waste, the lid of the waste container is usually opened first, and then sealed after filling is completed. The lid and the container body are generally connected by bolts.

[0003] Waste bin lids are large and heavy, and the sealing process poses a radioactive risk, making it inconvenient for manual opening of waste bins. Therefore, this application provides a lid-opening system to automate the process of opening waste bin lids. Summary of the Invention

[0004] Based on the above description, the present invention provides a nuclear waste container opening system to automate the opening and closing of the waste container.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: This application provides a nuclear waste container opening system, comprising: Bucket lid storage rack for storing bucket lids; A conveying device for transporting waste bins, the conveying path of which passes through the cap opening station; The cap-opening device includes a gripping mechanism and a bolt-tightening mechanism. The gripping mechanism can be vertically raised and lowered and can move between the cap storage rack and the cap-opening station. It can also rotate around a vertical first axis. The gripping mechanism is used to grip the conveyed cap and control the rotation of the cap. When the cap is gripped, it is coaxial with the first axis. The bolt-tightening mechanism can be vertically raised and lowered and is used to tighten or loosen the bolts on the cap at the cap-opening station.

[0006] Preferably, the gripping mechanism includes a mounting plate and at least three gripping elements connected to the mounting plate. The gripping elements are located below the mounting plate and are circumferentially spaced along a first axis. The gripping elements are movably connected to the mounting plate, and the gripping elements can be moved to a distance from the first axis that is greater than or less than the radius of the bucket lid.

[0007] Preferably, the mounting plate is connected to the support plate, the support plate can be vertically raised and lowered and moved between the lid storage rack and the lid opening station, and can rotate about a vertical first axis. The support plate is provided with a detection element for measuring the weight of the mounting plate.

[0008] Preferably, the detection element includes a weighing sensor. When the gripping mechanism grips the lid on the lid storage rack and raises it, or grips the lid on the waste bin and raises it, if the data detected by the weighing sensor exceeds a set value, the gripping mechanism stops raising it.

[0009] Preferably, the bucket lid storage rack includes: support; A drive assembly comprising two chains rotatably connected to the bracket about a horizontal axis of rotation, the two chains being spaced apart along a horizontal direction perpendicular to the axis of rotation. Multiple support components, each support component including two support members connected to two chains respectively, and multiple support members on each chain are spaced apart along the length of the chain, adapted to support the bucket lid by means of the two support members when the two support members of the support component rotate with the chain to be located between the two chains.

[0010] Preferably, the chain includes a vertical section, and the vertical sections of the two chains are located on the side of the two chains that are close to each other. The plurality of supports on each chain can rotate with the chain so that they are all located on the vertical section.

[0011] Preferably, the two chains rotate synchronously, and the two supports of each set of support components are located at the same height.

[0012] Preferably, the bolt tightening mechanism moves synchronously with the gripping mechanism.

[0013] Preferably, the bolt tightening mechanism includes multiple electric wrenches, which are circumferentially spaced along a first axis, and each electric wrench corresponds to one of the multiple bolts on the bucket lid.

[0014] Compared with the prior art, the technical solution of this application has at least the following beneficial technical effects: 1. This application utilizes a lid storage rack to store lids and a conveying device to transport waste bins. During transport, the waste bins are conveyed with their openings facing upwards. A gripping mechanism in the lid-opening device grips the lids and transports them between the lid storage rack and the lid-opening station. A bolt-tightening mechanism tightens or loosens the bolts on the lids. When opening the lid, the waste bin is transported to the lid-opening station. The bolt-tightening mechanism loosens the bolts connecting the lid and the bin body. Then, the gripping mechanism descends to grip the lid and rises to detach the lid from the bin body. The lid then moves to the lid storage rack and is placed on it, completing the opening process. When sealing the lid, the waste bin containing waste is transported to the lid-opening station. The gripping mechanism descends at the lid storage rack, grips the lid from the rack, and rises to detach the lid from the rack. The lid then moves to the lid-opening station and is placed on the bin body. The bolt-tightening mechanism tightens the bolts connecting the lid and the bin body, completing the sealing process. The gripping mechanism can rotate to adjust the angle of the bucket lid, ensuring that the bolts on the lid align perfectly with the bolt holes on the bucket body. This automates the opening and closing of waste bins, avoids the radioactive risks associated with manual operation, and improves work efficiency.

[0015] 2. The gripping mechanism of this application uses at least three gripping elements to grip the bucket lid. During gripping, the gripping elements are first moved until their distance from the first axis is greater than the radius of the bucket lid. At this point, the at least three gripping elements can move from the outside of the bucket lid to below it. Then, the gripping elements move until their distance from the first axis is less than the radius of the bucket lid. At this point, the gripping elements rise to lift the bucket lid. The cooperation of the at least three gripping elements stably lifts the bucket lid for transport. To lower the bucket lid, the gripping elements reverse the above actions. Through the setting of the detection element, during the lifting process of the bucket lid, the maximum weight of the support plate is the sum of its own weight, the weight of the gripping elements, and the weight of the bucket lid. If the weight detected by the detection element exceeds this value, it indicates that the bolts between the bucket lid and the bucket body are not completely loosened, or that the bucket lid is interfering with other parts of the equipment. If the gripping mechanism continues to rise in this case, it may cause equipment damage. Therefore, when the detection data of the detection element exceeds the set value, the gripping mechanism can be stopped and the equipment can be shut down to avoid equipment damage. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the nuclear waste container opening and closing system provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the lid storage rack in the nuclear waste container opening and closing system provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the opening device in the nuclear waste container opening system provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the gripping mechanism and the bolt tightening mechanism in the nuclear waste container opening system provided in this embodiment of the invention; Figure 5 This is a schematic diagram of the structure of the bucket lid provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the drive mechanism in the nuclear waste container opening and closing system provided in an embodiment of the present invention.

[0017] Explanation of reference numerals in the attached figures: 1. Bucket lid storage rack; 11. Bracket; 12. Chain; 13. Support component; 2. Conveying device; 3. Lid opening device; 31. Gripping mechanism; 311. Mounting plate; 312. Gripping component; 3121. Gripping block; 3122. Lifting claw; 313. Rotary cylinder; 32. Bolt tightening mechanism; 321. Electric wrench; 33. Support plate; 34. Detection component; 35. Mounting shaft; 36. Mounting base; 37. Drive frame; 38. Mounting frame; 4. Frame; 5. Bucket lid; 51. Main body; 52. Cylinder; 53. Ring. Detailed Implementation

[0018] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0020] It is understood that spatial relation terms such as "below," "under," "below," "below," "above," "above," etc., can be used here to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, the element or feature described as "below" or "below" of the other element or feature will be oriented "above" the other element or feature. Therefore, the exemplary terms "below" and "below" can include both upper and lower orientations. Furthermore, the device may also include other orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptive terms used herein will be interpreted accordingly.

[0021] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element. In the following embodiments, "connection" should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have the transmission of electrical signals or data between them.

[0022] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0023] Reference Figure 1 As shown, this application provides a nuclear waste container opening system, including a container lid storage rack 1, a conveying device 2, and an opening device 3.

[0024] Bucket lid storage rack 1 is used to store bucket lids 5. Bucket lid storage rack 1 is set at the storage station. Conveying device 2 is used to transport waste buckets. The conveying path of the waste buckets passes through the lid opening station. The storage station and the lid opening station are distributed at intervals in the horizontal direction.

[0025] The cap opening device 3 includes a gripping mechanism 31 and a bolt tightening mechanism 32. The gripping mechanism 31 can be vertically lifted and moved between the cap storage rack 1 and the cap opening station, and can rotate around a vertical first axis. The gripping mechanism 31 is used to grip the conveying cap 5 and control the rotation of the cap 5. When the cap 5 is gripped, it is coaxial with the first axis. The bolt tightening mechanism 32 can be vertically lifted and is used to tighten or loosen the bolts on the cap at the cap opening station.

[0026] Reference Figure 1 and Figure 2 As shown, the bucket lid storage rack 1 includes a bracket 11, a drive assembly, and multiple sets of support assemblies. The bracket 11 is used to fix the bucket lid on the ground to provide support. The chain drive assembly includes two chains 12, which are rotatably connected to the bracket 11 around a horizontal axis of rotation. The two chains 12 are spaced apart along a horizontal direction that is perpendicular to the axis of rotation of the chain 12.

[0027] Reference Figure 2 As shown, the support assembly includes two support members 13, which are respectively connected to two chains 12. The multiple support members 13 on each chain 12 are spaced apart along the length of the chain 12, which is suitable for supporting the bucket lid 5 by means of the two support members 13 when the two support members 13 of the support assembly rotate with the chain 12 to be located between the two chains 12.

[0028] Reference Figure 2 As shown, specifically, the support member 13 includes a support plate, which is fixedly connected to the chain 12 via a support block to rotate with the chain 12. The chain 12 includes a vertical section, with the vertical sections of the two chains 12 located on the side where the two chains 12 are close to each other. When the support plate rotates to be located on the vertical section, it is in a horizontal state, so as to stably support the bucket lid 5 through the support plate.

[0029] Reference Figure 2 As shown, furthermore, the two chains 12 rotate synchronously, and the two support members 13 of each support assembly are at the same height. Specifically, the bracket 11 is provided with a shaft for mounting the chains 12, and the shafts of the two chains 12 are connected by a drive sprocket and a drive chain 12 to achieve synchronous rotation. The two support members 13 of each support assembly always maintain the same height, thereby stably supporting the bucket lid 5.

[0030] Reference Figure 2 As shown, in this embodiment, to improve the support stability of the support plate for the bucket lid 5, the drive assembly includes two sets of chains 12. The two sets of chains 12 are axially spaced along the rotation axis of the chains 12. The two chains 12 of one set and the two chains 12 of the other set are coaxially arranged in a one-to-one correspondence. The support member 13 is fixedly connected to the two coaxial chains 12 to increase the fixing points of the support member 13 and improve its structural stability. By setting a motor on the bracket 11 to drive one of the rotating shafts to rotate, multiple chains 12 can be rotated synchronously.

[0031] Reference Figure 2 As shown, furthermore, multiple support members 13 on each chain 12 can rotate with the chain 12 to be positioned on the vertical section. This arrangement allows multiple sets of support components to be positioned between two chains 12 in one set and distributed at intervals in the vertical direction, thereby allowing multiple bucket lids 5 to be stored at once. When retrieving a bucket lid 5, the topmost bucket lid 5 is grabbed first, and then the bucket lids 5 below are raised sequentially to the retrieval position. A laser sensor can be installed on the bracket 11 to detect whether a bucket lid 5 is present at the retrieval position, so that after a bucket lid 5 at the retrieval position is removed, the control system controls the motor to run, causing the bucket lids 5 below to rise to the retrieval position.

[0032] Reference Figure 1 As shown, the conveying device 2 is a roller conveyor, which is set horizontally on the ground to convey waste bins.

[0033] Reference Figure 1 and Figure 3-4As shown, the cap opening device 3 is mounted on the frame 4. The gripping mechanism 31 includes a mounting plate 311 and at least three gripping elements 312 connected to the mounting plate 311. The gripping elements 312 are located below the mounting plate 311 and are circumferentially spaced along the first axis. The gripping elements 312 are movably connected to the mounting plate 311. The gripping elements 312 can move to a distance from the first axis that is greater than or less than the radius of the cap 5.

[0034] Reference Figure 3 and Figure 4 As shown, specifically, the mounting plate 311 is horizontally positioned, and the gripping component 312 includes a gripping block 3121 and a lifting claw 3122. The lifting claw 3122 is connected to one side of the gripping block 3121 in the horizontal direction. The gripping block 3121 can rotate relative to the mounting plate 311 around a vertical axis, and the rotation of the gripping block 3121 is driven by a rotary cylinder 313. When the gripping block 3121 rotates, the distance between the lifting claw 3122 and the first axis changes, realizing the function of the gripping component 312 moving to a distance greater than or less than the radius of the bucket lid 5 from the first axis.

[0035] Reference Figure 3 and Figure 4 As shown, when gripping the lid 5, the gripping block 3121 is first rotated until the distance between the lifting claw 3122 and the first axis is greater than the radius of the lid 5. At this time, at least three gripping parts 312 can move from the outside of the lid 5 to below the lid 5. Then, the gripping block 3121 is rotated until the distance between the lifting claw 3122 and the first axis is less than the radius of the lid 5. At this time, when the gripping parts 312 rise, the lifting claw 3122 lifts the lid 5 from the bottom. The cooperation of at least three gripping parts 312 can stably lift the lid 5 for conveying. When lowering the lid 5, the gripping parts 312 simply reverse the above actions.

[0036] Reference Figure 5 As shown, in this embodiment, the bucket lid 5 includes a disc-shaped main body 51 and a cylindrical part 52 disposed on the top of the main body 51. The cylindrical part 52 is coaxial with the main body 51, and a ring part 53 is coaxially sleeved on the outside of the cylindrical part 52. The outer diameter of the ring part 53 is smaller than the outer diameter of the bucket lid 5. The gripping mechanism 31 is configured to grip the ring part 53. Specifically, the gripping member 312 is configured to be movable such that the distance from the first axis is greater than or less than the radius of the ring part 53.

[0037] Reference Figure 3 and Figure 4 As shown, the mounting plate 311 is further connected to the support plate 33. The support plate 33 can be vertically raised and lowered and can move between the lid storage rack 1 and the lid opening station. It can also rotate about a vertical first axis. The support plate 33 is provided with a detection element 34 for measuring the weight of the mounting plate 311. The mounting plate 311 moves with the support plate 33 to realize the function of the gripping mechanism 31 moving between the lid storage rack 1 and the lid opening station and rotating about the first axis.

[0038] By setting the detection element 34, during the lifting process of the bucket lid 5, the maximum weight of the support plate 33 is the sum of its own weight, the weight of the gripping element 312, and the weight of the bucket lid 5. If the weight detected by the detection element 34 exceeds this value, it indicates that the bolts between the bucket lid 5 and the bucket body are not completely loosened, or that the bucket lid 5 is interfering with other parts of the equipment. If the gripping mechanism 31 continues to rise in this case, it may cause damage to the equipment. Therefore, when the detection data of the detection element 34 exceeds the set value, the gripping mechanism 31 can be stopped from rising and the equipment can be shut down to avoid damage to the equipment.

[0039] Reference Figure 4 As shown, the detection component 34 includes a weighing sensor. When the gripping mechanism 31 grips and lifts the lid 5 on the lid storage rack 1 or the lid 5 on the waste bin, if the data detected by the weighing sensor exceeds a set value, the gripping mechanism 31 stops lifting. In this embodiment, the mounting plate 311 is connected to the support plate 33 by three weighing sensors, which are evenly spaced along the first axis.

[0040] Reference Figure 4 As shown, in this embodiment, both the support disk 33 and the mounting disk 311 are disc-shaped and coaxially arranged, with the first axis being the axis of the support disk 33. The mounting disk 311 is located below the support disk 33 and spaced apart from it. Both the support disk 33 and the mounting disk 311 are coaxially mounted on a mounting shaft 35. The support disk 33 is fixed to the mounting shaft 35, while the mounting disk 311 is connected to the mounting shaft 35 via a weighing sensor. The rotary cylinder 313, which drives the gripping block 3121 to rotate, is fixed on the mounting disk 311 and located between the mounting disk 311 and the support disk 33.

[0041] Reference Figure 3 and Figure 6 As shown, the mounting shaft 35 is connected to the frame 4 via a drive mechanism. The drive mechanism includes a mounting base 36, a drive frame 37, and a mounting bracket 38. A vertically oriented drive motor is mounted on the mounting base 36. The upper end of the mounting shaft 35 is coaxially fixed with the output shaft of the drive motor, so that the drive motor drives the mounting shaft 35 to rotate, thereby causing the support plate 33 and the mounting plate 311 to rotate. The mounting base 36 is mounted on the drive frame 37 via a vertically arranged linear guide rail to achieve vertical lifting of the mounting base 36. Specifically, the lifting of the mounting base 36 can be controlled by a motor-driven screw mechanism or a cylinder; in this embodiment, a screw mechanism is used for illustration.

[0042] Reference Figure 3 and Figure 6As shown, the drive frame 37 is mounted on the mounting frame 38 via a horizontally arranged linear guide rail that extends along the conveying direction of the roller conveyor. The movement of the drive frame 37 can also be controlled by a motor-driven screw mechanism or a cylinder; in this embodiment, a screw mechanism is also used for illustration. This arrangement allows for position adjustment of the gripping mechanism 31 in the conveying direction of the roller conveyor.

[0043] Reference Figure 3 and Figure 6 As shown, the mounting frame 38 is mounted on the frame 4 via a horizontally arranged linear guide rail. Specifically, the linear guide rail extends along the distribution direction of the storage station and the cap-opening station, allowing the mounting frame 38 to reciprocate between the storage station and the cap-opening station along the linear guide rail. Alternatively, the movement of the mounting frame 38 can be controlled by a motor-driven screw mechanism or a cylinder; in this embodiment, a screw mechanism is also used for illustration.

[0044] The driving methods for lifting the mounting base 36, moving the drive frame 37, and moving the mounting frame 38 can be adapted to other suitable linear drive structures, such as screw mechanisms, rack and pinion mechanisms, pneumatic cylinders, hydraulic cylinders, and electric cylinders, depending on actual needs.

[0045] Through the above settings, the gripping mechanism 31 can move between the storage station and the opening station to transport the lid 5, move in the conveying direction of the roller conveyor to adjust its position, lift and lower in the vertical direction, and rotate around the vertical axis, and can achieve automated control.

[0046] Reference Figure 3 and Figure 4 As shown, the bolt tightening mechanism 32 moves synchronously with the gripping mechanism 31. The bolt tightening mechanism 32 includes multiple electric wrenches 321, which are circumferentially spaced along the first axis. Each electric wrench 321 corresponds to a bolt on the bucket lid 5. Specifically, the electric wrenches 321 are mounted on the support plate 33 and are evenly spaced along the circumference of the support plate 33. Each electric wrench 321 corresponds to a bolt on the bucket lid 5, allowing the multiple electric wrenches 321 to tighten or loosen the bolts.

[0047] This embodiment can automate the opening and closing of waste bins, avoiding the radioactive risks of manual operation and improving work efficiency.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A nuclear waste container opening and closing system, characterized in that, include: Bucket lid storage rack (1) for storing bucket lids (5); The conveying device (2) used for conveying waste bins passes through the opening and closing station of the waste bins. The cap opening device (3) includes a gripping mechanism (31) and a bolt tightening mechanism (32). The gripping mechanism (31) can be vertically lifted and moved between the cap storage rack (1) and the cap opening station, and can rotate around a vertical first axis. The gripping mechanism (31) is used to grip the conveying cap (5) and control the rotation of the cap (5). When the cap (5) is gripped, it is coaxial with the first axis. The bolt tightening mechanism (32) can be vertically lifted and is used to tighten or loosen the bolts on the cap at the cap opening station.

2. The nuclear waste container opening and closing system according to claim 1, characterized in that: The gripping mechanism (31) includes a mounting plate (311) and at least three gripping elements (312) connected to the mounting plate (311). The gripping elements (312) are located below the mounting plate (311) and are circumferentially spaced along a first axis. The gripping elements (312) are movably connected to the mounting plate (311) and can be moved to a distance from the first axis that is greater than or less than the radius of the bucket lid (5).

3. The nuclear waste container opening and closing system according to claim 2, characterized in that: The mounting plate (311) is connected to the support plate (33), which can be vertically raised and lowered and moved between the lid storage rack (1) and the lid opening station, and can rotate around a vertical first axis. The support plate (33) is provided with a detection element (34) for measuring the weight of the mounting plate (311).

4. The nuclear waste container opening and closing system according to claim 3, characterized in that: The detection component (34) includes a weighing sensor. When the gripping mechanism (31) grips the lid (5) on the lid storage rack (1) and raises it or grips the lid (5) on the waste bin and raises it, if the weighing sensor detects data exceeding a set value, the gripping mechanism (31) stops raising it.

5. The nuclear waste container opening and closing system according to claim 1, characterized in that, The bucket lid storage rack (1) includes: Scaffold (11); The drive assembly includes two chains (12) rotatably connected to the bracket (11) about a horizontal rotation axis, and the two chains (12) are spaced apart in a horizontal direction perpendicular to the rotation axis of the chains (12). Multiple support components, each support component including two support members (13), the two support members (13) being respectively connected to two chains (12), and the plurality of support members (13) on each chain (12) being spaced apart along the length direction of the chain (12), adapted to support the bucket lid (5) through the two support members (13) when the two support members (13) of the support component rotate with the chain (12) to be located between the two chains (12).

6. The nuclear waste container opening system according to claim 5, characterized in that: The chain (12) includes a vertical section, and the vertical sections of the two chains (12) are located on the side of the two chains (12) that are close to each other. The plurality of supports (13) on each chain (12) can rotate with the chain (12) to be located on the vertical section.

7. The nuclear waste container opening and closing system according to claim 6, characterized in that: The two chains (12) rotate synchronously, and the two supports (13) of each set of support components are at the same height.

8. The nuclear waste container opening system according to claim 1, characterized in that: The bolt tightening mechanism (32) moves synchronously with the gripping mechanism (31).

9. The nuclear waste container opening system according to claim 8, characterized in that: The bolt tightening mechanism (32) includes multiple electric wrenches (321), which are circumferentially distributed along the first axis, and each of the multiple electric wrenches (321) corresponds to a multiple bolt on the bucket lid (5).

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