CN115148390A - Nuclear waste storage tank decommissioning device - Google Patents

Abstract

The invention relates to the technical field of nuclear facility decommissioning treatment, in particular to a nuclear waste storage tank decommissioning device. It includes a base plate, a posture adjustment device, a decommissioning executive device and a replacement tool table; the base plate is provided with a working hole. Compared with the prior art, the advantage is that the present invention provides necessary structural support for realizing the unmanned decommissioning of the nuclear waste storage tank. On the one hand, the dismantling of the tank body, the dismantling of the internal pipes of the tank, and the transfer of the contents of the tank can be realized by replacing different types of execution tools; The drilling machine is designed with an automatic replacement structure for consumables; on the other hand, considering the buried depth of the nuclear waste storage tank, a two-stage lifting structure is designed to fully meet the operational needs; on the other hand, considering the industrial robotic arm above the ground. For the operating height, an escape hole for the lead screw to pass through is designed on the top plate to increase the maximum lifting height of the industrial robotic arm.

Description

A nuclear waste storage tank decommissioning device

technical field

The invention relates to the technical field of nuclear facility decommissioning treatment, in particular to a nuclear waste storage tank decommissioning device.

Background technique

In nuclear industry-related companies, it is required to properly store nuclear waste from production activities. Enterprises usually build a basement in the storage area, and set an entrance to the basement on the ground, and install storage tanks in the basement. The storage tanks are provided with cooling pipes, instrumentation pipes and process pipes, which are respectively used for nuclear waste in the tank. Cool, monitor and dilute.

After the storage tank is installed, it is not done once and for all. When the storage tank approaches or reaches its service life, there is a risk of leakage of nuclear waste and nuclear radiation. Therefore, the storage tank needs to be decommissioned. Removal of internal tank piping and transfer of tank contents. Since the process of decommissioning and disposal faces the risk of high-intensity nuclear radiation, the risk of manual on-site operation is extremely high.

To sum up, it is very necessary to design a set of storage tank decommissioning system that can be controlled remotely.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to overcome the above technical defects and provide a nuclear waste storage tank decommissioning device. It is used for the decommissioning of storage tanks containing nuclear waste to avoid radiation exposure for manual field operations.

In order to solve the above technical problems, the technical solution provided by the present invention includes: a base plate, a posture adjustment device, a decommissioning execution device and a replacement tool table; the base plate is provided with a working hole. It is characterized by:

The posture adjustment device includes a support frame, a first lifting mechanism, a second lifting mechanism and an industrial mechanical arm; the support frame includes a guide rod and a top plate, a plurality of guide rods are arranged vertically, and are fixedly connected to the bottom plate at the lower end, and the top plate is fixed It is installed on the upper end of the guide rod and is located just above the working hole of the bottom plate; the first lifting mechanism, the second lifting mechanism and the industrial mechanical arm are connected in sequence from top to bottom, the first lifting mechanism is installed on the top plate, and the second lifting mechanism is The first lifting mechanism is driven to move vertically upwards and downwards, and the industrial manipulator is driven by the second lifting mechanism to move vertically upwards and downwards, and then dives to the bottom of the bottom plate or moves up to the top of the bottom plate through the working hole. The two ends are respectively a fixed end and a free end, and the fixed end of the industrial manipulator is directly or indirectly fixedly connected with the second lifting mechanism.

The decommissioning execution device includes a quick-change disk and an execution tool; the quick-change disk includes a first split body and a second split body that can be connected or separated from each other. The connecting end of the second split body is connected to the rear end of the industrial manipulator, the two ends of the second split body are respectively the connecting end and the butting end, the connecting end of the second split body is connected with the execution tool, and the second split body is connected to the first split body through the butting end. The butt end of the split is attached or detached.

The replacement tool table includes a rotary drive motor A, a turntable, a nut tightening mechanism, a disc type consumable material feeding mechanism and a bar type consumable material feeding mechanism; the rotary driving motor A is directly or indirectly fixed on the base plate, and its shaft is vertical It protrudes upward and is fixedly connected with the central area of the lower surface of the turntable; there are a plurality of notches evenly distributed on the edge of the turntable, and the notches are used to hang the second part of the quick-change plate. , the butt end of the second split body is in a vertical upward posture, the nut tightening mechanism is fixedly installed on the turntable, the disc type consumables feeding mechanism is fixedly installed on the turntable, and the bar type consumables feeding mechanism is fixedly installed on the turntable. .

As an improvement, the first lifting mechanism includes a lifting plate A and a hydraulic cylinder A; the lifting plate A is slidably installed on the guide rod and is located between the top plate and the bottom plate; the cylinder body of the hydraulic cylinder A is fixedly installed on the top plate, and the hydraulic cylinder The piston rod of A extends vertically downward and is fixedly connected with the lifting plate A. The piston rod of the hydraulic cylinder A extends and contracts to drive the lifting plate A to move vertically up and down along the guide rod.

As an improvement, the second lifting mechanism includes a dual-axis motor, a power steering box A, a power steering box B, and a lifting plate B; the dual-axis motor is fixedly installed on the lifting plate A; the number of the power steering box A is two The power direction changing box A includes a box shell A, a screw rod, a worm screw and a worm wheel; the box shell A is fixedly installed on the lifting plate A, and the box shell A is provided with a screw rod mounting hole, a worm screw mounting hole and a worm wheel mounting cavity. The rod mounting holes are arranged vertically and pass through the upper and lower ends of the case A, the worm mounting holes are horizontally arranged and pass through the horizontal ends of the case A, and the worm gear mounting cavity is connected with the screw mounting holes and the worm mounting holes respectively; the screw can be The worm is rotatably installed in the screw mounting hole of the casing A, and its two ends protrude from the two ends of the screw mounting hole respectively; the worm is rotatably installed in the worm mounting hole of the casing A; the inner hole of the worm wheel is provided with There is an inner thread, the outer surface is provided with teeth, the worm wheel is screwed with the lead screw through the inner thread in the inner hole, and is located in the worm wheel installation cavity of the casing A, and the worm wheel meshes with the worm through the teeth on the outer circle surface; There are two power reversing boxes B; the two power reversing boxes B are respectively arranged between the two shafts of the biaxial motor and the two sets of power reversing boxes A, and are used to connect the two motors of the biaxial motor. The power direction change output from the shaft is transmitted to two sets of power direction change boxes A; the power direction change box B includes a casing B, an input shaft, an output shaft, a bevel gear A and a bevel gear B; the casing B is fixedly installed on the lifting plate A The input shaft and the output shaft are respectively rotatably mounted on the casing B, and are arranged perpendicular to each other, the input shaft is connected with the crankshaft of the double-shaft motor, and the output shaft is connected with one end of the worm; the bevel gear A and the bevel gear B are fixed respectively It is installed on the input shaft and the output shaft and meshes with each other; the lifting plate B is arranged on the lower end of the screw rod, and is fixedly connected with all the screw rods in the two sets of power steering boxes A.

As an improvement, the second lifting mechanism further includes a lifting plate C and an extension rod; the extension rod is arranged vertically, its upper end is fixedly connected to the lower end of the lifting plate B, and its lower end is fixedly connected to the lifting plate C; the fixed end of the industrial mechanical arm It is fixedly connected with the lower surface of the lift plate C.

As an improvement, one set of power steering boxes A includes two power steering boxes A, and two worms contained in a set of power steering boxes A are fixedly connected at the ends as a whole, so as to realize a set of power steering boxes. The two power steering boxes A in A act synchronously.

As an improvement, execution tools include a flap-type grab for grabbing sludge, a hydraulic bucket for shoveling debris, a high-pressure flush suction tool head for sludge extraction, and an electric circle for cutting sheet and pipe stock. Disc saws, electric reciprocating saws for cutting sheet and pipe, hydraulic scissors for cutting and gripping pipes, electric grippers for chipping, hydraulic grippers for chipping, for steel Electric picks for peeling cladding, and electric drilling machines for demolition of steel structures; wherein, the electric circular saw includes a power take-off shaft, a circular saw blade and a nut A, the power take-off shaft is used for outputting rotational power, and the circular saw The blade is installed on the power output shaft, which is driven to rotate by the power output shaft, and the nut A is threaded on the power output shaft and abuts against the circular saw blade, and provides axial positioning for the circular saw blade; among them, the electric drilling The machine includes a drill chuck and a drill rod; the drill chuck is provided with a socket, the outside of the drill chuck is provided with a nut B for adjusting the hole diameter of the socket, and one end of the drill rod is inserted into the socket of the drill chuck.

As an improvement, the nut tightening mechanism includes a base A, a rotating sleeve and a rotating drive motor B; the base A is fixedly installed on the turntable; the rotating sleeve is rotatably installed on the base A, one end of which is closed, and the other end is provided with an opening There are drill rod accommodating holes and nut limit holes in order from the closed end to the open end. The drill rod accommodating holes and the nut limit holes are communicated with each other, and the nut limit holes are at the end away from the drill rod accommodating holes and all The opening is communicated, and the center line of the drill rod accommodating hole and the center line of the nut limit hole are arranged horizontally and overlap each other; the rotary drive motor B is fixedly installed on the turntable, and its shaft is connected with the closed end of the rotary sleeve, and then The rotary sleeve is driven to rotate around the centerline of the accommodating hole of the drill rod.

As an improvement, the feeding mechanism for disc consumables includes a base B, a hanging rod, a push plate and a linear motor A; the base B is fixedly installed on the turntable, and is provided with a support hole; the hanging rod is welded and fixed on the side wall surface of the base The linear motor A is fixedly installed on the turntable, and its shaft is arranged horizontally, and is supported by the support hole of the base B; the push plate is an open ring plate with a central hole in the middle, and the push plate Welded to the end of the crankshaft of linear motor A, and passed through the hanging rod through the center hole.

As an improvement, the bar-type consumables feeding mechanism includes a base C and a linear motor B; the base C is fixedly installed on the turntable, and is provided with a horizontally arranged drill pipe accommodating channel with open ends at both ends. The two ends are respectively set as the channel port A and the channel port B; the linear motor B is fixedly installed on the upper surface of the turntable, and its shaft is arranged parallel to the drill pipe accommodating channel, and is facing the channel port B of the drill pipe accommodating channel. The shaft of the motor B is telescopic to extend into or out of the channel port B of the drill pipe accommodating channel.

As an improvement, the top plate is provided with an escape hole for the screw rod to pass through, and the upper end of the screw rod can protrude to the upper end of the top plate through the escape hole without contacting the top plate.

As an improvement, it also includes a video device and a PC; the video device includes a camera A installed on the base plate through a bracket and a camera B installed on the industrial robotic arm; the camera A is used to obtain the field of view of the changing tool table and the pose adjustment device , Camera B is used to obtain the field of view of the industrial manipulator and its lower part; the PC is connected to the camera A, camera B and the power-demanding components through the network respectively; used to display the pictures taken by the camera A and the camera B and send commands to control each Actions of electrical components.

A nuclear waste storage tank decommissioning device, the method for replacing the execution tool is as follows:

S01, uninstall the current execution tool:

a. Activate the hydraulic cylinder A122 and the biaxial motor 31 to drive the lift plate A121 and the lift plate B139 to rise respectively, and lift the industrial robotic arm 14 to the top of the base plate 100;

b. Start the rotary drive motor A31 to drive the turntable 32 to rotate, so that the notch 321 for unloading the execution tool rotates into the overlapping area;

c. Adjust the position and posture of the industrial manipulator 14 so that the second body 22 connected to the rear end of the industrial manipulator 14 extends into the above-mentioned notch 321 , and then control the first part of the rear end of the industrial manipulator 14 The body 21 is disengaged from the second split body 22 , so that the second split body 22 and the execution tool to be unloaded are suspended in the above-mentioned notch 321 .

S02, load the target execution tool:

a. Start the rotary drive motor A31, and drive the turntable 32 to rotate, so that the notch 321 on which the target execution tool is suspended is rotated into the overlapping area;

b. Adjust the position and posture of the industrial manipulator 14 so that the second part 22 connected to the rear end of the industrial manipulator 14 is docked with the first part 21 connected to the target execution tool. After the docking is completed, the industrial manipulator 14 and the target execution tool are connected to form a whole through the quick-change disk;

In step S01 of the method, the overlapping area is the overlapping area between the path swept by the notch along with the rotation of the turntable and the range of motion of the free end of the industrial robotic arm.

The method of replacing the electric circular saw consumables is as follows:

Before executing this method, hang a new circular saw blade 232 on the hanging rod 342 of the disc-like consumable material feeding mechanism 34; Discard area.

S01, unlock the circular saw blade on the electric circular saw:

a. Activate the hydraulic cylinder A122 and the biaxial motor 31 to drive the lift plate A121 and the lift plate B139 to rise respectively, and lift the industrial robotic arm 14 to the top of the base plate 100;

b. Start the rotary drive motor A31, drive the turntable 32 to rotate, and make the nut tightening mechanism 33 rotate to the overlapping area;

c. Adjust the position and posture of the industrial manipulator 14 so that the electric circular saw 23 connected to the rear end of the industrial manipulator 14 is moved to face the nut tightening mechanism 33. After the movement is completed, the nut A233 of the electric circular saw 23 is inserted into in the nut limiting hole 3322 of the nut tightening mechanism 33;

d. Start the rotary drive motor B333, drive the rotary sleeve 332 to rotate, drive the nut A233 to rotate through the rotary sleeve 332, and unscrew the nut A233 from the PTO shaft 231. At this time, the nut A233 stays in the nut limit hole of the rotary sleeve 332 In 3322, the circular saw blade 232 on the electric circular saw 23 is released from the axial positioning;

S02, discard the circular saw blade on the electric circular saw:

a. Adjust the position and posture of the industrial robotic arm 14, move the electric circular saw 23 to the discarding area, and make sure that the power output shaft 231 of the electric circular saw 23 is in a horizontal or upward state during the movement process to avoid the circular saw Sheet 232 falls off during movement.

b. After the electric circular saw 23 is moved to the discarding area, adjust the position and posture of the industrial manipulator 14, so that the power output shaft 231 of the electric circular saw 23 is rotated to the state where the end is downward, and the circular saw blade 232 is immediately removed from the power The output shaft 231 slides off. S03, load a new circular saw blade:

a. Adjust the position and posture of the industrial manipulator 14, and move the electric circular saw 23 connected to the rear end of the industrial manipulator 14 to face the disc consumable material feeding mechanism 34. After the movement is completed, the electric circular saw 23 The end of the power output shaft 231 is directly facing and adjacent to the end of the hanging rod 342 of the disc-like consumables feeding mechanism 34;

b. Start the linear motor A344, through the shaft of the linear motor A344 to make a horizontal linear motion, drive the push plate 343 to make a horizontal linear motion along the hanging rod 342, and move the circular saw blade 232 hanging on the hanging rod 342 from the The end of the hanging rod 342 is pushed out and pushed onto the power output shaft 231 of the electric circular saw 23 .

S04, lock the circular saw blade on the electric circular saw:

a. Adjust the position and posture of the industrial robotic arm 14, and move the electric circular saw 23 to the position facing the nut tightening mechanism 33. During the movement, ensure that the power output shaft 231 of the electric circular saw 23 is in a horizontal position or with an upward end. state, to prevent the circular saw blade 232 from falling off during the movement. After the movement is completed, the axis line of the power input shaft 231 coincides with the center line of the nut limit hole 3322, and the end of the power input shaft 231 stays in the nut limit The hole of the nut A233 in the hole 3322 is tight;

b. Start the rotating drive motor B333, drive the rotating sleeve 332 to rotate, drive the nut A233 to rotate through the rotating sleeve 332, and thread the nut A233 on the power input shaft 231 of the electric circular saw 23 until the shaft of the circular saw blade 232 is completed. After positioning, the rotary drive motor B333 stops running.

Preferably, an industrial robot equipped with multiple disc saw blades 232 is installed in the field, and when a new disc saw blade 232 needs to be hung on the disc consumable material feeding mechanism 34, the industrial robot will hold a new disc. The saw disc 232 is hung on the hanging rod 342 of the disc-like consumable material feeding mechanism 34 .

The method of replacing the consumables of the electric drill is as follows:

Before the method starts, insert a new drill rod into the drill rod accommodating channel 3511 of the rod-like consumables feeding mechanism 35 ; set a drill rod discarding area within the movable range of the free end of the industrial manipulator 14 above the bottom plate 100 .

S01, unlock the drill pipe on the electric drill:

a. Activate the hydraulic cylinder A122 and the biaxial motor 31 to drive the lift plate A121 and the lift plate B139 to rise respectively, and lift the industrial robotic arm 14 to the top of the base plate 100;

b. Start the rotary drive motor A31, drive the turntable 32 to rotate, and make the nut tightening mechanism 33 rotate to the overlapping area;

c. Adjust the position and posture of the industrial robotic arm 14 so that the electric drilling machine 24 connected to the rear end of the industrial robotic arm 14 is docked with the nut tightening mechanism 33. After the docking is completed, the drill rod 242 of the electric drilling machine 24 extends into the In the drill rod accommodating hole 3321 of the nut tightening mechanism 33, the nut B243 of the electric drilling machine 24 extends into the nut limit hole 3322 of the nut tightening mechanism 33, and the axis line of the drill rod 242 and the center line of the drill rod accommodating hole 3321 coincide;

d. Start the rotating drive motor B333, drive the rotating sleeve 332 to rotate, and drive the nut B243 to rotate through the rotating sleeve 332, so that the drill chuck 241 loosens the drill rod 242. At this time, the nut B243 is still threaded on the drill chuck 241;

S02, discard the drill pipe on the electric drill:

a. Adjust the position and posture of the industrial robotic arm 14, and move the electric drill 24 to the discarding area. During the movement, make sure that the drill rod 242 of the electric drill 24 is in a horizontal state or the end is upward, so as to prevent the drill rod 242 from being in Dropped while moving.

b. After the electric drilling machine 24 is moved to the discarding area, adjust the position and posture of the industrial manipulator 14 so that the drill rod 242 of the electric drilling machine 24 is rotated to the state where the end is downward, and the drill rod 242 is immediately separated from the drill chuck 241 and fall.

S03, load new drill pipe:

a. Adjust the position and posture of the industrial manipulator 14, and move the electric drill 24 connected to the rear end of the industrial manipulator 14 to face the bar type consumable material feeding mechanism 35. After the movement is completed, the electric drill 24 The socket of the drill chuck 241 is directly facing and adjacent to the channel port A of the drill pipe accommodating channel 3511 of the rod-like consumables feeding mechanism 35;

b. Start the linear motor B352, make horizontal linear motion through the shaft of the linear motor B352, push the drill pipe 242 placed in the drill pipe accommodating channel 3511 from the channel port A of the drill pipe accommodating channel 3511, and push the electric drill into it into the socket of the drill chuck 241 of the hole machine 24 .

S04, lock the drill pipe on the electric drill:

a. Adjust the position and posture of the industrial robotic arm 14, and move the electric drill 24 to the position facing the nut tightening mechanism 33. During the movement, make sure that the jack of the drill chuck 241 is in a horizontal state or the end is upward to avoid The drill rod 242 falls during the movement, and after the movement is completed, the nut B243 of the electric drill 24 is inserted into the nut limit hole 3322 of the nut tightening mechanism 33;

b. Start the rotary drive motor B333, drive the rotary sleeve 332 to rotate, and drive the nut B243 to rotate through the rotary sleeve 332, so that the drill chuck 241 clamps the drill rod 242.

Preferably, an industrial robot equipped with a plurality of drill rods 242 is installed in the field. When a new drill rod 242 needs to be inserted into the rod-type consumables feeding mechanism 35, a new drill rod 242 is clamped by the industrial robot and inserted into the rod. The drill rod accommodating channel 3511 of the rod-like consumables feeding mechanism.

Advantageous effects, the advantages of the present invention compared with the prior art are: the present invention provides necessary structural support for realizing unmanned decommissioning of nuclear waste storage tanks. On the one hand, the dismantling of the tank body, the dismantling of the internal pipes of the tank and the transfer of the contents of the tank can be realized by replacing different types of execution tools; The drilling machine is designed with an automatic replacement structure for consumables; on the other hand, considering the buried depth of the nuclear waste storage tank, a two-stage lifting structure is designed to fully meet the operational needs; The operating height is designed with an escape hole for the lead screw to pass through on the top plate to increase the maximum lifting height of the industrial robotic arm.

Description of drawings

FIG. 1 is a schematic structural diagram of the nuclear waste storage tank decommissioning system of the present invention when the industrial robot arm is above the bottom plate.

Figure 2 is a schematic structural diagram of the nuclear waste storage tank decommissioning system when the industrial robotic arm is below the bottom plate.

Figure 3 is a schematic diagram of the structure of the second lifting mechanism.

Figure 4 is an enlarged view of the quick-change disk of the decommissioning execution device of Part A.

Figure 5 is a schematic diagram of the structure of the electric circular saw.

Figure 6 is a schematic diagram of the structure of the electric drilling machine.

Figure 7 is a schematic structural diagram of a nut tightening mechanism.

FIG. 8 is a schematic structural diagram of a feeding mechanism for disc consumables.

Figure 9 is a schematic structural diagram of a feeding mechanism for rod-like consumables.

Detailed ways

The invention will be further described below with reference to the accompanying drawings.

The nuclear waste storage tank decommissioning system includes a base plate 100, a posture adjustment device, a decommissioning execution device and a replacement tool table. The bottom plate 100 is provided with a working hole 101 .

With reference to FIGS. 1-2 , the posture adjustment device includes a support frame, a first lifting mechanism, a second lifting mechanism, and an industrial robotic arm 14 . The support frame includes a guide rod 111 and a top plate 112 . The plurality of guide rods 111 are arranged vertically and are fixedly connected to the bottom plate 100 at the lower end. above. The first lifting mechanism, the second lifting mechanism and the industrial robot arm 14 are sequentially connected from top to bottom. The first lifting mechanism is installed on the top plate 112, and the second lifting mechanism is driven by the first lifting mechanism to move vertically upwards and downwards. The robotic arm 14 is driven by the second lifting mechanism to move vertically upwards and downwards, and then dives down to the bottom of the bottom plate 100 through the working hole 101 or moves up to the top of the bottom plate 100 .

The first lifting mechanism includes a lifting plate A121 and a hydraulic cylinder A122. The lift plate A121 is slidably mounted on the guide rod 111 and located between the top plate 112 and the bottom plate 100 . The cylinder body of the hydraulic cylinder A122 is fixedly installed on the top plate 112. The piston rod of the hydraulic cylinder A122 extends vertically downward and is fixedly connected with the lifting plate A121. Do vertical lifts.

Specifically with reference to FIG. 3 , the second lifting mechanism includes a biaxial motor 131 , a power steering box A, a power steering box B and a lifting plate B139 . The biaxial motor 131 is fixedly mounted on the lift plate A121. There are two sets of power steering boxes A. The power steering boxes A include a housing A132 , a screw rod 133 , a worm 134 and a worm wheel 135 . The casing A132 is fixedly installed on the lifting plate A121. The casing A132 is provided with a screw mounting hole, a worm mounting hole and a worm wheel mounting cavity. The screw mounting holes are arranged vertically and pass through the upper and lower ends of the casing A132. The worm is installed The holes are arranged horizontally and pass through the horizontal ends of the casing A132, and the worm gear installation cavity is communicated with the screw installation hole and the worm installation hole respectively. The screw rod 133 is rotatably installed in the screw rod mounting hole of the casing A132, and its two ends respectively protrude from the two ends of the screw rod mounting hole. The worm 134 is rotatably mounted in the worm mounting hole of the case A. The inner hole of the worm wheel 135 is provided with an inner thread, and the outer surface is provided with teeth. The worm wheel 135 is screwed with the lead screw 133 through the inner thread in the inner hole, and is located in the worm wheel installation cavity of the casing A132. The worm wheel 135 passes through The teeth on the outer circumference mesh with the worm 134 . There are two power reversing boxes B. The two power reversing boxes B are respectively arranged between the two crankshafts of the biaxial motor 131 and the two sets of power reversing boxes A, and are used to connect the two power reversing boxes of the biaxial motor 131. The power direction output from the root crankshaft is transmitted to two sets of power direction change boxes A. The power direction change box B includes a casing B136, an input shaft 137, an output shaft 138, a bevel gear A and a bevel gear B. The case B136 is fixedly mounted on the lift plate A121. The input shaft 137 and the output shaft 138 are respectively rotatably mounted on the casing B136 and arranged perpendicular to each other. The input shaft 137 (through the coupling) is connected with the crankshaft of the double-shaft motor 131, and the output shaft 138 (through the coupling) Connected to one end of the worm 134 . The bevel gear A and the bevel gear B are respectively fixed on the input shaft 137 and the output shaft 138 and mesh with each other. The lifting plate B139 is arranged at the lower end of the screw rod 133, and is fixedly connected with all the screw rods 133 in the two sets of power steering boxes A. When the dual-shaft motor 131 is started, the rotational power output by the crankshaft passes through the input shaft 137 , the bevel gear A, the bevel gear B, the output shaft 138 , the worm 134 , the teeth on the outer surface of the turbine 135 , and the inner hole of the turbine 135 . The thread is transmitted to the screw rod 133, and the screw rod 133 is driven to move vertically up and down. Since the power output by the two crankshafts of the biaxial motor 131 is synchronous, all the screw rods 133 in the two sets of power steering boxes A also move vertically up and down synchronously.

Two ends of the industrial robot arm 14 are a fixed end and a free end respectively, and the fixed end of the industrial robot arm 14 is directly or indirectly fixedly connected to the lifting plate B139 of the second lifting mechanism.

Specifically with reference to FIG. 4 , the decommissioning execution device includes a quick-change disk and an execution tool. The quick-change disk includes a first split body 21 and a second split body 22 that can be connected or separated from each other. The two ends of the first split body 21 are respectively the connecting end and the butting end. The connecting end of the first split body 21 is connected to the industrial robot arm. The rear end of 14 is connected, the two ends of the second split body 22 are respectively the connecting end and the butt end, the connecting end of the second split body 22 is connected with the execution tool, and the second split body 22 is connected to the first split body 21 through the butt end. The butt end is connected or disconnected.

Execution tools include flap grabs for grabbing silt, hydraulic buckets for shoveling debris, high-pressure flush suction tool heads for silt extraction, electric circular saws for cutting sheet and pipe, Electric reciprocating saws for cutting sheets and tubes, hydraulic scissors for cutting and gripping pipes, electric grippers for chipping, hydraulic grippers for chipping, steel cladding stripping Electric picks, electric drilling machines for demolition of steel structures. The electric circular saw 23 includes a power output shaft 231, a circular saw blade 232 and a nut A233. The power output shaft 231 is used for outputting rotational power, and the circular saw blade 232 is installed on the power output shaft 231, which is driven by the power output shaft. 231 is driven to rotate, and the nut A233 is threadedly connected to the power output shaft 231 and abuts against the circular saw blade 232 to provide axial positioning for the circular saw blade 232 . The electric drilling machine 24 includes a drill chuck 241 and a drill rod 242. The drill chuck 241 is provided with a socket, and the drill chuck 241 is externally threadedly connected with a nut B243 for adjusting the hole diameter of the socket, and one end of the drill rod 242 is inserted. In the insertion hole of the drill chuck 241 , the hole diameter of the insertion hole is adjusted by turning the nut B243 , so as to clamp or loosen the drill rod 242 .

The replacement tool table includes a rotary drive motor A31 , a turntable 32 , a nut tightening mechanism 33 , a disk-type consumable material feeding mechanism 34 and a bar-type consumable material feeding mechanism 35 . The rotary drive motor A31 is fixedly mounted on the base plate 100 , and its shaft extends vertically upward and is fixedly connected with the central area of the lower surface of the turntable 32 . The turntable 32 is in the shape of a disc, and its edge is uniformly distributed with a plurality of notches 321 . The notches 321 are used to hang the second body 22 of the quick-change plate. , the docking end of the second split body 22 is in a vertical upward posture. When the turntable 32 is driven and rotated by the rotary drive motor A31, the paths swept by all the notches 321 are circular and overlap each other, and the notches 321 sweep The traversed path and the range of motion of the free end of the industrial robot arm 14 have an overlapping area. The nut tightening mechanism 33 is fixedly installed on the turntable 32, and is used for tightening or loosening nuts of a fixed specification. The disk-type consumables feeding mechanism 34 is fixedly installed on the turntable 32, which is used for suspending the disk-type consumables, and pushes out the suspended disk-type consumables horizontally when the material needs to be loaded. The bar-like consumables feeding mechanism 35 is fixedly installed on the turntable 32, which is used for placing the bar-like consumables, and pushes out the bar-like consumables horizontally when the bar-like consumables need to be loaded.

Specifically with reference to FIG. 7 , the nut tightening mechanism 33 includes a base A331 , a rotating sleeve 332 and a rotating driving motor B333 . The base A331 is fixedly mounted on the turntable 32 . The rotating sleeve 332 is rotatably installed on the base A331, one end of which is closed, and the other end is provided with an opening, and a drill rod accommodating hole 3321 and a nut limiting hole 3322 are sequentially arranged in the interior from the closed end to the open end. The rod accommodating hole 3321 and the nut limiting hole 3322 communicate with each other, the nut limiting hole 3322 communicates with the opening at one end away from the drill rod accommodating hole 3321 , and the centerline of the drill rod accommodating hole 3321 and the center of the nut limiting hole 3322 The lines are arranged horizontally and coincide with each other. The rotary drive motor B333 is fixedly installed on the turntable 32, and its shaft is connected with the closed end of the rotary sleeve 332, and then drives the rotary sleeve 332 to rotate around the centerline of the drill rod accommodating hole 3321, thereby realizing loosening or tightening and placing it on the nut limit Nut in hole 3322.

With reference to FIG. 8 , the disc-like consumable material feeding mechanism 34 includes a base B341 , a hanging rod 342 , a push plate 343 and a linear motor A344 . The base B341 is fixedly mounted on the turntable 32, and is provided with a supporting hole. The hanging rod 342 is welded and fixed on the side wall surface of the base 341 and is arranged horizontally. The linear motor A344 is fixedly installed on the turntable 32, its shaft is arranged horizontally, and is supported through the support hole of the base B341. The push plate 343 is an open annular plate with a central hole in the middle. The push plate 343 is welded to the end of the crankshaft of the linear motor A344 and passes through the hanging rod 342 through the central hole. After the linear motor A344 is started, its shaft moves in a straight line in the horizontal direction, and then drives the push plate 343 to move in a horizontal straight line along the hanging rod 342, and the circular saw blade 232 hanging on the hanging rod 342 is removed from the hanging rod 342. The end is pushed out.

Specifically in conjunction with FIG. 9 , the bar type consumable material feeding mechanism 35 includes a base C351 and a linear motor B352. The base C351 is fixedly installed on the turntable 32, and is provided with a horizontally arranged drill pipe accommodating channel 3511 with open ends at both ends. The linear motor B352 is fixedly installed on the upper surface of the turntable 32, its crankshaft is arranged parallel to the drill pipe accommodating channel 3511, and is facing the channel port B of the drill pipe accommodating channel 3511, the crankshaft of the linear motor B352 is retractable to extend in or out The drill rod accommodates the channel port B of the channel 3511 .

Preferably, the second lifting mechanism further includes a lifting plate C130 and an extension rod. The extension rod is arranged vertically, its upper end is fixedly connected to the lower end of the lifting plate B, and its lower end is fixedly connected to the lifting plate C130

Preferably, a set of power steering boxes A includes two power steering boxes A, and two worms 134 included in a set of power steering boxes A are fixedly connected at the ends to form a whole (or integrally formed), so as to realize a set of The two power steering boxes A in the power steering box A act synchronously.

Preferably, it also includes a video device (not shown in the figure) and a PC (not shown in the figure). The imaging device includes a camera A mounted on the base plate 100 through a bracket and a camera B mounted on the industrial robot arm 14 . Camera A is used to obtain the field of view of the changing tool table and the pose adjustment device, and provide visual support for the remote control of the replacement execution tool. Camera B is used to obtain the field of view of the industrial manipulator and its underside, providing visual support for the attitude adjustment of the industrial manipulator and the decommissioning of the nuclear waste storage tank. The PC communicates with camera A, camera B and each power-demanding component through the network respectively; based on the pictures captured by camera A and camera B, the PC sends instructions to control the action of each power-demanding component.

Preferably, among all the notches 321 on the turntable 32 , one of the notches 321 is set for unloading the execution tool, and the other notches 321 are used for hanging the execution tool to be replaced. The outer wall of the second body 22 is provided with a stepped surface, the second body 22 is suspended on the notch 321 through the step surface, and the executing tool (connected to the second body 22 ) is located directly below the notch 321 .

The invention is used for decommissioning the nuclear waste storage tank, the nuclear waste storage tank is arranged in the basement, the ground is provided with an entrance connected to the basement, and the entrance is provided with a cover plate. The present invention is placed on the ground above the basement, and the working hole 101 on the bottom plate 100 is located directly above the entrance.

Before decommissioning, according to the type of operation, select the appropriate execution tool on the replacement tool table for connection. During decommissioning, the industrial robotic arm 14 extends into the basement through the working hole 101 on the bottom plate 100 and the entrance of the basement, and operates the nuclear waste storage tank by executing tools. During this process, the industrial manipulator 14 needs to travel between the ground and the basement in the following three situations: 1. Replacing the execution tool; 2. Replacing the consumables of the electric circular saw 23 ; 3. Replacing the consumables of the electric drilling machine 24 .

The method of replacing the execution tool is as follows:

S01, uninstall the current execution tool:

a. Activate the hydraulic cylinder A122 and the biaxial motor 31 to drive the lift plate A121 and the lift plate B139 to rise respectively, and lift the industrial robotic arm 14 to the top of the base plate 100;

b. Start the rotary drive motor A31 to drive the turntable 32 to rotate, so that the notch 321 for unloading the execution tool rotates into the overlapping area;

c. Adjust the position and posture of the industrial manipulator 14 so that the second body 22 connected to the rear end of the industrial manipulator 14 extends into the above-mentioned notch 321 , and then control the first part of the rear end of the industrial manipulator 14 The body 21 is disengaged from the second split body 22 , so that the second split body 22 and the execution tool to be unloaded are suspended in the above-mentioned notch 321 .

S02, load the target execution tool:

a. Start the rotary drive motor A31, and drive the turntable 32 to rotate, so that the notch 321 on which the target execution tool is suspended is rotated into the overlapping area;

b. Adjust the position and posture of the industrial manipulator 14 so that the second part 22 connected to the rear end of the industrial manipulator 14 is docked with the first part 21 connected to the target execution tool. After the docking is completed, the industrial manipulator 14 and the target execution tool are connected to form a whole through the quick-change disk;

In step S01 of the method, the overlapping area is the overlapping area between the path swept by the notch along with the rotation of the turntable and the range of motion of the free end of the industrial robotic arm.

The method of replacing the electric circular saw consumables is as follows:

Before executing this method, hang a new circular saw blade 232 on the hanging rod 342 of the disc-like consumable material feeding mechanism 34; Discard area.

S01, unlock the circular saw blade on the electric circular saw:

a. Activate the hydraulic cylinder A122 and the biaxial motor 31 to drive the lift plate A121 and the lift plate B139 to rise respectively, and lift the industrial robotic arm 14 to the top of the base plate 100;

b. Start the rotary drive motor A31, drive the turntable 32 to rotate, and make the nut tightening mechanism 33 rotate to the overlapping area;

c. Adjust the position and posture of the industrial manipulator 14 so that the electric circular saw 23 connected to the rear end of the industrial manipulator 14 is moved to face the nut tightening mechanism 33. After the movement is completed, the nut A233 of the electric circular saw 23 is inserted into in the nut limiting hole 3322 of the nut tightening mechanism 33;

d. Start the rotary drive motor B333, drive the rotary sleeve 332 to rotate, drive the nut A233 to rotate through the rotary sleeve 332, and unscrew the nut A233 from the PTO shaft 231. At this time, the nut A233 stays in the nut limit hole of the rotary sleeve 332 In 3322, the circular saw blade 232 on the electric circular saw 23 is released from the axial positioning;

S02, discard the circular saw blade on the electric circular saw:

a. Adjust the position and posture of the industrial robotic arm 14, move the electric circular saw 23 to the discarding area, and make sure that the power output shaft 231 of the electric circular saw 23 is in a horizontal or upward state during the movement process to avoid the circular saw Sheet 232 falls off during movement.

b. After the electric circular saw 23 is moved to the discarding area, adjust the position and posture of the industrial manipulator 14, so that the power output shaft 231 of the electric circular saw 23 is rotated to the state where the end is downward, and the circular saw blade 232 is immediately removed from the power The output shaft 231 slides off.

S03, load a new circular saw blade:

a. Adjust the position and posture of the industrial manipulator 14, and move the electric circular saw 23 connected to the rear end of the industrial manipulator 14 to face the disc consumable material feeding mechanism 34. After the movement is completed, the electric circular saw 23 The end of the power output shaft 231 is directly facing and adjacent to the end of the hanging rod 342 of the disc-like consumables feeding mechanism 34;

b. Start the linear motor A344, through the shaft of the linear motor A344 to make a horizontal linear motion, drive the push plate 343 to make a horizontal linear motion along the hanging rod 342, and move the circular saw blade 232 hanging on the hanging rod 342 from the The end of the hanging rod 342 is pushed out and pushed onto the power output shaft 231 of the electric circular saw 23 .

S04, lock the circular saw blade on the electric circular saw:

a. Adjust the position and posture of the industrial robotic arm 14, and move the electric circular saw 23 to the position facing the nut tightening mechanism 33. During the movement, ensure that the power output shaft 231 of the electric circular saw 23 is in a horizontal position or with an upward end. state, to prevent the circular saw blade 232 from falling off during the movement. After the movement is completed, the axis line of the power input shaft 231 coincides with the center line of the nut limit hole 3322, and the end of the power input shaft 231 stays in the nut limit The hole of the nut A233 in the hole 3322 is tight;

b. Start the rotating drive motor B333, drive the rotating sleeve 332 to rotate, drive the nut A233 to rotate through the rotating sleeve 332, and thread the nut A233 on the power input shaft 231 of the electric circular saw 23 until the shaft of the circular saw blade 232 is completed. After positioning, the rotary drive motor B333 stops running.

Preferably, an industrial robot equipped with multiple disc saw blades 232 is installed in the field, and when a new disc saw blade 232 needs to be hung on the disc consumable material feeding mechanism 34, the industrial robot will hold a new disc. The saw disc 232 is hung on the hanging rod 342 of the disc-like consumable material feeding mechanism 34 .

The method of replacing the consumables of the electric drill is as follows:

Before the method starts, insert a new drill rod into the drill rod accommodating channel 3511 of the rod-like consumables feeding mechanism 35 ; set a drill rod discarding area within the movable range of the free end of the industrial manipulator 14 above the bottom plate 100 .

S01, unlock the drill pipe on the electric drill:

a. Activate the hydraulic cylinder A122 and the biaxial motor 31 to drive the lift plate A121 and the lift plate B139 to rise respectively, and lift the industrial robotic arm 14 to the top of the base plate 100;

b. Start the rotary drive motor A31, drive the turntable 32 to rotate, and make the nut tightening mechanism 33 rotate to the overlapping area;

c. Adjust the position and posture of the industrial manipulator 14 so that the electric drill 24 connected to the rear end of the industrial manipulator 14 is docked with the nut tightening mechanism 33. After the docking is completed, the drill rod 242 of the electric drill 24 extends into the In the drill rod accommodating hole 3321 of the nut tightening mechanism 33, the nut B243 of the electric drilling machine 24 extends into the nut limit hole 3322 of the nut tightening mechanism 33, the axis line of the drill rod 242 and the center line of the drill rod accommodating hole 3321 coincide;

d. Start the rotating drive motor B333, drive the rotating sleeve 332 to rotate, and drive the nut B243 to rotate through the rotating sleeve 332, so that the drill chuck 241 loosens the drill rod 242. At this time, the nut B243 is still threaded on the drill chuck 241;

S02, discard the drill pipe on the electric drill:

a. Adjust the position and posture of the industrial robotic arm 14, and move the electric drill 24 to the discarding area. During the movement, make sure that the drill rod 242 of the electric drill 24 is in a horizontal state or the end is upward, so as to prevent the drill rod 242 from being in Dropped while moving.

b. After the electric drilling machine 24 is moved to the discarding area, adjust the position and posture of the industrial manipulator 14 so that the drill rod 242 of the electric drilling machine 24 is rotated to the state where the end is downward, and the drill rod 242 is immediately separated from the drill chuck 241 and fall.

S03, load new drill pipe:

a. Adjust the position and posture of the industrial manipulator 14, and move the electric drill 24 connected to the rear end of the industrial manipulator 14 to face the bar type consumable material feeding mechanism 35. After the movement is completed, the electric drill 24 The socket of the drill chuck 241 is directly facing and adjacent to the channel port A of the drill pipe accommodating channel 3511 of the rod-like consumables feeding mechanism 35;

b. Start the linear motor B352, make horizontal linear motion through the shaft of the linear motor B352, push the drill pipe 242 placed in the drill pipe accommodating channel 3511 from the channel port A of the drill pipe accommodating channel 3511, and push the electric drill into it into the socket of the drill chuck 241 of the hole machine 24 .

S04, lock the drill pipe on the electric drill:

a. Adjust the position and posture of the industrial robotic arm 14, and move the electric drill 24 to the position facing the nut tightening mechanism 33. During the movement, make sure that the jack of the drill chuck 241 is in a horizontal state or the end is upward to avoid The drill rod 242 falls during the movement, and after the movement is completed, the nut B243 of the electric drill 24 is inserted into the nut limit hole 3322 of the nut tightening mechanism 33;

b. Start the rotary drive motor B333, drive the rotary sleeve 332 to rotate, and drive the nut B243 to rotate through the rotary sleeve 332, so that the drill chuck 241 clamps the drill rod 242.

Preferably, an industrial robot equipped with a plurality of drill rods 242 is installed in the field. When a new drill rod 242 needs to be inserted into the rod-type consumables feeding mechanism 35, a new drill rod 242 is clamped by the industrial robot and inserted into the rod. The drill rod accommodating channel 3511 of the rod-like consumables feeding mechanism.

The present invention and its embodiments have been described above, and the description is not restrictive, and what is shown in the accompanying drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. All in all, if those of ordinary skill in the art are inspired by it, and without departing from the purpose of the present invention, any structural modes and embodiments similar to this technical solution are designed without creativity, all should belong to the protection scope of the present invention.

Claims (12)

1. A nuclear waste storage tank decommissioning device comprises a bottom plate, a pose adjusting device, a decommissioning executing device and a reloading tool table; the bottom plate is provided with a working hole. The method is characterized in that:

the pose adjusting device comprises a supporting frame, a first lifting mechanism, a second lifting mechanism and an industrial mechanical arm; the supporting frame comprises guide rods and a top plate, the guide rods are vertically arranged, the lower ends of the guide rods are fixedly connected to the bottom plate, and the top plate is fixedly arranged at the upper ends of the guide rods and is positioned right above the working hole of the bottom plate; first elevating system, second elevating system and industrial mechanical arm connect gradually from last to down, first elevating system installs on the roof, second elevating system is driven by first elevating system and is vertical direction lift removal, industrial mechanical arm is driven by second elevating system and is vertical direction lift removal, and then dive to the bottom plate below or shift up to the bottom plate top through the work hole, the both ends of industrial mechanical arm are stiff end and free end respectively, the stiff end of industrial mechanical arm and the direct or indirect fixed connection of second elevating system.

The retired execution device comprises a fast swap disc and an execution tool; the quick-change plate comprises a first split body and a second split body which can be connected or separated from each other, the two ends of the first split body are respectively a connecting end and a butt-joint end, the connecting end of the first split body is connected with the rear end of the industrial mechanical arm, the two ends of the second split body are respectively a connecting end and a butt-joint end, the connecting end of the second split body is connected with an execution tool, and the second split body is connected or separated with the butt-joint end of the first split body through the butt-joint end.

The reloading tool table comprises a rotary driving motor A, a rotary table, a nut tightening and loosening mechanism, a disc type consumable material feeding mechanism and a bar type consumable material feeding mechanism; the rotary driving motor A is directly or indirectly fixedly arranged on the bottom plate, and a machine shaft of the rotary driving motor A vertically extends upwards and is fixedly connected with the central area of the lower surface of the rotary disc; the annular equipartition in carousel edge has a plurality of notches, and the notch is used for hanging the second subdivision of trading the dish soon, and when the second subdivision hung in the notch, the butt joint end of second subdivision is vertical gesture up, and nut take-up mechanism fixed mounting is on the carousel, and disc class consumptive material feed mechanism fixed mounting is on the carousel, and bar class consumptive material feed mechanism fixed mounting is on the carousel.

2. The nuclear waste storage tank decommissioning apparatus of claim 1, wherein: the first lifting mechanism comprises a lifting plate A and a hydraulic cylinder A; the lifting plate A is slidably arranged on the guide rod and is positioned between the top plate and the bottom plate; the cylinder body of the hydraulic cylinder A is fixedly installed on the top plate, a piston rod of the hydraulic cylinder A vertically extends downwards and is fixedly connected with the lifting plate A, and the piston rod of the hydraulic cylinder A stretches out and draws back to drive the lifting plate A to vertically lift and move along the guide rod.

3. The nuclear waste storage tank decommissioning device of claim 1, wherein: the second lifting mechanism comprises a double-shaft motor, a power turning box A, a power turning box B and a lifting plate B; the double-shaft motor is fixedly arranged on the lifting plate A; the number of the power direction changing boxes A is two; the power turning box A comprises a box shell A, a screw rod, a worm and a worm wheel; the box shell A is fixedly arranged on the lifting plate A, a screw rod mounting hole, a worm mounting hole and a worm wheel mounting cavity are arranged in the box shell A, the screw rod mounting hole is vertically arranged and penetrates through the upper end and the lower end of the box shell A, the worm mounting hole is horizontally arranged and penetrates through the horizontal two ends of the box shell A, and the worm wheel mounting cavity is respectively communicated with the screw rod mounting hole and the worm mounting hole; the screw rod is rotatably arranged in a screw rod mounting hole of the box shell A, and two ends of the screw rod respectively extend out of two ends of the screw rod mounting hole; the worm is rotatably arranged in a worm mounting hole of the box shell A; the inner hole of the worm wheel is provided with internal threads, the outer circular surface is provided with teeth, the worm wheel is matched with the screw rod in a rotating way through the internal threads in the inner hole, the worm wheel is positioned in a worm wheel mounting cavity of the box shell A and meshed with the worm through teeth on the outer circular surface; the number of the power direction changing boxes B is two; the two power turning boxes B are respectively arranged between two shafts of the double-shaft motor and the two sets of power turning boxes A and are used for turning and transmitting power output by the two shafts of the double-shaft motor to the two sets of power turning boxes A; the power steering box B comprises a box shell B, an input shaft, an output shaft, a bevel gear A and a bevel gear B; the box shell B is fixedly arranged on the lifting plate A; the input shaft and the output shaft are respectively rotatably arranged on the box shell B and are arranged vertically to each other, the input shaft is connected with a shaft of the double-shaft motor, and the output shaft is connected with one end of the worm; the bevel gear A and the bevel gear B are respectively fixedly arranged on the input shaft and the output shaft and are meshed with each other; the lifting plate B is arranged at the lower end of the screw rod and is fixedly connected with all the screw rods in the two sets of power turning boxes A.

4. The nuclear waste storage tank decommissioning device of claim 3, wherein: the second lifting mechanism further comprises a lifting plate C and an extension rod; the extension rod is vertically arranged, the upper end of the extension rod is fixedly connected to the lower end of the lifting plate B, and the lower end of the extension rod is fixedly connected with the lifting plate C; the fixed end of the industrial mechanical arm is fixedly connected with the lower surface of the lifting plate C.

5. The nuclear waste storage tank decommissioning apparatus of claim 3, wherein: one set of power diversion case A contains two power diversion case A, and two worms that contain in one set of power diversion case A are a whole at the end fixed connection to two power diversion case A synchronization action in the realization one set of power diversion case A.

6. The nuclear waste storage tank decommissioning apparatus of claim 1, wherein: the execution tool comprises a petal type grab bucket for grabbing the sludge, a hydraulic bucket for shoveling fragments, a high-pressure washing and pumping tool head for pumping the sludge, an electric circular saw for cutting a plate material and a pipe material, an electric reciprocating saw for cutting the plate material and the pipe material, hydraulic scissors for shearing and clamping a pipeline, an electric gripper for grabbing the fragments, a hydraulic clamping jaw for clamping the fragments, an electric pick for stripping a steel clad surface and an electric drilling machine for breaking and dismantling a steel structural part; the electric circular saw comprises a power output shaft, a circular saw blade and a nut A, wherein the power output shaft is used for outputting rotating power, the circular saw blade is arranged on the power output shaft and is driven by the power output shaft to rotate, and the nut A is in threaded connection with the power output shaft, abuts against the circular saw blade and provides axial positioning for the circular saw blade; wherein, the electric drilling machine comprises a drill chuck and a drill rod; the drill chuck is internally provided with a jack, the outer part of the drill chuck is provided with a nut B for adjusting the aperture of the jack, and one end of the drill rod is inserted in the jack of the drill chuck.

7. The nuclear waste storage tank decommissioning apparatus of claim 1, wherein: the nut tightening and loosening mechanism comprises a base A, a rotary sleeve and a rotary driving motor B; the base A is fixedly arranged on the turntable; the rotary sleeve is rotatably arranged on the base A, one end of the rotary sleeve is closed, the other end of the rotary sleeve is provided with an opening, a drill rod accommodating hole and a nut limiting hole are sequentially arranged in the rotary sleeve from the closed end to the opening end, the drill rod accommodating hole and the nut limiting hole are communicated with each other, the nut limiting hole is communicated with the opening at one end far away from the drill rod accommodating hole, and the central line of the drill rod accommodating hole and the central line of the nut limiting hole are horizontally arranged and are overlapped with each other; the rotary driving motor B is fixedly arranged on the rotary table, and a crankshaft of the rotary driving motor B is connected with the closed end of the rotary sleeve so as to drive the rotary sleeve to rotate around the central line of the drill rod accommodating hole.

8. The nuclear waste storage tank decommissioning apparatus of claim 1, wherein: the disc type consumable material feeding mechanism comprises a base B, a hanging rod, a push plate and a linear motor A; the base B is fixedly arranged on the turntable and is provided with a supporting hole; the hanging rods are welded on the side wall surface of the base and are horizontally arranged; the linear motor A is fixedly arranged on the turntable, and the crankshaft of the linear motor A is horizontally arranged and supported through a supporting hole of the base B; the push plate is an open annular plate, the middle of the push plate is provided with a central hole, and the push plate is welded and fixed at the tail end of a crankshaft of the linear motor A and penetrates through the hanging rod through the central hole.

9. The nuclear waste storage tank decommissioning apparatus of claim 1, wherein: the bar-type consumable feeding mechanism comprises a base C and a linear motor B; the base C is fixedly arranged on the turntable, a drill rod accommodating channel which is horizontally arranged and has two open ends is arranged on the base C, and the two ends of the drill rod accommodating channel are respectively set as a channel opening A and a channel opening B; the linear motor B is fixedly arranged on the upper surface of the rotary table, the crankshaft of the linear motor B is arranged in parallel to the drill rod accommodating channel and is opposite to the channel opening B of the drill rod accommodating channel, and the crankshaft of the linear motor B stretches and retracts to extend into or withdraw from the channel opening B of the drill rod accommodating channel.

10. The nuclear waste storage tank decommissioning apparatus of claim 3, wherein: be equipped with the hole of dodging that supplies the lead screw to pass on the roof, the lead screw upper end accessible dodges the hole and stretches out to the roof upper end, and does not take place the contact with the roof.

11. The nuclear waste storage tank decommissioning device of claim 1, wherein: the device also comprises an image device and a PC; the imaging device comprises a camera A and a camera B, wherein the camera A is installed on the bottom plate through a support, and the camera B is installed on the industrial mechanical arm; the camera A is used for acquiring the visual field of the tool changing table and the pose adjusting device, and the camera B is used for acquiring the visual field of the industrial mechanical arm and the visual field below the industrial mechanical arm; the PC is respectively in communication connection with the camera A, the camera B and each power-requiring component through a network; the display device is used for displaying pictures shot by the camera A and the camera B and sending instructions to control the actions of all the power-requiring components.

12. A nuclear waste storage tank decommissioning device comprises the following steps of:

s01, unloading the current executing tool:

a. starting a hydraulic cylinder A and a double-shaft motor, respectively driving a lifting plate A and a lifting plate B to ascend, and lifting the industrial mechanical arm above a bottom plate;

b. starting a rotary driving motor A, driving a turntable to rotate, and enabling a notch for unloading the execution tool to rotate to the overlapping area;

c. and adjusting the position and the posture of the industrial mechanical arm to enable the second split body connected to the rear end part of the industrial mechanical arm to extend into the notch, and then controlling the first split body and the second split body at the rear end part of the industrial mechanical arm to be separated from each other to enable the second split body and the execution tool to be unloaded to be hung in the notch.

S02, loading a target execution tool:

a. starting a rotary driving motor A, driving a turntable to rotate, and enabling a notch on which a target execution tool is hung to rotate to the overlapping area;

b. adjusting the position and the posture of the industrial mechanical arm to enable a second sub-body connected to the rear end part of the industrial mechanical arm to be in butt joint with a first sub-body connected with a target execution tool, and after the butt joint is completed, connecting the industrial mechanical arm and the target execution tool through a quick-change disc to form a whole;

in the step S01 of the method, the overlapping area is the overlapping area of the path swept by the notch along with the rotation of the turntable and the movable range of the free end of the industrial mechanical arm.

The method for replacing the consumable parts of the electric circular saw comprises the following steps:

before the method is executed, a new disc saw blade is hung on a hanging rod of a disc consumable material feeding mechanism; and a discarding area of the disc saw blade is arranged in the movable range of the free end of the industrial mechanical arm above the bottom plate.

S01, unlocking a disc saw blade on the electric disc saw:

a. starting a hydraulic cylinder A and a double-shaft motor, respectively driving a lifting plate A and a lifting plate B to ascend, and lifting the industrial mechanical arm above a bottom plate;

b. starting a rotary driving motor A to drive the rotary table to rotate, so that the nut tightening and loosening mechanism rotates to the overlapping area;

c. adjusting the position and the posture of the industrial mechanical arm to enable the electric circular saw connected to the rear end part of the industrial mechanical arm to move to be opposite to the nut loosening and tightening mechanism, and inserting a nut A of the electric circular saw into a nut limiting hole of the nut loosening and tightening mechanism after the electric circular saw finishes moving;

d. starting a rotary driving motor B, driving a rotary sleeve to rotate, driving a nut A to rotate through the rotary sleeve, and screwing the nut A off from a power output shaft, wherein the nut A is retained in a nut limiting hole of the rotary sleeve at the moment, and the axial positioning of a disc saw blade on the electric disc saw is released;

s02, discarding the disc saw blade on the electric disc saw:

a. the position and the gesture of adjustment industry arm move electronic circular saw to abandoning the region, and the removal in-process ensures that the power output shaft of electronic circular saw is in the level or terminal ascending state, avoids the disc saw piece to drop at the removal in-process.

b. After the electric circular saw moves to a discarding area, the position and the posture of the industrial mechanical arm are adjusted, so that the power output shaft of the electric circular saw rotates to a state that the tail end of the power output shaft faces downwards, and the circular saw blade immediately slides down from the power output shaft.

S03, loading a new circular saw blade:

a. adjusting the position and the posture of the industrial mechanical arm, moving the electric circular saw connected to the rear end part of the industrial mechanical arm to be opposite to the disc type consumable feeding mechanism, and after the movement is finished, enabling the tail end of a power output shaft of the electric circular saw to be opposite to and close to the tail end of a hanging rod of the disc type consumable feeding mechanism;

b. the linear motor A is started, the crankshaft of the linear motor A is in linear motion in the horizontal direction, the push plate is driven to be in horizontal linear motion along the hanging rod, and the disc saw blade hung on the hanging rod is pushed out from the tail end of the hanging rod and pushed onto the power output shaft of the electric disc saw.

S04, locking a disc saw blade on the electric disc saw:

a. adjusting the position and the posture of the industrial mechanical arm, moving the electric circular saw to a position right facing the nut tightening and loosening mechanism, ensuring that a power output shaft of the electric circular saw is in a horizontal state or a state that the tail end of the power output shaft faces upwards in the moving process, preventing a circular saw blade from falling off in the moving process, after the movement is finished, enabling the shaft axis of the power input shaft to be superposed with the central line of the nut limiting hole, and enabling the tail end of the power input shaft to be tightly abutted to the orifice of the nut A retained in the nut limiting hole;

b. and starting the rotary driving motor B, driving the rotary sleeve to rotate, driving the nut A to rotate through the rotary sleeve, connecting the nut A to a power input shaft of the electric circular saw in a threaded manner, and stopping the rotary driving motor B until the axial positioning of the circular saw blade is completed.

Preferably, set up the industrial robot who carries on the multi-disc saw bit in the place, when needing to hang new disc saw bit on disc class consumptive material feed mechanism, hang on disc class consumptive material feed mechanism's peg by a new disc saw dish of industrial robot centre gripping. The method for replacing the consumable parts of the electric drilling machine comprises the following steps:

before the method starts, a new drill rod is inserted into a drill rod accommodating channel of a rod consumable feeding mechanism; and arranging a discarding area of the drill rod in the movable range of the free end of the industrial mechanical arm above the bottom plate.

S01, unlocking a drill rod on the electric drilling machine:

a. starting a hydraulic cylinder A and a double-shaft motor, respectively driving a lifting plate A and a lifting plate B to ascend, and lifting the industrial mechanical arm above a bottom plate;

b. starting a rotary driving motor A to drive the rotary table to rotate, so that the nut tightening and loosening mechanism rotates to the overlapping area;

c. adjusting the position and the posture of the industrial mechanical arm to enable an electric drilling machine connected to the rear end part of the industrial mechanical arm to be in butt joint with a nut loosening and tightening mechanism, after the butt joint is completed, a drill rod of the electric drilling machine extends into a drill rod accommodating hole of the nut loosening and tightening mechanism, a nut B of the electric drilling machine extends into a nut limiting hole of the nut loosening and tightening mechanism, and the axis line of the drill rod is superposed with the center line of the drill rod accommodating hole;

d. starting a rotary driving motor B to drive a rotary sleeve to rotate, and driving a nut B to rotate through the rotary sleeve so as to enable the drill chuck to loosen the drill rod, wherein the nut B is still in threaded connection with the drill chuck at the moment;

s02, discarding a drill rod on the electric drilling machine:

a. the position and the gesture of adjustment industry arm move the electric drill machine to abandoning the region, and the removal in-process ensures that the drilling rod of electric drill machine is in the level or terminal ascending state, avoids the drilling rod to drop at the removal in-process.

b. After the electric drilling machine moves to the discarding area, the position and the posture of the industrial mechanical arm are adjusted, so that a drill rod of the electric drilling machine rotates to a state that the tail end of the drill rod faces downwards, and the drill rod is separated from the drill chuck and falls off.

S03, loading a new drill rod:

a. adjusting the position and the posture of the industrial mechanical arm, moving an electric drilling machine connected to the rear end part of the industrial mechanical arm to be opposite to the bar-type consumable material feeding mechanism, and after the electric drilling machine is moved, enabling a jack of a drill chuck of the electric drilling machine to be opposite to and closely adjacent to a channel opening A of a drill rod accommodating channel of the bar-type consumable material feeding mechanism;

b. and starting the linear motor B, and pushing the drill rod placed in the drill rod accommodating channel out of the channel opening A of the drill rod accommodating channel and into the jack of the drill chuck of the electric drilling machine by the aid of the crankshaft of the linear motor B performing linear motion in the horizontal direction.

S04, locking a drill rod on the electric drilling machine:

a. adjusting the position and the posture of the industrial mechanical arm, moving the electric drilling machine to a position right facing the nut loosening and tightening mechanism, ensuring that the jack of the drill chuck is in a horizontal state or a state that the tail end of the drill chuck is upward in the moving process, and preventing the drill rod from falling off in the moving process;

b. and starting the rotary driving motor B to drive the rotary sleeve to rotate, and driving the nut B to rotate through the rotary sleeve so that the drill chuck clamps the drill rod.

Preferably, set up the industrial robot who carries on many drilling rods in the place, when needing the new drilling rod of cartridge on the rod class consumptive material feed mechanism, insert in rod class consumptive material feed mechanism's the drilling rod accommodation channel by a new drilling rod of industrial robot centre gripping.

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