CN109773805A - Gripping mechanism for small space in nuclear power station water - Google Patents
Gripping mechanism for small space in nuclear power station water Download PDFInfo
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- CN109773805A CN109773805A CN201910134292.0A CN201910134292A CN109773805A CN 109773805 A CN109773805 A CN 109773805A CN 201910134292 A CN201910134292 A CN 201910134292A CN 109773805 A CN109773805 A CN 109773805A
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- toe
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- control panel
- connecting rod
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- 230000007246 mechanism Effects 0.000 title claims abstract description 115
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 41
- 238000013461 design Methods 0.000 claims abstract description 46
- 230000033001 locomotion Effects 0.000 claims abstract description 39
- 230000005855 radiation Effects 0.000 claims abstract description 17
- 239000000284 extract Substances 0.000 claims abstract description 9
- 238000000605 extraction Methods 0.000 claims abstract description 9
- 230000002285 radioactive effect Effects 0.000 claims abstract description 5
- 210000003371 toe Anatomy 0.000 claims description 201
- 230000005540 biological transmission Effects 0.000 claims description 21
- 230000008878 coupling Effects 0.000 claims description 21
- 238000010168 coupling process Methods 0.000 claims description 21
- 238000005859 coupling reaction Methods 0.000 claims description 21
- 238000003825 pressing Methods 0.000 claims description 19
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- 241001074085 Scophthalmus aquosus Species 0.000 description 1
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Clamps And Clips (AREA)
Abstract
The present invention provides a kind of gripping mechanisms that can be used for extraction force in nuclear power station radioactive environment water narrow space and be greater than 2000N.It includes clamping mechanism, first hydraulic cylinder, cylinder, hose, reel, pressure sensor, second hydraulic cylinder, control system.Control system provides power for clamping mechanism.It is realized while the first hydraulic cylinder synchronous with second hydraulic cylinder drives clamping mechanism to do linear reciprocating motion and opens and be closed.Since clamp extracts and press from both sides the polytropism that toe clamps workpiece force vector, clamping mechanism has good stability in folder toe stroke limit position.Folder toe geometry design can increase loading end and guarantee folder toe deformation occurs, improve the stabilization and safety of clamping.The present invention is will to radiate that strong, space is narrow, flexibility ratio is high, can integrate the radiation resistance robot of exploitation, the remote end executing agency of mechanical arm the features such as underwater operation.
Description
Technical field
The present invention relates to it is a kind of in nuclear power station water small space extract workpiece nonstandard gripping mechanism, more particularly to
A kind of device for realizing part safety holding and extraction under sensor help.It is a kind of suitable for working under radioactive environment,
It can carry out people and not can enter, shield the secured gripping mechanism clamped and extract of part in a reservoir.It can be used as radiation resistance
The remote control end effector mechanism of robot, mechanical arm.
Background technique
What nuclear power station operation considered first when repairing is the influence for reducing radioactive material confrontation environment, is staff on the scene
Optimization of radiation protection operating condition is provided.To consider gripping mechanism use environment and operating space size simultaneously, there are also clamps
The secured and safety of clamping.The gripping mechanism of identical function has following several in the prior art:
1. two claw clip of hydraulic-driven flat clamps
Two claw clip of hydraulic-driven flat pincers can vertical clamping workpiece, can also be clamped with workpiece when keeping an angle
The firmly any position on part length direction.But because the folder toe of such clamp designs for flat mouth, when clamping circular pieces, folder
Toe and clamped part are line contacts, so that Workpiece clamping is unstable, the meeting injuring part when clamping and extracting part also can shadow
The extraction force for ringing clamp, there is also the insecurity factors of clamping failure while influencing operating efficiency.
2. two claw clip of spring cam formula clamps
Two claw clip of spring cam formula pincers are mainly used for vertical direction to the clamping with step surface workpiece and U-shaped structure part
And extraction.Such clamp folder toe is a kind of L-type design, presss from both sides the axial step face contact of toe and workpiece, under spring force,
Two pairs of symmetrical idler wheels that piston rod moves up and down on drive folder toe, make folder toe can be along the pin shaft edge being fixed on support base
In the plane of a similar cam movement realize the opening and closure of folder toe.Workpiece is clamped under folder toe closed state to be mentioned
Take movement.The clamp piston rod of such structure and the kinematic accuracy of idler wheel have the clamping force of clamp and the precision of clamping larger
It influences, clamp is needed to have higher processing and assembly precision.Its safety interlocking structure used is designed in the Safety Redundancy of device
On lack advantage.
In view of defect existing for above-mentioned existing technology, the designer creates true tool by continuous research and experiment
The invention patent of practical value.
Summary of the invention
It is an object of the invention to will radiate strong, space is narrow, flexibility ratio is high, can the various features such as underwater operation integrate
Develop radiation resistance robot, the remote end of mechanical arm is remotely controlled executing agency.
Another object of the present invention is to provide one kind can be in nuclear power station radioactive environment water narrow space, lifting force
Gripping mechanism greater than 2000N is steady the technical problem to be solved is that the clamping of the contradiction and clamp of chucking power and clamp size
It is qualitative.
Another object of the present invention is to overcome existing linear contact when two claw clip of flat mouth pincers clamping circular work pieces to cause
Clamping it is unstable, provide a kind of new structural clamp dress the defects of the damage to workpiece, influence to clamp chucking power
It sets.
Another object of the present invention is to reduce the design of clamping mechanism, processing and assembly cumulative errors to clamp function
It influences, it is simple to provide a kind of structure, and for ease of maintenaince, safe and reliable gripping mechanism makes it meet special operation condition to clamp safety
The requirement of clamping.
A further purpose of the present invention is to the composite geometrics of clamp can be in the impulse stroke angle for not influencing folder toe
Under operating condition the stroke of hydraulic piston connecting rod can increase, achieve the purpose that the clip position for preferably controlling folder toe.
Mentality of designing of the present invention can introduce other fields, thus more suitable for practical, and with the exploitation value in industry
Value.
The object of the invention to solve the technical problems adopts the following technical solutions to realize.It proposes according to the present invention
A kind of extraction force in nuclear power station radioactive environment water narrow space greater than 2000N for small space in nuclear power station water
Gripping mechanism characterized by comprising
--- clamping mechanism, mounted in the lower end of first hydraulic cylinder；
--- control system provides power for clamping mechanism, rotary motion is become the linear motion of hydraulic cylinder piston；
--- hydraulic cylinder, respectively first hydraulic cylinder and second hydraulic cylinder；
--- hose, first hydraulic cylinder and second hydraulic cylinder carry out the transmitting of pressure by hose；
--- reel is the supporting body of hose, while being also used for winding hose；
--- cylinder, the first hydraulic cylinder is in closed cylinder.
The object of the invention to solve the technical problems also can be used following technical measures and further realize.
Be previously described for the gripping mechanism of small space in nuclear power station water, wherein the first hydraulic cylinder by cylinder body, on
Flange, lower flange, piston, first piston connecting rod, spring, valve and fast connector composition, in the upper end of the cylinder body
It is respectively arranged with upper flange and lower flange with lower end, quick coupling and valve, the hose are installed on the upper flange
It connects first hydraulic cylinder and second hydraulic cylinder, the piston by quick coupling to be arranged in the cylinder body, described the
One piston brace rod is the component that chucking power is transmitted for clamping mechanism, which is that threaded rank is designed at both ends
Terraced axis, the first piston connecting rod threaded upper ends are used for fixed piston, which exposes under hydraulic cylinder part
End is threadedly coupled clamping mechanism, and the spring pocket is in first piston connecting rod, the second hydraulic cylinder and the first liquid
The structure of cylinder pressure is identical, is one-way hydraulic cylinder.
It is previously described for the gripping mechanism of small space in nuclear power station water, wherein the clamping mechanism is by folder toe, control
Plate, adapter composition, the folder toe is mounted on adapter by ladder pin shaft, the control panel both be mounted on first
Piston brace rod exposes the lower thread connection of hydraulic cylinder part, connect also by pin shaft with folder toe；First piston connecting rod with
The Combination Design for pressing from both sides toe, control panel makes clamping mechanism be converted into the radial direction of folder toe from linear motion by first piston connecting rod
Clamping and release campaign, and stringent limitation will not be generated to the power transmitted.
It is previously described for the gripping mechanism of small space in nuclear power station water, wherein the folder toe is one and is easily accessible sky
The string configuration that the space of gap very little works is welded by folder toe main body and clamping jaw, which needs flexible
Design, can choose the folder toe on workpiece to be held, most safe and convenient position is as clamping face, since clamping mechanism is same
When have extract and clamping function, extract need a upward power, clamping is a radial force, folder toe main body and clamping jaw weld
After maintain a vertical relation, while clamping jaw has used imitative type to design, the shape phase of geometry and workpiece face to be held
Coincide, allow folder toe in vertical and radial both direction on the perpendicular end surface of workpiece i.e. to be held and radial cylindrical surface together
When clamping workpiece, folder toe length direction top is provided with and presss from both sides the homoaxial vertical elongated slot of toe, vertical elongated slot be control panel with
The track that first piston connecting rod moves up and down, vertical elongated slot size, shape and position are determined according to clamp opening and closing angle
Fixed, the selection of folder toe material depends on that folder toe will not deformation occurs and influences the function of clamp.
It is previously described for the gripping mechanism of small space in nuclear power station water, wherein the control panel is by three garden heart angles
The integrated board that identical wing plate is formed, the centre of the control panel are equipped with through-hole, and first piston connecting rod passes through the through-hole, three
Radial elongated slot is respectively equipped on a wing plate, three folder toes for being uniformly mounted on adapter are mounted on control panel by pin shaft to be corresponded to
Radial elongated slot in, pin hole is the through hole being arranged on control panel and radial elongated slot upright position, and pin shaft passes through control panel
It is fastened after the vertical elongated slot of pin hole and the folder toe being mounted in the radial elongated slot of control panel with floor clip；Because pressing from both sides the vertical of toe
Elongated slot and the axis of first piston connecting rod have the radial displacement angle design that opening and closing needs are realized according to folder toe
Angle, control panel are the path for having angle with first piston connecting rod when moving up and down in the vertical elongated slot for pressing from both sides toe, this
A combination is the just profound relational design according to trigonometric function, wherein first piston connecting rod is straight flange, and bevel edge is the vertical of folder toe
The length of elongated slot, the angle of straight flange and bevel edge (just profound) are the angles pressing from both sides toe and moving radially；It controls three radial long in plate end face
Slot located three folder toe coordinate position, while increase clamp three folder toe rigidity and job stability, control panel with
Clamping mechanism clamping movement is realized and be ensure that in the combination of the folder toe of the first piston connecting rod and clamping mechanism of first hydraulic cylinder
Track.
Be previously described for the gripping mechanism of small space in nuclear power station water, wherein the adapter be first hydraulic cylinder with
The connector of clamping mechanism, and the carrier of toe and the supporting part of clamp are pressed from both sides, the superstructure of the adapter is with external screw thread
Cylindrical body, the external screw thread and the internal screw thread of cylinder equipped with first hydraulic cylinder link together, the superstructure of the adapter
It is additionally provided with three axial directions and is evenly distributed with step through-hole and axial uniformly pin hole, the step through-hole and the pin hole pass through spiral shell respectively
Bar and pin axially connect adapter and the lower flange of first hydraulic cylinder；
The substructure of adapter is uniformly distributed 360 ° of three equal part pawl structures corresponding with control panel wing plate, often
It is equipped with equal part slot among one equal part pawl, is additionally provided with stepped hole on each equal part pawl, there are also ladders by equal part slot and stepped hole
Pin shaft is mounted on toe is pressed from both sides on adapter, and 3 stepped holes are respectively perpendicular to the pawl face of the equal part pawl where oneself, equal part slot with turn
Joint chair axis is parallel, and the axially extending bore being arranged on adapter is on the operating path of first piston connecting rod of first hydraulic cylinder
Interface, first piston connecting rod pass through adapter axially extending bore connect with control panel, 3 folder toes are separately mounted to adapter
3 equal part slots in, and be fastened on adapter by corresponding stepped hole and ladder pin shaft, folder toe also cross
Radial elongated slot on control panel, is fixed on the wing plate of control panel by pin shaft and thrust washer and constitutes complete clamping mechanism,
This is connected to the installation site precision requirement for meeting folder toe and control panel while the positioning for realizing three folder toes.
Be previously described for the gripping mechanism of small space in nuclear power station water, wherein the cylinder be by clamp shell and on
The sealed cylinder of end cap composition, there are three hole on upper end cover, a hole is the channel of hose, other two hole is for installing lifting
Bolt；The adapter of the bottom internal screw thread connecting clamp mechanism of cylinder, cylinder play radiation to the underwater first hydraulic cylinder that works
The effect of shielding and sealing.
It is previously described for the gripping mechanism of small space in nuclear power station water, further includes pressure sensor, the pressure
Sensor by threeway access hose, the pressure sensor can prevent because of system leak caused by clamping mechanism control force
It influences.
It is previously described for the gripping mechanism of small space in nuclear power station water, wherein the control system is by Linear transmission
Device, shaft coupling and second hydraulic cylinder composition, the output of Linear transmission device and the second piston connecting rod of second hydraulic cylinder pass through connection
Joint connection, control system are mounted in the control room of non-radiation environment or on the console of Non-ionizing radiation environment, are controlled
The Linear transmission device and second hydraulic cylinder of system are coaxially connected.
The present invention has obvious advantages and beneficial effects compared with the existing technology.It at least has the advantage that
1, the design that the carrying of clamp of the invention folder toe small cross sectional areas is greater than 2000N load can be used for small space workpiece
Safety holding.
2, clamping mechanism of the invention is the structure with modularized design, such as: control system Linear transmission device,
The identical hydraulic cylinder of two structures, clamping mechanism etc. can be used as the basic structure of modularized design, and system interface selection standard is fast
Quick coupling, structure meet the different selections for carrying out parameter according to clamping workpiece and chucking power.Piston brace rod, the folder of hydraulic cylinder
The combined structure design of toe and control panel not only realizes folder toe and opens and closure function, while having that structure is simple, and component is tired
It is small to count error, the advantages that being easily assembled, repair.Folder toe main body and the contoured design of clamping jaw can make to press from both sides toe appointing in workpiece to be held
It is operated on meaning step surface.Clamp adapter not only can be adapted for the present invention, and can be used for other workpiece lifting,
Lift the union piece in execution system.It is a stable structure, the biggish part of the scope of application.It presss from both sides toe and control panel can basis
Workpiece shapes to be held carry out modularization, Seriation Design.
Since clamp extracts and press from both sides the polytropism that toe clamps the force vector of workpiece, clamping mechanism is in folder toe stroke limit position
With good stability.Profiling (imitative workpiece face to be held) geometry of each folder toe can make to press from both sides toe with it is to be held
Workpiece contacts on vertical and radial two faces, increases loading end, improves the stabilization and safety of clamping.The structure of folder toe is set
The mechanical performance that meter and the AISI321 stainless steel selected (with the 1Cr18Ni9Ti stainless steel of China) have can not occur in folder toe
Clamping and abstraction function are completed in the case where deformation.
3. 360 ° of circumference uniform distribution radial direction elongated slots of the control panel of clamp clamping mechanism of the present invention and the pin vertical with radial elongated slot
Hole design can be such that three folder toes are mounted in control panel elongated slot, and control panel and folder toe are linked together with pin shaft.This knot
Structure located the coordinate position (equidistant and 360 ° of circumference uniform distributions with piston brace rod axle center) of three folder toes.Control panel and folder toe
It can be moved back and forth up and down along the vertical elongated slot in folder toe main body after connection, so located its motion profile.
4, the composite geometric of clamp of the present invention can increase the impulse stroke of piston brace rod without increasing folder toe
Operating angle.Increased stroke can preferably control folder toe position and chucking power.The main advantage of clamping mechanism is pressing from both sides
The stability of fixation at toe stroke limit position, this is because guaranteeing the polytropism for the force vector that clamp extracts and folder toe clamps
Cause.
5, the present invention is used using the pressure delivery system of the two identical one-way hydraulic cylinder being connected by hose compositions
Water is medium.Since the compression ratio of working solution water is low, power can be sent to another cylinder body from the piston brace rod of a cylinder body
Piston brace rod.
The present invention use water as transmission system energy carrier can at operator's a certain distance installation and it is real
Existing executing agency is accurate, swimmingly operates without postponing, while energy consumption is minimum.
6 present invention being capable of control device using the pressure sensor that (on channel) hose of two hydraulic cylinders of connection is equipped with
Pressure change caused by leaking, and clamp clamping force can be controlled.
7, the present invention improves the mobility of system and the use model of gripping mechanism using the hose reel of automatic winding
It encloses.Such as meet the required distance of clamp control system Yu workpiece to be held, it can satisfy the lifting at different clamping workpiece scenes
The hoisting height requirement of equipment, and prevent hose relaxation.
8, the present invention has carried out modularized design, it may be convenient to installation, maintenance and disassembly
9, adapter of the invention is both the component part of clamping mechanism and realizes that clamping mechanism and first hydraulic cylinder connect
The load-bearing part of the part or clamping mechanism that connect not only to the sealing function that has of cylinder, but also has the work of positioning to folder toe
With.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects, features and advantages of the invention can
It is clearer and more comprehensible, it is special below to lift preferred embodiment, and cooperate attached drawing, detailed description are as follows.
Detailed description of the invention
Fig. 1 is gripping mechanism general assembly schematic diagram of the invention.
The clamp according to an embodiment of the invention that workpiece is extracted for small space clamping in water is shown in figure
Assembly relation between each component of device.
Fig. 2 is jaws close schematic diagram of the invention.
Fig. 3 is first hydraulic cylinder structural schematic diagram
First hydraulic cylinder is made of cylinder, piston, first piston connecting rod, spring, upper lower flange.First piston connecting rod
It is a multi-diameter shaft, the both ends design of axis has screw thread, for the parts such as hydraulic cylinder piston, spring, control panel to be connected and fixed
Together.Piston and spring are located in hydraulic cylinder body.The partial-length of the piston brace rod of hydraulic cylinder exposes hydraulic cylinder bottom
It is connect with clamping mechanism.
Fig. 4 A is cylinder schematic diagram.
Cylinder is made of upper end cover, clamp shell, is for installing and sealing first hydraulic cylinder and connecting clamp mechanism
Component.
Fig. 4 B is cylinder upper end cover schematic diagram.
It is stamped connection of the unthreaded hole for hose and first hydraulic cylinder in upper end.Two threaded holes are used to install lifting spiral shell
Bolt.
Fig. 5 is clamping mechanism schematic diagram.
The clamping mechanism shown in Fig. 5 includes folder toe, control panel, adapter.Adapter, folder toe, control are shown in figure
The assembly relation of plate and piston brace rod.
Fig. 6 is folder toe, control panel, piston brace rod assembling schematic diagram.
Fig. 7 is control panel schematic diagram.
Fig. 8 A is folder toe schematic diagram, and folder toe is a welding structure, and the clamping jaw of bottom is that a geometry is waited for workpiece
The part that the shape of clamping face matches, clamping jaw are welded in folder toe main body, and the shape of clamping jaw is according to the shape for wanting holding parts
Shape and size design.
Fig. 8 B is the top view for pressing from both sides toe.
Fig. 9 A is adapter schematic diagram.
Fig. 9 B is adapter bottom view
Figure 10 control system schematic diagram.
Figure 11 clamp moves schematic diagram
Figure 12 hydraulic diagram
Wherein:
1. clamping mechanism
1-1. presss from both sides toe
1-11. presss from both sides toe main body
1-12. clamping jaw
1-13. vertical elongated slot
1-2. control panel
1-21. pin shaft 1-22. floor clip
1-23. radial direction elongated slot 1-24. pin hole
1-25. through-hole
1-3. adapter
1-31. step through-hole 1-32. etc. divides pawl
1-33. etc. divides slot 1-34. pin hole
1-35. axially extending bore 1-36 stepped hole
2. first hydraulic cylinder
2-1. upper flange 2-2. piston
2-3. cylinder body 2-4. spring
2-5. lower flange 2-6. first piston connecting rod
2-7. valve 2-8. quick coupling
3. cylinder
3-1. upper end cover 3-2. clamp shell
4. hose
5 reels
6. pressure sensor
7. second hydraulic cylinder
7-6. second piston connecting rod
8. control system
8-1. Linear transmission device 8-2. shaft coupling (hinge)
Specific embodiment
It is of the invention to reach the technical means and efficacy that predetermined goal of the invention is taken further to illustrate, below in conjunction with
Attached drawing and preferred embodiment, it is specific real to the gripping mechanism proposed according to the present invention for small space in nuclear power station water
Mode, structure, feature and its effect are applied, detailed description is as follows.
It please refers to shown in Fig. 1-Figure 12, the clamp dress for small space in nuclear power station water of present pre-ferred embodiments
It sets, specifically includes that clamping mechanism 1, first hydraulic cylinder 2, cylinder 3, hose 4, reel 5, pressure sensor 6, second are hydraulic
Cylinder 7 and control system 8.Wherein, clamping mechanism 1 is mounted in the lower end of first hydraulic cylinder 2.Control system 8 provides dynamic for clamping mechanism 1
Power becomes rotary motion the linear motion of hydraulic cylinder piston.First hydraulic cylinder 2 and second hydraulic cylinder 7 are pressed by hose 4
The transmitting of power.Reel 5 is the supporting body of hose 4, while being also used for winding hose 4.First hydraulic cylinder 2 is mounted in closed cylinder
In 3.
The control system 8 of the embodiment of the present invention includes two main components: Linear transmission device 8-1 and second hydraulic cylinder 7.Directly
The output of line driver 8-1 is connect with the second piston connecting rod 7-6 of second hydraulic cylinder 7 by shaft coupling 8-2 (hinge).Control
System 8 may be mounted in the control room of non-radiation environment or on the console of Non-ionizing radiation environment, control system it is straight
The line driver 8-1's and second piston connecting rod 7-6 of second hydraulic cylinder 7 is connected with concentricity requirement.Control system 8 is clamp
Mechanism 1 provides power.
The function of control system 8 is the straight line for rotary motion being become by Linear transmission device 8-1 7 piston of second hydraulic cylinder
Medium with pressure is sent to first hydraulic cylinder 2, the piston of first hydraulic cylinder 2 by hose 4 by movement, second hydraulic cylinder 7
2-2 drives first piston connecting rod 2-6 to do linear motion up and down together.Due to working media (using water in this case) compression ratio
Low, power can be sent to the piston brace rod of another cylinder body from the piston brace rod of a cylinder body, and the loss of power is smaller.First
The first piston connecting rod 2-6 of hydraulic cylinder 2 is connect by control panel 1-2 with clamping mechanism 1.Under the piston 2-2 of first hydraulic cylinder
The folder toe 1-1 closure of clamp when row.Spring 2-4 release returns to initial position when piston 2-2 uplink, and the folder toe 1-1 of clamp opens.
The pressure sensor 6 of the embodiment of the present invention accesses hose 4 by threeway, and hose 4 connects the using quick coupling 2-8
One hydraulic cylinder 2 and second hydraulic cylinder 7, influence to clamp control force caused by pressure sensor 6 can be prevented because of equipment leakage.
The standard output of pressure sensor 6 is 4-20mA, be can connect to most of industrial control unit (ICU)s.
The sealed cylinder that the cylinder 3 of the embodiment of the present invention is made of clamp shell 3-2 and upper end cover 3-1, upper end cover 3-1
Upper there are three hole, one hole is the channel of hose 4, other two hole lifts bolt for installing；The bottom internal screw thread of cylinder 3 connects
The adapter 1-3 of clamping mechanism 1,3 pairs of the cylinder underwater first hydraulic cylinders 2 of work play the role of radiation shield and sealing.
The reel 5 of the embodiment of the present invention is used for the management of hose 4, winds extra hose 4 when needed.
Identical with the structure of first hydraulic cylinder 2 is the first hydraulic cylinder 2 of the embodiment of the present invention with 7 structure of second hydraulic cylinder
Example, first hydraulic cylinder 2 is by cylinder body 2-3, upper flange 2-1, lower flange 2-5, piston 2-2, piston brace rod 2-6, spring 2-4, valve
Door 2-7 and quick coupling 2-8 composition.Piston 2-2 is arranged in the cylinder body 2-3.Distinguish in the top and bottom of cylinder body 2-3
It is provided with upper flange 2-1 and lower flange 2-5, quick coupling 2-8 and valve 2-7, quick coupling 2-8 are installed on upper flange 2-7
For installing connection hose 4, hose 4 connects first hydraulic cylinder 2 and second hydraulic cylinder 7 by quick coupling 2-8, and valve 2-7 is used
Gas and water is discharged.Lower flange 2-5 is equipped with axial threaded hole and pin hole (being non through hole).The lower flange of first hydraulic cylinder 2
2-5 is also axially connect with the adapter 1-3 of clamping mechanism 1.The connection of the lower flange 2-5 and adapter 1-3 of first hydraulic cylinder, make
It obtains first hydraulic cylinder 2 to be connected as one with clamping mechanism 1, the lower flange of second hydraulic cylinder 7 is served only for the sealing of hydraulic cylinder.First
Piston brace rod 2-6 is the component that chucking power is transmitted for clamping mechanism 1, and the both ends first piston connecting rod 2-6 have been designed as screw thread
Multi-diameter shaft, first piston connecting rod 2-6 expose hydraulic cylinder 2 part lower end pass through adapter 1-3 on axially extending bore 1-35
The control panel 1-2 for installing clamping mechanism 1 afterwards, realizes the connection of first hydraulic cylinder 2 and clamping mechanism 1, the first piston connecting rod
2-6 threaded upper ends are used for fixed piston 2-2.First piston connecting rod 2-6 is the part that chucking power is transmitted for clamping mechanism.Spring
2-4 is sleeved on first piston connecting rod 2-6.The second piston connecting rod 7-6 of second hydraulic cylinder 7 passes through shaft coupling (hinge) 8-
2 connect with Linear transmission device 8-1.
First hydraulic cylinder 2 is mounted in closed cylinder 3, and cylinder 3 is made of clamp shell 3-1, upper end cover 3-2, upper end
It covers there are three hole on 3-1, a hole is the channel of hydraulic hose, other two hole is for installing lifting bolt.Spiral shell in 3 bottom of cylinder
Line is used to install the adapter 1-3 of clamping mechanism.
First hydraulic cylinder 2 works under water, and second hydraulic cylinder 7 and Linear transmission device 8-1 are installed along with non-underwater folder
Clamp device operating area.
The clamping mechanism 1 of the present embodiment is made of folder toe 1-1, control panel 1-2, adapter 1-3, and folder toe 1-1 passes through ladder
Pin shaft is mounted on adapter 1-3, and control panel 1-2 is mounted on first piston connecting rod 2-6, also by pin shaft 1-21 and folder toe
1-1 connection；The Combination Design of first piston connecting rod 2-6 and folder toe 1-1, control panel 1-2 keep clamping mechanism 1 living by first
Plug connecting rod 2-6 unclamps movement from the radial clamping that linear motion is converted into folder toe 1-1, and will not generate to the power transmitted
Stringent limitation.
Folder toe 1-1 is the string configuration that a space for being easily accessible gap very little works, by folder toe main body 1-
11 and clamping jaw 1-12 is welded, which needs flexible design, and folder toe 1-1 is made to can choose workpiece to be held
On most safe and convenient position as clamping face.Since clamping mechanism has extraction and clamping function simultaneously, extracts and need one
A upward power, clamping are a radial forces, maintain a vertical relation after folder toe main body 1-11 and clamping jaw 1-12 welding, together
When clamping jaw 1-12 used imitative type to design, geometry matches with the shape in workpiece face to be held, so that pressing from both sides toe 1-1 can be with
It is clamping workpiece simultaneously in the perpendicular end surface and radial cylindrical surface of workpiece to be held in vertical and radial both direction, presss from both sides toe 1-
1 length direction top be provided with the folder homoaxial vertical elongated slot 1-13 of toe 1-1, vertical elongated slot 1-13 be control panel 1-2 with
The track that first piston connecting rod 2-6 moves up and down, vertical elongated slot 1-13 size, shape and position are according to clamp opening and closing
Angle determine, folder toe 1-1 material selection depend on folder toe 1-1 will not deformation occurs influence clamp function.Press from both sides the vertical of toe
The geometry design of elongated slot 1-13 is the just profound relational design according to trigonometric function, and first piston connecting rod 2-6 is straight flange,
Bevel edge is the length for pressing from both sides the vertical elongated slot 1-13 of toe 1-1, and the angle of straight flange and bevel edge (just profound) is the angle for pressing from both sides toe 1-1 and moving radially
Degree.This design can increase radial impulse stroke angle of the impulse stroke of first piston connecting rod 2-6 without increasing folder toe 1-1
Degree.Increased stroke can preferably control folder toe 1-1 clip position.
The integrated board that control panel 1-2 is formed by the identical wing plate of three garden heart angles, the centre of control panel 1-2 are equipped with logical
Hole 1-25, first piston connecting rod 2-6 pass through the through-hole 1-25, and radial elongated slot 1-23 is respectively equipped on three wing plates, should
Radial elongated slot 1-23 as the equal part pawl 1-32 of three installation folder toes on adapter 1-3, is evenly arranged on 360 ° of circumference.
There is the pin hole 1-24 of installation pin shaft in the vertical direction design of each radial elongated slot 1-23 of control panel 1-2, pin hole 1-24 is to set
Set the through hole on control panel 1-2 and the radial direction upright position elongated slot 1-23.Pin shaft 1-21 passes through the pin hole 1-24 of control panel 1-2
And it is mounted on the vertical elongated slot 1-13 of the folder toe 1-1 in the radial elongated slot 1-23 of control panel 1-2.
Three folder toe 1-1 being uniformly mounted on the equal part pawl 1-32 of adapter 1-3 are each passed through three of control panel 1-2
Radial elongated slot 1-23 uses floor clip after passing through the vertical elongated slot 1-13 of control panel pin hole 1-24 and folder toe 1-1 with pin shaft 1-21
1-22 fastening, control panel 1-2 and folder toe 1-1 link together, folder toe 1-1 in the radial elongated slot 1-23 of control panel 1-2 by
To constraint, three radial direction elongated slot 1-23 positioning of control panel 1-2 and the coordinate position for strengthening three folder toe 1-1.Control panel 1-2
It is to move up and down under the drive of first piston connecting rod 2-6 along the vertical elongated slot 1-13 on folder toe 1-1, due to pressing from both sides toe 1-
Vertical elongated slot 1-23 shape and size with 2 are designed according to folder toe 1-1 opening and closing angle requirement, and toe 1- is pressed from both sides
1 be mounted on adapter 1-3 after press from both sides toe 1-1 on vertical elongated slot 1-23 and first piston connecting rod 2-6 between have an angle,
This angle is exactly the angle for pressing from both sides toe opening and closing.The h=40mm of the first piston connecting rod 2-6 of first hydraulic cylinder 2.Press from both sides toe 1-
1 b=4.5 ° of impulse stroke angle.
The centre of the integrated board that control panel 1-2 is formed by the identical wing plate of three garden heart angles, the control panel is equipped with through-hole
1-25, first piston connecting rod 2-6 pass through the through-hole 1-25, and radial elongated slot 1-23 is respectively equipped on three wing plates, because
There is one to realize opening and closing according to folder toe 1-1 to press from both sides the axis of the vertical elongated slot 1-13 and first piston connecting rod 2-6 of toe 1-1
The angle of the radial displacement angle design needed, control panel 1-2 are one when moving up and down in the vertical elongated slot 1-13 for pressing from both sides toe 1-1
Item and first piston connecting rod 2-6 have the path of angle, this combination is the just profound relational design according to trigonometric function.
Three radial direction elongated slot 1-23 located the coordinate position of three folder toe 1-1 on the end face control panel 1-2, increase simultaneously
The rigidity and job stability of clamp three folder toe 1-1, the first piston connecting rod 2-6 of control panel 1-2 and first hydraulic cylinder 2 and
1 clamping movement track of clamping mechanism is realized and be ensure that in the combination of the folder toe 1-1 of clamping mechanism.
The adapter 1-3 of the present embodiment is the connector of first hydraulic cylinder 2 Yu clamping mechanism 1, and the carrier of folder toe 1-1
With the supporting part of clamp, the superstructure of adapter 1-3 is with externally threaded cylindrical body, the external screw thread and equipped with the first liquid
The internal screw thread of the cylinder 3 of cylinder pressure 2 links together, and the superstructure of adapter 1-3 is additionally provided with three axial directions, and to be evenly distributed with step logical
Hole 1-31 and the axial pin hole 1-34, step through-hole 1-31 and pin hole 1-34 of being evenly distributed with pass through screw rod and pin for adapter 1-3 respectively
It is axially connected with the lower flange 2-5 of first hydraulic cylinder 2；
The substructure of adapter 1-3 is uniformly distributed 360 ° of three equal part pawls corresponding with control panel 1-2 structure
It is equipped with equal part slot 1-33 among 1-32, each equal part pawl 1-32, is additionally provided with stepped hole 1-36 on each equal part pawl 1-32, passes through
Equal part slot 1-33, stepped hole 1-36 and ladder pin shaft are mounted on toe 1-1 is pressed from both sides on adapter 1-3, and 3 stepped hole 1-36 hang down respectively
Directly in equal part pawl 1-32 and equal part slot 1-33 where oneself, equal part slot 1-33 is parallel with adapter 1-3 axis, and setting is being transferred
Seat 1-3 on axially extending bore 1-35 be first hydraulic cylinder 2 first piston connecting rod 2-6 operating path on interface, first
Piston brace rod 2-6 is connect across the axially extending bore 1-35 of adapter 1-3 with control panel 1-2, and 3 folder toe 1-1 are separately mounted to
In 3 equal part slot 1-33 of adapter 1-3, and switching is fastened on by corresponding stepped hole 1-36 and ladder pin shaft
On seat 1-3, folder toe 1-1 is solid by pin shaft 1-21 and thrust washer 1-22 also cross the radial elongated slot 1-23 on control panel 1-2
It is scheduled on the wing plate of control panel 1-2, constitutes complete clamping mechanism, it is full simultaneously to realize the connection and positioning of three folder toe 1-1
The installation site precision requirement of foot folder toe 1-1 and control panel 1-2.
Position and transmission clamping force using the first piston connecting rod 2-6 of hydraulic pressure drive control system first hydraulic cylinder 2, first
Piston brace rod 2-6 and adapter 1-3, the design of control panel 1-2 dexterity simplify clamping mechanism, make clamping mechanism 1 by first
The linear motion of the first piston connecting rod 2-6 of hydraulic cylinder 2 is converted into the radial clamping of folder toe 1-1 and unclamps movement, and not
Stringent limitation can be generated to the power transmitted.
Under the action of hydraulic coupling and spring 2-4, the first piston connecting rod 2-6 of first hydraulic cylinder 2 is in cylinder body 2-3.
It does reciprocating linear motion.Piston 2-2 downlink compressed spring 2-4, first piston connecting rod 2-6 with clamping mechanism 1 control panel
1-2 is moved downward, and the track that pumps of control panel 1-2 is controllable by the size of the vertical elongated slot 1-13 on folder toe 1-1
Nominal dimension with the limitation of shape, piston 2-2 stroke is 40mm, when folder toe 1-1 moves radially clamp when angle reaches 4.5 °
Workpiece is clamped by mechanism 1, completes clamping function.Piston 2-2 uplink, spring 2-4 reset return to initial position, make to press from both sides toe 1-1 release
Workpiece.Under the operating condition for moving radially 4.5 ° of angle for guaranteeing folder toe 1-1, piston 2-2 stroke is not strictly limited.Piston 2-2
The stroke stabilization and security reliability that are designed as clamp and are able to maintain best clip position and chucking power that are not strictly limited
Guarantee is provided, while also reducing the design requirement on machining accuracy to part and the cumulative errors requirement of assembly.For narrow
The limitation to be worked in the water in small space to clamp shape and size, so that the folder toe 1-1 of clamping mechanism 1 delivers main clamping
Power and extraction force, and average cross-section is relatively small, therefore pressing from both sides the structure of toe and operating condition does not allow material flexible deformation occur.So
When selecting the material of gripping mechanism part, on the basis of previous design experiences, strength characteristics and limit of the emphasis to material
The rigid requirements of inelastic deformation processed calculate, analyze and test.According to loading condition, to the mechanical performance of part material
It is selected, requirement is made that hardness.Simultaneously as clamp is used in the water of radiation environment, material therefor is carried out
It radiation hardness, the selection of corrosion-resistant and solderability and calculates.
The folder toe 1-1 of the embodiment of the present invention has selected U.S.'s AISI321 stainless steel, is equivalent to the 1Cr18Ni9Ti of China not
Become rusty steel.AISI321 stainless steel is compared in AISI304 stainless steel, because it joined Titanium, makes it have better resistance to crystal boundary
Corrosivity and elevated temperature strength.AISI321 has preferable mechanical performance, tensile strength: σ b (MN/m2) >=550, surrender is strong
Degree: σ s (MN/m2) >=200, hardness :≤187HB, and can be used at a high temperature of up to 750 DEG C.In addition, this anti-spoke of material
Penetrating property is strong, therefore is frequently used in nuclear power plant equipment.
To work in the water such as adapter 1-3, the first liquid presses piston pole 2-6 and the control panel 1-2 to control folder toe 1-1 state
AISI304 stainless steel has been selected as part, has been equivalent to national standard: 0Cr18Ni9 stainless steel.When as mechanical connection or under top load
The material of the part used, AISI304 are a kind of corrosion-resistant heat resisting steel.There is high intensity after being also cold worked, it can be at -196 DEG C extremely
It is used in 600 DEG C of environment.AISI304 has fabulous mechanical performance, mechanical performance: tensile strength: σ b (MPa) >=520,
Yield strength: σ 0.2 (MPa) >=205, hardness :≤187HB, to solderability, there is no limit.Do not require additional processing and addition anti-
Protect coating.And the weldment of sectional dimension has enough intergranular corrosion resistance abilities, with excellent resistance in oxidizing acid
Corrosion, corrosion resistance is also good in aqueous slkali and most of organic acid and inorganic acid and in big gas and water, steam.It is widely used in
Atomic energy industrial equipment.
Below with reference to the accompanying drawings the embodiment described is exemplary, it is intended to be explained the present invention, and cannot be construed to this hair
Bright limitation.
As shown in fig.1, the embodiment of the present invention be by clamping mechanism 1, first hydraulic cylinder 2, cylinder 3,4 reel 5 of hose,
Pressure sensor 6, second hydraulic cylinder 7 and control system 8 form, and in embodiments of the present invention, control system 8 is clamping mechanism 1
Power is provided.The Linear transmission device 8-1 of control system 8 is connect by shaft coupling (hinge) 8-2 with second hydraulic cylinder 7, rotation
Movement is converted to the linear movement of hydraulic cylinder piston, for controlling the row for being mounted on the piston 2-2 of first hydraulic cylinder 2 in cylinder 3
Journey.
Pressure sensor 6, has used SIEMENS SITRANS P200 pressure sensor, and the standard of pressure sensor 6 is defeated
It is out 4-20mA, can connect most of industrial control unit (ICU)s.
Pressure sensor 6 is mounted between second hydraulic cylinder 7 and first hydraulic cylinder 2, accesses the SIEMENS of hydraulic system
SITRANS P200 pressure sensor can prevent equipment leakage and control the power on clamp.
Fig. 2 shows jaws close operation schematic diagram according to an embodiment of the invention.
In Fig. 1 and embodiment shown in Fig. 2, control system 8 can require to be installed according to use environment.Such as radiating
Property environment in when using in view of motor and sensor are to the sensibility of ionising radiation, control system 8 can be mounted on non-irradiation
In the control room of environment or on the console of Non-ionizing radiation environment.The parameter of reel 5 is according to clamping mechanism end in device
The parameter of the distance between control system 8 and hose is held to be designed.
The liquid being made up of by two the identical one-way hydraulic cylinder that hose 4 is connected is used in one embodiment of the invention
Pressure transmission.Since working solution (using water in this case) compression ratio is low, power can be sent to another from the piston rod of a cylinder body
The piston rod of a cylinder body.Position and transmission chucking power using hydraulic pressure drive control system piston brace rod.
In one embodiment of the invention, it works since clamp is used in the water containing radioactive pollution, therefore the
One hydraulic cylinder 2 is installed in a closed cylinder 3 as shown in Figure 4 A, and the upper end cover 3-1 of cylinder 3 has logical for hydraulic hose 4
The hole crossed, the hydraulic seal for having used radiation resistance material to make.It is right to design two for having installation to lift bolt by upper end cover 3-1 simultaneously
Claim hole.Assembly and transport that bolt is used for hydraulic cylinder are lifted, while being also backman when clamp works using external lifting appliance
Tool.3 lower end of cylinder is connect with the adapter 1-3 of clamping mechanism 1, and adapter 1-3 is also played while connector drum 3 to folder
Clamp the effect of the lower end shell 3-2 sealing.
In one embodiment of the invention, first hydraulic cylinder 2 and second hydraulic cylinder 7 be all one-way hydraulic cylinder be intended to by
Spring 2-4 realizes return movement.As first hydraulic cylinder 2 will realize that piston 2-2 returns to the function of initial position by spring 2-4.
Jaws close when piston 2-2 downlink compressed spring 2-4 forces piston 2-2 uplink to reset to when spring 2-4 is stretched out by elastic force itself
Clamp opens when initial position.
In one embodiment of the invention, Fig. 5 is clamping mechanism schematic diagram, and clamping mechanism 1 as shown in Figure 5 includes conversion
Seat 1-3, folder toe 1-1, control panel 1-2.Adapter 1-3 is a complicated shaped piece structure, by itself external screw thread with
Cylinder 3 equipped with first hydraulic cylinder 2 connects, while being made by conversion seat 1-3 itself axial step through-hole 1-31 and pin hole 1-34
It is connect with screw rod and pin shaft with the lower flange 2-5 of first hydraulic cylinder 2, realizes first hydraulic cylinder 2 and the mechanical of clamping mechanism 1 connects
It connects and the transmitting of power.
As shown in fig.5, folder toe 1-1 with conversion seat 1-3 is connected by ladder pin shaft, toe 1-1 is pressed from both sides with ladder pin shaft
Centered on, (angle=4.5 ° of the present invention) do radial direction in a designed angular range for meeting folder toe opening and closing needs
Movement.When first hydraulic cylinder 2 enters work condition state, piston 2-2 drives first piston connecting rod 2-6 downlink compressed spring 2-4,
The control panel 1-2 on first piston connecting rod 2-6 follows first piston connecting rod 2-6 to do downward movement together at this time.Control
Making sheet 1-2 is connected together by the vertical elongated slot 1-13 and folder toe 1-1 of pin shaft 1-21 thrust washer 1-22 and folder toe 1-1 itself,
Constraint of the up and down motion track of control panel 1-2 by the vertical elongated slot 1-13 of folder toe 1-1.While control panel 1-2 downlink, with control
Three folder toe 1-1 that making sheet 1-2 is fitted together are closed at, until clamping workpiece, after confirming Workpiece clamping, clamping mechanism 1 is opened
Begin to extract workpiece to destination locations.Otherwise piston 2-2 and first piston connecting rod 2-6 is up to by the effect of spring 2-4 elastic force
When up to initial position, three folder toe 1-1 open simultaneously.
As shown in fig.6, control panel 1-2 is mounted on first piston connecting rod 2-6, presss from both sides toe 1-1 and control panel 1-2 and use
Pin shaft 1-21 and floor clip 1-22, which is assembled together, constitutes clamp motion structure relationship.Folder toe 1-1 is mounted on control panel 1-2
Uniformly distributed radial elongated slot 1-13 in, the pin hole 1-24 vertical with radial direction elongated slot 1-13 is a through hole on control panel 1-2, is used for
Pin shaft 1-21 is connected and fixed folder toe 1-1 and control panel 1-2, and pin shaft 1-21 is further through the vertical elongated slot on folder toe 1-1
1-13 secures the opposite position of folder toe 1-1 and first piston connecting rod 2-6 while connecting control panel 1-2 and pressing from both sides toe 1-1
It sets.This structure allows control panel 1-2 to move up and down along the vertical elongated slot 1-13 on folder toe main body 1-11, is achieved
The opening and closing function of clamp.
As shown in fig.7, three radial elongated slot 1- that control panel 1-2 is provided on uniformly distributed three wing plates on the circumferential surface
The circular pieces of 23 and the pin hole 1-24 vertical with radial elongated slot 1-23, axial direction (first of three folder toe 1-1 in control panel 1-2
Piston brace rod 2-6) drive under, pass through folder toe 1-1 itself vertical elongated slot 1-13 motion profile realize clamping mechanism 1 folder
Hold function.The position degree of the upper three radial directions elongated slot 1-23 and pin hole 1-24 of control panel 1-2 determines the one of three folder toe 1-1 movements
Cause property and accuracy.
Refering to shown in Fig. 8 A, Fig. 8 B, folder toe 1-1 is welded by folder toe main body 1-11 and clamping jaw 1-12.The present invention is implemented
Example presss from both sides toe 1-1 there are three setting.The structure for pressing from both sides toe 1-1 is determined according to the shape and size of workpiece to be held, while being also required to consider
Limitation of the grasping part to folder toe shape and size.The geometry of folder toe 1-1 can make to press from both sides toe simultaneously in minimum two contacts
Contain workpiece to be held i.e. perpendicular end surface and radial cylindrical surface on face, and passes through the selection of folder toe 1-1 material, design theory meter
Calculate and contrived experiment guarantee folder toe 1-1 reach design chucking power in the case where, folder toe will not deformation occurs influence clamp function
Energy.It is emphasized that folder toe 1-1 has carried out modularized design, the connection with conversion seat 1-3 is standard design, and folder toe 1-1 can
To require to be designed and replace according to the size of the size of clamped workpiece, shape and grasping part.
Fig. 8 B is folder toe top view, clamping jaw 1-12 shape is shown in the figure, it should be noted that jaw shaped in Fig. 8 B
The design of shape can change, and the embodiment of diagram is only purposes of discussion.
Refering to shown in Fig. 9 A, conversion seat 1-3 is the union piece of first hydraulic cylinder 2 Yu clamping mechanism 1, and folder toe 1-1
Carrier and clamping mechanism 1 load-bearing part.In cylinder 3 of the adapter 1-3 by itself external screw thread and equipped with first hydraulic cylinder 2
It is threadedly coupled, screw rod and pin shaft and the first liquid is also used by adapter 1-3 axial step through-hole 1-31 and 1-34 pin hole itself
The lower flange 2-5 connection of cylinder pressure 2, while being connect by three uniformly distributed stepped hole 1-36 with three folder toe 1-1, the company of above-mentioned component
It connects and constitutes complete tong bodies device.
Refering to adapter 1-3 shown in Fig. 9 B, design has 1-31 step through-hole and 1-34 pin hole on cylindrical body.Adapter 1-3
Lower part be similar with a control panel 1-2 structure and corresponding uniformly distributed 360 ° equal part pawl 1-32 structure.Equal part pawl 1-32
Medium design has equal part slot 1-33 and stepped hole 1-36.Adapter 1-3 design structure be cylindrical surface, screw thread, hole, equal part pawl, etc.
Divide the combination in a variety of shape faces such as slot.Adapter 1-3 mainly uses the multiple tracks work such as vehicle, milling, brill of the equipment such as lathe and machining center
Sequence completes the process, and especially equal part slot 1-33 groove width is smaller, and slot is tall and big in groove width, therefore major diameter milling cutter cannot be used to process, and mills
It is rigidly bad when cutting, there is certain difficulty of processing.
Adapter 1-3 is both the component part of clamping mechanism 1 and realizes that clamp Ji Ju 1 is connect with first hydraulic cylinder 2
The load-bearing part of part or clamping mechanism not only had sealing function to cylinder 3, but also has the function of positioning to folder toe 1-1,
The function of adapter 1-3 determines that the complexity of its planform, the complexity of shape determine the difficulty of technique, shape, knot
Structure and processing method category shaped piece class part are designed according to the safety and quality requirement of used in nuclear power station equipment according to previous equipment
Respective specified has been carried out to material selection and machining accuracy with use experience.
Refering to fig. 1 shown in 0.Figure 10 is 8 schematic diagram of control system, and Linear transmission device 8-1, shaft coupling (hinge are shown in figure
Chain) 8-2 and second hydraulic cylinder 7 connection relationship.Shaft coupling (hinge) 8-2 is Linear transmission device 8-1 as can see from Figure 10
Output end and the piston brace rod 7-6 of second hydraulic cylinder 7 link together, be able to the rotary motion Linear transmission device 8-1
Become the linear motion of 7 piston of second hydraulic cylinder.
The working principle of the invention is: the linear reciprocating motion of the piston 2-2 of first hydraulic cylinder 2 is connected by first piston
Extension bar 2-6 and control panel 1-2 is converted to the radial motion of folder toe 1-1.The length of toe 1-1 is pressed from both sides mainly by the shape of workpiece to be held
It determines.Another prerequisite is that dense distribution is presented in workpiece to be held, is required folder toe 1-1 shape and size stringent.And it wants
The operating angle of folder toe 1-1 is asked to want small.According to these conditions, it is determined that the best work of folder toe and clamp control panel 1 between each other
Make logical relation.
Clamp movement is as shown in figure 11, the work nominal stroke h=of the first piston connecting rod 2-6 of first hydraulic cylinder 2
40mm.Press from both sides b=4.5 ° of impulse stroke of toe 1-1.Spring 2-4, first piston connecting rod 2-6 are compound several with control panel 1-2's
While guaranteeing the impulse stroke of folder toe 1-1, be not strictly limited the stroke of first piston connecting rod 2-6 has what structure
Certain design amount of redundancy, this Redundancy Design can preferably control the clip position and entrapment of clamping mechanism 1.Simultaneously
Do not change the impulse stroke angle of folder toe 1-1, guarantees folder toe 1-1 in the trouble free service of small space.
As shown in figure 12, hydraulic drive is two with return spring and passes through the interconnected one-way hydraulic cylinder of hose 4
Closed loop transmission.When the piston brace rod work of hydraulic cylinder, the pressure generated in hydraulic cylinder cavity body is controlled by pressure sensor 6.Make
It is filled with working solution into system with valve 2-7, and air is discharged from system in filling process.Operating pressure is according to required
It is driven the selection of dynamic rate condition.
Since working solution (using water in this case) compression ratio is low, power can be sent to from the piston brace rod of a cylinder body
The piston brace rod of another cylinder body.Return movement of the piston brace rod in hydraulic cylinder is realized using spring.Hydraulic drive dress
Setting further includes pressure sensor 6.The sensor 6 can anti-locking apparatus leak and clamp pressing force can be controlled.Reel 5 is certainly
The winding hoisting mobility and range of system is moved, and prevents hose relaxation.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention
Any simple modification, equivalent change and modification to the above embodiments, all of which are still within the scope of the technical scheme of the invention.
Claims (9)
1. a kind of extraction force in nuclear power station radioactive environment water narrow space is greater than 2000N for narrow sky in nuclear power station water
Between gripping mechanism characterized by comprising
--- clamping mechanism (1) is mounted in the lower end of first hydraulic cylinder (2)；
--- control system (8) is that clamping mechanism (1) provides power, rotary motion is become the linear motion of hydraulic cylinder piston；
--- hydraulic cylinder, respectively first hydraulic cylinder (2) and second hydraulic cylinder (7)；
--- hose (4), first hydraulic cylinder (2) and second hydraulic cylinder (7) carry out the transmitting of pressure by hose (4)；
--- reel (5) is the supporting body of hose (4), while being also used for winding hose (4)；
--- cylinder (3), the first hydraulic cylinder (2) is in closed cylinder (3).
2. the gripping mechanism according to claim 1 for small space in nuclear power station water, which is characterized in that described the
One hydraulic cylinder (2) by cylinder body (2-3), upper flange (2-1), lower flange (2-5), piston (2-2), first piston connecting rod (2-6),
Spring (2-4), valve (2-7) and fast connector (2-8) composition, set respectively in the top and bottom of the cylinder body (2-3)
It is equipped with upper flange (2-1) and lower flange (2-5), quick coupling (2-8) and valve (2- are installed on the upper flange (2-1)
7), the hose (4) connects first hydraulic cylinder (2) and second hydraulic cylinder (7), the piston by quick coupling (2-8)
(2-2) is arranged in the cylinder body (2-3), and the first piston connecting rod (2-6) is to transmit to clamp for clamping mechanism (1)
The component of power, the first piston connecting rod (2-6) are that threaded multi-diameter shaft, the first piston connecting rod (2-6) are designed in both ends
Threaded upper ends are used for fixed piston (2-2), and the lower thread which exposes hydraulic cylinder part connects folder
Jaw mechanism (1), the spring (2-4) are sleeved on first piston connecting rod (2-6), the second hydraulic cylinder (7) and the
The structure of one hydraulic cylinder (2) is identical, is one-way hydraulic cylinder.
3. the gripping mechanism according to claim 1 for small space in nuclear power station water, which is characterized in that the folder
Jaw mechanism (1) is made of folder toe (1-1), control panel (1-2), adapter (1-3), and the folder toe (1-1) passes through ladder pin shaft
Be mounted on adapter (1-3), the control panel (1-2) both be mounted on first piston connecting rod (2-6) expose hydraulic cylinder
Partial lower thread connection is connect also by pin shaft (1-21) with folder toe (1-1)；First piston connecting rod (2-6) and folder toe
The Combination Design of (1-1), control panel (1-2) turn clamping mechanism (1) from linear motion by first piston connecting rod (2-6)
The radial clamping for changing folder toe (1-1) into unclamps movement, and stringent limitation will not be generated to the power transmitted.
4. the gripping mechanism according to claim 3 for small space in nuclear power station water, which is characterized in that the folder
Toe (1-1) is the string configuration that a space for being easily accessible gap very little works, by folder toe main body (1-11) and folder
Pawl (1-12) is welded, which needs flexible design, and the folder toe (1-1) is made to can choose workpiece to be held
On most safe and convenient position as clamping face, since clamping mechanism has extraction and clamping function simultaneously, extract and need one
A upward power, clamping are a radial forces, and a vertical pass is maintained after folder toe main body (1-11) and clamping jaw (1-12) welding
System, while clamping jaw (1-12) has used imitative type to design, geometry matches with the shape in workpiece face to be held, so that folder toe
(1-1) can be in the perpendicular end surface and radial cylindrical surface of workpiece to be held while to clamp work in vertical and radial both direction
Part, folder toe (1-1) length direction top are provided with and folder toe (1-1) homoaxial vertical elongated slot (1-13), vertical elongated slot (1-
It 13) is the track that control panel (1-2) moves up and down with first piston connecting rod (2-6), vertical elongated slot (1-13) size, shape
It with position is determined according to clamp opening and closing angle, the selection of folder toe (1-1) material, which depends on folder toe (1-1), will not occur shape
Become and influence the function of clamp.
5. the gripping mechanism according to claim 3 for small space in nuclear power station water, which is characterized in that the control
The centre of the integrated board that making sheet (1-2) is formed by the identical wing plate of three garden heart angles, the control panel (1-2) is equipped with through-hole (1-
25), first piston connecting rod (2-6) passes through the through-hole (1-25), and radial elongated slot (1-23) is respectively equipped on three wing plates,
Three folder toes (1-1) for being uniformly mounted on adapter (1-3) are mounted on corresponding diameter on control panel (1-2) by pin shaft (1-21)
Into elongated slot (1-23), pin hole (1-24) is setting in control panel (1-2) and running through on radial upright position elongated slot (1-23)
Hole, pin shaft (1-21) pass through the pin hole (1-24) of control panel (1-2) and are mounted in the radial elongated slot (1-23) of control panel (1-2)
Folder toe (1-1) vertical elongated slot (1-13) afterwards with floor clip (1-22) fasten；Because pressing from both sides the vertical elongated slot (1- of toe (1-1)
13) there is the radial displacement angle for realizing that opening and closing is needed according to folder toe (1-1) with the axis of first piston connecting rod (2-6)
The angle designed is spent, control panel (1-2) is one and lives with first when moving up and down in the vertical elongated slot (1-13) for pressing from both sides toe (1-1)
Plug connecting rod (2-6) has the path of angle, this combination is the just profound relational design according to trigonometric function, wherein first piston
Connecting rod (2-6) is straight flange, and bevel edge be the length for pressing from both sides the vertical elongated slot (1-13) of toe (1-1), and the angle of straight flange and bevel edge is to press from both sides
The angle that toe (1-1) moves radially；Three radial elongated slots (1-23) located three folder toes (1-1) on the end face control panel (1-2)
Coordinate position, while increasing the rigidity and job stability of clamp three folders toe (1-1), control panel (1-2) and the first liquid
The combination of the folder toe (1-1) of the first piston connecting rod (2-6) and clamping mechanism of cylinder pressure realizes and ensure that clamping mechanism (1) presss from both sides
Hold motion profile.
6. the gripping mechanism according to claim 3 for small space in nuclear power station water, which is characterized in that described turns
Joint chair (1-3) is the connector of first hydraulic cylinder (2) Yu clamping mechanism (1), and presss from both sides the load-bearing of the carrier and clamp of toe (1-1)
Part, the superstructure of the adapter (1-3) are with externally threaded cylindrical body, the external screw thread and equipped with first hydraulic cylinder (2)
The internal screw thread of cylinder (3) links together, and the superstructure of the adapter (1-3) is additionally provided with three axial directions and is evenly distributed with step through-hole
(1-31) and it axially is evenly distributed with pin hole (1-34), the step through-hole (1-31) and the pin hole (1-34) pass through screw rod respectively
Adapter (1-3) and the lower flange (2-5) of first hydraulic cylinder (2) are axially connect with pin；
The substructure of adapter (1-3) is uniformly distributed 360 ° of three equal part pawls corresponding with control panel (1-2) wing plate
(1-32) structure, each equal part pawl (1-32) is intermediate to be equipped with equal part slot (1-33), is additionally provided with rank on each equal part pawl (1-32)
Terraced hole (1-36) will press from both sides toe (1-1) there are also ladder pin shaft by equal part slot (1-33) and stepped hole (1-36) and be mounted on adapter
On (1-3), 3 stepped holes (1-36) are respectively perpendicular to the pawl face of the equal part pawl (1-36) where oneself, equal part slot (1-33) with
Adapter (1-3) axis is parallel, and the axially extending bore (1-35) being arranged on adapter (1-3) is the first of first hydraulic cylinder (2)
Interface on the operating path of piston brace rod (2-6), first piston connecting rod (2-6) are logical across the axial direction of adapter (1-3)
Hole (1-35) is connect with control panel (1-2), and 3 folders toe (1-1) are separately mounted to 3 equal part slots (1-33) of adapter (1-3)
In, and be fastened on adapter (1-3) by corresponding stepped hole (1-36) and ladder pin shaft, folder toe (1-1) is same
When pass through control panel (1-2) on radial elongated slot (1-23), control is fixed on by pin shaft (1-21) and floor clip (1-22)
Complete clamping mechanism is constituted on the wing plate of plate 1-2, this meets folder while being connected to the positioning for realizing three folders toe (1-1)
The requirement of the installation site precision of toe (1-1) and control panel (1-2).
7. the gripping mechanism according to claim 1 for small space in nuclear power station water, which is characterized in that the cylinder
The sealed cylinder that body (3) is made of clamp shell (3-2) and upper end cover (3-1), there are three hole on upper end cover (3-1), one
Hole is the channel of hose (4), other two hole is for installing lifting bolt；The bottom internal screw thread connecting clamp mechanism (1) of cylinder (3)
Adapter (1-3), cylinder (3) plays the role of radiation shield and sealing to the underwater first hydraulic cylinder (2) of working.
8. the gripping mechanism according to claim 1 for small space in nuclear power station water, which is characterized in that further include pressure
Force snesor (6), the pressure sensor (6) by threeway access hose (4), the pressure sensor (6) can prevent because
Influence caused by system leak to clamping mechanism (1) control force.
9. the gripping mechanism according to claim 1 for small space in nuclear power station water, which is characterized in that the control
System (8) processed is made of Linear transmission device (8-1), shaft coupling (8-2) and second hydraulic cylinder (7), Linear transmission device (8-1) it is defeated
It is connect out with the second piston connecting rod (7-6) of second hydraulic cylinder by shaft coupling (8-2), control system (8) is mounted on non-spoke
According in the control room of environment or on the console of Non-ionizing radiation environment, the Linear transmission device (8-1) of control system (8) with
Second hydraulic cylinder (7) is coaxially connected.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910134292.0A CN109773805B (en) | 2019-02-22 | 2019-02-22 | Clamp device for small space in water of nuclear power station |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910134292.0A CN109773805B (en) | 2019-02-22 | 2019-02-22 | Clamp device for small space in water of nuclear power station |
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| Publication Number | Publication Date |
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| CN109773805A true CN109773805A (en) | 2019-05-21 |
| CN109773805B CN109773805B (en) | 2024-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910134292.0A Active CN109773805B (en) | 2019-02-22 | 2019-02-22 | Clamp device for small space in water of nuclear power station |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110592366A (en) * | 2019-10-23 | 2019-12-20 | 温州大学激光与光电智能制造研究院 | Clamp system for laser shock experiment |
| CN112053794A (en) * | 2020-09-11 | 2020-12-08 | 中乌先楚核能科技有限公司 | Method for deeply purifying radioactive wastewater by using nano composite adsorption material |
| CN114102503A (en) * | 2021-11-19 | 2022-03-01 | 中广核研究院有限公司 | Sensor dismounting device |
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| GB486238A (en) * | 1937-03-20 | 1938-06-01 | Automotive Prod Co Ltd | Improvements in or relating to liquid pressure remote control systems |
| EP0208827A1 (en) * | 1984-08-04 | 1987-01-21 | Robert Bosch Gmbh | Gripper |
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| CN114102503A (en) * | 2021-11-19 | 2022-03-01 | 中广核研究院有限公司 | Sensor dismounting device |
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| Publication number | Publication date |
|---|---|
| CN109773805B (en) | 2024-05-10 |
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