Control system and control method of domestic waste filter element replacing and transferring device

Abstract

The invention discloses a control system and a control method of a domestic waste filter element replacing and transferring device, the control system comprises a main control module, an IO module and a motor controller module, the IO module and the motor controller module are respectively connected to the main control module, and the main control module detects that a waste filter element is generated in a certain filter cartridge through the IO module; the domestic waste filter element replacing and transferring device is moved to a transferring station, a main control module controls a motor controller module to drive a rotating disc to rotate, and a new filter element grabbing tool moves along with the rotating disc until a combination of an adapter and a new filter element is grabbed; the domestic waste filter element replacing and transferring device is moved to the replacing station, the shielding cover, the adapter and the waste filter element of the replacing station are most integrally grabbed and moved to the waste filter element transferring station, the waste filter element is placed in the first shielding container, and the adapter is placed in the second shielding container when the device is moved to the adapter shielding container transferring station. The problems of safety and efficiency of radioactive and dangerous waste filter element replacement and transfer are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of control systems of radioactive waste treatment equipment, and particularly relates to a control system and a control method of a homemade waste filter element replacement and transfer device. BACKGROUND

[0002] A filter is a device that realizes efficient filtration, isolation protection and convenient maintenance through physical isolation and functional integration, plays an important operation and maintenance role, and is a necessary operation auxiliary device. As a key component of liquid purification, a filter element needs to be replaced regularly. In special use scenarios, the filter element replacement process is usually radioactive and dangerous.

[0003] Based on the safety values of "reducing radiation, preventing pollution and improving efficiency", a special complete replacement and transfer device with multiple factors such as shielding, protection, isolation safety and automation is needed to ensure the rapid operation and maintenance of the filtration system and improve the stability of the operation auxiliary system.

[0004] Previously, such devices need to be imported from abroad, the procurement price is expensive, and foreign engineers need to be hired for technical services, which not only increases the construction and operation and maintenance costs, but also limits the independent development of the domestic related industry. The replacement of the homemade device provides a bottom guarantee and strategic security for the long-term safe, efficient and economic operation of the device user. SUMMARY

[0005] The purpose of the present application is to provide a control system and a control method of a homemade waste filter element replacement and transfer device in view of the technical defects in the prior art.

[0006] The technical scheme adopted to achieve the purpose of the present application is as follows:

[0007] A control system of a homemade waste filter element replacement and transfer device, the homemade waste filter element replacement and transfer device is slidingly installed on a track, a plurality of filter element chambers arranged transversely are arranged below the track, the homemade waste filter element replacement and transfer device is driven to walk on the track by a walking motor, a filter element shielding cover for opening and closing is arranged on the filter element chamber, a waste filter element cover plate is arranged on the filter element shielding cover, the homemade waste filter element replacement and transfer device comprises a cantilever crane, a new filter element gripper arranged on a turntable, a waste filter element gripper and a shielding cover gripper, the new filter element gripper, the waste filter element gripper and the shielding cover gripper are rotated by rotating the gripper disc until they are grabbed and installed;

[0008] The control system includes a main control module, an I / O module and a motor controller module connected to the main control module. The motor controller module controls the motor's operation. The main control module detects waste filter cartridges generated in a filter cartridge through the I / O module, marking it as a replacement station. The main control module specifies the replacement target information and inputs a start command, moving the domestically produced waste filter cartridge replacement and transfer device to the transfer station. The main control module controls the motor controller module to drive the turntable to rotate, and the new filter cartridge gripper rotates accordingly to the working position, descending to grab the combination of the adapter and the new filter cartridge. The domestically produced waste filter cartridge replacement and transfer device moves to the replacement station, sequentially grabbing the combination formed by the shielding cover, adapter, and waste filter cartridge at the replacement station. Then, the new filter cartridge is placed at the replacement station, the shielding cover is closed, and it moves to the waste filter cartridge transfer station, placing the waste filter cartridge in the first shielding container. It then moves to the adapter shielding container transfer station, placing the adapter in the second shielding container.

[0009] In the above technical solution, the motor controller module includes a walking motor controller module for controlling the movement of the domestic waste filter element replacement and transfer device, a turntable motor controller module for controlling the rotation of the turntable, a new filter element gripper lifting and opening / closing motor controller module for controlling the lifting and opening / closing of the new filter element gripper, a waste filter element gripper lifting and opening / closing motor controller module for controlling the lifting and opening / closing of the waste filter element gripper, a shielding cover gripper lifting and opening / closing motor controller module for controlling the lifting and opening / closing of the shielding cover gripper, and a cantilever crane motor controller module.

[0010] In the above technical solution, the cantilever crane motor controller includes a cantilever crane lifting motor controller, a cantilever crane rotating motor controller, and a cantilever crane moving motor controller. The cantilever crane lifting motor controller controls the cantilever crane lifting motor to enable the cantilever crane to move up and down. The cantilever crane rotating motor controller controls the cantilever crane rotating motor to enable the cantilever crane to rotate at any angle. The cantilever crane moving motor controller controls the cantilever crane moving motor to enable the cantilever crane to move laterally.

[0011] In the above technical solution, the new filter element gripper is connected to a new filter element gripper locking motor and is controlled by a new filter element gripper locking motor controller; the waste filter element gripper is connected to a waste filter element gripper locking motor and is controlled by a waste filter element gripper locking motor controller; and the shielding cover gripper is connected to a shielding cover gripper locking motor and is controlled by a shielding cover gripper locking motor controller.

[0012] In the above technical solution, the bottom of the domestically produced waste filter replacement and transfer device is equipped with a shielding ring. When grabbing and replacing the waste filter, the shielding ring is driven to descend to isolate and shield radioactive materials from the environment. The motor controller module also includes a shielding ring lifting motor controller module for controlling the lifting and lowering of the shielding ring.

[0013] In the above technical solutions, all motors are servo motors, and the motor controller has speed loop, torque loop and position loop control functions.

[0014] In the above technical solution, the motor controller module is connected to the main control module through a PN network.

[0015] In the above technical solution, the IO module connects to the database through the communication module and uses the database information to determine whether the filter element has reached the discard standard.

[0016] In the above technical solutions, the motor controller modules are all servo motor controller modules, the turntable motor controller module is also equipped with a turntable angle verification encoder, and the walking motor controller module is also equipped with a linear displacement verification encoder.

[0017] In the above technical solution, the control system hardware includes a DC power supply, a programmable logic controller, a human-machine interface, a switch, a servo drive system, a detection and measurement device, and a master control element.

[0018] Another aspect of the present invention includes a control method for the control system, comprising the following steps:

[0019] Step 1, grab the new filter element: The main control module detects the waste filter element in a certain filter cartridge through the abnormal filter element detection module, which is recorded as the replacement station. The domestic waste filter element replacement and transfer device is moved to the transfer station. The turntable rotates and the new filter element grabber rotates to the working position to grab the combination formed by the adapter and the new filter element.

[0020] Step 2, Replace the waste filter element: Move the domestic waste filter element replacement and transfer device to the auxiliary position, manually remove the waste filter element cover plate on the replacement station and lift it with a cantilever crane, continue to move it directly above the replacement station, the turntable rotates, the shield cover gripper rotates to the working position and grabs the shield cover, the turntable continues to rotate, the waste filter element gripper rotates to the working position and grabs the combination formed by the adapter and the waste filter element, the turntable continues to rotate, the new filter element gripper rotates to the working position and places the combination formed by the new filter element and the adapter in the replacement station, the turntable rotates, the shield cover gripper rotates to the working position and installs the shield cover on the replacement station;

[0021] Step 3, Processing waste filter elements: Move the domestic waste filter element replacement and transfer device to the waste filter element transfer station. The turntable rotates, and the shield cover gripper rotates to the working position to grab the shield cover. The waste filter element gripper rotates to the working position and places the waste filter element in the first shield. The adapter remains on the waste filter element gripper. The shield cover gripper rotates to cover the shield cover on the first shield.

[0022] Step 4, Adapter Processing: Move the domestic waste filter replacement and transfer device to the adapter shield container transfer station. The turntable rotates, and the shield cover gripper rotates to the working position to grab the shield cover. The turntable rotates, and the waste filter gripper rotates to the working position to place the adapter in the second shield container. The turntable rotates, and the shield cover gripper rotates to the working position to cover the second shield container with the shield cover.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] This invention solves the problem of "safety and efficiency in the replacement and transportation of radioactive and hazardous waste filter cartridges". Safety includes the safety protection of personnel, equipment and environment, while efficiency includes shortening replacement time, reducing exposure risk and reducing personnel intervention. Attached Figure Description

[0025] Figure 1 This is a control system diagram of the present invention.

[0026] Figure 2 This is a flowchart illustrating the control method of the present invention. Detailed Implementation

[0027] The present invention will be further described in detail below with reference to specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0028] Example 1

[0029] like Figure 1 As shown, a control system for a domestically produced waste filter cartridge replacement and transfer device is disclosed. The domestically produced waste filter cartridge replacement and transfer device is slidably installed on a track and moves horizontally on the track via wheels installed at the bottom of the domestically produced waste filter cartridge replacement and transfer device. Below the track are multiple horizontally arranged filter cartridge chambers. The domestically produced waste filter cartridge replacement and transfer device is driven to move on the track by a walking motor. Each filter cartridge chamber is covered with a filter cartridge shielding cover for opening and closing. A waste filter cartridge cover plate is added to the filter cartridge shielding cover. The domestically produced waste filter cartridge replacement and transfer device includes a cantilever crane, a new filter cartridge gripper, a waste filter cartridge gripper, and a shielding cover gripper set on a turntable. The new filter cartridge gripper, waste filter cartridge gripper, and shielding cover gripper are rotated by the rotation of the gripper disc until they are gripped and installed.

[0030] The control system includes a main control module, an I / O module connected to the main control module, and a motor controller module. The motor controller module is used to control the motor's movement.

[0031] The motor controller module includes a walking motor controller module for controlling the movement of the domestically produced waste filter element replacement and transfer device, a turntable motor controller module for controlling the rotation of the turntable, a new filter element gripper lifting and opening / closing motor controller module for controlling the lifting and opening / closing of the new filter element gripper, a waste filter element gripper lifting and opening / closing motor controller module for controlling the lifting and opening / closing of the waste filter element gripper, a shielding cover gripper lifting and opening / closing motor controller module for controlling the lifting and opening / closing of the shielding cover gripper, and a cantilever crane motor controller module.

[0032] The main control module detects waste filter cartridges generated inside a filter cartridge via the IO module, marking it as a replacement station. The main control module specifies the replacement target information and inputs a start command. The walking motor controller module moves the domestically produced waste filter cartridge replacement and transfer device to the transfer station. The main control module controls the motor controller module to drive the turntable to rotate until the new filter cartridge gripper grabs the combination formed by the adapter and the new filter cartridge. The domestically produced waste filter cartridge replacement and transfer device moves to the replacement station, moves the shielding cover, adapter, and waste filter cartridge gripper located at the bottom of the adapter to the waste filter cartridge transfer station, places the waste filter cartridge in the first shielding container, and moves it to the adapter shielding container transfer station to place the adapter in the second shielding container.

[0033] Furthermore, the cantilever crane motor controller includes a cantilever crane lifting motor controller, a cantilever crane rotating motor controller, and a cantilever crane moving motor controller. The cantilever crane lifting motor controller controls the cantilever crane lifting motor to enable the cantilever crane to move up and down, the cantilever crane rotating motor controller controls the cantilever crane rotating motor to enable the cantilever crane to rotate at any angle, and the cantilever crane moving motor controller controls the cantilever crane moving motor to enable the cantilever crane to move laterally.

[0034] Furthermore, the new filter element gripper is connected to a new filter element gripper locking motor and is controlled by a new filter element gripper locking motor controller; the waste filter element gripper is connected to a waste filter element gripper locking motor and is controlled by a waste filter element gripper locking motor controller; and the shielding cover gripper is connected to a shielding cover gripper locking motor and is controlled by a shielding cover gripper locking motor controller.

[0035] Furthermore, the bottom of the domestically produced waste filter replacement and transfer device is equipped with a shielding ring. When grabbing and replacing the waste filter, the shielding ring is driven to descend to isolate and shield radioactive materials from the environment. The motor controller module also includes a shielding ring lifting motor controller module for controlling the lifting and lowering of the shielding ring, and is equipped with a redundant encoder.

[0036] Furthermore, all the motors are servo motors, and the motor controller has speed loop, torque loop and position loop control functions. The motor controller module is connected to the main control module through a PN network.

[0037] Furthermore, the abnormal filter detection module connects to a database via a communication module to determine whether the filter has reached the discard standard based on the database information.

[0038] Furthermore, all the motor controller modules are servo motor controller modules. The turntable motor controller module is also equipped with a turntable angle verification encoder, and the walking motor controller module is also equipped with a linear displacement verification encoder. The motor controller module also includes a pin lock motor controller module, which is used to control the pin lock motor. After the turntable rotates to any work position, its position is controlled to remain unchanged by the pin lock motor.

[0039] Furthermore, the control system hardware includes a DC power supply, a programmable logic controller, a human-machine interface, a switch, a servo drive system, a detection and measurement device, and a master control element.

[0040] Example 2

[0041] like Figure 2 As shown, this embodiment provides a control method for the control system described in Embodiment 1, including the following steps:

[0042] Step 1, grab the new filter cartridge:

[0043] The main control module detects a waste filter element in a filter cartridge through the abnormal filter element detection module, which is marked as a replacement station. The main control module controls the walking motor controller module to move the domestic waste filter element replacement and transfer device to the transfer station. The turntable controller module controls the turntable to drive the new filter element gripper to rotate to the working position. The new filter element gripper lifting motor controller module drives the new filter element gripper to descend and grab the combination formed by the adapter and the new filter element.

[0044] Step 2, Replace the used filter element:

[0045] Using the walking motor controller module, the domestically produced waste filter element replacement and transfer device is moved to the auxiliary position. The waste filter element cover plate on the replacement station is manually removed. The cantilever crane motor controller module drives the cantilever crane to lift the waste filter element cover plate on the replacement station. The domestically produced waste filter element replacement and transfer device is moved to the replacement station. The turntable controller module controls the turntable to drive the shielding cover gripper to rotate to the working position. The shielding cover gripper lifting motor controller module drives the shielding cover gripper to descend and grab the shielding cover. The turntable controller module controls the turntable to drive the waste filter element gripper to rotate to the working position. The waste filter element gripper lifting motor controller module drives the waste filter element gripper to descend and simultaneously grab the combination formed by the adapter and the waste filter element. The turntable controller module controls the turntable to drive the new filter element gripper to rotate. The new filter element gripper places the combination formed by the new filter element and the adapter in the replacement station. The turntable controller module controls the turntable to drive the shielding cover gripper to rotate and cover the shielding cover on the replacement station.

[0046] Step 3, Dispose of waste filter cartridges:

[0047] The domestically produced waste filter replacement and transfer device is moved to the waste filter transfer station by the walking motor controller module. The turntable controller module controls the turntable to drive the shield cover gripper to rotate to the working position. The shield cover gripper lifting motor controller module drives the shield cover gripper to descend and grab the shield cover. The turntable controller module controls the turntable to drive the waste filter gripper to rotate to the working position. The waste filter gripper lifting motor controller module drives the waste filter gripper to descend and place the waste filter in the first shield. The adapter remains on the waste filter gripper. The turntable controller module controls the turntable to drive the shield cover gripper to rotate and cover the shield cover on the first shield.

[0048] Step 4, process the adapter:

[0049] The domestically produced waste filter replacement and transfer device is moved to the adapter shield container transfer station by the walking motor controller module. The turntable controller module controls the turntable to rotate the shield cover gripper to the working position. The shield cover gripper lifting motor controller module drives the shield cover gripper to descend and grab the shield cover. The turntable controller module controls the turntable to rotate the waste filter gripper to the working position. The waste filter gripper lifting motor controller module drives the waste filter gripper to descend and place the adapter in the second shield container. The turntable controller module controls the turntable to rotate the shield cover gripper to cover the second shield container.

[0050] It should be noted that the gripping operations of the shielding cover gripper, waste filter element gripper, and new filter element gripper are all carried out within a single shielding cover.

[0051] The above description is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control system for a domestically produced waste filter cartridge replacement and transfer device, characterized in that, The domestically produced waste filter cartridge replacement and transfer device is slidably installed on a track. Below the track are multiple horizontally arranged filter cartridge chambers. The domestically produced waste filter cartridge replacement and transfer device is driven to move on the track by a walking motor. Each filter cartridge chamber is covered with a filter cartridge shielding cover for opening and closing. A waste filter cartridge cover plate is added to the filter cartridge shielding cover. The domestically produced waste filter cartridge replacement and transfer device includes a cantilever crane, a new filter cartridge gripper, a waste filter cartridge gripper, and a shielding cover gripper set on a turntable. The new filter cartridge gripper, waste filter cartridge gripper, and shielding cover gripper are rotated by the rotation of the gripper until they are gripped and installed. The control system includes a main control module, an I / O module and a motor controller module connected to the main control module. The motor controller module controls the motor's operation. The main control module detects waste filter cartridges generated in a filter cartridge through the I / O module, marking it as a replacement station. The main control module specifies the replacement target information and inputs a start command, moving the domestically produced waste filter cartridge replacement and transfer device to the transfer station. The main control module controls the motor controller module to drive the turntable to rotate, and the new filter cartridge gripper rotates to the working position, descending to grab the combination of the adapter and the new filter cartridge. The domestically produced waste filter cartridge replacement and transfer device moves to the replacement station, sequentially grabbing the combination of the shielding cover, adapter, and waste filter cartridge at the replacement station. Then, the new filter cartridge is placed at the replacement station, the shielding cover is closed, and it moves to the waste filter cartridge transfer station, placing the waste filter cartridge in the first shielding container. It then moves to the adapter shielding container transfer station, placing the adapter in the second shielding container.

2. The control system according to claim 1, characterized in that, The motor controller module includes a walking motor controller module for controlling the movement of the domestically produced waste filter element replacement and transfer device, a turntable motor controller module for controlling the rotation of the turntable, a new filter element gripper lifting and opening / closing motor controller module for controlling the lifting and opening / closing of the new filter element gripper, a waste filter element gripper lifting and opening / closing motor controller module for controlling the lifting and opening / closing of the waste filter element gripper, a shielding cover gripper lifting and opening / closing motor controller module for controlling the lifting and opening / closing of the shielding cover gripper, and a cantilever crane motor controller module.

3. The control system according to claim 1, characterized in that, The cantilever crane motor controller includes a cantilever crane lifting motor controller, a cantilever crane rotating motor controller, and a cantilever crane moving motor controller. The cantilever crane lifting motor controller controls the cantilever crane lifting motor to enable the cantilever crane to move up and down. The cantilever crane rotating motor controller controls the cantilever crane rotating motor to enable the cantilever crane to rotate at any angle. The cantilever crane moving motor controller controls the cantilever crane moving motor to enable the cantilever crane to move laterally.

4. The control system according to claim 1, characterized in that, The new filter element gripper is connected to a new filter element gripper locking motor and is controlled by a new filter element gripper locking motor controller. The waste filter element gripper is connected to a waste filter element gripper locking motor and is controlled by a waste filter element gripper locking motor controller. The shielding cover gripper is connected to a shielding cover gripper locking motor and is controlled by a shielding cover gripper locking motor controller.

5. The control system according to claim 1, characterized in that, The bottom of the domestically produced waste filter replacement and transfer device is equipped with a shielding ring. When grabbing and replacing the waste filter, the shielding ring is driven to descend to isolate and shield radioactive materials from the environment. The motor controller module also includes a shielding ring lifting motor controller module for controlling the lifting and lowering of the shielding ring.

6. The control system according to claim 1, characterized in that, All motors are servo motors, and the motor controller has speed loop, torque loop and position loop control functions.

7. The control system according to claim 1, characterized in that, The motor controller module is connected to the main control module via a PN network.

8. The control system according to claim 1, characterized in that, All motor controller modules are servo motor controller modules. The turntable motor controller module is also equipped with a turntable angle verification encoder, and the walking motor controller module is also equipped with a linear displacement verification encoder.

9. The control system according to claim 1, characterized in that, The control system hardware includes a DC power supply, a programmable logic controller, a human-machine interface, a switch, a servo drive system, a detection and measurement device, and a master control element.

10. The control method of the control system according to any one of claims 1 to 9, characterized in that, Includes the following steps: Step 1, grab the new filter element: The main control module detects the waste filter element in a certain filter cartridge through the abnormal filter element detection module, which is marked as the replacement station. The domestic waste filter element replacement and transfer device is moved to the transfer station. The turntable rotates, and the new filter element grabber rotates to the working position to grab the combination formed by the adapter and the new filter element. Step 2, Replace the waste filter element: Move the domestic waste filter element replacement and transfer device to the auxiliary position, manually remove the waste filter element cover plate on the replacement station and lift it with a cantilever crane, continue to move it directly above the replacement station, the turntable rotates, the shield cover gripper rotates to the working position to grab the shield cover, the turntable continues to rotate, the waste filter element gripper rotates to the working position to grab the combination formed by the adapter and the waste filter element, the turntable then rotates, the new filter element gripper rotates to the working position to place the combination formed by the new filter element and the adapter in the replacement station, the turntable rotates, the shield cover gripper rotates to the working position to install the shield cover on the replacement station; Step 3, Processing waste filter elements: Move the domestic waste filter element replacement and transfer device to the waste filter element transfer station. The turntable rotates, and the shield cover gripper rotates to the working position to grab the shield cover. The waste filter element gripper rotates to the working position to place the waste filter element in the first shield. The adapter remains on the waste filter element gripper. The shield cover gripper rotates to cover the shield cover on the first shield. Step 4, Adapter Processing: Move the domestic waste filter replacement and transfer device to the adapter shield container transfer station. The turntable rotates, and the shield cover gripper rotates to the working position to grab the shield cover. The turntable rotates, and the waste filter gripper rotates to the working position to place the adapter in the second shield container. The turntable rotates, and the shield cover gripper rotates to the working position to cover the second shield container with the shield cover.

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