Device for carrying robot to enter and exit radioactive storage tank

Abstract

The utility model relates to the technical field of nuclear facility decommissioning and radioactive waste treatment, in particular to a device for carrying a robot to enter and exit a radioactive storage tank, which comprises a fixed channel steel support, an unfolding plate support, an unfolding plate and an electric push rod. The fixed channel steel bracket is used for being hoisted on a manhole of a storage tank; the unfolding plate bracket is connected with the fixed channel steel bracket through a pin shaft; one end of the electric push rod is connected with the fixed channel steel support, the other end of the electric push rod is connected with the middle of the unfolding plate support, and the electric push rod is used for driving the unfolding plate support to rotate around the pin shaft; the unfolding plate is fixed to the unfolding plate support and used for carrying the robot. The electric push rod stretches out and draws back, so that the unfolding plate support rotates around the pin shaft, the robot is safely and stably put into the inner wall of the radioactive storage tank and withdrawn from the inner wall of the radioactive storage tank, remote automatic operation can be achieved in the high-dose radioactive environment in the radioactive storage tank, and the risk that personnel are irradiated is greatly reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of nuclear facility decommissioning and radioactive waste management, in particular to a device for carrying a robot in and out of a radioactive storage tank. Background Art

[0002] In the decommissioning of nuclear facilities and the management of radioactive waste, robots are often required to enter radioactive tanks for decontamination, dismantling, measurement, and investigation. In order to avoid damage to the radioactive tanks caused by opening holes and leakage of radioactive materials, robots entering the radioactive tanks mostly choose to enter the tanks through the original manholes. The center of the manhole is about 1 meter away from the tank wall, and the robot cannot crawl to the inner wall of the radioactive tank by itself.

[0003] In view of this, the present utility model is proposed. Utility Model Content

[0004] The utility model aims to provide a device for carrying a robot in and out of a radioactive storage tank, which can safely and stably drop the robot onto the inner wall surface of the storage tank and complete the recovery of the robot from the inner wall surface.

[0005] The utility model provides a device for carrying a robot in and out of a radioactive storage tank, comprising: a fixed channel steel bracket, an expansion plate bracket, an expansion plate and an electric push rod; the fixed channel steel bracket is used for hoisting on the manhole of the storage tank; the expansion plate bracket is connected to the fixed channel steel bracket through a pin shaft; one end of the electric push rod is connected to the fixed channel steel bracket, and the other end of the electric push rod is connected to the middle part of the expansion plate bracket, and the electric push rod is used to drive the expansion plate bracket to rotate around the pin shaft; the expansion plate is fixed on the expansion plate bracket, and the expansion plate is used to carry the robot.

[0006] Preferably, an I-beam is provided at the upper end of the fixed channel steel bracket; the I-beam is provided with bolt holes and is fixedly connected to the manhole by bolts.

[0007] Preferably, a hinge seat for installing a pin is provided on the side surface of the lower end of the fixed channel steel bracket, and the hinge seat is connected to the unfolding plate bracket by installing the pin.

[0008] Preferably, the bottom surface of the lower end of the fixed channel steel bracket is provided with an ear plate seat for connecting the electric push rod.

[0009] Preferably, the electric push rod has a locking function.

[0010] Preferably, it also includes: a lighting device; the lighting device is respectively arranged on the fixed channel steel bracket and the unfolded plate bracket.

[0011] Preferably, the lighting device comprises: an upper lighting lamp and a lower lighting lamp; the upper lighting lamp is installed on the fixed channel steel bracket through an aluminum profile bracket, and the lower lighting lamp is installed on the unfolding plate bracket through an aluminum profile bracket.

[0012] Preferably, the upper lighting lamp and the lower lighting lamp are oriented in opposite directions, with one of them oriented above the storage tank and the other oriented below the storage tank.

[0013] Preferably, it also includes: a camera device; the camera device includes: two panoramic cameras and two local cameras; the two panoramic cameras are distributed on both sides of the pin shaft; one of the two local cameras is installed on the aluminum profile bracket of the lower side lighting lamp, and the other is installed on the back of the unfolding plate.

[0014] Preferably, the unfolding plate is connected to the robot by magnetic force; a neodymium iron boron permanent magnet is provided at the bottom of the robot, and the unfolding plate is a steel plate.

[0015] The utility model has the following beneficial effects:

[0016] The technical solution of the utility model realizes the rotation of the deployment plate bracket around the pin shaft through the extension and retraction of the electric push rod. When the electric push rod is extended, the deployment plate bracket rotates and unfolds and adheres to the inner wall of the radioactive storage tank. The robot can crawl from the deployment plate to the inner wall of the storage tank. When the electric push rod is contracted, the deployment plate bracket rotates and retracts to a vertical state, and the robot can be carried and retracted from the manhole of the storage tank. Through this device, the robot can be safely and stably placed on the inner wall of the radioactive storage tank and the robot can be retracted from the inner wall surface. In the high-dose radiation environment inside the radioactive storage tank, remote automated operation can be realized, which greatly reduces the risk of personnel exposure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of the structure of a device for carrying a robot in and out of a radioactive storage tank provided by the utility model;

[0019] Figure 2 A side view of the device for carrying a robot into and out of a radioactive storage tank provided by the utility model;

[0020] Figure 3A schematic diagram of the retracted state of the device for carrying a robot in and out of a radioactive storage tank provided by the utility model;

[0021] Figure 4 A schematic diagram of the deployed state of the device for carrying a robot in and out of a radioactive storage tank provided by the utility model;

[0022] Figure 5 A panoramic camera layout diagram provided by the utility model;

[0023] Figure 6 The local camera layout provided by the utility model Figure 1 ;

[0024] Figure 7 The local camera layout provided by the utility model Figure 2 .

[0025] Explanation of the reference numerals: 1-fixed channel steel bracket, 2-electric push rod, 3-unfolding plate bracket, 4-inner wall of radioactive storage tank, 5-camera device, 6-lighting device, 7-robot, 8-unfolding plate, 9-pin shaft, 10-manhole, 11-I-beam, 12-panoramic camera, 13-local camera. DETAILED DESCRIPTION

[0026] The technical solution of the utility model will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0028] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, "multiple" means two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0029] Example

[0030] like Figures 1 to 7 As shown, this embodiment provides a device for carrying a robot in and out of a radioactive storage tank, comprising: a fixed channel steel bracket 1, an expansion plate bracket 3, an expansion plate 8 and an electric push rod 2; the fixed channel steel bracket 1 is used to be hoisted on the manhole 10 of the storage tank; the expansion plate bracket 3 is connected to the fixed channel steel bracket 1 through a pin shaft 9; one end of the electric push rod 2 is connected to the fixed channel steel bracket 1, and the other end of the electric push rod 2 is connected to the middle part of the expansion plate bracket 3, and the electric push rod 2 is used to drive the expansion plate bracket 3 to rotate around the pin shaft 9; the expansion plate 8 is fixed on the expansion plate bracket 3, and the expansion plate 8 is used to carry the robot 7. The electric push rod 2 realizes the rotation of the deployment plate bracket 3 around the pin shaft 9 by telescoping. When the electric push rod 2 is extended, the deployment plate bracket 3 rotates and unfolds and fits tightly against the inner wall 4 of the radioactive storage tank. The robot 7 can crawl from the deployment plate 8 to the inner wall of the storage tank. When the electric push rod 2 is contracted, the deployment plate bracket 3 rotates and retracts to a vertical state, and the robot 7 can be carried and retracted from the manhole 10 of the storage tank. Through this device, the robot 7 can be safely and stably placed on the inner wall 4 of the radioactive storage tank and the robot 7 can be retracted from the inner wall surface.

[0031] The working environment of this device is a high-dose radiation place inside a radioactive storage tank, and it can realize remote automated operation, greatly reducing the risk of personnel exposure.

[0032] The overall size of the device is not limited and can be designed according to the actual situation of the manhole 10 and the robot 7 of the storage tank. In the present embodiment, the manhole is a cylinder with a diameter of about 500 mm and a height of about 1500 mm. The center of the manhole is about 1150 mm away from the tank wall. The overall length of the device is 4963 mm, the widest part is 4234 mm, the maximum load is about 1000 kg, the overall rigidity is large, and the overall deformation of the device is less than 5 mm after mechanical calculation and on-site practical inspection.

[0033] In this embodiment, the surface of the device is coated with an anti-corrosion layer to extend the service life of the device.

[0034] In this embodiment, an I-beam 11 is provided at the upper end of the fixed channel steel bracket 1; the I-beam 11 is provided with an M18 bolt hole, which is fixedly connected to the manhole 10 (Ф500mm) by bolts to balance the overturning moment brought to the channel steel bracket of the device after the deployment plate 8 is deployed, thereby ensuring the overall stability of the deployment and recovery process.

[0035] In this embodiment, a hinge seat for installing a pin shaft 9 is provided on the lower end side of the fixed channel steel bracket 1, and the hinge seat is connected to the unfolding plate bracket 3 through the installation pin shaft 9.

[0036] In this embodiment, the bottom surface of the lower end of the fixed channel steel bracket 1 is provided with an ear plate seat for connecting the electric push rod 2.

[0037] The form of the electric push rod 2 is not limited, and a commercially available electric push rod can be selected according to the situation. In this embodiment, the electric push rod 2 is an electric push rod with a screw structure as the main body, and the thrust load is about 1000kg. The electric push rod 2 has a large transmission ratio and a locking function, which can ensure that the push rod remains stationary after the unfolding plate 8 is unfolded.

[0038] In this embodiment, it also includes: a lighting device 6; the lighting device 6 is respectively arranged on the fixed channel steel bracket 1 and the unfolded plate bracket 3.

[0039] In this embodiment, the lighting device 6 includes: an upper lighting lamp and a lower lighting lamp; the upper lighting lamp is installed on the fixed channel steel bracket 1 through an aluminum profile bracket, and the lower lighting lamp is installed on the unfolding plate bracket 3 through an aluminum profile bracket.

[0040] In this embodiment, the upper lighting lamp and the lower lighting lamp are oriented in opposite directions, one of which is oriented above the storage tank and the other is oriented below the storage tank, so as to provide sufficient lighting brightness inside the storage tank.

[0041] In this embodiment, the lighting lamp is preferably an explosion-proof lighting lamp.

[0042] In this embodiment, it also includes: a camera device 5; the camera device 5 includes: two panoramic cameras 12 and two local cameras 13; the two panoramic cameras 12 are installed next to the pin shaft 9 connecting the fixed channel steel bracket 1 and the deployment plate bracket 3, so as to realize the full process observation of the device deployment and retrieval, and at the same time provide auxiliary observation of the operation of the robot 7 inside the storage tank with panoramic coverage; one of the two local cameras 13 is installed on the aluminum profile bracket of the lower lighting lamp, facing the deployment plate 8, and the other is installed on the back of the deployment plate 8, and is used to observe the process of the robot 7 moving up and down the side walls of the storage tank when the deployment plate 8 is deployed, and observe whether the deployment plate 8 is tightly fitted with the inner wall of the storage tank, so as to ensure the safety and stability of the deployment and retrieval process.

[0043] In this embodiment, the lighting device 6 and the camera device 5 cooperate with each other to realize that the robot 7 can be placed on the inner wall 4 of the radioactive storage tank in a visible, controllable and reliable manner, and the whole process is safe and reliable.

[0044] In this embodiment, the unfolding plate 8 and the robot 7 are connected by magnetic force; a neodymium iron boron permanent magnet is arranged at the bottom of the robot 7, and the unfolding plate 8 is a steel plate. The size of the unfolding plate 8 can be set according to actual conditions, for example: a steel plate with a length of 994.74 mm, a width of 410 mm, and a thickness of 8 mm.

[0045] The working process of the utility model is as follows:

[0046] (1) The lifting belt is connected to the I-beam 11 above the fixed channel steel bracket 1, and the tooling is hoisted by a crane to the top of the 500mm Ф manhole 10 of the radioactive storage tank;

[0047] (2) Under the auxiliary observation of the panoramic camera 12, the crane is controlled to lift the entire device into the radioactive storage tank, and the I-beam 11 of the fixed channel steel bracket 1 is connected and fixed to the Ф500mm manhole 10 by bolts.

[0048] (3) The electric push rod 2 is remotely controlled to extend, and the deployment plate bracket 3 rotates around the pin shaft 9 to deploy. The local camera 13 of the camera device is used to assist in observing the fit between the deployment plate 8 and the inner wall of the storage tank; if there is an angle error in the fit, the crane is controlled to rotate the device to a certain angle until the deployment plate 8 and the inner wall 4 of the radioactive storage tank are in close contact;

[0049] (4) The remotely controlled robot 7 crawls from the deployment plate 8 to the inner wall of the storage tank. During this period, the local camera 13 of the camera device is used to assist in observing whether the crawling posture of the robot 7 is normal. After the robot 7 reaches the inner wall of the storage tank, the electric push rod 2 is retracted, the delivery process is completed, and the robot 7 performs the operation;

[0050] (5) After the robot 7 completes the operation, the electric push rod 2 extends, the deployment plate 8 is pressed against the inner wall of the storage tank, and the remote-controlled robot 7 crawls back to the deployment plate 8, and the electric push rod 2 is retracted. During this process, the camera device is used for auxiliary observation;

[0051] (6) After removing the bolts between the I-beam 11 and the manhole 10 above the device, control the crane to lift, and with the assistance of the panoramic camera 12 of the camera device, slowly lift the device out of the Ф500mm manhole 10 of the radioactive storage tank, completing the overall recovery of the device-carrying robot 7.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. A device for carrying a robot in and out of a radioactive storage tank, characterized in that: include: A fixed channel steel bracket, an expansion plate bracket, an expansion plate and an electric push rod; the fixed channel steel bracket is used for hoisting on the manhole of the storage tank; the expansion plate bracket is connected to the fixed channel steel bracket through a pin shaft; one end of the electric push rod is connected to the fixed channel steel bracket, and the other end of the electric push rod is connected to the middle part of the expansion plate bracket, and the electric push rod is used to drive the expansion plate bracket to rotate around the pin shaft; the expansion plate is fixed on the expansion plate bracket, and the expansion plate is used to carry the robot.

2. The device for carrying a robot in and out of a radioactive storage tank according to claim 1, characterized in that: An I-beam is arranged at the upper end of the fixed channel steel bracket; the I-beam is provided with bolt holes and is fixedly connected to the manhole by bolts.

3. The device for carrying a robot in and out of a radioactive storage tank according to claim 1, characterized in that: A hinge seat for installing a pin is arranged on the side surface of the lower end of the fixed channel steel bracket, and the hinge seat is connected to the unfolding plate bracket through the installation pin.

4. The device for carrying a robot in and out of a radioactive storage tank according to claim 1, characterized in that: The bottom surface of the lower end of the fixed channel steel bracket is provided with an ear plate seat for connecting the electric push rod.

5. The device for carrying a robot in and out of a radioactive storage tank according to claim 1, characterized in that: The electric push rod has a locking function.

6. The device for carrying a robot in and out of a radioactive storage tank according to claim 1, characterized in that: Also includes: Lighting device; the lighting device is respectively arranged on the fixed channel steel bracket and the unfolded plate bracket.

7. The device for carrying a robot in and out of a radioactive storage tank according to claim 6, characterized in that: The lighting device comprises: an upper lighting lamp and a lower lighting lamp; the upper lighting lamp is installed on the fixed channel steel bracket through an aluminum profile bracket, and the lower lighting lamp is installed on the unfolding plate bracket through an aluminum profile bracket.

8. The device for carrying a robot in and out of a radioactive storage tank according to claim 7, characterized in that: The upper lighting lamp and the lower lighting lamp are oriented in opposite directions, one of them is oriented above the storage tank, and the other is oriented below the storage tank.

9. The device for carrying a robot in and out of a radioactive storage tank according to claim 1, characterized in that: Also includes: Camera device; The camera device includes: two panoramic cameras and two local cameras; the two panoramic cameras are distributed on both sides of the pin shaft; one of the two local cameras is installed on the aluminum profile bracket of the lower lighting lamp, and the other is installed on the back of the unfolding plate.

10. The device for carrying a robot in and out of a radioactive storage tank according to claim 1, characterized in that: The unfolding plate is connected to the robot through magnetic force; a NdFeB permanent magnet is arranged at the bottom of the robot, and the unfolding plate is a steel plate.

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