CN105129663A - Single-drive dual-parallelogram hoisting mechanism - Google Patents
Single-drive dual-parallelogram hoisting mechanism Download PDFInfo
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- CN105129663A CN105129663A CN201510383557.2A CN201510383557A CN105129663A CN 105129663 A CN105129663 A CN 105129663A CN 201510383557 A CN201510383557 A CN 201510383557A CN 105129663 A CN105129663 A CN 105129663A
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- drive spindle
- parallelogram
- follower lever
- assembly
- hinge
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Abstract
The invention discloses a single-drive dual-parallelogram hoisting mechanism which comprises a fixed base, a lower parallelogram assembly, an upper parallelogram assembly and a coupling mechanism assembly. The single-drive dual-parallelogram hoisting mechanism is used for hoisting examining equipment for the inner wall of a top cover of a reactor pressure vessel of a nuclear power station. The single-drive dual-parallelogram hoisting mechanism can vertically hoist a hoisting platform through the lower parallelogram assembly and the upper parallelogram assembly which are coupled together, avoids horizontal movement and prevents penetrating parts of the top cover from being damaged by the examining equipment. The single-drive dual-parallelogram hoisting mechanism is small in folded size and large in hoisting range, and workers and equipment can conveniently enter and exit through a biosphere man hole. By means of dual-parallelogram restrained-coupling single-drive control, moving shafts of equipment are reduced, the equipment is simpler to control, and the size and the weight of the equipment are reduced.
Description
Technical field
The present invention relates to nuclear power non-destructive detecting device field, particularly one list drives two parallelogram lifting mechanism.
Background technology
Nuclear power plant reactor pressure container is the nucleus equipment of nuclear reactor, is made up of vessel and top cover.Reactor pressure vessel is fixed and is contained reactor core and in-pile component, the fission reaction of atomic fuel is limited in a space sealed carry out, it and steam generator, voltage stabilizer and primary coolant circuit pipe form the pressure boundary of pressure coolant jointly, are one of three road barriers preventing radiomaterial from escaping.In order to ensure the safe operation of nuclear station, American ASME, French RSEM specification and China's Nuclear safety guide rule, all explicitly call for before making labour to this nuclear station first device and inservice inspection.The nondestructive inspection (NDI) result of top cover inner surface overlay cladding, penetrating piece and top cover attachment weld, exit skirt and penetrating piece attachment weld is one of Main Basis of checking nuclear reactor pressure container integraty, is also one of key project of nuclear plant safety evaluation.Top cover of reactor pressure vessel is welded by top cover flange (29) and top cover itself (28).When carrying out non-destructive test to it, top cover being taken off from pressure container body, being placed on biological shield circle (21).Biological shield circle (21) and pressure vessels top cover (20) forms a ring seal environment, with prevent in top cover (20) with radiant matter leak, cause unnecessary pollution and personnel's irradiation.Have the manhole (30) of personnel and checkout facility turnover in the bottom in biosphere, during non-destructive test, equipment and personnel will pass in and out from this manhole.Pressure vessels top cover inside face has the stainless steel weld overlays preventing top cover from corroding about 7mm, many penetrating pieces (27) pass top cover at the different-diameter place of top cover, and with top cover from inner side weld together, a conical horn mouth (26) is had at penetrating piece (27) welding edges, because this two places weld seam is for a long time by the effect of high temperature, high pressure and high radiation, very easily to crack, the open-type defect such as corrosion.In addition, for the CPR1000 heap-type nuclear station of current domestic extensive employing, exit skirt is apart from more than floor level 1800mm, manhole gate-width 490mm, high 675mm, and these conditions require very high to the folded size of lifting mechanism and range.
The patent No. be 200810107244.4 its jacking system of patent of invention be realize testing fixture by the slide unit arm linear axis of checkout facility and S. A. two axle drive shafts that slide unit arm is connected with pivot arm to be elevated and folding, its complex structure, volume and weight are larger, stroke is short, testing fixture operational height is lower, and the inharmonious centre-of gravity shift easily caused of moving, safety factor during inspection is lower.
The patent No. is the jacking system that 98106435.3 patents of invention disclose a kind of hinged double parallelogram boom device, but its propulsive effort comes from the hydraulic actuating cylinder between the parallelogram hold-down arm of upper and lower part, hydraulic actuating cylinder is by own dimensions and stroke limitation, upper and lower part parallelogram hold-down arm cannot be made to be flared to plumbness completely or to be contracted to horizontality, limit folded size and the range of this lifting mechanism.In addition, this device is difficult to accomplish that the high precision as Fu controls.
Summary of the invention
The object of this invention is to provide that a kind of volume is little, lightweight, precision is high, stroke is long and the list that load-carrying capacity is strong drives two parallelogram jacking system.
For solving the problems of the technologies described above, the present invention adopts following technical scheme: the two parallelogram jacking system of a kind of single driving, it is for being elevated the testing fixture of nuclear power plant reactor pressure vessels top cover, it comprises permanent seat, for the lifting table that carries described testing fixture and the two parallel-crank mechanisms be connected between described permanent seat and described lifting table, described pair of parallel-crank mechanism comprises lower parallelogram assembly and upper parallelogram assembly, coupling mechanism assembly, described coupling mechanism assembly comprises the plate that is of coupled connections, described lower parallelogram assembly comprise parallel setting and end respectively with lower drive spindle and the lower follower lever of permanent seat and the plate phase hinge that is of coupled connections, described upper parallelogram assembly comprise parallel setting and end respectively with upper drive spindle and the upper follower lever of lifting table and the plate phase hinge that is of coupled connections, lower drive spindle, lower follower lever, upper drive spindle is identical with the length of upper follower lever, single driving parallelogram jacking system also comprises the drive division that the described lower drive spindle of described driving rotates around lower drive spindle and permanent seat hinge-point, coupling mechanism assembly also comprises the lower driven wheel being fixedly connected on one end that drive spindle is connected with the described plate that is of coupled connections, be connected to the upper driven wheel of one end that drive spindle is connected with the described plate that is of coupled connections, described lower driven wheel is meshed with described upper driven wheel, the hinge axes of described lower drive spindle and lower follower lever and described permanent seat, the hinge axes of described lower drive spindle and lower follower lever and the plate that is of coupled connections, the hinge axes of upper drive spindle and upper follower lever and the plate that is of coupled connections, upper drive spindle and upper follower lever parallel with the hinge axes of lifting table, the hinge axes conllinear of the pivot center of the rotation of lower driven wheel and described lower drive spindle and the plate that is of coupled connections, the hinge axes conllinear of the pivot center of the rotation of upper driven wheel and described upper drive spindle and the plate that is of coupled connections.
Optimize, described drive division comprises the servomotor and control system thereof that are in transmission connection mutually with described lower drive spindle.
Optimize, described lower drive spindle and one end of described permanent seat phase hinge are also connected with the hand rotation portion in case of emergency controlling lifting table and rise or decline.
Optimize, lower parallelogram assembly also comprises at least one and to be connected between lower drive spindle and lower follower lever and in lifting table its release elastic potential energy in uphill process, the lower spring of storage elasticity potential energy in decline process, upper parallelogram assembly also comprises at least one and to be connected between drive spindle and upper follower lever and in lifting table its release elastic potential energy in uphill process, the upper spring of storage elasticity potential energy in decline process.
Further, the point that described lower spring is connected with described lower drive spindle is compared with the hinge-point of its point be connected with lower follower lever closer to lower drive spindle and permanent seat, and the point that described upper spring is connected with described upper drive spindle is compared with the hinge-point of its point be connected with upper follower lever closer to upper drive spindle and lifting table.
Beneficial effect of the present invention is: the present invention realizes the vertical lift of lifting table by the lower parallelogram assembly that is coupled and upper parallelogram assembly, can not produce horizontal direction and move, guarantee that testing fixture can not cause damage to top cover penetrating piece; Folded size is little, and range is large, comes in and goes out easily by biosphere manhole; Adopt the single drived control of two parallelogram constraint coupling, decrease equipment moving axle, equipment is controlled simpler, decrease the volume and weight of equipment.
Accompanying drawing explanation
Structural representation when accompanying drawing 1 is of the present invention packing up;
Accompanying drawing 2 is the structural representation in expansion process of the present invention;
Accompanying drawing 3 is structural representation when launching completely of the present invention;
Accompanying drawing 4 be testing fixture in top cover of reactor pressure vessel time structural representation;
In accompanying drawing: 1. permanent seat; 2. descend drive spindle; 3. descend follower lever; 4. coupling mechanism assembly; 40. pairs of parallel-crank mechanisms; 41. are of coupled connections plate; 5. go up drive spindle; 6. go up follower lever; 7. lifting table; 81. lower springs; 82. upper springs; 91. times driven wheels; Driven wheel on 92.; 10. drive division; 11. hand rotation portions; 20. top covers; 21. biological shield circles; 22. testing fixtures; 23. testing fixture bases; 24. end scanners; 25. jacking systems; 26. exit skirts; 27. penetrating pieces; 28. top covers itself; 29. top cover flanges; 30. manholes; 401. times parallelogram assemblies; Parallelogram assembly on 402..
Detailed description of the invention
Below in conjunction with embodiment shown in the drawings, the present invention is described in detail below:
Single pair parallelogram jacking system 25 that drives is for being elevated the end scanner 24 of nuclear power plant reactor pressure vessels top cover, as shown in Figure 1, it comprise permanent seat 1, for carry described end scanner 24 lifting table 7, be connected to two parallel-crank mechanisms 40 between described permanent seat 1 and described lifting table 7, drive division 10, hand rotation portion 11.
Described pair of parallel-crank mechanism 40 comprises lower parallelogram assembly 401 and upper parallelogram assembly 402, coupling mechanism assembly 4.Described coupling mechanism assembly 4 comprises the plate 41 that is of coupled connections, lower driven wheel 91, upper driven wheel 92.Described lower parallelogram assembly 401 comprise parallel setting and end respectively with lower drive spindle 2 and the lower follower lever 3 of permanent seat 1 and the plate 41 phase hinge that is of coupled connections, described upper parallelogram assembly 402 comprise parallel setting and end respectively with upper drive spindle 5 and the upper follower lever 6 of lifting table 7 and the plate 41 phase hinge that is of coupled connections, lower drive spindle 2, lower follower lever 3, upper drive spindle 5 are identical with the length of upper follower lever 6.
Lower driven wheel 91 has two, both are fixedly connected on an end of lower drive spindle 2 and two side plates of the plate 41 that is of coupled connections U-shaped with cross section are respectively hinged, this end is the end that lower drive spindle 2 is connected with the described plate 41 that is of coupled connections, and two lower driven wheels 91 lay respectively at the both sides of lower drive spindle 2; Upper driven wheel 92 has two, both are fixedly connected on an end of drive spindle 5 and two side plates of the plate 41 that is of coupled connections U-shaped with cross section are respectively hinged, this end is the end that upper drive spindle 5 is connected with the described plate 41 that is of coupled connections, and two upper driven wheels 92 lay respectively at the both sides of drive spindle 25.The described lower driven wheel 91 of the same side is meshed with described upper driven wheel 92.The hinge axes of the hinge axes of described lower drive spindle 2 and lower follower lever 3 and the hinge axes of described permanent seat 1, described lower drive spindle 2 and lower follower lever 3 and the plate 41 that is of coupled connections, upper drive spindle 5 and upper follower lever 6 and the plate 41 that is of coupled connections, upper drive spindle 5 and upper follower lever 6 parallel with the hinge axes of lifting table 7, the pivot center of the rotation of lower driven wheel 91 and the hinge axes conllinear of described lower drive spindle 2 and the plate 41 that is of coupled connections, the pivot center of the rotation of upper driven wheel 92 and the hinge axes conllinear of described upper drive spindle 5 and the plate 41 that is of coupled connections.
Described drive division 10 drives described lower drive spindle 2 to rotate with permanent seat 1 hinge-point around lower drive spindle 2, and it comprises the servomotor be in transmission connection mutually with described lower drive spindle 2.Hand rotation portion 11 is removably connected to described lower drive spindle 2 with on one end of described permanent seat 1 phase hinge, manual rotating device 11 is uneasy top loading when jacking system normally works, only have in case of emergency, such as drive division 10 fault, when jacking system can not fold, by it, equipment is folded, withdraw from manhole.
Lower parallelogram assembly 401 also comprises at least one and to be connected between lower drive spindle 2 and lower follower lever 3 and in lifting table 7 its release elastic potential energy in uphill process, the lower spring 81 of storage elasticity potential energy in decline process, the point that described lower spring 81 is connected with described lower drive spindle 2 compared with its point be connected with lower follower lever 3 closer to the hinge-point of lower drive spindle 2 with permanent seat 1; Upper parallelogram assembly 402 also comprises at least one and to be connected between drive spindle 5 and upper follower lever 6 and in lifting table 7 its release elastic potential energy in uphill process, the upper spring 82 of storage elasticity potential energy in decline process, the point that described upper spring 82 is connected with described upper drive spindle 5 compared with its point be connected with upper follower lever 6 closer to the hinge-point of upper drive spindle 5 with lifting table 7.Lower spring 81 and upper spring 82 have 4 respectively in the present embodiment, divide two groups separately, two groups of lower springs 81 are symmetrically distributed in the both sides of lower drive spindle 2 and lower follower lever 3, two groups of upper springs 82 are symmetrically distributed in the both sides of drive spindle 5 and upper follower lever 6, and two lower springs 81 parallel setting, two upper springs 82 also parallel setting, decrease the degradation of energy of whole mechanism in device decline process, and for providing energy in device uphill process, the power provided needed for drive division 10 is provided, reduces its restricting resistance force.
As shown in Figure 1, 2, 3, its course of action is that under servomotor rotates drive under control of the control system, drive spindle 2 rotates counterclockwise, lower driven wheel 91 on lower drive spindle 2 drives upper driven wheel 92 to rotate relative to lower driven wheel 91, pivot center around lower drive spindle 2 while the upper drive spindle 5 of upper driven wheel 92 drive does and rotates clockwise rotates counterclockwise, thus realizes the vertical ascending motion of the end scanner 24 on lifting table 7.
To sum up, the present invention has the following advantages:
1. upper and lower drive spindle of the present invention and upper and lower follower lever identical length are together, coupling mechanism is by setting up kinematic constraint coupling, make the drive spindle rotative speed of upper and lower parallelogram identical all the time, thus ensure that lifting table moves up and down at vertical direction all the time in motion process.
2. folded size of the present invention gets the thickness only depending on each bar of parallelogram, and range only depends on the length of each bar.
3. the present invention adopts the single drived control of two parallelogram constraint coupling, decreases equipment moving axle, equipment is controlled simpler, decreases the volume and weight of equipment.
4. servomotor of the present invention and servo control system are all positioned at the permanent seat of jacking system, reduce the weight of the end of jacking system own, add the end load-carrying capacity of this parallelogram sturcutre, provide possibility for device carries out more Capacity extension.
5. apparatus of the present invention accurately can control the whole movement travel of equipment, therefore enable the accurate location that the end scanner of whole testing fixture realizes in range coverage.
6. the upper and lower spring of the present invention, make in lifting table its release elastic potential energy in uphill process, its stored energy in decline process, decrease the degradation of energy of whole mechanism in device decline process, and for providing energy in device uphill process, the power provided needed for drive system is provided, reduces its restricting resistance force.
Above-described embodiment, only for technical conceive of the present invention and feature are described, its object is to person skilled in the art can be understood content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalences done according to the present invention's spirit change or modify, and all should be encompassed within protection scope of the present invention.
Claims (5)
1. the two parallelogram jacking system of single driving, it is for being elevated the testing fixture of nuclear power plant reactor pressure vessels top cover, it comprises permanent seat (1), for the lifting table (7) that carries described testing fixture and the two parallel-crank mechanisms (40) be connected between described permanent seat (1) and described lifting table (7), described pair of parallel-crank mechanism (40) comprises lower parallelogram assembly (401) and upper parallelogram assembly (402), coupling mechanism assembly (4), described coupling mechanism assembly (4) comprises the plate that is of coupled connections (41), described lower parallelogram assembly (401) comprise parallel setting and end respectively with lower drive spindle (2) and the lower follower lever (3) of permanent seat (1) and the plate that is of coupled connections (41) phase hinge, described upper parallelogram assembly (402) comprise parallel setting and end respectively with upper drive spindle (5) and the upper follower lever (6) of lifting table (7) and the plate that is of coupled connections (41) phase hinge, lower drive spindle (2), lower follower lever (3), upper drive spindle (5) is identical with the length of upper follower lever (6), it is characterized in that: the two parallelogram jacking system of single driving also comprises the drive division (10) that the described lower drive spindle (2) of described driving is rotated around lower drive spindle (2) and permanent seat (1) hinge-point, coupling mechanism assembly (4) also comprises the lower driven wheel (91) being fixedly connected on one end that drive spindle (2) is connected with the described plate that is of coupled connections (41), be connected to the upper driven wheel (92) of one end that drive spindle (5) is connected with the described plate that is of coupled connections (41), described lower driven wheel (91) is meshed with described upper driven wheel (92), the hinge axes of described lower drive spindle (2) and lower follower lever (3) and described permanent seat (1), the hinge axes of described lower drive spindle (2) and lower follower lever (3) and plate (41) that are of coupled connections, the hinge axes of upper drive spindle (5) and upper follower lever (6) and plate (41) that are of coupled connections, upper drive spindle (5) and upper follower lever (6) parallel with the hinge axes of lifting table (7), the hinge axes conllinear of the pivot center of the rotation of lower driven wheel (91) and described lower drive spindle (2) and the plate (41) that is of coupled connections, the hinge axes conllinear of the pivot center of the rotation of upper driven wheel (92) and described upper drive spindle (5) and the plate (41) that is of coupled connections.
2. the two parallelogram jacking system of single driving according to claim 1, is characterized in that: described drive division (10) comprises the servomotor and control system thereof that are in transmission connection mutually with described lower drive spindle (2).
3. the two parallelogram jacking system of single driving according to claim 1, is characterized in that: described lower drive spindle (2) and one end of described permanent seat (1) phase hinge are also connected with the hand rotation portion (11) in case of emergency controlling lifting table and rise or decline.
4. the two parallelogram jacking system of single driving according to claim 1, it is characterized in that: lower parallelogram assembly (401) also comprises at least one and to be connected between lower drive spindle (2) and lower follower lever (3) and in lifting table (7) its release elastic potential energy in uphill process, the lower spring (81) of storage elasticity potential energy in decline process, upper parallelogram assembly (402) also comprises at least one and to be connected between drive spindle (5) and upper follower lever (6) and in lifting table (7) its release elastic potential energy in uphill process, the upper spring (82) of storage elasticity potential energy in decline process.
5. the two parallelogram jacking system of single driving according to claim 4, it is characterized in that: the point that described lower spring (81) is connected with described lower drive spindle (2) is compared with the hinge-point of its point be connected with lower follower lever (3) closer to lower drive spindle (2) and permanent seat (1), and the point that described upper spring (82) is connected with described upper drive spindle (5) is compared with the hinge-point of its point be connected with upper follower lever (6) closer to upper drive spindle (5) and lifting table (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510383557.2A CN105129663A (en) | 2015-07-03 | 2015-07-03 | Single-drive dual-parallelogram hoisting mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510383557.2A CN105129663A (en) | 2015-07-03 | 2015-07-03 | Single-drive dual-parallelogram hoisting mechanism |
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| CN105129663A true CN105129663A (en) | 2015-12-09 |
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| CN201510383557.2A Pending CN105129663A (en) | 2015-07-03 | 2015-07-03 | Single-drive dual-parallelogram hoisting mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112811347A (en) * | 2019-11-15 | 2021-05-18 | 昆霖科技(深圳)有限公司 | Vertical lifting device |
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| CN104054523A (en) * | 2014-06-30 | 2014-09-24 | 广西大学 | Connecting rod type folding lifting mechanism |
| CN104325241A (en) * | 2014-10-29 | 2015-02-04 | 江阴市巨匠文化创意发展有限公司 | Rocker arm welding machine |
| CN204234998U (en) * | 2014-10-29 | 2015-04-01 | 江阴市巨匠文化创意发展有限公司 | A kind of flat push type welding machine telescopic arm |
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2015
- 2015-07-03 CN CN201510383557.2A patent/CN105129663A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57201141A (en) * | 1981-06-04 | 1982-12-09 | Sanyo Electric Co Ltd | Part fitting device |
| CN1145841A (en) * | 1996-07-22 | 1997-03-26 | 李英春 | Hydraulic nut assembling and disassembling machine |
| CN201579787U (en) * | 2009-12-21 | 2010-09-15 | 厦门至工机电有限公司 | Four-joint sighted robot |
| CN201826782U (en) * | 2010-09-11 | 2011-05-11 | 安徽省和县通用机械制造有限责任公司 | Four-bar linkage telescopic mechanism of pipe-column clamp for oilfield drilling |
| CN104054523A (en) * | 2014-06-30 | 2014-09-24 | 广西大学 | Connecting rod type folding lifting mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112811347A (en) * | 2019-11-15 | 2021-05-18 | 昆霖科技(深圳)有限公司 | Vertical lifting device |
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Application publication date: 20151209 |