CN105806599A - Load protection limitation value obtaining device and method for grabbing tool - Google Patents
Load protection limitation value obtaining device and method for grabbing tool Download PDFInfo
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- CN105806599A CN105806599A CN201410843618.4A CN201410843618A CN105806599A CN 105806599 A CN105806599 A CN 105806599A CN 201410843618 A CN201410843618 A CN 201410843618A CN 105806599 A CN105806599 A CN 105806599A
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Abstract
The invention belongs to the light load protection limitation value obtaining field and relates to a load protection limitation value obtaining device and method for grabbing a tool. An upper end of a reel bearer is provided with a reel; the reel is in the shape of a circular ring; an encoder is connected to the reel to realize the synchronization motion; a gripper is connected to one end of a traction steel wire; the traction steel wire is connected to a plurality of guiding pulleys and the other end of the traction steel wire is connected to the reel; the encoder measures the rotation angle of the reel; the position of the gripper is calculated according to the diameter of the reel; a tension sensor is installed on a guiding pulley and measures the tension on the traction steel wire; the tension sensor and the encoder are connected to the PLC controller; the PLC controller collects a position value and a tension value and finishes the calculation on the load protection limitation value; the PLC controller is connected to a display instrument, so that the load value is displayed on the instrument; and the reel bearer is installed on a base plate through bolts.
Description
Technical field
This technology belongs to light load protection limits value and obtains field, is specifically related to load protection limits value acquisition device and the method for a kind of gripping tool.
Background technology
The special gripping tool of fuel handling and storage system is the batch turning instrument that nuclear power plant is indispensable, in actual batch turning work process, for avoiding relevant frictional force between cluster (neutron source cluster, burnable poison cluster, old control cluster) and gripping apparatus body or fuel assembly base beyond safety limit, usually need to observe cluster motion conditions under water by telescope, to consider frictional force levels, this method has 2 drawbacks: special staff observes primary need, increases labor intensity and personnel's irradiation；Second can only catch the situation that friction is serious and not energetic friction level, and evaluation index is sensibility, it is necessary to abundant field experience just can make accurate judgment.
Summary of the invention
It is an object of the invention to: load protection limits value acquisition device and the method for a kind of gripping tool are provided; realize in batch turning instrument lifting process; set up the tension force on haulage cable and the functional relationship of grappling fixture position; judge the frictional force size that cluster bears based on this, and the safety friction limit value according to different clusters makes overload or underload evaluation.
nullTechnical scheme is as follows: the load protection limits value acquisition device of a kind of gripping tool，It is characterized in that: include encoder、Tension pick-up、Reel、PLC、Grappling fixture、Haulage cable、Leading block、Reel bearing，Reel is installed in the upper end of reel bearing，Reel is circular ring type，Encoder connects reel，Realization is synchronized with the movement，Grappling fixture is connected to one end of haulage cable，Haulage cable passes through multiple leading blocks，Its other end is connected with reel，The reel anglec of rotation measured by encoder，Diameter according to reel calculates the position of grappling fixture，Installation tension sensor on a certain leading block，The tension force on haulage cable measured by tension pick-up，And tension pick-up and encoder are all connected with PLC，PLC gathers positional value and tension value and completes load is protected the calculating of limits value.
Also including display instrument, PLC connects display instrument, such that it is able to make load value be shown in display instrument.
Also including base plate, reel bearing is arranged on base plate by screw.
A kind of load protection limits value acquisition methods of gripping tool, it is characterised in that: comprise the following steps:
Step one: do not capture under the idle condition of cluster at grappling fixture, running gear, encoder passes the positional information of grappling fixture back PLC, and the tension information on haulage cable is passed back PLC by tension pick-up, and grappling fixture stroke top gathers a positional value and tension value to end per sampling period, in PLC, with the positional value of grappling fixture for abscissa, the tension value of haulage cable is that vertical coordinate makes curve chart, thus the datum curve under obtaining zero load；
Step 2: along bearing axle, the datum curve under gained zero load in step one is translated up a fixed value, this value is that the required cluster deadweight captured of grappling fixture is multiplied by coefficient k 1, k1 more than 1, determines according to cluster friction safety limit value, obtains overload setting value curve；Datum curve is along one fixed value of bearing axle pan-down, and this value is that cluster deadweight is multiplied by coefficient k 2, k2 less than 1, determines according to cluster friction safety limit value, obtains underload setting value curve；
Step 3: in actual cluster crawl process, is obtained actual curve, and is judged by the relation of actual curve with overload setting value curve, underload setting value curve,
If actual value curve has intersection point with overload setting value curve, then judge overload；
If actual value curve and underload setting value curve have intersection point, then judge underload；
If not being all both the above, then judge normal.
The remarkable result of the present invention is in that: the underload setting value that overloads on the point of optional position in the whole stroke of gripping apparatus is all well-determined, implement batch turning process is not wanted extra setup observer post, and optional position load level can be quantized and show, reduce labor intensity, decrease personnel's irradiation.
Accompanying drawing explanation
Fig. 1 is the load protection limits value acquisition device structural representation of a kind of gripping tool of the present invention
Fig. 2 is load protection limits value acquisition device and the method tension curve figure of a kind of gripping tool of the present invention
In figure: 1 encoder, 2 tension pick-ups, 3 reels, 4 display instrument, 5PLC controller, 6 grappling fixtures, 7 haulage cables, 8 leading blocks, 9 reel bearings, 10 base plates
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
nullAs shown in Figure 1，A kind of load protection limits value acquisition device of gripping tool，Reel 3 is installed in the upper end of reel bearing 9，Reel 3 is circular ring type，Encoder 1 connects reel 3，Realization is synchronized with the movement，Grappling fixture 6 is connected to one end of haulage cable 7，Haulage cable 7 is by multiple leading blocks 8，Its other end is connected with reel 3，Reel 3 anglec of rotation measured by encoder，Diameter according to reel 3 calculates the position of grappling fixture 6，Installation tension sensor 2 on a certain leading block，The tension force on haulage cable 7 measured by tension pick-up 2，And tension pick-up 2 and encoder 1 are all connected with PLC 5，PLC 5 gathers positional value and tension value and completes load is protected the calculating of limits value，PLC 5 connects display instrument 4，Such that it is able to make load value be shown in display instrument 4，Reel bearing 9 is arranged on base plate 10 by screw.
As in figure 2 it is shown, the load protection limits value acquisition methods of a kind of gripping tool, comprise the following steps
Step one: do not capture under the idle condition of cluster at grappling fixture 6, running gear, encoder 1 passes the positional information of grappling fixture 6 back PLC 5, and the tension information on haulage cable 7 is passed back PLC 5 by tension pick-up 2, and grappling fixture 6 stroke top gathers a positional value and tension value to end per sampling period, in PLC 5, with the positional value of grappling fixture 6 for abscissa, the tension value of haulage cable 7 is that vertical coordinate makes curve chart, thus the datum curve under obtaining zero load；
Step 2: along bearing axle, the datum curve under gained zero load in step one is translated up a fixed value, this value is that the required cluster deadweight captured of grappling fixture 6 is multiplied by coefficient k 1, k1 more than 1, determines according to cluster friction safety limit value, obtains overload setting value curve；Datum curve is along one fixed value of bearing axle pan-down, and this value is that cluster deadweight is multiplied by coefficient k 2, k2 less than 1, determines according to cluster friction safety limit value, obtains underload setting value curve；
Step 3: in actual cluster crawl process, is obtained actual curve, and is judged by the relation of actual curve with overload setting value curve, underload setting value curve,
If actual value curve has intersection point with overload setting value curve, then judge overload；
If actual value curve and underload setting value curve have intersection point, then judge underload；
If not being all both the above, then judge normal.
Claims (4)
- null1. the load protection limits value acquisition device of a gripping tool，It is characterized in that: include encoder (1)、Tension pick-up (2)、Reel (3)、PLC (5)、Grappling fixture (6)、Haulage cable (7)、Leading block (8)、Reel bearing (9)，Reel (3) is installed in the upper end of reel bearing (9)，Reel (3) is circular ring type，Encoder (1) connects reel (3)，Realization is synchronized with the movement，Grappling fixture (6) is connected to one end of haulage cable (7)，Haulage cable (7) is by multiple leading blocks (8)，Its other end is connected with reel (3)，Reel (3) anglec of rotation measured by encoder，Diameter according to reel (3) calculates the position of grappling fixture (6)，Installation tension sensor (2) on a certain leading block，The tension force on haulage cable (7) measured by tension pick-up (2)，And tension pick-up (2) and encoder (1) are all connected with PLC (5)，PLC (5) gathers positional value and tension value and completes load is protected the calculating of limits value.
- 2. the load protection limits value acquisition device of a kind of gripping tool according to claim 1; it is characterized in that: also include display instrument (4); PLC (5) connects display instrument (4), such that it is able to make load value be shown in display instrument (4).
- 3. the load protection limits value acquisition device of a kind of gripping tool according to claim 2, it is characterised in that: also including base plate (10), reel bearing (9) is arranged on base plate (10) by screw.
- 4. the load protection limits value acquisition methods of the gripping tool of the load protection limits value acquisition device of an a kind of gripping tool as claimed in claim 1, it is characterised in that: comprise the following steps:Step one: under the idle condition that grappling fixture (6) does not capture cluster, running gear, encoder (1) passes the positional information of grappling fixture (6) back PLC (5), and the tension information on haulage cable (7) is passed back PLC (5) by tension pick-up (2), and grappling fixture (6) stroke top gathers a positional value and tension value to end per sampling period, in PLC (5), with the positional value of grappling fixture (6) for abscissa, the tension value of haulage cable (7) is that vertical coordinate makes curve chart, thus the datum curve under obtaining zero load；Step 2: the datum curve under gained zero load in step one is translated up a fixed value along bearing axle, this value is that coefficient k 1 is multiplied by the required cluster deadweight captured of grappling fixture (6), k1, more than 1, determines according to cluster friction safety limit value, obtains overload setting value curve；Datum curve is along one fixed value of bearing axle pan-down, and this value is that cluster deadweight is multiplied by coefficient k 2, k2 less than 1, determines according to cluster friction safety limit value, obtains underload setting value curve；Step 3: in actual cluster crawl process, is obtained actual curve, and is judged by the relation of actual curve with overload setting value curve, underload setting value curve,If actual value curve has intersection point with overload setting value curve, then judge overload；If actual value curve and underload setting value curve have intersection point, then judge underload；If not being all both the above, then judge normal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410843618.4A CN105806599A (en) | 2014-12-30 | 2014-12-30 | Load protection limitation value obtaining device and method for grabbing tool |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410843618.4A CN105806599A (en) | 2014-12-30 | 2014-12-30 | Load protection limitation value obtaining device and method for grabbing tool |
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| CN105806599A true CN105806599A (en) | 2016-07-27 |
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| CN201410843618.4A Pending CN105806599A (en) | 2014-12-30 | 2014-12-30 | Load protection limitation value obtaining device and method for grabbing tool |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108615567A (en) * | 2018-04-28 | 2018-10-02 | 广西防城港核电有限公司 | The method and device of accidental damage in prevention and control stick reversed process |
| CN110689979A (en) * | 2019-10-28 | 2020-01-14 | 中核核电运行管理有限公司 | Underwater emergency grabbing device for cobalt isotope rod bundle |
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| WO2005071693A2 (en) * | 2003-12-22 | 2005-08-04 | Areva Np | Method for limiting maintenance efforts on a nuclear-reactor fuel assembly and fuel assembly |
| CN202156879U (en) * | 2011-06-28 | 2012-03-07 | 中广核工程有限公司 | Waste filter element replacing transporting container load measuring and overload protecting device |
| CN102394116A (en) * | 2011-09-09 | 2012-03-28 | 中科华核电技术研究院有限公司 | Load protection method and system for nuclear fuel tilting machine |
| CN103594134A (en) * | 2012-08-15 | 2014-02-19 | 广东核电合营有限公司 | Fuel assembly loading method for reactor core of nuclear power station |
| CN103811086A (en) * | 2012-11-09 | 2014-05-21 | 中国广东核电集团有限公司 | Nuclear power plant reactor core fuel assembly refueling monitoring method and system |
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2014
- 2014-12-30 CN CN201410843618.4A patent/CN105806599A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005071693A2 (en) * | 2003-12-22 | 2005-08-04 | Areva Np | Method for limiting maintenance efforts on a nuclear-reactor fuel assembly and fuel assembly |
| CN202156879U (en) * | 2011-06-28 | 2012-03-07 | 中广核工程有限公司 | Waste filter element replacing transporting container load measuring and overload protecting device |
| CN102394116A (en) * | 2011-09-09 | 2012-03-28 | 中科华核电技术研究院有限公司 | Load protection method and system for nuclear fuel tilting machine |
| CN103594134A (en) * | 2012-08-15 | 2014-02-19 | 广东核电合营有限公司 | Fuel assembly loading method for reactor core of nuclear power station |
| CN103811086A (en) * | 2012-11-09 | 2014-05-21 | 中国广东核电集团有限公司 | Nuclear power plant reactor core fuel assembly refueling monitoring method and system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108615567A (en) * | 2018-04-28 | 2018-10-02 | 广西防城港核电有限公司 | The method and device of accidental damage in prevention and control stick reversed process |
| CN110689979A (en) * | 2019-10-28 | 2020-01-14 | 中核核电运行管理有限公司 | Underwater emergency grabbing device for cobalt isotope rod bundle |
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Application publication date: 20160727 |