Nuclear power plant irradiation environment deep well duct waste grabbing device

Abstract

The utility model discloses a nuclear power plant irradiation environment deep well hole channel waste grabbing device which comprises a supporting frame, the top of the supporting frame is fixedly connected with a top plate through a supporting column, the periphery of the top of the supporting frame is fixedly connected with supporting bases, and the interiors of the supporting bases are rotationally connected with rollers. The center of the top of the supporting frame is fixedly connected with a servo motor, the output end of the servo motor is fixedly connected with a duplex chain wheel, and the surface of the roller is sleeved with a first chain wheel. The device is hoisted to the position above a deep well through a crane hook, then the clamping jaw is lowered into the deep well by adjusting the lifting plate to move up and down, channel waste is positioned through the camera, the clamping jaw is operated to move to the position above the channel waste, the posture of the clamping jaw is changed, and the clamping jaw is opened at a proper angle to clamp the waste. And the channel waste is lifted out of the deep well by adjusting the lifting plate to move up and down, and the device has the advantages of being high in safety and high in grabbing efficiency.

Description

TECHNICAL FIELD

[0001] The utility model relates to radioactive waste treatment technical field, concretely is a nuclear power plant irradiation environment deep well hole waste grabbing device. BACKGROUND

[0002] In the process of decommissioning nuclear facilities, the abandoned channel waste in the deep well needs to be safely and effectively grabbed and disposed. Since the channel waste is radioactive, close contact by hand has great risk. Therefore, a deep well channel waste grabbing device capable of operating under remote control is needed to ensure the safety of the operator and improve the work efficiency. SUMMARY

[0003] To solve the problems in the background art, the utility model aims to provide a nuclear power plant irradiation environment deep well hole waste grabbing device, which has the advantages of high safety and high grabbing efficiency.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a nuclear power plant irradiation environment deep well hole waste grabbing device, comprising a support frame, a top plate is fixedly connected to the top of the support frame through a support column, support seats are fixedly connected to the periphery of the top of the support frame, a roller is rotatably connected to the inside of the support seat, a servo motor is fixedly connected to the center of the top of the support frame, a double-row chain wheel is fixedly connected to the output end of the servo motor, a first chain wheel is sleeved on the surface of the roller, the double-row chain wheel and the first chain wheel are drivingly connected through a chain, a winding drum is sleeved on the front side and the rear side of the surface of the roller, a lifting plate is arranged below the support frame, steel wires are fixedly connected to the periphery of the top of the lifting plate, one end of the steel wire away from the lifting plate is movably connected to the winding drum, a rotating platform is fixedly connected below the lifting plate, a single-shaft mechanical arm is fixedly connected to the output end of the rotating platform, a DD motor is arranged on the surface of the single-shaft mechanical arm, a mounting seat is fixedly connected to the output end of the DD motor, and a clamping jaw is fixedly connected to the surface of the mounting seat.

[0005] As preferred in the utility model, a lifting ring is fixedly connected to the periphery of the top of the top plate.

[0006] As preferred in the utility model, a camera is fixedly connected to the front side and the rear side of the top of the lifting plate.

[0007] As preferred in the utility model, a bearing is fixedly connected to the inside of the support seat, the outer ring of the bearing is fixedly connected to the support seat, and the inner ring of the bearing is fixedly connected to the roller.

[0008] As preferred in the utility model, a travelling crane hook is arranged above the support frame, a traction chain is arranged on the surface of the travelling crane hook, and the traction chain is fixedly connected to the lifting ring.

[0009] Compared with the prior art, the utility model has the advantages that:

[0010] 1, the utility model discloses a device is hoisted to the deep well through the travelling crane hook, then through the adjusting lifting plate up and down movement with the jaw drops to the deep well, through the camera positioning hole waste, the operation jaw moves to the hole waste above, changes the jaw attitude to open the jaw and holds the waste at the suitable angle, through the adjusting lifting plate up and down movement with the hole waste and promotes the deep well, and the device has the advantages of high safety and high grabbing efficiency.

[0011] 2, the utility model discloses the setting of the lifting ring, convenient for operator to use the lifting equipment up and down movement top plate, and then adjust the device up and down movement. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is the structure schematic diagram of the utility model;

[0013] Figure 2 It is the support frame structure schematic diagram of the utility model;

[0014] Figure 3 It is the single -shaft mechanical arm structure schematic diagram of the utility model;

[0015] Figure 4 It is the jaw structure schematic diagram of the utility model;

[0016] Figure 5 It is the camera structure schematic diagram of the utility model.

[0017] In the drawing: 1, support frame;2, top plate;3, support seat;4, cylinder;5, servo motor;6, double row chain wheel;7, winding drum;8, first sprocket;9, steel wire rope;10, lifting plate;11, rotating platform;12, single -shaft mechanical arm;13, DD motor;14, mounting seat;15, jaw;16, camera;17, lifting ring;18, travelling crane hook;19, traction chain. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in 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 in the utility model, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the utility model.

[0019] For example, Figures 1 to 5As shown, a nuclear power plant irradiation environment deep well hole waste grabbing device, including support frame 1, the top of support frame 1 is fixedly connected with the top plate 2 through the support column, the top of support frame 1 is fixedly connected with support seat 3 around, support seat 3 is rotatably connected with the roller 4, the top of support frame 1 is fixedly connected with servo motor 5 at the center, the output end of servo motor 5 is fixedly connected with double-row sprocket 6, the surface of roller 4 is provided with first sprocket 8, double-row sprocket 6 and first sprocket 8 are drivenly connected by chain, the front side and the back side of the surface of roller 4 are provided with winding drum 7, the lower portion of support frame 1 is provided with lifting plate 10, the top of lifting plate 10 is fixedly connected with steel wire rope 9 around, the end of steel wire rope 9 away from lifting plate 10 is movably connected with winding drum 7, the lower portion of lifting plate 10 is fixedly connected with rotating platform 11, the output end of rotating platform 11 is fixedly connected with single-shaft mechanical arm 12, DD motor 13 is arranged on the surface of single-shaft mechanical arm 12, the output end of DD motor 13 is fixedly connected with mounting seat 14, clamping jaw 15 is fixedly connected on the surface of mounting seat 14.

[0020] Reference Figure 1 The top of the top plate 2 is fixedly connected with a lifting ring 17 around.

[0021] As a technical optimization scheme of the present application, the lifting ring 17 is provided, which facilitates the operator to use the lifting equipment to move the top plate 2 up and down, thereby adjusting the up and down movement of the device.

[0022] Reference Figure 1 The front side and the back side of the top of the lifting plate 10 are fixedly connected with a camera 16.

[0023] As a technical optimization scheme of the present application, the camera 16 is provided, which is a radiation-resistant camera 16, one for observing the situation around the deep well, and one for shooting the working condition of the clamping jaw 15. The camera 16 has rotation and pitch functions, and is made of high-resolution, radiation-resistant material to ensure clear imaging in harsh environments.

[0024] Reference Figure 2 The front side and the back side of the top of the lifting plate 10 are fixedly connected with a camera 16.

[0025] As a technical optimization scheme of the present application, the bearing is provided, which can reduce the friction between the support seat 3 and the roller 4, thereby facilitating the rotation of the roller 4.

[0026] Reference Figure 1 The upper portion of the support frame 1 is provided with a travelling crane hook 18, the surface of the travelling crane hook 18 is provided with a traction chain 19, and the traction chain 19 is fixedly connected with the lifting ring 17.

[0027] As a kind of technical optimization scheme of the utility model, through the setting of travelling crane hook 18 and traction chain 19, traction chain 19 is connected with lifting ring 17, and then it is convenient for operator to adjust travelling crane hook 18 to adjust the device up and down.

[0028] The working principle and use flow of the utility model: when using, the device is hoisted to the upper side of deep well through travelling crane hook 18, then the clamping jaw 15 is lowered into deep well by adjusting the up and down movement of lifting plate 10, the hole waste is positioned by camera 16, the clamping jaw 15 is moved to the upper side of hole waste, the posture of clamping jaw 15 is changed to open clamping jaw 15 to hold waste at suitable angle, the hole waste is lifted out of deep well by adjusting the up and down movement of lifting plate 10;

[0029] Rotary platform 11 is installed below lifting plate 10, so that single-shaft mechanical arm 12 can move along the circumferential direction of deep well, single-shaft mechanical arm 12 is installed on rotary platform 11, so that clamping jaw 15 can move along the radial direction of deep well, DD motor 13 is fixed on the front end of single-shaft mechanical arm 12, to drive two clamping jaws 15 to rotate different angles, clamping jaw 15 is fixed on DD motor 13 through triangular mounting seat 14, to grab hole waste;

[0030] The operator can start servo motor 5 to rotate to drive double-row sprocket 6 to rotate, then drive first sprocket 8 to rotate through chain, then drive both sides of roller 4 to rotate synchronously, then drive four winding drums 7 to rotate, then control winding drum 7 to wind or unwind steel wire rope 9 by controlling the rotation direction of servo motor 5, then adjust lifting plate 10 to move up or down;

[0031] Support frame 1, top and lifting plate 10 are all made of high-strength material, such as aluminum alloy or stainless steel, to ensure the strength, rigidity and stability of structure in deep well environment and radiation environment, high-torque and high-precision servo motor is selected for servo motor 5, to ensure the synchronism and stability of roller 4 rotation, winding drum 7 is made of high-strength material, high-strength steel wire rope 9 is selected, to ensure the smooth lifting of lifting plate 10, rotary platform 11 rotates smoothly through precision bearing, to ensure the accurate positioning of single-shaft mechanical arm 12 in circumferential direction, single-shaft mechanical arm 12 is made of light high-strength material, to reduce self weight and improve response speed, high-speed and high-torque DD motor 13 is selected for DD motor 13, to ensure the quick response of clamping jaw 15 angle posture change, clamping jaw 15 is designed to be adjustable, to adapt to hole waste of different shapes and sizes;

[0032] The device can be remotely operated, the operator does not need to contact radioactive waste closely through remote control system, to improve safety, the device is observed in real time through camera 16, to accurately position hole waste, to improve grabbing efficiency, DD motor 13 drives clamping jaw 15 to rotate, to adapt to hole waste grabbing in different angles and directions, the device is compact in structure, and is applicable to deep wells of different diameters and depths.

[0033] It is to be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0034] While the embodiments of the present application have been illustrated and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and alterations can be made therein without departing from the spirit and scope of the application, which is defined by the appended claims and their equivalents.

Claims

1. A waste grabbing device for deep well channels in nuclear power plant irradiation environments, comprising a support frame (1), characterized in that: The top of the support frame (1) is fixedly connected to a top plate (2) via a support column. Support seats (3) are fixedly connected to all four sides of the top of the support frame (1). A roller (4) is rotatably connected inside the support seat (3). A servo motor (5) is fixedly connected to the center of the top of the support frame (1). A double-row sprocket (6) is fixedly connected to the output end of the servo motor (5). A first sprocket (8) is fitted onto the surface of the roller (4). The double-row sprocket (6) and the first sprocket (8) are connected by a chain drive. A drum (7) is fitted onto the front and rear sides of the surface of the roller (4). A lifting plate (10) is provided below the frame (1). Steel wire ropes (9) are fixedly connected to the top of the lifting plate (10) around its perimeter. The end of the steel wire rope (9) away from the lifting plate (10) is movably connected to the drum (7). A rotating platform (11) is fixedly connected below the lifting plate (10). A single-axis robotic arm (12) is fixedly connected to the output end of the rotating platform (11). A DD motor (13) is provided on the surface of the single-axis robotic arm (12). A mounting base (14) is fixedly connected to the output end of the DD motor (13). A gripper (15) is fixedly connected to the surface of the mounting base (14).

2. The waste grabbing device for deep well channels in a nuclear power plant irradiation environment according to claim 1, characterized in that: The top plate (2) is fixedly connected with lifting rings (17) around its top.

3. The waste grabbing device for deep well channels in a nuclear power plant irradiation environment according to claim 1, characterized in that: Cameras (16) are fixedly connected to the front and rear sides of the top of the lifting plate (10).

4. The waste grabbing device for deep well channels in a nuclear power plant irradiation environment according to claim 1, characterized in that: The support base (3) is internally fixedly connected to a bearing, and the outer ring of the bearing is fixedly connected to the support base (3), and the inner ring of the bearing is fixedly connected to the roller (4).

5. A waste grabbing device for deep well channels in a nuclear power plant irradiation environment according to claim 2, characterized in that: A crane hook (18) is provided above the support frame (1), and a traction chain (19) is provided on the surface of the crane hook (18). The traction chain (19) is fixedly connected to the lifting ring (17).

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