Fluorinated slag tank uncapping and capping assembly

Abstract

The fluorinated slag tank lid assembly includes an industrial robot A and an overhead platform. The end of the industrial robot A is equipped with a lid disassembly / assembly mechanism, which includes a double-shank bolt tightener, an electromagnetic chuck A with a floating buffer structure, and a hydraulic rotating joint. The overhead platform has a placement surface at its upper end, with a perforated hole at its center connecting to the lower overhead section. The advantages of this invention are: by using an industrial robot in conjunction with the double tightener and hydraulic joint, bolt disassembly / assembly and cover plate handling are replaced by manual labor, significantly improving work efficiency; the floating electromagnetic chuck avoids rigid collisions that could damage the flange sealing surface, ensuring docking stability; the perforated design of the overhead platform exposes the cover sealing ring groove, allowing for convenient replacement of the sealing ring without flipping the heavy cover; it is compatible with an anti-loosening spring bolt structure, preventing parts from scattering and simplifying automated material management; and it enables human-machine isolation operations, significantly reducing the risk of personnel exposure to radioactive environments.

Description

Technical Field

[0001] This invention relates to radioactive waste collection technology, and in particular to a fluorinated furnace slag container disassembly and reassembly assembly. Background Technology

[0002] The fluorination furnace is one of the core reaction devices in the uranium purification process. During the fluorination reaction inside the furnace, radioactive solid slag (fluorinated slag) is produced. The lower end of the fluorination furnace typically has a vertically downward-facing slag discharge port, with a flange A fixed at the bottom edge of the discharge port (for connecting to a slag container to collect the fluorinated slag). When the fluorination furnace is placed on the ground, there is a clearance between flange A at the discharge port and the ground that is higher than the slag container.

[0003] Currently, fluorinated slag collection operations typically employ replaceable slag containers. These containers consist of a container body and a cover plate. A flange B is located at the upper opening of the container body, and a flange C is located on the cover plate for mating with flange B. The cover plate is fitted over the upper opening of the container body, aligning flange B and flange C opposite each other and securing them together with multiple bolts. A sealing ring is provided between flange B and flange C to seal the upper opening of the container body.

[0004] The commonly used process for slag pot replacement and maintenance in the industry is as follows: 1. At the unloading station, the operator manually removes the cover plate and fastening bolts of the empty slag tank, discards any aging or failed sealing rings, and places a new sealing ring on flange B of the tank body. 2. Transfer the empty tank to the docking station below the slag discharge port of the fluorination furnace (the clearance between the slag discharge port and the ground is higher than the slag tank). Multiple workers work together to lift the slag tank directly below the slag discharge port using manpower or simple tools. Manually align the tank so that flange B fits with flange A and ensure that the bolt holes are aligned. 3. The operator uses multiple connecting bolts to rigidly connect flange A and flange B, thereby fixing the empty tank to the lower end of the slag discharge port of the fluorination furnace; the fluorinated slag generated during the operation of the fluorination furnace is discharged through the slag discharge port and enters the tank; 4. When the tank is full of fluorinated slag and a new slag tank needs to be replaced, the bolts connecting flange B and flange A should be removed one by one while the operator continues to lift the tank. Then the tank full of fluorinated slag should be transferred to the capping station. 5. Because there is a sealing ring between flange A and flange B, flange A and flange B are not in close contact, but are separated by a gap of one sealing ring thickness. Therefore, during the slag receiving process, a small amount of fluorinated slag will fall into the gap between flange A and flange B and solidify on flange B of the tank. The operators need to first remove the fluorinated slag solidified on flange B, clean the sealing surface, replace the sealing ring again, and then re-fix the original cover plate at the upper opening of the tank with fastening bolts. Finally, the slag tank with the sealed cover is transported away.

[0005] However, the aforementioned existing technologies have the following technical defects and security risks: 1. High labor intensity and low efficiency: The entire operation relies heavily on manual handling, lifting, and alignment. Workers must wear airtight protective suits, and the large size and weight of the slag container lead to significant physical exertion, slow work pace, and reduced production efficiency. In addition, the low accuracy of manual alignment between flange B and flange A easily causes misalignment of bolt holes, further increasing labor intensity, slowing down the work rhythm, and potentially damaging the threads by forcibly tightening bolts.

[0006] 2. Harsh working environment and high radiation risk: The work site is accompanied by high temperatures and dust, and the fluorinated slag is radioactive. During manual disassembly, slag removal, and replacement of sealing rings, workers are in close contact with the radiation source. Although they wear protective clothing, they cannot completely avoid the risk of inhaling radioactive dust, making occupational health management very difficult.

[0007] 3. Sealing reliability depends on manual skills: Manually removing solidified residue from flange B of the tank body is time-consuming and laborious, and it is difficult to clean it thoroughly, which can easily lead to seal failure when installing the cover plate later. In addition, the tightening torque of the flange connection is entirely controlled by the worker's feel. Uneven torque can easily lead to inconsistent compression of the sealing ring, which can easily cause leakage under vibration.

[0008] In the design of the automated replacement system for fluorinated furnace slag tanks, the automated disassembly and installation of the slag tank cover is the bottleneck link in achieving fully unmanned operation and the key to solving the aforementioned drawbacks of manual operation. Summary of the Invention

[0009] The purpose of this invention is to overcome the shortcomings of the prior art and provide a fluorinated slag can lid removal and installation assembly. It is applied to an automated replacement system for fluorinated slag cans and solves the problems of high labor intensity, high radiation exposure risk, poor docking accuracy, low sealing reliability and low operation efficiency caused by the reliance on manual labor for replacement of existing fluorinated slag cans.

[0010] The technical solution of the present invention is: a fluorinated furnace slag tank disassembly and reassembly assembly, which is located in the factory building and used in conjunction with the slag tank; the factory building is equipped with a disassembly and reassembly area; The slag tank includes a tank body and a top cover; the top of the tank body has an opening with a flange E, and the top cover has a flange F; when the top cover is installed at the opening at the top of the tank body, the flange F and the flange E are arranged opposite to each other and are fixedly connected by multiple spring bolts A, and a sealing ring A is provided between the flange F and the flange E. The fluorinated slag tank lid removal and installation assembly includes an industrial robot A and an overhead platform; the end of the robotic arm of the industrial robot A is equipped with a lid removal and installation mechanism, which includes a straight shank bolt tightener for removing and installing spring bolts A and an electromagnetic chuck A for adsorbing the lid; the upper end of the overhead platform is provided with a placement surface for placing the lid, and the lower end of the placement surface is provided with an overhead area, and the placement surface is within the operating range of the lid removal and installation mechanism.

[0011] A further technical solution of the present invention is: an entrance and exit for personnel connected to the elevated section is provided on one side of the elevated platform, and a positioning pit for placing the top cover is provided at the upper end of the elevated platform. The bottom surface of the positioning pit is the placement surface. A hollow hole connected to the elevated section is provided at the center of the placement surface. When the top cover is placed on the placement surface, the sealing ring groove A on the lower surface of the top cover is exposed in the hollow hole.

[0012] A further technical solution of the present invention is as follows: the top cover disassembly and assembly mechanism includes an electromagnetic chuck A, a straight shank bolt tightener, a mounting plate A, and an industrial camera A; the electromagnetic chuck A includes a housing, a sliding column, a suction cup, and a spring; the rear end of the housing is fixedly connected to the end of the robotic arm of the industrial robot A, and the front end of the housing is fixedly connected to the mounting plate A; the rear end of the sliding column is slidably installed inside the housing, and the front end of the sliding column extends from the front end of the housing; the suction cup is fixedly connected to the rear end of the sliding column for adsorbing the top cover; the spring is fitted on the sliding column and located between the suction cup and the housing, and its elastic force forces the sliding column to maintain its maximum extended state when not subjected to external force; the straight shank bolt tightener is fixedly installed on the mounting plate A for disassembling or installing the spring bolt A; when the straight shank bolt tightener is engaged with the spring bolt A, the suction cup is in close contact with the upper surface of the top cover; the industrial camera A is fixedly installed on the lower surface of the mounting plate A.

[0013] A further technical solution of the present invention is: the number of spring bolts A on the flange F of the top cover is even, all the spring bolts A are evenly distributed in a ring on the flange F, and all the spring bolts A together form a circle O1. Every two spring bolts A passing through the diameter of circle O1 are called a group of spring bolts A. Correspondingly, there are two straight shank bolt tighteners in the top cover disassembly and assembly mechanism. The two straight shank bolt tighteners are symmetrically distributed on both sides of the electromagnetic chuck A and are used to simultaneously engage two spring bolts A in a set of spring bolts A. When the two straight shank bolt tighteners engage with a set of spring bolts A, the electromagnetic chuck A is in close contact with the central area of ​​circle O1 on the upper surface of the top cover. Correspondingly, the end of the robotic arm of industrial robot A is a hydraulic rotary joint, which rotates around its center line L. The midpoint of the line connecting the two straight shank bolt removers is M, and the midpoint M is located on the center line L. The outer shell of electromagnetic chuck A is fixedly connected to the hydraulic rotary joint. When the two straight bolt removers are facing any one set of spring bolts A, the hydraulic rotating joint of the industrial robot A is driven to rotate around its center line L, so that the two straight bolt removers are facing other sets of spring bolts A.

[0014] A further technical solution of the present invention is: a sealing ring groove A is provided on the lower surface of the flange F of the upper cover for the sealing ring A to be embedded; when the upper cover is connected to the tank body, the sealing between the tank body and the upper cover is achieved by the sealing ring A; when the upper cover is separated from the tank body, the sealing ring A remains embedded in the sealing ring groove A.

[0015] Compared with the prior art, the present invention has the following advantages: 1. Automated disassembly and assembly of the cover significantly improves work efficiency: Industrial robot A, in conjunction with a double straight-handle bolt tightener, replaces manual labor in high-intensity bolt disassembly and assembly and cover handling. The hydraulic rotating joint enables rapid workstation switching, and the electromagnetic chuck A automatically grips and places the cover, eliminating time wasted due to inaccurate manual alignment and misaligned bolt holes, thus significantly shortening the cycle time for disassembling and assembling the cover.

[0016] 2. Establishing a personnel isolation barrier significantly reduces radiation risks: Workers are evacuated from the high-risk frontline of radioactive operations, requiring only remote monitoring or brief stops in the overhead area to replace sealing rings. Combined with the visualization support provided by industrial camera A, "human-machine separation" is achieved, completely avoiding the risk of radioactive dust inhalation from manual shoveling and close-range handling, and reducing the difficulty of occupational health management.

[0017] 3. Floating adsorption structure effectively protects the sealing interface: The top cover disassembly and assembly mechanism adopts a floating buffer structure composed of sliding columns and springs. During the adsorption and tightening process, it can provide flexible pre-pressure to avoid rigid collision damage to the flange surface, and at the same time maintain a tight fit between the suction cup and the cover body, preventing the cover plate from shaking or tilting, thus ensuring the stability of the bolt tightening process and the flatness of the sealing surface.

[0018] 4. Optimize the maintenance path for the sealing rings and significantly reduce maintenance difficulty: By setting up positioning pits with perforated holes on the elevated platform, the sealing ring grooves on the lower surface of the top cover are directly exposed after placement. This design allows operators to conveniently inspect and replace the sealing rings from above ground without having to flip the heavy top cover, solving the problem of traditional cover plates being bulky and difficult to maintain.

[0019] 5. Adapted to anti-loosening bolt structure, comprehensively simplifying material management: For the unique spring bolt A of the slag pot (which does not fall off after being unscrewed), this assembly does not require a complex end effector to collect loose parts. The industrial robot only needs to operate the cover plate body, avoiding failures or process interruptions caused by small parts falling during automated operations, and improving the continuity and reliability of automated operation.

[0020] The present invention will be further described below with reference to the figures and embodiments. Attached Figure Description

[0021] Figure 1 A schematic diagram of the assembly for removing and installing the lid on a fluorinated furnace slag container; Figure 2 This is a diagram of a slag pot explosion viewed from below. Figure 3 This is a top-down view of the slag pot explosion. Figure 4 This is a schematic diagram of the structure and installation location of the top cover disassembly and assembly mechanism; Figure 5 This is a schematic diagram of the structure and installation location of spring bolt A; Figure 6 A schematic diagram of an automated replacement system for fluorinated furnace slag tanks; Figure 7 A diagram showing the state of the filling assembly when spring bolt B is unscrewed; Figure 8 This is a structural diagram of an AGV forklift; Figure 9 This is a schematic diagram of the bolt tightening mechanism and its installation location. Figure 10 This is a schematic diagram of the slag discharge port of the slag tank; Figure 11 This is a diagram showing the state of the tank being lifted and connected to the slag discharge port by an AGV forklift.

[0022] Legend: Tank body 11; Top cover 12; Flange E13; Flange F14; Spring bolt A15; Sleeve Z151; Spring Z152; Bolt Z153; Sealing ring A16; Butt lug A17; Forklift alignment hole 171; Butt lug B18; Slag outlet alignment hole 181; Slag discharge port 2; Flange G21; Spring bolt B22; Sealing ring B23; Butt lug C24; Locating pin B25; Conical ring section 26; Industrial robot A3; Electromagnetic chuck A3 1; Casing 311; Sliding column 312; Suction cup 313; Spring 314; Straight shank bolt tightener 32; Mounting plate A33; Industrial camera A34; Overhead platform 4; Placement surface 41; Personnel entrance / exit 42; Hole 43; Industrial robot B5; Mounting plate B51; Elbow bolt tightener 52; AGV forklift 7; Vehicle body 71; Fork plate 72; Loading platform 73; Electromagnetic chuck B74; Universal ball bearing 75; Positioning pin A76; Lifting drive component 77. Detailed Implementation

[0023] Example 1: like Figure 1-5As shown, the fluorination furnace slag tank cover removal and installation assembly is located inside the plant and is used in conjunction with the slag tank. The plant has a disassembly and assembly area (an area for removing or installing the slag tank cover).

[0024] The slag container includes a container body 11 and a top cover 12. The top of the container body 11 has an opening with a flange E13, and the top cover 12 has a flange F14. When the top cover 12 is installed at the opening at the top of the container body 11, the flange F14 is arranged opposite to the flange E13 and is fixedly connected by multiple spring bolts A15. A sealing ring A16 is provided between the flange F14 and the flange E13.

[0025] Fluoride slag tank lid removal and installation assembly, including industrial robot A3 and overhead platform 4.

[0026] Industrial robot A3 is fixedly installed on the ground in the assembly / disassembly area. The end of the robotic arm of industrial robot A3 is equipped with a cover removal / assembly mechanism. The cover removal / assembly mechanism includes an electromagnetic chuck A31, a straight shank bolt tightener 32, a mounting plate A33, and an industrial camera A34. The electromagnetic chuck A31 includes a housing 311, a sliding column 312, a suction cup 313, and a spring 314. The rear end of the housing 311 is fixedly connected to the end of the robotic arm of industrial robot A3, and the front end of the housing 311 is fixedly connected to the mounting plate A33. The rear end of the sliding column 312 is slidably installed inside the housing 311, and the front end of the sliding column 312 extends from the front end of the housing 311. The suction cup 313 is fixedly connected to the rear end of the sliding column 312 for adsorbing the cover 12. The spring 314 is fitted onto the sliding column 312 and located between the suction cup 313 and the housing 311. Its elasticity forces the sliding column 312 to maintain its maximum extended state when no external force is applied. A straight shank bolt tightener 32 is fixedly mounted on mounting plate A33 for removing or installing spring bolts A15. When the straight shank bolt tightener 32 is engaged with spring bolt A15, the slide 312 is not in its longest extended state, the spring 314 is in a compressed state, and the suction cup 313 is in close contact with the upper surface of the cover 12. An industrial camera A34 is fixedly mounted on the lower surface of mounting plate A33 to provide the straight shank bolt tightener 32 with a field of view. The overhead platform 4 is fixedly installed on the ground of the disassembly and assembly area. The upper end of the overhead platform 4 is provided with a placement surface 41 for placing the cover. The lower end of the placement surface 41 is provided with an overhead section. The placement surface 41 is within the operating range of the cover disassembly and assembly mechanism.

[0027] Preferably, the elevated platform 4 has a personnel entrance / exit 42 connected to the elevated section on one side, and the upper end of the elevated platform 4 has a positioning pit for placing the upper cover 12. The bottom surface of the positioning pit is the placement surface 41. A hollow hole 43 connected to the elevated section is provided at the center of the placement surface 41. When the upper cover is placed on the placement surface 41, the sealing ring groove A on the lower surface of the upper cover 12 is exposed in the hollow hole 43.

[0028] Based on this structure, when the top cover 12 is placed on the placement surface 41 of the overhead platform 4, the operator can enter the overhead area at the lower end of the placement surface 41 through the personnel entrance 42, and can easily replace the sealing ring A16 located in the sealing ring groove A of the top cover 12.

[0029] Preferably, the number of spring bolts A15 on the flange F14 of the upper cover 12 is even, and all the spring bolts A15 are evenly distributed in a ring on the flange F14. All the spring bolts A15 together form a circle O1, and every two spring bolts A15 passing through the diameter of circle O1 are called a group of spring bolts A15.

[0030] Correspondingly, the upper cover disassembly and assembly mechanism includes two straight shank bolt tighteners 32, which are symmetrically distributed on both sides of the electromagnetic chuck A31 and used to simultaneously engage two spring bolts A15 in a set of spring bolts A15. When the two straight shank bolt tighteners 32 engage with the set of spring bolts A15, the electromagnetic chuck A31 is in close contact with the central area of ​​the circle O1 on the upper surface of the upper cover 12. Correspondingly, the end effector of the industrial robot A3 is a hydraulic rotary joint. The movement mode of the hydraulic rotary joint is rotation around its center line L. The midpoint of the line connecting the two straight shank bolt removers 32 is M, and the midpoint M is located on the center line L. The outer shell of the electromagnetic chuck A31 is fixedly connected to the hydraulic rotary joint. Based on this structure, when the two straight bolt removers 32 are facing (but not inserted into) any group of spring bolts A, the hydraulic rotating joint of the industrial robot A3 is driven to rotate around its center line L, so that the two straight bolt removers 32 are facing other groups of spring bolts A15. The action mode is simple and the control difficulty is low.

[0031] Preferably, the lower surface of the flange F14 of the upper cover 12 is provided with a sealing ring groove A for the sealing ring A16 to be embedded. When the upper cover 12 is connected to the tank body 11, the sealing ring A16 is used to achieve a seal between the tank body 11 and the upper cover 12. When the upper cover 12 is separated from the tank body 11, the sealing ring A16 remains embedded in the sealing ring groove A.

[0032] Preferably, the spring bolt A15 includes a sleeve Z151, a spring Z152, and a bolt Z153. One end of the sleeve Z is a closed end, and the other end is an open end. The sleeve Z has a through hole A at the closed end for the bolt Z shank to pass through. The end of the bolt Z shank passes through the through hole A and is located outside the closed end of the sleeve Z, while the head of the bolt Z protrudes outside the open end of the sleeve Z. One end of the spring Z is fixedly connected to the stepped surface between the head and shank of the bolt Z, and the other end is fixedly connected to the inner end face of the closed end of the sleeve Z.

[0033] Correspondingly, the flange F14 of the top cover 12 is provided with a sleeve mounting hole for installing the sleeve Z, and a through hole B that directly communicates with the sleeve mounting hole; the flange E13 of the tank body 11 is provided with a threaded hole for screwing onto the shank of the bolt Z. The sleeve Z of the spring bolt A15 is fixedly installed in the sleeve mounting hole of the flange F14; When spring bolt A15 secures flange F14 to flange E13, the bolt Z shank passes sequentially through the shank hole A of sleeve Z and the shank hole B of flange F14, and then screws into the threaded hole of flange E13, with spring Z in a compressed state. When spring bolt A15 is unscrewed from flange E13, spring Z, through its elastic force, keeps bolt Z away from flange E13. Based on the fixed connection between spring Z, bolt Z, and sleeve Z, and the fixed connection between sleeve Z and flange F14, spring bolt A15 remains firmly attached to flange F14 of the upper cover 12.

[0034] Briefly describe the process of disassembling and reassembling the lid of the fluorinated slag can: An automatic method for disassembling and assembling a fluorinated furnace slag can is provided, applied to a fluorinated furnace slag can disassembly and assembly assembly. Before the method is executed, the slag can to be operated is placed in the disassembly and assembly area. The method includes a disassembly method and an assembly method.

[0035] The steps to remove the cap are as follows: S01. Removing the top cover of the empty slag container: a. The industrial robot A3 moves, causing the straight shank bolt tightener 32 to engage with the spring bolt A15 at the top of the empty slag container; b. The straight shank bolt remover 32 moves, unscrewing the spring bolt A15 out of the flange E13 of the container body 11; repeat the "engage-unscrew" operation to unscrew all the spring bolts A15 out of the flange E13 of the container body 11; the electromagnetic chuck A31 is energized, adsorbing the top cover 12; the industrial robot A3 moves, moving the top cover 13 above the placement surface 41 of the overhead platform 4; the electromagnetic chuck A31 is de-energized, releasing the top cover 12 onto the placement surface 41.

[0036] In this step, when the straight shank bolt tightener 32 mates with the spring bolt A15, the electromagnetic chuck A31 contacts the upper surface of the cover 12.

[0037] In this step, after the spring bolt A15 is unscrewed from the flange E13 of the tank body 11, it remains connected to the flange F14 of the top cover 12 and will not detach, so there is no need to collect and dispose of it separately.

[0038] The steps for installing the cap are as follows: S01. Installing the top cover on the full tank: a. The AGV forklift 7 moves the tank containing fluorinated slag to the disassembly / assembly area; b. The industrial robot A3 moves, causing the electromagnetic chuck A31 to contact the top cover 12 placed on the overhead platform 4; the electromagnetic chuck A31 is energized and attracts the top cover 12; c. The industrial robot A3 moves the top cover 12 to be directly above the flange E13 of the tank 11, and aligns the holes on the flange F14 of the top cover 12 with the holes on the flange E13 of the tank 11 for installing the spring bolts A; the electromagnetic chuck A31 is deactivated. d. The industrial robot A3 moves to align the straight shank bolt tightener 32 with the spring bolts A15 on the top cover 12; e. The straight shank bolt remover 32 moves to screw the spring bolts A15 into the flange E13; repeat the "align-screw" operation to screw all the spring bolts A15 into the flange E13 of the tank body 11; at this point, the top cover 12 is sealed and fixedly connected to the upper end of the tank body, forming a complete slag tank. Finally, the slag tank containing the fluorinated slag is transported away to complete the entire slag furnace replacement process.

[0039] In this step, when the straight shank bolt tightener 32 mates with the spring bolt A15, the electromagnetic chuck A31 contacts the upper surface of the cover 12.

[0040] Preferably, the cover installation method also includes a pre-step N before step S01. N. Replace the sealing ring A: The operator enters the overhead area at the lower end of the placement surface 41 through the personnel entrance 42 and replaces the sealing ring A16 located on the lower surface of the upper cover 12.

[0041] like Figure 1-11 As shown, the "fluorinated slag can lid removal and installation assembly" of this invention is an important component of the "fluorinated slag can automated replacement system" and is key to realizing the automated replacement of fluorinated slag cans.

[0042] The automated slag can replacement system for the fluorination furnace is located inside the plant and is used in conjunction with the slag can and the fluorination furnace. The plant includes a disassembly and assembly area (for removing or installing the slag can cover) and a docking area (for docking the slag can with the slag discharge port of the fluorination furnace).

[0043] The structure of the slag pot is as described above and will not be repeated here.

[0044] The fluorination furnace is fixedly installed in the docking area, with a vertically downward slag discharge port 2 at its lower end. A flange G21 is located in the middle of the slag discharge port 2, and a clearance height is left between the flange G21 and the ground to accommodate the tank 11. When the tank 11 is connected to the lower end of the slag discharge port 2, the flange G21 and the flange E13 are arranged opposite each other and fixedly connected by multiple spring bolts B22. A sealing ring B23 is provided between the flange G21 and the flange E13.

[0045] The automated replacement system for fluorinated slag cans includes a cap removal and cap installation assembly located in the disassembly and assembly area and a docking and filling assembly located in the docking area.

[0046] The structure of the cover removal and installation assembly is as described above and will not be repeated here.

[0047] The docking and filling assembly includes an industrial robot B5 and a shielding device. The end of the robotic arm of the industrial robot B5 is equipped with a bolt tightening mechanism. This mechanism includes an elbow bolt tightener 52 for installing and removing spring bolts B22 (selecting the elbow bolt tightener 52 effectively avoids the slag discharge port 2, preventing interference with the slag discharge port 2 when installing or removing spring bolts B22). The shielding device includes a protective cover and slide rails; the protective cover includes two slide rails mounted on the ground and two opposing half-covers slidably mounted on the two slide rails; when the two half-covers move towards each other and close together, they enclose the slag discharge port and the tank connected to its lower end within the enclosed space.

[0048] Preferably, the upper end of the side wall of the tank body 11 is provided with multiple mating lugs B18, and the upper surface of the mating lugs B18 is provided with slag opening alignment holes 181. The slag opening alignment holes 181 include tapered holes and sizing holes arranged sequentially from top to bottom, and the tapered holes gradually decrease in size from top to bottom. Correspondingly, the flange G21 of the slag discharge port 2 is provided with multiple mating lugs C24, and the lower surface of the mating lugs C24 is fixedly connected with vertically arranged positioning pins B25. The number of mating lugs C24 is the same as the number of mating lugs B24 and corresponds one-to-one, and the number of positioning pins B25 is the same as the number of slag opening alignment holes 181 and corresponds one-to-one.

[0049] Preferably, the lower surface of the flange F14 of the upper cover 12 is provided with a sealing ring groove A for the sealing ring A16 to be embedded. When the upper cover 12 is connected to the tank body 11, the sealing ring A16 achieves a seal between the tank body 11 and the upper cover 12. When the upper cover 12 is separated from the tank body 11, the sealing ring A16 remains embedded in the sealing ring groove A. Correspondingly, the lower surface of the flange G21 of the slag discharge port 2 is provided with a sealing ring groove B for the sealing ring B23 to be embedded. When the tank body 11 is connected to the slag discharge port 2, the sealing ring B23 is used to achieve a seal between the tank body 11 and the slag discharge port 2. When the tank body 11 is separated from the slag discharge port 2, the sealing ring B23 remains embedded in the sealing ring groove B. Correspondingly, the slag discharge port 2 is provided with a conical ring section 26 at the lower end of the flange G21, which is larger at the top and smaller at the bottom. When the tank body 11 is connected to the slag discharge port 2, the conical ring section 26 extends past the sealing ring B23 and into the opening of the tank body 11; Based on this structure, the fluorinated slag entering the slag discharge port 2 is ultimately discharged from the lower port of the conical ring section 26 and enters the inner cavity of the tank body 11. This effectively prevents the fluorinated slag from entering the gap between the flange G21 of the slag discharge port 2 and the flange E13 of the tank body 11, thereby preventing the fluorinated slag from solidifying on the upper surface of the flange E13. Compared with existing slag tank replacement methods, after the tank body 11 filled with fluorinated slag is removed from the slag discharge port 2, the operation of manually scraping the solidified fluorinated slag can be omitted.

[0050] Preferably, the bolt tightening mechanism includes a mounting plate B51, elbow bolt tighteners 52, and an industrial camera B. The mounting plate B51 is C-shaped (the inner area of ​​the C-shape is used to avoid the slag discharge port 2), and is fixedly connected to the end of the robotic arm of the industrial robot B5 at its center. Two elbow bolt tighteners 52 are fixedly installed at both ends of the mounting plate B51, for simultaneously removing or installing two of a set of spring bolts B22. The industrial camera B is fixedly installed on the lower surface of the mounting plate B51. Correspondingly, the number of spring bolts B22 on the flange G21 of the slag discharge port 2 is even. All spring bolts B22 are evenly distributed in a ring on the flange G21. All spring bolts B22 together form a circle O2. Every two spring bolts B22 passing through the diameter of circle O2 are called a group of spring bolts B22.

[0051] Preferably, the slide rail of the shielding device is installed in the slide rail groove on the ground, and the upper surface of the slide rail is flush with the ground, so as to avoid the slide rail protruding from the ground from affecting the passage of the AGV forklift 7; the shielding device also includes a translation drive assembly; the two translation drive components are respectively powered by the two half-covers to drive the two power covers to slide along the slide rail.

[0052] Preferably, the spring bolt B22 includes a sleeve Y, a spring Y, and a bolt Y. One end of the sleeve Y is a closed end, and the other end is an open end. The sleeve Y has a through hole C at the closed end for the shank of the bolt Y to pass through. The end of the shank of the bolt Y passes through the through hole C and is located outside the closed end of the sleeve Y, while the head of the bolt Y protrudes outside the open end of the sleeve Y. One end of the spring Y is fixedly connected to the stepped surface between the head and the shank of the bolt Y, and the other end is fixedly connected to the inner end face of the closed end of the sleeve Y. Correspondingly, the flange G21 of the slag discharge port 2 is provided with a sleeve connection hole for installing the sleeve Y, and a through-rod hole D that directly communicates with the sleeve connection hole; the flange E13 of the tank body 11 is provided with a threaded hole for screwing into the shank of the bolt Y. The sleeve Y of the spring bolt B22 is fixedly installed in the sleeve connection hole of the flange G21; When spring bolt B22 secures flange G21 to flange E13, the bolt Y shank passes sequentially through the shank hole C of sleeve Y and the shank hole D of flange G21, and then screws into the threaded hole of flange E13, with spring Y in a compressed state. When spring bolt B22 is unscrewed from flange E13, spring Y, through its elastic force, keeps bolt Y away from flange E13. Based on the fixed connection between spring Y, bolt Y, and sleeve Y, and the fixed connection between sleeve Y and flange G21, spring bolt B22 remains firmly attached to flange G21 at slag discharge port 2.

[0053] Briefly describe the working process of the automated replacement system for fluorinated furnace slag cans: An automated replacement method for fluorinated furnace slag cans is applied to the automated replacement system for fluorinated furnace slag cans; before the method is executed, empty slag cans to be used are placed in the disassembly and assembly area, the AGV forklift 7 moves to the disassembly and assembly area, and the fluorinated furnace is temporarily stopped.

[0054] The steps are as follows: S01. Removing the top cover of the empty slag container: a. The industrial robot A3 moves, causing the straight shank bolt tightener 32 to engage with the spring bolt A15 at the top of the empty slag container; b. The straight shank bolt remover 32 moves, unscrewing the spring bolt A15 out of the flange E13 of the container body 11; c. Repeat the "engage-unscrew" operation to unscrew all the spring bolts A15 out of the flange E13 of the container body 11; d. The electromagnetic chuck A31 is energized, adsorbing the top cover 12; e. The industrial robot A3 moves, moving the top cover 13 above the placement surface 41 of the overhead platform 4; f. The electromagnetic chuck A31 is de-energized, releasing the top cover 12 onto the placement surface 41.

[0055] In this step, when the straight shank bolt tightener 32 mates with the spring bolt A15, the electromagnetic chuck A31 contacts the upper surface of the cover 12.

[0056] In this step, after the spring bolt A15 is unscrewed from the flange E13 of the tank body 11, it remains connected to the flange F14 of the top cover 12 and will not detach, so there is no need to collect and dispose of it separately.

[0057] S02. Empty tank hoisting and locking: Hoist the empty slag tank onto the AGV forklift 7; energize the electromagnetic chuck B74 to adhere and fix the bottom of the tank 11.

[0058] In this step, when the empty slag can is placed on the rolling contact surface of the AGV forklift 7, the electromagnetic chuck B74 contacts the lower surface of the can body 11.

[0059] In this step, the positioning pins A76 and forklift alignment holes 171 are used to guide and position the tank 11 during hoisting and placement. First, the tapered sections of the two forklift alignment holes 171 on the tank 11 slide into contact with the two positioning pins A76 on the AGV forklift 7, thereby achieving guidance. Then, the straight sections of the two forklift alignment holes 171 on the tank 11 slide into contact with the two positioning pins A76 on the AGV forklift 7, thereby achieving positioning. Finally, the tank 11 rests on the rolling contact surface of the AGV forklift 7 and is supported by multiple universal balls 75.

[0060] S03. Empty Tank Transfer and Docking: a. The AGV forklift 7 carries the empty tank to below the slag discharge port 2. The orientation and position of the AGV forklift 7 are adjusted to prepare for the subsequent lifting and docking; b. The electromagnetic chuck B74 is de-energized to release its adsorption on the bottom surface of the tank 11; c. The tank 11 is lifted by the positioning and lifting mechanism to seal and dock the flange E13 of the tank 11 with the flange G21 of the slag discharge port 2.

[0061] In step a, by adjusting the orientation and position of the AGV forklift 7, the slag outlet alignment hole 181 on the tank 11 is aligned vertically and one-to-one with the positioning pin B25 on the slag discharge port 2.

[0062] In step c of this procedure, the lifting drive components 77 on both sides of the support platform 73 are activated simultaneously, driving the corresponding positioning pins A76 to extend upwards, lifting the tank body 11 until it is separated from the rolling contact surface. Since the slag outlet alignment hole 181 on the tank body 11 and the positioning pin B25 on the slag discharge port 2 are vertically aligned and correspond one-to-one, the automatic alignment of the tank body 11 during lifting and docking is achieved through the cooperation of the positioning pin B25 and the slag outlet alignment hole 181. First, the slag outlet alignment hole 181 on the tank body 11... The tapered hole slides into contact with the corresponding locating pin B25 to achieve correction. Then, the sizing hole of the slag outlet alignment hole 181 on the tank body 11 slides into contact with the corresponding locating pin B25 to achieve positioning. Finally, the upper surface of flange E13 fits tightly with the sealing ring B23 at the lower end of flange G21, thus achieving a sealed connection between flange E13 and flange G21. At this time, the bolt holes on flange E13 and flange G21 for installing spring bolts B22 are vertically aligned and correspond one-to-one.

[0063] S04. Tank connection to slag discharge port: Industrial robot B5 moves to align elbow bolt tightener 52 with spring bolt B22 on slag discharge port 2; elbow bolt tightener 52 moves to screw spring bolt B22 into flange E13 of tank 11; repeat the "align-screw" operation to screw all spring bolts B22 into flange E13; at this point, tank 11 is sealed and connected to the lower end of slag discharge port 2; afterwards, AGV forklift 7 leaves the alignment area and the fluorination furnace restarts operation.

[0064] In this step, before the spring bolt B22 is screwed into the flange E13 of tank body 11, it remains connected to the flange G21 of slag discharge port 2 and will not come off, so there is no need to collect and dispose of it separately.

[0065] In this step, when the tank body 11 is connected between the lower end of the slag discharge port 2 and the AGV forklift 7 withdrawal docking area, the lifting drive components 77 on both sides of the support platform 73 are activated, driving the corresponding positioning pin A76 to move downward and exit the corresponding forklift alignment hole 171 at the lower end of the tank body 11.

[0066] S05. Tank containing fluorinated slag: The fluorinated slag generated during the operation of the fluorination furnace is discharged through the slag discharge port 2 (the cone ring section 26 at the lower end) and enters the inner cavity of the tank 11. When the amount of fluorinated slag filled in the inner cavity of the tank 11 reaches the set threshold (e.g., 90% of the inner cavity volume of the tank), the fluorination furnace is temporarily stopped (i.e., no new fluorinated slag is generated).

[0067] S06. Tank body detaches from slag discharge port: a. AGV forklift 7 moves to below slag discharge port 2, adjusts the position and orientation of AGV forklift 7 to prepare for receiving tank 11 containing fluorinated slag; b. Electromagnetic chuck B74 extends upward, and when it contacts the bottom surface of tank 11, it is energized to adhere and fix it to the bottom surface of tank 11; c. Industrial robot B5 moves, causing elbow bolt tightener 52 to engage with spring bolt B22 on slag discharge port 2, and controls elbow bolt tightener 52 to move, unscrewing spring bolt B22 out of flange E13; repeat the "engage-unscrew" operation to unscrew all spring bolts B22 out of flange E13, and tank 11 then falls onto the rolling contact surface of AGV forklift.

[0068] In step a of this procedure, the specific operations are as follows: First, adjust the orientation and position of the AGV forklift 7 so that the two positioning pins A76 on the AGV forklift 7 are vertically aligned with the two forklift alignment holes 171 on the tank 11. The "vertical alignment" only requires the positioning pins A76 to be aligned with the opening of the conical hole section of the forklift alignment hole 171. Then, control the lifting drive components 77 on both sides of the support platform 73 to move simultaneously, controlling the two positioning pins A76 to extend upwards at the same time. When the convex spherical surface at the top of the two positioning pins A76 contacts the conical hole section of the two forklift alignment holes 171, the fine-tuning guidance of the position of the AGV forklift 7 begins (the AGV forklift 7 moves through its lower rollers or casters). When the upper end of the positioning pins A76 extends into the straight hole section of the forklift alignment hole 171, the position of the AGV forklift 7 is automatically adjusted into place, ready for the subsequent reception of the tank 11 containing fluorinated slag.

[0069] In sub-step c of this process, after all the spring bolts B22 are unscrewed from flange E13, the tank 11 is ensured to fall vertically through the vertical sliding fit between the locating pin A76 and the straight hole section of the forklift alignment hole 171. During the fall of the tank 11, the electromagnetic chuck B74 is always in contact with the bottom surface of the tank 11, which plays a role in buffering the impact of the fall.

[0070] S07. Installing the top cover on the full tank: a. The AGV forklift 7 moves the tank containing fluorinated slag to the disassembly / assembly area; b. The industrial robot A3 moves, causing the electromagnetic chuck A31 to contact the top cover 12 placed on the overhead platform 4; the electromagnetic chuck A31 is energized and attracts the top cover 12; c. The industrial robot A3 moves the top cover 12 to be directly above the flange E13 of the tank 11, and aligns the holes on the flange F14 of the top cover 12 with the holes on the flange E13 of the tank 11 for installing the spring bolts A; the electromagnetic chuck A31 is deactivated. d. The industrial robot A3 moves to align the straight shank bolt tightener 32 with the spring bolts A15 on the top cover 12; e. The straight shank bolt remover 32 moves to screw the spring bolts A15 into the flange E13; repeat the "align-screw" operation to screw all the spring bolts A15 into the flange E13 of the tank body 11; at this point, the top cover 12 is sealed and fixedly connected to the upper end of the tank body, forming a complete slag tank; finally, the slag tank containing the fluorinated slag is transported away to complete the entire slag furnace replacement process.

[0071] In this step, when the straight shank bolt tightener 32 mates with the spring bolt A15, the electromagnetic chuck A31 contacts the upper surface of the cover 12.

[0072] Preferably, it also includes step M, which is located between steps S02 and S03. M. Replace sealing ring B: The operator replaces the sealing ring B23 located on the lower surface of flange G21.

[0073] Preferably, it also includes step N, which is set between steps S06 and S07. N. Replace the sealing ring A: The operator enters the overhead area at the lower end of the placement surface 41 through the personnel entrance 42 and replaces the sealing ring A16 located on the lower surface of the upper cover 12.

[0074] Preferably, industrial camera A provides visual support for the operation of the top cover disassembly and assembly mechanism, and industrial camera B provides visual support for the operation of the bolt tightening mechanism, thus providing a prerequisite for the remote control of industrial robot A and industrial robot B.

Claims

1. A fluorinated furnace slag tank lid removal and installation assembly is located inside the plant and is used in conjunction with the slag tank; the plant is equipped with a disassembly and assembly area; Its characteristics are: The slag tank includes a tank body and a top cover; the top of the tank body has an opening with a flange E, and the top cover has a flange F; when the top cover is installed at the opening at the top of the tank body, the flange F and the flange E are arranged opposite to each other and are fixedly connected by multiple spring bolts A, and a sealing ring A is provided between the flange F and the flange E. The fluorinated slag tank lid removal and installation assembly includes an industrial robot A and an overhead platform; the end of the robotic arm of the industrial robot A is equipped with a lid removal and installation mechanism, which includes a straight shank bolt tightener for removing and installing spring bolts A and an electromagnetic chuck A for adsorbing the lid; the upper end of the overhead platform is provided with a placement surface for placing the lid, and the lower end of the placement surface is provided with an overhead area, and the placement surface is within the operating range of the lid removal and installation mechanism.

2. The fluorinated slag can lid removal and installation assembly as described in claim 1, characterized in that: The elevated platform has a personnel entrance / exit on one side that connects to the elevated section. The upper part of the elevated platform has a positioning pit for placing the cover. The bottom surface of the positioning pit is the placement surface. There is a hollow hole in the center of the placement surface that connects to the elevated section. When the cover is placed on the placement surface, the sealing ring groove A on the lower surface of the cover is exposed in the hollow hole.

3. The fluorinated slag can lid removal and installation assembly as described in claim 2, characterized in that: The top cover assembly / disassembly mechanism includes an electromagnetic chuck A, a straight shank bolt tightener, a mounting plate A, and an industrial camera A. The electromagnetic chuck A includes a housing, a sliding column, a suction cup, and a spring. The rear end of the housing is fixedly connected to the end of the robotic arm of the industrial robot A, and the front end of the housing is fixedly connected to the mounting plate A. The rear end of the sliding column is slidably mounted inside the housing, and the front end of the sliding column extends from the front end of the housing. The suction cup is fixedly connected to the rear end of the sliding column for adsorbing the top cover. The spring is fitted onto the sliding column and located between the suction cup and the housing, and its elasticity forces the sliding column to maintain its maximum extended state when no external force is applied. The straight shank bolt tightener is fixedly mounted on the mounting plate A for removing or installing the spring bolt A. When the straight shank bolt tightener is engaged with the spring bolt A, the suction cup is in close contact with the upper surface of the top cover. The industrial camera A is fixedly mounted on the lower surface of the mounting plate A.

4. The fluorinated slag can lid removal and installation assembly as described in claim 3, characterized in that: The number of spring bolts A on the flange F of the top cover is even. All the spring bolts A are evenly distributed in a ring on the flange F. All the spring bolts A together form a circle O1. Every two spring bolts A passing through the diameter of circle O1 are called a group of spring bolts A. Correspondingly, there are two straight shank bolt tighteners in the top cover disassembly and assembly mechanism. The two straight shank bolt tighteners are symmetrically distributed on both sides of the electromagnetic chuck A and are used to simultaneously engage two spring bolts A in a set of spring bolts A. When the two straight shank bolt tighteners engage with a set of spring bolts A, the electromagnetic chuck A is in close contact with the central area of ​​circle O1 on the upper surface of the top cover. Correspondingly, the end of the robotic arm of industrial robot A is a hydraulic rotary joint, which rotates around its center line L. The midpoint of the line connecting the two straight shank bolt removers is M, and the midpoint M is located on the center line L. The outer shell of electromagnetic chuck A is fixedly connected to the hydraulic rotary joint. When the two straight bolt removers are facing any one set of spring bolts A, the hydraulic rotating joint of the industrial robot A is driven to rotate around its center line L, so that the two straight bolt removers are facing other sets of spring bolts A.

5. The fluorinated slag can lid removal and installation assembly as described in claim 4, characterized in that: The lower surface of the flange F of the top cover is provided with a sealing ring groove A for the sealing ring A to be embedded in; when the top cover is connected to the tank body, the sealing ring A is used to achieve a seal between the tank body and the top cover; when the top cover is separated from the tank body, the sealing ring A remains embedded in the sealing ring groove A.

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