Power manipulator recycling mechanism and nuclear decommissioning part dismantling device

Abstract

The utility model provides a power manipulator recovery mechanism and a nuclear decommissioning component dismantling device, and relates to the technical field of nuclear decommissioning treatment.The power manipulator recovery mechanism comprises a guide rail, a pushing piece, a pulling assembly and a connecting rope, the guide rail is horizontally arranged in a hot chamber, one end of the guide rail extends out of the hot chamber, and the guide rail is used for supporting a power manipulator to walk; the pushing piece is arranged on the guide rail in a sliding mode and located at the end, located in the hot chamber, of the guide rail, and the pushing piece is used for making contact with the power mechanical arm and pushing the power mechanical arm out of the hot chamber through the guide rail. According to the utility model, through the arrangement of the pulling assembly, when the power manipulator needs to be recycled, the connecting rope is wound through the pulling assembly, the pushing piece is driven to move on the guide rail, and the pushing piece pushes the power manipulator to move, so that the power manipulator is transferred from a hot chamber to an overhaul chamber; and the recovery operation of the power manipulator is completed.

Description

TECHNICAL FIELD

[0001] The utility model relates to nuclear decommissioning technical field especially relates to a power manipulator recovery mechanism and nuclear decommissioning part dismantling device. BACKGROUND

[0002] The power manipulator is applied to the environment with radiation or where human cannot go on the spot, and through remote control and video system, the power manipulator can complete the inspection, assembly, disassembly, welding, transportation, decontamination, storage, repair, decomposition and other operations of target components, and has the characteristics of remote operation, large coverage, strong flexibility, flexible operation, large force and radiation resistance.The main functions of the power manipulator include: disassembling and assembling the components and equipment needing to be replaced in the hot chamber; performing simple maintenance, disassembly and assembly of the equipment in the hot chamber; assisting the master-slave manipulator to complete the operation in the hot chamber; transporting the parts in the hot chamber; cutting and transporting the pipelines and equipment in the hot chamber using special tools, etc.For example, the hot chamber power manipulator for large hot chamber radioactive waste treatment disclosed in the utility model No.CN222200562U can cope with waste of different shapes and sizes, and is suitable for various working scenes.

[0003] However, in the case of some single faults, such as cable damage, motor failure, wheel damage, spare motor damage, etc., the power manipulator itself is difficult to move in these fault scenes, which makes it difficult for the power manipulator to transfer from the hot chamber to the maintenance site, and usually requires manual wearing of protective equipment, partial component disassembly or manual transfer according to different fault scenes, which is time-consuming and laborious, and also poses a certain risk to the operator. UTILITY MODEL CONTENTS

[0004] Therefore, the utility model provides a power manipulator recovery mechanism and nuclear decommissioning part dismantling device, which is capable of winding the connecting rope through the winding and pulling assembly when the power manipulator needs to be recovered, driving the pusher to move on the guide rail, and pushing the power manipulator to move by the pusher, so as to transfer the power manipulator from the hot chamber to the repair room and complete the recovery operation of the power manipulator.

[0005] The technical scheme of the utility model is as follows:

[0006] On the one hand, the utility model provides a power manipulator recovery mechanism and nuclear decommissioning part dismantling device, which includes guide rail, pusher, winding and pulling assembly and connecting rope, wherein,

[0007] The guide rail is horizontally arranged in the hot chamber and extends to the outside of the hot chamber at one end, and is used for supporting the power manipulator to walk;

[0008] The pushing member is slidingly arranged on the guide rail and is located at one end of the guide rail in the hot chamber, and the pushing member is used to contact the power manipulator and push the power manipulator out of the hot chamber through the guide rail.

[0009] The take-up assembly is arranged outside the hot chamber and is fixed opposite to the guide rail, and the take-up assembly comprises a take-up reel.

[0010] One end of the connecting rope is fixed on the pushing member, and the other end is wound on the take-up reel, and the take-up reel is used to wind the connecting rope to pull the pushing member to move on the guide rail.

[0011] On the basis of the above technical scheme, preferably, the guide rail, the take-up assembly and the connecting rope are all provided as two, the two guide rails are arranged in parallel on the same horizontal plane, the two connecting ropes are arranged on opposite sides of the two guide rails respectively, and the end portions of the two connecting ropes are both fixed on the pushing member.

[0012] On the basis of the above technical scheme, preferably, the pushing member further comprises a plurality of brackets, the brackets are fixed on the outer side of the guide rail and are distributed along the length direction of the guide rail, and the connecting rope falls on each bracket under the action of gravity.

[0013] Further preferably, the bracket comprises a supporting wheel, and the supporting wheel is in contact with the connecting rope.

[0014] On the basis of the above technical scheme, preferably, the take-up assembly further comprises a fixing frame, a connecting shaft and a driving member, wherein,

[0015] The fixing frame is arranged outside the hot chamber and is fixed opposite to the guide rail;

[0016] The connecting shaft is arranged on the fixing frame, and the take-up reel is fixed on the connecting shaft;

[0017] The driving member is arranged on the fixing frame and is in transmission connection with the connecting shaft.

[0018] On the basis of the above technical scheme, preferably, the pushing member comprises a cross bar and a pulley, wherein,

[0019] The cross bar is arranged on the guide rail and is perpendicular to the guide rail;

[0020] The pulley is arranged on the cross bar and is in contact with the guide rail, so that the cross bar can slide on the guide rail.

[0021] Further preferably, the pushing member further comprises a limiting member, the limiting member is fixed on the cross bar and extends to the outer side of the guide rail to limit the cross bar from disengaging from the guide rail.

[0022] In another aspect, the utility model provides a kind of nuclear decommissioning component dismantling device, including mechanical hand walking frame and above-mentioned power manipulator recovery mechanism, the mechanical hand walking frame is set on guide rail, and it is located between pusher and pull assembly.

[0023] On the basis of above technical scheme, preferably, it further includes anti-collision block, the anti-collision block is fixed on mechanical hand walking frame, and the anti-collision block is used to contact pusher.

[0024] The power manipulator recovery mechanism and the nuclear decommissioning component dismantling device of the utility model have the following beneficial effects compared with the prior art:

[0025] (1) by setting pull assembly, when needing to recover power manipulator, it is rolled by pull assembly to connection rope, and pusher is moved on guide rail, and power manipulator is moved by pusher, and then power manipulator is transferred from hot chamber to repair room, and the recovery operation of power manipulator is completed;

[0026] (2) setting bracket, and support wheel is set on the bracket, can form support to connection rope between pull assembly and pusher, to effectively reduce the influence of gravity on connection rope, improve the stability of entire mechanism, and bracket can hinder connection rope from falling downward, prevent it from interfering with nuclear decommissioning component or other equipment, and support wheel is directly contacted with connection rope, and sliding friction is changed into rolling friction, and friction resistance is reduced, and then it is more convenient to roll connection rope. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor.

[0028] Figure 1 It is the perspective view of the power manipulator recovery mechanism and the nuclear decommissioning component dismantling device of the utility model;

[0029] Figure 2 It is Figure 1 the enlarged schematic view of A in the above;

[0030] Figure 3 It is the structure schematic view of the pull assembly of the power manipulator recovery mechanism of the utility model;

[0031] Figure 4 It is another perspective view of the power manipulator recovery mechanism and the nuclear decommissioning component dismantling device of the utility model;

[0032] Figure 5 For Figure 4 enlarged view of B in FIG. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0034] As Figures 1-5 shown in the utility model discloses a power manipulator recovery mechanism and nuclear decommissioning part dismantling device,

[0035] Including guide rail 1, push piece 2, receive and draw assembly 3 and connecting rope 4.

[0036] Guide rail 1 is horizontally arranged in the hot chamber, and one end extends to the outside of the hot chamber, the guide rail 1 is used to support the power manipulator to walk, in some embodiments, the hot chamber is communicated with the maintenance room, and the passage communicated therewith is blocked by a device such as an isolation door or an isolation window, the guide rail 1 can be arranged in the hot chamber and extended into the maintenance room, based on this, a plurality of support frames can be installed in the hot chamber and the maintenance room to install the guide rail 1.

[0037] Push piece 2 is slidably arranged on guide rail 1 and located at one end of guide rail 1 in the hot chamber, push piece 2 is used to contact the power manipulator and push the power manipulator out of the hot chamber through guide rail 1, push piece 2 is always placed on the end of one end of guide rail 1 in the hot chamber under normal circumstances, so as not to hinder the power manipulator to work.

[0038] In addition, the guide rail 1 can be arranged on the H-shaped steel and fixed on the support frame together with the H-shaped steel, and blocking pieces are arranged at both ends of the guide rail 1 to limit the movement range of the push piece 2 and the power manipulator.

[0039] Receive and draw assembly 3 is arranged outside the hot chamber and fixed opposite to guide rail 1, receive and draw assembly 3 includes winding disc 31, specifically, receive and draw assembly 3 can be arranged in the maintenance room or even outside the maintenance room, winding disc 31 is in the shape of a disc as a whole and can rotate.

[0040] One end of connecting rope 4 is fixed on push piece 2, and the other end is wound on winding disc 31, winding disc 31 is used to wind connecting rope 4 to pull push piece 2 to move on guide rail 1.

[0041] In some embodiments, the connecting rope 4 is selected as a steel wire rope which needs to have good tensile property to forcibly pull the power manipulator into the maintenance room from the hot room. A U-shaped piece is arranged on the pushing piece 2, the end of the connecting rope 4 passes through the U-shaped piece and is bent to be fixed with the U-shaped piece through a lock catch, so as to realize the fixed connection of the connecting rope 4 and the pushing piece 2.

[0042] In actual operation, when the power manipulator needs to be recycled, the winding disc 31 is driven to rotate by the winding and pulling assembly 3, so as to wind the connecting rope 4, the connecting rope 4 can pull the pushing piece 2 to move on the guide rail 1 and contact the power manipulator body during the movement, and at the same time, the power manipulator is pushed towards the maintenance room until the power manipulator enters the maintenance room. After the power manipulator is maintained, the power manipulator moves towards the hot room, and the pushing piece 2 moves to one end of the guide rail in the hot room during the movement, so as to not hinder the power manipulator from working, and to realize the resetting of the pushing piece 2. When the power manipulator fails to move or after the maintenance is completed, the operator does not need to enter the hot room to operate.

[0043] In some embodiments, the guide rail 1, the winding and pulling assembly 3 and the connecting rope 4 are all arranged as two, the two guide rails 1 are arranged in parallel on the same horizontal plane, the two connecting ropes 4 are arranged on the opposite sides of the two guide rails 1 respectively, and the ends of the two connecting ropes 4 are fixed with the pushing piece 2. The power manipulator is arranged on the two guide rails 1, the winding and pulling assembly 3 and the connecting rope 4 can be arranged symmetrically on the two sides of the two guide rails 1, and the two connecting ropes 4 are connected to the two ends of the pushing piece 2 to realize the synchronous pulling on both sides, so that the pulling force on the pushing piece 2 during the movement is more uniform, and the stability during the recycling operation is improved.

[0044] In a preferred embodiment, a plurality of brackets 5 are further arranged, the brackets 5 are fixed on the outer side of the guide rail 1 and are distributed along the length direction of the guide rail 1, and the connecting rope 4 falls on each bracket 5 under the action of gravity. This arrangement is because the length of the guide rail 1 can be long, and the connecting rope 4 will fall vertically towards the ground under the action of gravity without support, which can cause the winding disc 31 to be pulled to rotate or the pushing piece 2 to be pulled. When there is no operation, the pushing piece 2 is driven to move on the guide rail 1. The bracket 5 can support the connecting rope 4 between the winding and pulling assembly 3 and the pushing piece 2, so as to effectively reduce the influence of gravity on the connecting rope 4 and improve the stability of the whole mechanism. The bracket 5 can prevent the connecting rope 4 from falling downwards and prevent interference with the nuclear decommissioning components or other equipment. The number of brackets 5 needs to be selected according to the actual length of the guide rail 1.

[0045] Further, the bracket 5 comprises a supporting wheel 51 which is in contact with the connecting rope 4, and the supporting wheel 51 changes the sliding friction into rolling friction by directly contacting with the connecting rope, thereby reducing the friction resistance and further facilitating the winding of the connecting rope 4.

[0046] In some embodiments, the winding and pulling assembly 3 further comprises a fixing frame 32, a connecting shaft 33 and a driving member 34, the fixing frame 32 is arranged outside the hot chamber and is fixed relative to the guide rail 1, the connecting shaft 33 is arranged on the fixing frame 32, and the winding disc 31 is fixed on the connecting shaft 33, and the driving member 34 is arranged on the fixing frame 32 and is in driving connection with the connecting shaft 33.

[0047] The fixing frame 32 is fixed in a space outside the maintenance chamber or other hot chamber, and is preferably arranged on a wall in the room, or can be arranged at the end of the guide rail 1, and the connecting shaft 33 is installed on the fixing frame 32 through a bearing, and the driving member 34 can be selected according to actual needs. For the convenience of description, a hand wheel is taken as an example. When the driving member 34 is selected as a hand wheel, it can be directly arranged on the connecting shaft 33, and the power manipulator is recovered by manual rotation. In addition to this mode, the driving member 34 can also be selected as an electric component such as a motor. However, considering the possibility of power failure, the driving member 34 can be preferably selected as a manual driving or a manual and electric driving mode. In addition, if the winding and pulling assembly 3 is arranged as two, the two connecting shafts 33 can be in driving connection, thereby facilitating the recovery operation.

[0048] In some embodiments, the pushing member 2 comprises a cross bar 21 and a pulley 22, the cross bar 21 is arranged on the guide rail 1 and is perpendicular to the guide rail 1, and the pulley 22 is arranged on the cross bar 21 and is in contact with the guide rail 1, so that the cross bar 21 can slide on the guide rail 1.

[0049] The cross bar 21 can be selected as a stainless steel square tube, and the pulley 22 is arranged on the cross bar 21 so that it can slide on the guide rail 1. Two rubber pads can be arranged on the cross bar 21 so that they can be buffered in place by the rubber pads when they reach the end of the guide rail 1, avoiding deformation caused by impact.

[0050] In addition, in order to prevent the pushing member 2 from separating from the guide rail during movement, the pushing member 2 further comprises a limiting member 23 which is fixed on the cross bar 21 and extends to the outside of the guide rail 1 to limit the cross bar 21 from separating from the guide rail 1. The limiting member 23 is arranged in a J shape, so that when the cross bar 21 deviates, it is clamped and prevented from leaving the guide rail 1, further improving the mechanical stability of the recovery mechanism and ensuring the recovery operation of the power manipulator.

[0051] As Figures 1-5As shown, the nuclear decommissioning part dismantling device comprises a mechanical hand walking frame 10 and the power mechanical hand recycling mechanism, the mechanical hand walking frame 10 is arranged on the guide rail 1, and is located between the pushing piece 2 and the receiving and pulling assembly 3.

[0052] In some embodiments, the anti-collision block 20 is also provided, the anti-collision block 20 is fixed on the mechanical hand walking frame 10, the anti-collision block 20 is used for contacting the pushing piece 2, through the anti-collision block 20, the hard contact of the pushing piece 2 and the mechanical hand walking frame 10 can be avoided, and structural damage caused by extrusion in the pushing process can be avoided.

[0053] The above only describes the preferred embodiments of the utility model, and does not limit the utility model, and any modification, equivalent replacement, improvement, etc. within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A power and hand tool recycling mechanism characterized by: The device comprises a guide rail (1), a pushing member (2), a winding and pulling assembly (3) and a connecting rope (4), wherein, The guide rail (1) is horizontally arranged in the hot chamber and extends to outside of the hot chamber, and is used for supporting the powered manipulator to walk; The pushing member (2) is slidingly arranged on the guide rail (1) and located at one end of the guide rail (1) in the hot chamber, and is used for contacting the powered manipulator and pushing the powered manipulator out of the hot chamber through the guide rail (1); The winding and pulling assembly (3) is arranged outside the hot chamber and is fixed opposite to the guide rail (1), and comprises a winding disc (31); One end of the connecting rope (4) is fixed on the pushing member (2), and the other end is wound on the winding disc (31), and the winding disc (31) is used for winding the connecting rope (4) to pull the pushing member (2) to move on the guide rail (1).

2. The powered mechanical hand recycling mechanism of claim 1, wherein: The guide rail (1), the winding and pulling assembly (3) and the connecting rope (4) are all arranged in two, the two guide rails (1) are arranged in parallel on the same horizontal plane, the two connecting ropes (4) are arranged on the opposite sides of the two guide rails (1) respectively, and the ends of the two connecting ropes (4) are fixed on the pushing member (2).

3. The powered mechanical hand recycling mechanism of claim 1, wherein: Further comprising a plurality of brackets (5), the brackets (5) are fixed on the outside of the guide rail (1) and are distributed along the length direction of the guide rail (1), and the connecting rope (4) falls on each bracket (5) under the action of gravity.

4. The powered mechanical hand retrieval mechanism of claim 3, wherein: The bracket (5) comprises a supporting wheel (51), and the supporting wheel (51) is in contact with the connecting rope (4).

5. The powered mechanical hand retrieval mechanism of claim 1, wherein: The winding and pulling assembly (3) further comprises a fixing frame (32), a connecting shaft (33) and a driving member (34), wherein, The fixing frame (32) is arranged outside the hot chamber and is fixed opposite to the guide rail (1); The connecting shaft (33) is arranged on the fixing frame (32), and the winding disc (31) is fixed on the connecting shaft (33); The driving member (34) is arranged on the fixing frame (32) and is in transmission connection with the connecting shaft (33).

6. The powered mechanical hand recycling mechanism of claim 1, wherein: The pushing member (2) comprises a cross rod (21) and a pulley (22), wherein, The cross rod (21) is arranged on the guide rail (1) and is perpendicular to the guide rail (1); The pulley (22) is arranged on the cross rod (21) and is in contact with the guide rail (1), so that the cross rod (21) can slide on the guide rail (1).

7. The powered mechanical hand retrieval mechanism of claim 6, wherein: The pushing member (2) further comprises a limiting member (23), the limiting member (23) is fixed on the cross rod (21) and extends to the outside of the guide rail (1), so as to limit the cross rod (21) from disengaging from the guide rail (1).

8. A nuclear decommissioning component removal apparatus, characterised in that: The device comprises a manipulator walking frame (10) and the powered manipulator recovery mechanism in any one of claims 1-7, the manipulator walking frame (10) is arranged on the guide rail (1) and located between the pushing member (2) and the winding and pulling assembly (3).

9. The nuclear decommissioning component removal device of claim 8, wherein: Further comprising an anti-collision block (20), the anti-collision block (20) is fixed on the manipulator walking frame (10), and the anti-collision block (20) is used for contacting the pushing member (2).

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