Radioactive sampling bottle cap opening and closing device and method suitable for remote operation of manipulator

Abstract

The radioactive sampling bottle cap opening and closing device comprises a base, a supporting platform and a bottle cap positioning mechanism, the lower end of the supporting platform is installed on the base through a stand column, the upper end of the supporting platform is connected with a hand wheel through a lifting stud, and the lower end of the lifting stud penetrates through the supporting platform and is connected with the bottle cap positioning mechanism; a fixed bottle body positioning sleeve is arranged under the bottle cap positioning mechanism and is mounted on the base; the movable bottle body positioning sleeve is opposite to the fixed bottle body positioning sleeve and is used for fixing the radioactive sampling bottle body. The radioactive sampling bottle cap is provided with a groove, and the bottle cap positioning mechanism comprises a bottle cap opening and closing wrench which is matched with the groove of the radioactive sampling bottle cap. The sampling bottle cap in the sampling cabinet can be unscrewed and screwed efficiently and quickly at a long distance under the cooperation of the manipulator, so that the operation process of sampling and sample sending is greatly simplified, the operation difficulty of operators is reduced, the use frequency and fault frequency of the manipulator are reduced, and the sampling and sample sending efficiency is integrally improved.

Description

Technical Field

[0001] This invention relates to the field of radioactive sample collection and delivery technology, specifically to a radioactive sampling bottle cap opening and closing device and method suitable for remote operation by a robotic arm. Background Technology

[0002] In the nuclear fuel technology system, sampling and delivery are crucial steps. Operators use robotic arms to perform part of the process of radioactive sample collection and delivery within a sampling cabinet. Currently, the sampling pipeline delivery process used in the nuclear fuel field is as follows: ① Open the sampling bottle cap; ② Place the sampling bottle in; ③ Tighten the sampling bottle cap; ④ Place the sample into the delivery pipeline for transport. Because this operation takes place in a radioactive environment, personnel cannot manually operate it at close range. Therefore, the cap and body of the sampling bottle are clamped by upper and lower threaded clamping mechanisms, respectively. The robotic arm pushes the handwheel to rotate the upper threaded clamping mechanism counterclockwise, thereby opening the sampling bottle cap; after rotating the upper threaded clamping mechanism and the bottle cap space by 90°, the sampling bottle is placed inside the sampling bottle body; then the upper threaded clamping mechanism and the bottle cap are reset; finally, a small robotic arm pushes the handwheel to rotate the upper threaded clamping mechanism clockwise, thereby tightening the sampling bottle cap. The entire operation is extremely cumbersome, requiring highly skilled technicians; the clamping structure is complex and prone to malfunctions; and the bottle body is prone to relative slippage during tightening. Furthermore, when using a robotic arm to operate the upper and lower threaded clamping mechanisms, the small diameter of the wheel causes excessive torque on the robotic arm, exceeding its load capacity, thus increasing the frequency of robotic arm malfunctions and indirectly affecting sampling efficiency. Therefore, there is an urgent need to design a sampling bottle cap opening and closing device suitable for remote robotic arm operation to simplify the sampling and delivery process and improve the overall efficiency of sampling and delivery. Summary of the Invention

[0003] The purpose of this invention is to address the problems of cumbersome, time-consuming, and labor-intensive sampling procedures in sampling cabinets under radioactive environments, which require a high level of skill from technicians and increase the frequency of robot arm malfunctions. This invention provides a device and method for opening and closing radioactive sampling bottle caps that is suitable for remote operation by a robot arm.

[0004] The technical solution of the present invention is as follows: A radioactive sampling bottle cap opening and closing device suitable for remote operation by a robotic arm, wherein the radioactive sampling bottle to be opened and closed includes a radioactive sampling bottle body and a radioactive sampling bottle cap, including a base, a support platform, and a bottle cap positioning mechanism. The lower end of the support platform is mounted on the base via a column, and the upper end is connected to a handwheel via a lifting stud. The lower end of the lifting stud passes through the support platform and is connected to the bottle cap positioning mechanism. A fixed bottle body positioning sleeve is located directly below the bottle cap positioning mechanism and is mounted on the base. The movable bottle body positioning sleeve is opposite to the fixed bottle body positioning sleeve to fix the radioactive sampling bottle body.

[0005] The radioactive sampling bottle cap has a groove, and the cap positioning mechanism includes a cap opening and closing wrench that matches the groove of the radioactive sampling bottle cap. The cap positioning mechanism also includes a limiting arc plate.

[0006] The bottle cap opening and closing wrench has a chamfer on one side, and the bottle body fixing sleeve has a chamfer on the inside.

[0007] The movable bottle positioning sleeve also has a top pin.

[0008] The movable bottle positioning sleeve is connected to the push rod, which passes through the sliding sleeve. The sliding sleeve is fixed on the base. The sliding sleeve is connected to the hinge guide rod mechanism. The hinge guide rod mechanism is connected to the connecting plate at the lower end of the lever through rivet A. The connecting plate is connected to the push rod through rivet B. When the lever moves away from the fixed bottle positioning sleeve, the connecting plate pushes the connecting push rod, which in turn pushes the movable bottle positioning sleeve and the fixed bottle positioning sleeve to fix the radioactive sampling bottle together.

[0009] When rivet B and the hinge guide rod mechanism are collinear, they form a dead point, thereby locking the body of the radioactive sampling bottle.

[0010] The lifting stud is connected to the support platform by threads. When the handwheel is rotated clockwise, the lifting stud descends and tightens the radioactive sampling bottle cap; when the handwheel is rotated counterclockwise, the lifting stud rises and unscrews the radioactive sampling bottle cap.

[0011] The pitch of the thread between the lifting stud and the support platform is the same as the pitch of the radioactive sampling bottle cap.

[0012] A method for using a radioactive sampling bottle cap opening and closing device suitable for remote operation by a robotic arm includes the following steps:

[0013] S1: The radioactive sampling bottle is held by a robotic arm, and the bottle cap opening and closing wrench of the bottle cap positioning mechanism is inserted into the groove of the radioactive sampling bottle cap. The radioactive sampling bottle is then hung on the bottle cap positioning mechanism.

[0014] S2: By rotating the handwheel of the robotic arm, the lifting stud is lowered until the bottom of the radioactive sampling bottle touches the base, and the left side of the radioactive sampling bottle matches the positioning sleeve of the fixed bottle.

[0015] S3: The robotic arm moves the lever and pushes the push rod to align the moving bottle positioning sleeve with the fixed bottle positioning sleeve, thereby fixing the radioactive sampling bottle.

[0016] S4: The mechanical arm rotates the handwheel to drive the cap opening and closing wrench to open the radioactive sampling bottle cap, and then rotates the handwheel to move the cap positioning mechanism away from the radioactive sampling bottle body;

[0017] S5: Use a robotic arm to grip and replace the inner liner of the sampling bottle;

[0018] S6: The robotic arm rotates the handwheel to lower the lifting stud, which in turn drives the cap opening and closing wrench to tighten the radioactive sampling bottle cap onto the radioactive sampling bottle body;

[0019] S7: The mechanical arm moves the lever to release the clamping and fixing of the positioning sleeve on the radioactive sampling bottle body.

[0020] In step S3, the hinge guide rod mechanism is locked; in step S7, the hinge guide rod mechanism is released.

[0021] The significant advantages of this invention are: with the assistance of a robotic arm, the caps of sampling bottles inside the sampling cabinet can be opened and tightened efficiently and quickly from a distance, greatly simplifying the sampling and delivery process, reducing the operational difficulty for operators, decreasing the frequency of use and malfunction of the robotic arm, and improving overall sampling and delivery efficiency. Simultaneously, the device adopts a purely mechanical structure design, making it suitable for radioactive operating environments. The sampling bottle cap is fixed using an inverted T-shaped wrench and a positioning sleeve, while the bottle body is fixed using a hinged guide rod mechanism and a positioning sleeve. The opening and tightening of the sampling bottle caps can then be completed efficiently and quickly from a distance using the robotic arm. Attached Figure Description

[0022] Figure 1 Schematic diagram of the sampling bottle cap opening and closing device;

[0023] Figure 2a Schematic diagram of the sampling bottle cap interface;

[0024] Figure 2b Diagram of a bottle cap opening / closing wrench;

[0025] Figure 2c Schematic diagram of the cooperation between the sampling bottle cap and the bottle cap positioning mechanism;

[0026] Figure 3 Schematic diagram of the positioning sleeve ejector pin structure of the bottle body;

[0027] Figure 4a Diagram showing bottle cap release;

[0028] Figure 4b Diagram showing how to tighten the bottle cap;

[0029] In the diagram: 1. Base, 2. Support platform, 3. Lifting stud, 4. Handwheel, 5. Bottle cap positioning mechanism, 6. Bottle body positioning sleeve, 7. Lever, 8. Hinge guide rod mechanism, 9. Sliding sleeve, 10. Push rod, 11. Radioactive sampling bottle cap, 12. Groove, 13. Bottle cap opening and closing wrench, 14. Limiting arc plate, 15. Moving bottle body positioning sleeve, 16. Radioactive sampling bottle body, 17. Ejector pin, 18. Rivet A, 19. Rivet B. Detailed Implementation

[0030] Many specific details are set forth in the following description to provide a full understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this application; therefore, this application is not limited to the specific embodiments disclosed below.

[0031] The terminology used in one or more embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the scope of one or more embodiments of this application. The singular forms “a,” “the,” and “the” used in one or more embodiments of this application and in the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” used in one or more embodiments of this application refers to and includes any or all possible combinations of one or more associated listed items.

[0032] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this application, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this application, and similarly, second may also be referred to as first.

[0033] The specific technical content of the present invention will now be described with reference to the accompanying drawings;

[0034] The radioactive sampling bottle includes a radioactive sampling bottle body 16 and a radioactive sampling bottle cap 11. It is a commonly used device in the field of radioactive sample transportation, and the opening and closing of the radioactive sampling bottle is the main technical problem solved by the present invention.

[0035] like Figure 1 As shown, a radioactive sampling bottle cap opening and closing device suitable for remote operation by a robotic arm includes a base 1, a support platform 2, and a bottle cap positioning mechanism 5. The lower end of the support platform 2 is mounted on the base 1 via a column, and the upper end is connected to a handwheel 4 via a lifting stud 3. The lower end of the lifting stud 3 passes through the support platform 2 and is connected to the bottle cap positioning mechanism 5.

[0036] like Figure 2a As shown, the radioactive sampling bottle cap 11 that is opened and closed has a groove 12, which is trapezoidal with a narrower upper opening and a wider lower opening.

[0037] like Figure 2b As shown in Figures 1 and 2, the bottle cap positioning mechanism 5 includes a bottle cap opening and closing wrench 13, the shape of which matches the groove 12 of the radioactive sampling bottle cap 11, so that it can be inserted into the groove 12 from the side of the groove 12; the bottle cap positioning mechanism 5 also includes a limiting arc plate 14, which plays a limiting role after the bottle cap opening and closing wrench 13 is inserted into the groove 12.

[0038] Directly below the bottle cap positioning mechanism 5 is a bottle body positioning sleeve 6, which is mounted on the base 1;

[0039] Specifically, one side of the bottle cap opening and closing wrench 13 has a chamfer, making it easier to insert into the groove 12; the inner side of the bottle body positioning sleeve 6 has a chamfer, making it fit more tightly with the radioactive sampling bottle body 16.

[0040] like Figure 3 As shown, the movable bottle positioning sleeve 15 is opposite to the fixed bottle positioning sleeve 6, and the combination of the two can position the radioactive sampling bottle 16; the movable bottle positioning sleeve 15 is also equipped with a pin 17, which is used to position the radioactive sampling bottle 16 and prevent slippage after the bottle body is locked.

[0041] Specifically, the base 1 has a limiting groove at the position opposite to the movable bottle positioning sleeve 15 and the fixed bottle positioning sleeve 6, thereby limiting and fixing the radioactive sampling bottle 16.

[0042] The movable bottle positioning sleeve 15 is connected to the push rod 10, which passes through the sliding sleeve 9. The sliding sleeve 9 is fixed on the base 1. The sliding sleeve 9 is connected to the hinge guide rod mechanism 8. The hinge guide rod mechanism 8 is connected to the connecting plate 17 at the lower end of the lever 7 via rivet A18. The connecting plate 17 is connected to the push rod 10 via rivet B19. When the lever 7 moves away from the fixed bottle positioning sleeve 6, the connecting plate 17 and the hinge guide rod mechanism 8 form a horizontal structure, thereby pushing the connecting push rod 10 towards the fixed bottle positioning sleeve 6. This, in turn, pushes the movable bottle positioning sleeve 15 and the fixed bottle positioning sleeve 6 together to fix the radioactive sampling bottle 16. Furthermore, the rivet B19 and the hinge guide rod mechanism 8 form a dead point after being collinear, thereby locking the radioactive sampling bottle 16.

[0043] Specifically, when the handwheel 4 is rotated clockwise, the lifting stud 3 descends and tightens the radioactive sampling bottle cap 11; when the handwheel 4 is rotated counterclockwise, the lifting stud 3 rises and unscrews the radioactive sampling bottle cap 11.

[0044] The lifting stud 3 is connected to the support platform 2 by a thread, and the thread pitch is consistent with the thread pitch of the radioactive sampling bottle cap 11.

[0045] A method for using a radioactive sampling bottle cap opening and closing device suitable for remote operation by a robotic arm, wherein the radioactive sampling bottle to be opened and closed includes a radioactive sampling bottle body 16 and a radioactive sampling bottle cap 11, and the two are connected. At this time, it is necessary to open the radioactive sampling bottle cap 11 to replace the components inside the radioactive sampling bottle body 16, including the following steps:

[0046] S1: The robotic arm holds the body of the radioactive sampling bottle 16 and inserts the bottle cap opening and closing wrench 13 of the bottle cap positioning mechanism 5 into the groove 12 of the radioactive sampling bottle cap 11; Since the bottle cap opening and closing wrench 13 matches the groove 12, the radioactive sampling bottle is hung on the bottle cap positioning mechanism 5.

[0047] S2: By rotating the handwheel 4 clockwise with the robotic arm, the lifting stud 3 is lowered until the bottom of the radioactive sampling bottle 16 touches the base 1, and the left side of the radioactive sampling bottle 16 matches the fixed bottle positioning sleeve 6.

[0048] S3: The robotic arm moves the lever 7 downward, which drives the hinge guide rod mechanism 8 to lock, and pushes the push rod 10 to align the movable bottle body positioning sleeve 15 with the fixed bottle body positioning sleeve 6, thereby fixing the radioactive sampling bottle body 16.

[0049] S4: The mechanical arm rotates the handwheel 4 counterclockwise to drive the bottle cap opening and closing wrench 13 to open the radioactive sampling bottle cap 11, and then rotates the handwheel 4 to move the bottle cap positioning mechanism 5 away from the radioactive sampling bottle body 16.

[0050] S5: Use a robotic arm to grip and replace the inner liner of the sampling bottle;

[0051] S6: By rotating the handwheel 4 clockwise with the robotic arm, the lifting stud 3 is lowered, which drives the bottle cap opening and closing wrench 13 of the bottle cap positioning mechanism 5 to tighten the radioactive sampling bottle cap 11 onto the radioactive sampling bottle body 16.

[0052] S7: The lever 7 is pushed upward by the robotic arm, which causes the hinge guide rod mechanism 8 to loosen, thereby releasing the pressure and fixation of the movable bottle positioning sleeve 15 on the radioactive sampling bottle body 16.

[0053] 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.

[0054] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0055] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0056] The preferred embodiments disclosed above are merely illustrative of this application. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this application. These embodiments are selected and specifically described in this application to better explain the principles and practical applications of this application, thereby enabling those skilled in the art to better understand and utilize this application.

Claims

1. A radioactive sampling bottle cap opening and closing device suitable for remote operation by a robotic arm, wherein the radioactive sampling bottle to be opened and closed includes a radioactive sampling bottle body (16) and a radioactive sampling bottle cap (11), characterized in that: The system includes a base (1), a support platform (2), and a bottle cap positioning mechanism (5). The lower end of the support platform (2) is mounted on the base (1) via a column, and the upper end is connected to a handwheel (4) via a lifting stud (3). The lower end of the lifting stud (3) passes through the support platform (2) and connects to the bottle cap positioning mechanism (5). There is a fixed bottle body positioning sleeve (6) directly below the bottle cap positioning mechanism (5), which is mounted on the base (1). The movable bottle body positioning sleeve (15) is opposite to the fixed bottle body positioning sleeve (6) to fix the radioactive sampling bottle body (16).

2. The radioactive sampling bottle cap opening and closing device suitable for remote operation by a robotic arm according to claim 1, characterized in that: The radioactive sampling bottle cap (11) has a groove (12), and the bottle cap positioning mechanism (5) includes a bottle cap opening and closing wrench (13) that matches the groove (12) of the radioactive sampling bottle cap (11). The bottle cap positioning mechanism (5) also includes a limiting arc plate (14).

3. The radioactive sampling bottle cap opening and closing device suitable for remote operation by a robotic arm according to claim 2, characterized in that: The bottle cap opening and closing wrench (13) has a chamfer on one side, while the bottle body positioning sleeve (6) has a chamfer on the inside.

4. A radioactive sampling bottle cap opening and closing device suitable for remote operation by a robotic arm according to claim 2, characterized in that: The movable bottle positioning sleeve (15) also has a ejector pin (17).

5. A radioactive sampling bottle cap opening and closing device suitable for remote operation by a robotic arm according to claim 2, characterized in that: The movable bottle positioning sleeve (15) is connected to the push rod (10), the push rod (10) passes through the sliding sleeve (9), the sliding sleeve (9) is fixed on the base (1), the sliding sleeve (9) is connected to the hinge guide rod mechanism (8), the hinge guide rod mechanism (8) is connected to the connecting plate (17) at the lower end of the lever (7) through rivet A (18), and the connecting plate (17) is connected to the push rod (10) through rivet B (19). When the lever (7) moves away from the fixed bottle positioning sleeve (6), the connecting plate (17) pushes the connecting push rod (10), thereby pushing the movable bottle positioning sleeve (15) and the fixed bottle positioning sleeve (6) to fix the radioactive sampling bottle body (16).

6. A radioactive sampling bottle cap opening and closing device suitable for remote operation by a robotic arm according to claim 5, characterized in that: When rivet B (19) and hinge guide rod mechanism (8) are collinear, a dead point is formed, thereby locking the body of the radioactive sampling bottle (16).

7. A radioactive sampling bottle cap opening and closing device suitable for remote operation by a robotic arm according to claim 1, characterized in that: The lifting stud (3) is connected to the support platform (2) by a thread. When the handwheel (4) is rotated clockwise, the lifting stud (3) descends and tightens the radioactive sampling bottle cap (11); when the handwheel (4) is rotated counterclockwise, the lifting stud (3) rises and unscrews the radioactive sampling bottle cap (11).

8. A radioactive sampling bottle cap opening and closing device suitable for remote operation by a robotic arm according to claim 7, characterized in that: The pitch of the thread between the lifting stud (3) and the support platform (2) is the same as the pitch of the radioactive sampling bottle cap (11).

9. A method of using a radioactive sampling bottle cap opening and closing device suitable for remote operation by a robotic arm, characterized in that: Includes the following steps: S1: The radioactive sampling bottle body (16) is held by a robotic arm, and the bottle cap opening and closing wrench (13) of the bottle cap positioning mechanism (5) is inserted into the groove (12) of the radioactive sampling bottle cap (11), and the radioactive sampling bottle is hung on the bottle cap positioning mechanism (5). S2: By rotating the handwheel (4) of the robotic arm, the lifting stud (3) is lowered to the bottom of the radioactive sampling bottle body (16) and touches the base (1), and the left side of the radioactive sampling bottle body (16) matches the fixed bottle positioning sleeve (6); S3: By moving the lever (7) with the robotic arm, the push rod (10) is pushed to align the movable bottle body positioning sleeve (15) with the fixed bottle body positioning sleeve (6), thereby fixing the radioactive sampling bottle body (16); S4: By rotating the handwheel (4) of the robotic arm, the cap opening and closing wrench (13) is driven to open the radioactive sampling bottle cap 11. Then, the handwheel (4) is rotated to move the cap positioning mechanism (5) away from the radioactive sampling bottle body (16). S5: Use a robotic arm to grip and replace the inner liner of the sampling bottle; S6: By rotating the handwheel (4) of the robotic arm, the lifting stud (3) is lowered, which drives the cap opening and closing wrench (13) to tighten the radioactive sampling bottle cap (11) onto the radioactive sampling bottle body (16); S7: By moving the lever (7) with the robotic arm, the pressure and fixation of the movable bottle positioning sleeve (15) on the radioactive sampling bottle body (16) is released.

10. The method of using the radioactive sampling bottle cap opening and closing device suitable for remote operation by a robotic arm according to claim 9, characterized in that: In step S3, the hinge guide rod mechanism (8) is locked; in step S7, the hinge guide rod mechanism (8) is released.

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