CN109949954A - A kind of long-range gripping apparatus of irradiation monitoring pipe - Google Patents
A kind of long-range gripping apparatus of irradiation monitoring pipe Download PDFInfo
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- CN109949954A CN109949954A CN201910294043.8A CN201910294043A CN109949954A CN 109949954 A CN109949954 A CN 109949954A CN 201910294043 A CN201910294043 A CN 201910294043A CN 109949954 A CN109949954 A CN 109949954A
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- gripping apparatus
- crawl
- push rod
- rolling wheel
- snap
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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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- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The invention discloses a kind of long-range gripping apparatus of irradiation monitoring pipe, the elevator component including grabbing assembly and promotion grabbing assembly movement；Grabbing assembly includes gripping apparatus head and claw, and the claw is flexibly connected with gripping apparatus head, and the transfer bar mechanism of driving claw contraction and opening movement is equipped on gripping apparatus head；Elevator component includes spool, the tricing line of the suspender and driving push rod mechanism kinematic that promote grabbing assembly movement is equipped on spool, tricing line driving push rod mechanism drive driving claw is shunk and opening movement.The grabbing assembly of gripping apparatus of the invention is provided with gripping apparatus head and claw, and gripping apparatus head drives claw contraction and opening movement to discharge and clamp irradiation monitoring pipe by transfer bar mechanism.Elevator component carries out hoisting by suspender belt to grabbing assembly and irradiation monitoring pipe.This gripping apparatus is easily operated, using light, is readily transported and stores, and do not limited by heap pond depth, is applicable to grab operation in the water of various heap-type nuclear power station irradiation monitoring pipes.
Description
Technical field
The present invention relates in nuclear power plant reactor Inspection of Pressure Vessel technical field, and in particular to a kind of irradiation monitoring pipe is remote
Journey gripping apparatus.
Background technique
In order to monitor influence of the neutron irradiation to nuclear power plant reactor pressure vessel material performance, in reactor pressure vessel
It is interior to be provided with irradiation monitoring pipe.Mechanical property sample, hygrosensor and dose detector etc. are placed in irradiation monitoring pipe.It is real
Periodically irradiation monitoring pipe is extracted out from reactor pressure vessel according to plan in border and tests, test to it, determines correlation material
The performance change of material provides important parameter for reactor pressure vessel security evaluation.
The inspection and test of irradiation monitoring pipe need to carry out in hot cell, and hot cell is transported to out of reactor pressure vessel
In the process, it needs that irradiation monitoring pipe is packed into shipping container in reactor pit, which is related to irradiation monitoring pipe
Crawl and release operation, need to use the dedicated gripping apparatus of irradiation monitoring pipe.Since irradiation monitoring pipe has strong radioactivity, in order to
Reach enough radiation screening effects, needs to be operated in the heap pond of several meter Shen.
Current such gripping apparatus is rod-shaped long-handle gripper, needs professional operator's hand-held.Due to long-handle gripper
Length occupies larger space often beyond 6 meters, not readily transportable and storage, and than cumbersome, is not easy to operate.Another party
Face, for the nuclear power station of different heap ponds depth, long-handle gripper does not have versatility, must be customized according to heap pond depth,
Improve nuclear power plant reactor Inspection of Pressure Vessel, experimentation cost.
Summary of the invention
To be solved by this invention is that gripping apparatus is rod-shaped long-handle gripper in the prior art, needs professional operator hand-held
The technical issues of operation, occupies larger space, not readily transportable and storage, and than cumbersome, is not easy to operation, it is therefore intended that
A kind of irradiation monitoring pipe is provided remotely to grab.
The present invention is achieved through the following technical solutions:
A kind of long-range gripping apparatus of irradiation monitoring pipe, the elevator component including grabbing assembly and promotion grabbing assembly movement；
The grabbing assembly includes gripping apparatus head and claw, and the claw is flexibly connected with gripping apparatus head, is equipped on gripping apparatus head
Drive the transfer bar mechanism of claw contraction and/or opening movement；
The elevator component includes spool, and the suspender and driving push rod mechanism for promoting grabbing assembly movement are equipped on spool
The tricing line of movement, tricing line driving push rod mechanism drive the contraction of driving claw and/or opening movement.
Preferred embodiment, the claw are located at the lower section of gripping apparatus head, are equipped with the circle of rotation connection claw in the bottom of gripping apparatus head
Platform is opened up in the side of rotary table there are two symmetrically arranged groove, and there are two the claw is set, two claws are respectively in groove
Be rotatablely connected by rotational pin and rotary table, two claws respectively using rotational pin be axle center in the groove of rotary table relative constriction with/
Or opening movement.
Preferred embodiment, the grabbing assembly further include changeover portion, and the changeover portion is located at the top of gripping apparatus head, changeover portion and
It is fixedly connected between gripping apparatus head by the first screw, offers between changeover portion and gripping apparatus head along the axial direction of gripping apparatus head
Pass through aperture, the transfer bar mechanism include crawl push rod, and the crawl push rod is set in the first through hole, in crawl push rod
Bottom is equipped with the first cone-shaped end of the contraction of driving claw and/or opening movement.
The faying face of preferred embodiment, the changeover portion and gripping apparatus head offers snap-gauge mounting groove, sets in snap-gauge mounting groove
There are snap-gauge and snap-gauge reset spring, the snap-gauge reset spring resilient support snap-gauge moves back and forth in snap-gauge mounting groove, described
Crawl push rod is equipped with the second cone-shaped end cooperated with snap-gauge, and the second cone-shaped end is located at the top of the first cone-shaped end,
Offer the annular slot snapped connection with snap-gauge on the outer wall of second cone-shaped end, the snap-gauge by with the second cone-shaped end
Annular slot snap connection to crawl push rod position.
Preferred embodiment offers the second through hole along the axial direction of gripping apparatus head between changeover portion and gripping apparatus head, described
Second through hole is parallel with the first through hole and interval setting, the transfer bar mechanism further include release push rod, the release push rod
It is set in the second through hole, is equipped with the third tapered end that driving snap-gauge and the second cone-shaped end are detached from the bottom of release push rod
Head, the side wall and snap-gauge of the third cone-shaped end offset far from one end of snap-gauge reset spring.
The top of preferred embodiment, the changeover portion is equipped with gland, connects between changeover portion and gland by the way that the second screw is fixed
It connects, offer crawl push rod respectively on gland and discharges push rod to the through-hole stretched out at the top of gland, in first through hole
Equipped with the first back-moving spring that driving crawl push rod moves downward, driving release push rod is equipped in second through hole and is transported downwards
Dynamic second back-moving spring.
Preferred embodiment, the elevator component further include the crawl rolling wheel being set on spool and release rolling wheel, the crawl
The parallel and interval setting on spool, the suspender are wrapped in crawl rolling wheel and discharge the volume between rolling wheel rolling wheel with release rolling wheel
On axis, the tricing line includes crawl tricing line and releases the control rope, and the crawl tricing line is wrapped on crawl rolling wheel, described
Release the control rope be wrapped in release rolling wheel on, the crawl tricing line and release the control restrict connect respectively with transfer bar mechanism.
Preferred embodiment, the elevator component further includes pedestal, and the spool is connect with base pivot, is set in one end of spool
There is the driving mechanism of driving spool rotary motion, the driving mechanism includes the worm gear being fixedly connected with one end of spool, in base
Being pivotally connected on seat has the worm screw that connection is engaged with worm gear, and one end of the worm screw is equipped with the handwheel of driving worm screw rotation, in hand
Wheel is equipped with the handle of driving hand wheel rotating.
Preferred embodiment, the middle part of the spool are equipped with the shaft shoulder, and the two sides of the shaft shoulder are respectively equipped with and grab rolling wheel and release
The pin hole of unreeling wheel connection is separately installed with pin in pin hole, opens up respectively on the crawl rolling wheel and release rolling wheel
There is the arc groove with bayonet fittings, pin, which respectively corresponds, to be set in arc groove, and pin spring, institute are respectively equipped in arc groove
It states pin spring and flexibly supports crawl rolling wheel and release rolling wheel reset, the crawl rolling wheel and the outer circle difference for discharging rolling wheel respectively
Operation handwheel equipped with hollow out.
Preferred embodiment, the suspender are suspender belt, and the outer wall of the suspender belt and tricing line is equipped with hydrophobic coating.
Compared with prior art, the present invention having the following advantages and benefits: a kind of irradiation monitoring pipe of the invention
Long-range gripping apparatus, the gripping apparatus are anti-to nuclear power station using the elevator assembly synergistic cooperating of grabbing assembly and promotion grabbing assembly movement
The irradiation monitoring pipe in core pressure vessel is answered to be promoted and picked and placed.
1) grabbing assembly of this gripping apparatus be provided with gripping apparatus head and claw, gripping apparatus head by transfer bar mechanism drive claw shrink with
Opening movement discharges and clamps irradiation monitoring pipe, and after grabbing assembly clamps irradiation monitoring pipe, elevator component is to grabbing assembly
Hoisting is carried out by suspender belt with irradiation monitoring pipe, irradiation monitoring pipe is packed into shipping container from reactor pressure vessel.
The disadvantages of volume that this gripping apparatus overcomes long-handle gripper is big, inconvenient for use, this gripping apparatus is easily operated, using light, is readily transported
And storage, and do not limited by heap pond depth, it is applicable to grab in the water of various heap-type nuclear power station irradiation monitoring pipes and make
Industry.
2) grabbing assembly of this gripping apparatus is made of gripping apparatus head, claw and transfer bar mechanism etc., and claw is installed on the bottom of gripping apparatus head
Portion, claw can be shunk under the action of transfer bar mechanism and opening movement.When claw is shunk, gripping apparatus head can put in irradiation prison
The inner cavity of pipe end is superintended and directed, claw is controlled by transfer bar mechanism at this time and is opened, irradiation pipe end inner cavity can be cooperated to irradiation
Supervision pipe is lifted by crane and is promoted.After promoting irradiation monitoring pipe loading shipping container, transfer bar mechanism can be operated and released to claw
Limit, claw can automatic retracted, gripping apparatus head can be separated with irradiation pipe end at this time.This grabbing assembly is easy to operate,
Using flexible improves the crawl efficiency of irradiation monitoring pipe.
3) the elevator component of this gripping apparatus is made of spool, rolling wheel, suspender belt and tricing line etc., and rolling wheel and suspender belt are arranged in spool
On, tricing line is wrapped on rolling wheel, and spool winds suspender belt and tricing line by rotary motion, and realization mentions irradiation monitoring pipe
Rise, grab and discharge operation.Two of them rolling wheel forms three elevator positions on spool, and intermediate elevator position is used for elevator suspender belt,
It realizes carrying and promotes the function of grabbing assembly and irradiation monitoring pipe.The both ends elevator position served as by two rolling wheels for elevator and
Tricing line is promoted, pin is installed, and rolling wheel end face is provided with an arc groove between rolling wheel and the connecting end surface of spool, pin can
It is inserted into the arc groove, the cooperation of pin and arc groove is so that spool can drive rolling wheel to rotate, and rolling wheel can be small on rolling wheel
Angle independently rotates.Rolling wheel can promote tricing line when independently rotating, tricing line connects transfer bar mechanism then and can control the receipts of claw
Contracting and opening movement.This elevator component can lead to without can carry out hoisting to grabbing assembly and irradiation monitoring pipe
Tricing line is crossed to control the contraction of claw and opening movement, is realized to the fast lifting of irradiation monitoring pipe, crawl and release operation.
4) the elevator component of this gripping apparatus is also provided with the driving mechanism of driving spool rotary motion, the spool of the driving mechanism
The worm gear that is fixedly connected of one end, be pivotally connected has the worm screw for engage connection with worm gear on the base, and one end of worm screw is equipped with drive
The handwheel of dynamic worm screw rotation, is equipped with the handle of driving hand wheel rotating on handwheel.This driving mechanism uses Worm Wheel System not
Biggish reduction ratio only may be implemented, make rapid operation, can also be achieved the function of single-direction transmission, reverse self-locking, in use only
The promotion and decline that grabbing assembly and irradiation monitoring pipe are controlled by hand wheel rotating, without because being grasped caused by self weight or other external force
The whereabouts of grabbing assembly and irradiation monitoring pipe during work.
5) suspender belt of this gripping apparatus and the outer wall of tricing line are equipped with hydrophobic coating, which can avoid hanging when gripping apparatus is promoted
Band and tricing line get wet, and prevent the water in reactor pressure vessel to suspender belt and tricing line pollution, oxidation and corrosion, improve this
The service life of gripping apparatus.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings:
Fig. 1 is structural front view of the invention；
Fig. 2 is structure right view of the invention；
Fig. 3 is the cross-sectional view in Fig. 2 along the direction A-A；
Fig. 4 is the cross-sectional view in Fig. 3 along the direction B-B；
Fig. 5 is the structural schematic diagram of elevator component of the invention；
Fig. 6 is the cross-sectional view in Fig. 2 along the direction C-C；
Fig. 7 is the cross-sectional view in Fig. 6 along the direction D-D；
Structural schematic diagram when Fig. 8 is grabbing assembly seized condition of the invention；
Structural schematic diagram when Fig. 9 is grabbing assembly release conditions of the invention.
Label and corresponding parts title in attached drawing:
1- grabbing assembly, 1.1- gripping apparatus head, 1.2- changeover portion, 1.3- gland, 1.4- claw, 1.5- rotational pin, 1.6-
Two cone-shaped ends, 1.7- third cone-shaped end, 1.8- snap-gauge, 1.9- snap-gauge reset spring, 1.10- first back-moving spring, 1.11-
Second back-moving spring, the first screw of 1.12-, the second screw of 1.13-, 1.14- grab push rod, and 1.15- discharges push rod, 1.16- the
One cone-shaped end, 2- elevator component, 2.1- spool, 2.2- crawl rolling wheel, 2.3- release rolling wheel, 2.4- pin, 2.5- worm gear,
2.6- worm screw, 2.7- pedestal, 2.8- suspender belt, 2.9- grab tricing line, and 2.10- releases the control rope, 2.11- pin spring, 2.12-
Handwheel, 3- irradiation monitoring pipe.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to embodiment and attached drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation for explaining only the invention, are not made
For limitation of the invention.
Embodiment
As shown in Figures 1 to 7, a kind of long-range gripping apparatus of irradiation monitoring pipe of the present invention, the gripping apparatus include grabbing assembly 1 and are promoted
The elevator component 2 that grabbing assembly 1 moves.
Wherein grabbing assembly 1 includes gripping apparatus head 1.1 and claw 1.4, and claw 1.4 is located at the lower section of gripping apparatus head 1.1.In gripping apparatus
First 1.1 bottom is equipped with the rotary table of rotation connection claw 1.4, and rotary table is up big and down small conical structure.In the side of rotary table
It opens up there are two symmetrically arranged groove, there are two claw 1.4 is set, two claws 1.4 pass through rotational pin 1.5 in groove respectively
With rotary table be rotatablely connected, one end of two claws 1.4 respectively with rotational pin 1.5 be axle center in the groove of rotary table relative constriction and
The other end of opening movement, two claws 1.4 is in vacant state.Two claws 1.4 of driving are equipped on gripping apparatus head 1.1 to shrink
With the transfer bar mechanism of opening movement, it is respectively that axle center is close to each other with rotational pin 1.5 that transfer bar mechanism drives two claws 1.4 simultaneously
Rotated with the direction being located remotely from each other, realize drive two claws 1.4 shrink and opening movement come the release to irradiation monitoring pipe 3 and
Clamping operation.
Wherein elevator component 2 includes spool 2.1, and the suspender and driving for promoting that grabbing assembly 1 moves are equipped on spool 2.1
The tricing line of transfer bar mechanism movement, tricing line driving push rod mechanism drive the contraction of driving claw 1.4 and opening movement.
Specifically, grabbing assembly 1 further includes changeover portion 1.2, which is located at the top of gripping apparatus head 1.1, changeover portion
It is fixedly connected between 1.2 and gripping apparatus head 1.1 by the first screw 1.12.Axial direction along gripping apparatus head 1.1 is in 1.2 He of changeover portion
The first through hole is offered between gripping apparatus head 1.1；1.1 axial directions along gripping apparatus head are between changeover portion 1.2 and gripping apparatus head 1.1
It is also provided with the second through hole, and the second through hole is parallel with the first through hole and interval is arranged.
Snap-gauge mounting groove is offered in the faying face of changeover portion 1.2 and gripping apparatus head 1.1, snap-gauge is equipped in snap-gauge mounting groove
1.8 and snap-gauge reset spring 1.9, snap-gauge reset spring 1.9 flexibly supports snap-gauge 1.8 and moves back and forth in snap-gauge mounting groove.It pushes away
Linkage includes crawl push rod 1.14 and release push rod 1.15, and crawl push rod 1.14 is set in the first through hole, pushes away in crawl
The bottom of bar 1.14 is equipped with the first cone-shaped end 1.16 of two claws 1.4 contractions and opening movement of driving.
The first back-moving spring 1.10 that driving crawl push rod 1.14 moves downward is equipped in the first through hole, first resets
Spring 1.10 is preferably spiral compression spring, and first back-moving spring 1.10 is set on crawl push rod 1.14, first back-moving spring
1.10 resilient support crawl push rods 1.14 move downward.The second cone cooperated with snap-gauge 1.8 is additionally provided on crawl push rod 1.14
Shape end 1.6, the second cone-shaped end 1.6 are located at the top of the first cone-shaped end 1.16.On the outer wall of the second cone-shaped end 1.6
The annular slot snapped connection with snap-gauge 1.8 is offered, snap-gauge 1.8 with the annular slot of the second cone-shaped end 1.6 by buckling
Connection positions crawl push rod 1.14.
Release push rod 1.15 be set in the second through hole, release push rod 1.15 bottom be equipped with driving snap-gauge 1.8 with
The third cone-shaped end 1.7 that second cone-shaped end 1.6 is detached from, the side wall and snap-gauge 1.8 of third cone-shaped end 1.7 are multiple far from snap-gauge
One end of position spring 1.9 offsets.The second back-moving spring that driving release push rod 1.15 moves downward is equipped in the second through hole
1.11, second back-moving spring 1.11 is set on release push rod 1.15, the resilient support release push rod of second back-moving spring 1.11
1.15 moving downward.
When claw 1.4 needs to clamp irradiation monitoring pipe 3, crawl push rod 1.14 drives the first cone-shaped end 1.16 fortune upwards
Dynamic, the first cone-shaped end 1.16 drives two claws 1.4 to be in open configuration.First back-moving spring 1.10 is in compression shape simultaneously
State, the annular slot and snap-gauge 1.8 for grabbing the second cone-shaped end 1.6 on push rod 1.14 are in clamped condition, and snap-gauge 1.8 is to grabbing
It takes push rod 1.14 to be positioned, keeps two claws 1.4 to be in open configuration and clamping operation is carried out to irradiation monitoring pipe 3, complete
To the clamping operation of irradiation monitoring pipe 3.
When claw 1.4 needs to discharge irradiation monitoring pipe 3, release push rod 1.15 drives third cone-shaped end 1.7 to transport upwards
Dynamic, during third cone-shaped end 1.7 moves upwards, the side wall of third cone-shaped end 1.7 pushes snap-gauge 1.8 to compress to snap-gauge
The direction of reset spring 1.9 moves.After snap-gauge 1.8 moves to setting position, the ring of snap-gauge 1.8 and the second cone-shaped end 1.6
Shape card slot is detached from.The elastic potential energy driving crawl push rod 1.14 of first compressed spring 1.10 release at this time moves downward, and grabs push rod
1.14 the first cone-shaped ends 1.16 of drive drive two claws 1.4 to be in contraction state, and two claws 1.4 discharge irradiation monitoring pipe
3, irradiation monitoring pipe 3 and claw 1.4 are in disengaged position, complete the release operation to irradiation monitoring pipe 3.
The top of the changeover portion 1.2 of this grabbing assembly 1 is equipped with gland 1.3, by the between changeover portion 1.2 and gland 1.3
Two screws 1.13 are fixedly connected, and offer crawl push rod 1.14 respectively on gland 1.3 and release push rod 1.15 is pushed up to gland 1.3
The through-hole that portion is stretched out.The installation site of the first screw 1.12 and the second screw 1.13, which should mutually stagger, in actual installation avoids doing
It relates to.
This elevator component 2 further includes the crawl rolling wheel 2.2 being set on spool 2.1 and release rolling wheel 2.3, grabs rolling wheel
The 2.2 parallel and interval settings on spool 2.1 with release rolling wheel 2.3.Suspender is preferably but not limited to as suspender belt 2.8, suspender belt 2.5
One ends wound is on the spool 2.1 between crawl rolling wheel 2.2 and release rolling wheel 2.3, the other end and grabbing assembly 1 of suspender belt 2.8
The top of gland 1.3 be connected, to carry the weight of grabbing assembly 1 and irradiation monitoring pipe 3.Tricing line includes crawl tricing line
2.9 and release the control rope 2.10, crawl tricing line 2.9 is wrapped on crawl rolling wheel 2.2, is released the control rope 2.10 and is wrapped in release
On rolling wheel 2.3.Crawl tricing line 2.9 is connect with the top of the crawl push rod 1.14 of transfer bar mechanism, is released the control rope 2.10 and is pushed away
The top connection of the release push rod 1.15 of linkage.In suspender belt 2.8, crawl tricing line 2.9 and the outer wall for releasing the control rope 2.10
Equipped with hydrophobic coating, which can avoid suspender belt 2.8 when gripping apparatus is promoted, crawl tricing line 2.9 and releases the control rope 2.10
Surface gets wet, and prevents the water in reactor pressure vessel to suspender belt 2.8, crawl tricing line 2.9 and the dirt for releasing the control rope 2.10
Dye, oxidation and corrosion.
It is equipped with the shaft shoulder at the middle part of spool 2.1, the two sides of the shaft shoulder are respectively equipped with and crawl rolling wheel 2.2 and release rolling wheel 2.3
The pin hole of connection is separately installed with pin 2.4 in pin hole.It is offered respectively on crawl rolling wheel 2.2 and release rolling wheel 2.3
The arc groove cooperated with pin 2.4, pin 2.4 respectively correspond the arc groove for being set on crawl rolling wheel 2.2 and discharging rolling wheel 2.3
It is interior.Pin spring 2.11 is respectively equipped in arc groove, pin spring 2.11 flexibly supports crawl rolling wheel 2.2 and release volume respectively
Wheel 2.3 resets.Crawl rolling wheel 2.2 and the outer circle for discharging rolling wheel 2.3 are respectively equipped with the operation handwheel of hollow out, and operation handwheel control is grabbed
Take tricing line 2.9 and release the control rope 2.10 respectively with crawl push rod 1.14 and discharge push rod 1.15 and be connected and carry out claw 1.4
Opening and shrink control.
This elevator component 2 further includes pedestal 2.7, and spool 2.1 and pedestal 2.7 are pivotally connected, and spool 2.1 is on pedestal 2.7
Movement is rotated freely, is equipped with the driving mechanism of driving 2.1 rotary motion of spool in one end of spool 2.1.The driving mechanism includes
The worm gear 2.5 being fixedly connected with one end of spool 2.1, being pivotally connected on pedestal 2.7 has the worm screw that connection is engaged with worm gear 2.5
2.6, it is equipped with the handwheel 2.12 that driving worm screw 2.6 rotates in one end of worm screw 2.6, driving handwheel 2.12 is equipped on handwheel 2.12
The handle of rotation.Spool 2.1, crawl rolling wheel 2.2 and release rolling wheel 2.3 is driven to mention to wind respectively by artificial crank handle
Hanging band 2.8 grabs tricing line 2.9 and releases the control rope 2.10.The driving mechanism those skilled in the art of certain this elevator component 2
Electric driving mechanism can also be used to operate in member, is driven for example, by using motor driven worm gear 2.5 and worm screw 2.6.
Working principle
As shown in Figure 7 to 9, the long-range gripping apparatus of a kind of irradiation monitoring pipe of the invention, the gripping apparatus is using grabbing assembly 1 and mentions
Rise grabbing assembly 1 move 2 coordinated of elevator component work to the irradiation monitoring pipe 3 in nuclear power plant reactor pressure vessel into
Row is promoted and is picked and placed.
When use: rope 2.10 should be released the control to the rotation release pulling of rolling wheel 2.3 along K first promote release push rod 1.15,
Ensuring to grab the release of push rod 1.14 enables claw 1.4 smoothly to reset.Rotation hand wheel 2.12 counterclockwise at this time, makes under grabbing assembly 1
Fall and be aligned the end inner cavity of irradiation monitoring pipe 3.Continue to fall at this time, two claws 1.4 are bored in 3 end inner cavity of irradiation monitoring pipe
Shape is shunk automatically under the action of face.After the rotary table of gripping apparatus head 1.1 enters 3 end inner cavity of irradiation monitoring pipe, grabbed along K to rotation
Rolling wheel 2.2 pulls crawl tricing line 2.9 to promote crawl push rod 1.14, and snap-gauge 1.8 is clamped under the impetus of snap-gauge spring 1.9
In the annular slot of the second cone-shaped end 1.6 of crawl push rod 1.14, crawl push rod 1.14 is made to be fixed on setting position.At this time
Two claws 1.4 open under the promotion of the first cone-shaped end 1.15 of crawl push rod 1.14, and block 3 end of irradiation monitoring pipe
Inner cavity.At this moment handwheel 2.12 is rotated clockwise, grabbing assembly 1 and elevator component 2 can grab and be promoted irradiation monitoring pipe 3.When
After promoting irradiation monitoring pipe 3 and being packed into shipping container, rope 2.10 is released the control to the rotation release pulling of rolling wheel 2.3 along K again and is mentioned
Release push rod 1.15 is risen, the third cone-shaped end 1.7 of release push rod 1.15 opens snap-gauge 1.8, at this time in first back-moving spring
Push rod 1.14 is grabbed under the action of 1.10 to move downward, and relieves the limit to two claws 1.4.Handwheel is rotated clockwise at this time
2.12 promote grabbing assembly 1, and two claws 1.4 can be shunk automatically under the action of 3 end inner cavity of irradiation monitoring pipe, gripping apparatus head
1.1 can separate with 3 end of irradiation monitoring pipe.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of long-range gripping apparatus of irradiation monitoring pipe, which is characterized in that the elevator including grabbing assembly and promotion grabbing assembly movement
Component；
The grabbing assembly includes gripping apparatus head and claw, and the claw is flexibly connected with gripping apparatus head, and driving is equipped on gripping apparatus head
Claw is shunk and/or the transfer bar mechanism of opening movement；
The elevator component includes spool, and the suspender and driving push rod mechanism kinematic for promoting grabbing assembly movement are equipped on spool
Tricing line, tricing line driving push rod mechanism drive driving claw shrink and/or opening movement.
2. the long-range gripping apparatus of a kind of irradiation monitoring pipe according to claim 1, which is characterized in that the claw is located at gripping apparatus head
Lower section, be equipped with the rotary table of rotation connection claw in the bottom of gripping apparatus head, open up in the side of rotary table there are two symmetrically arranged
Groove, there are two the claw is set, two claws are rotatablely connected in groove by rotational pin and rotary table respectively, two claws point
Not relative constriction and/or opening movement in the groove of rotary table using rotational pin as axle center.
3. the long-range gripping apparatus of a kind of irradiation monitoring pipe according to claim 1, which is characterized in that the grabbing assembly further includes
Changeover portion, the changeover portion are located at the top of gripping apparatus head, are fixedly connected between changeover portion and gripping apparatus head by the first screw, and edge is grabbed
The axial direction of tool head offers the first through hole between changeover portion and gripping apparatus head, and the transfer bar mechanism includes crawl push rod,
The crawl push rod is set in the first through hole, is equipped with the contraction of driving claw and/or opening movement in the bottom of crawl push rod
The first cone-shaped end.
4. the long-range gripping apparatus of a kind of irradiation monitoring pipe according to claim 3, which is characterized in that the changeover portion and gripping apparatus head
Faying face offer snap-gauge mounting groove, snap-gauge and snap-gauge reset spring are equipped in snap-gauge mounting groove, the snap-gauge resets bullet
Spring resilient support snap-gauge moves back and forth in snap-gauge mounting groove, and the crawl push rod is equipped with the second tapered end cooperated with snap-gauge
Head, the second cone-shaped end are located at the top of the first cone-shaped end, offer on the outer wall of the second cone-shaped end and buckle with snap-gauge
The annular slot of connection, the snap-gauge determine crawl push rod by snapping connection with the annular slot of the second cone-shaped end
Position.
5. the long-range gripping apparatus of a kind of irradiation monitoring pipe according to claim 4, which is characterized in that along the axial direction of gripping apparatus head
The second through hole is offered between changeover portion and gripping apparatus head, second through hole is parallel with the first through hole and interval is set
It sets, the transfer bar mechanism further includes release push rod, and the release push rod is set in the second through hole, in the bottom of release push rod
Equipped with the third cone-shaped end that driving snap-gauge and the second cone-shaped end are detached from, the side wall and snap-gauge of the third cone-shaped end are separate
One end of snap-gauge reset spring offsets.
6. the long-range gripping apparatus of a kind of irradiation monitoring pipe according to claim 5, which is characterized in that set at the top of the changeover portion
There is gland, be fixedly connected between changeover portion and gland by the second screw, offers crawl push rod and release respectively on gland
Through-hole of the push rod to stretching at the top of gland, interior the first reset bullet for being equipped with driving crawl push rod and moving downward of first through hole
Spring, the interior second back-moving spring for being equipped with driving release push rod and moving downward of second through hole.
7. the long-range gripping apparatus of a kind of irradiation monitoring pipe according to claim 1, which is characterized in that the elevator component further includes
The crawl rolling wheel and release rolling wheel being set on spool, the parallel and interval on spool is set the crawl rolling wheel with release rolling wheel
It sets, the suspender is wrapped in crawl rolling wheel and discharges on the spool between rolling wheel, and the tricing line includes crawl tricing line and releases
Tricing line is put, the crawl tricing line is wrapped on crawl rolling wheel, and the rope that releases the control is wrapped on release rolling wheel, described to grab
It takes tricing line and releases the control rope and connect respectively with transfer bar mechanism.
8. the long-range gripping apparatus of a kind of irradiation monitoring pipe according to claim 1, which is characterized in that the elevator component further includes
Pedestal, the spool are connect with base pivot, are equipped with the driving mechanism of driving spool rotary motion, the drive in one end of spool
Motivation structure includes the worm gear being fixedly connected with one end of spool, and be pivotally connected has the worm screw that connection is engaged with worm gear on the base,
One end of the worm screw is equipped with the handwheel of driving worm screw rotation, and the handle of driving hand wheel rotating is equipped on handwheel.
9. the long-range gripping apparatus of a kind of irradiation monitoring pipe according to claim 7, which is characterized in that the middle part of the spool is equipped with
The shaft shoulder, the two sides of the shaft shoulder are respectively equipped with the pin hole connecting with crawl rolling wheel and release rolling wheel, pacify respectively in pin hole
Equipped with pin, the arc groove with bayonet fittings is offered on the crawl rolling wheel and release rolling wheel respectively, pin, which respectively corresponds, to be worn
It covers in arc groove, pin spring is respectively equipped in arc groove, the pin spring flexibly supports crawl rolling wheel respectively and releases
Unreeling wheel resets, and the crawl rolling wheel and the outer circle for discharging rolling wheel are respectively equipped with the operation handwheel of hollow out.
10. the long-range gripping apparatus of a kind of irradiation monitoring pipe according to claim 1, which is characterized in that the suspender is suspender belt, institute
The outer wall for stating suspender belt and tricing line is equipped with hydrophobic coating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910294043.8A CN109949954B (en) | 2019-04-12 | 2019-04-12 | Irradiation supervisory tube remote gripping apparatus |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910294043.8A CN109949954B (en) | 2019-04-12 | 2019-04-12 | Irradiation supervisory tube remote gripping apparatus |
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| CN109949954A true CN109949954A (en) | 2019-06-28 |
| CN109949954B CN109949954B (en) | 2022-03-25 |
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| CN201910294043.8A Active CN109949954B (en) | 2019-04-12 | 2019-04-12 | Irradiation supervisory tube remote gripping apparatus |
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| CN113012840A (en) * | 2021-03-23 | 2021-06-22 | 中国原子能科学研究院 | Shielding device for transferring radioactive products |
| CN113724905A (en) * | 2021-08-24 | 2021-11-30 | 中国原子能科学研究院 | Grabbing equipment |
| CN114407058A (en) * | 2022-01-24 | 2022-04-29 | 上海第二工业大学 | Multipurpose reducing grabbing device |
| CN115050494A (en) * | 2022-06-27 | 2022-09-13 | 中国核动力研究设计院 | Cantilever type irradiation monitoring tube gripping device and working method |
| CN115741058A (en) * | 2022-10-28 | 2023-03-07 | 中国核动力研究设计院 | Underwater clamping tool for skirt nut |
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| CN114407058A (en) * | 2022-01-24 | 2022-04-29 | 上海第二工业大学 | Multipurpose reducing grabbing device |
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| CN115050494B (en) * | 2022-06-27 | 2023-11-17 | 中国核动力研究设计院 | Cantilever type irradiation monitoring pipe grabbing device and working method |
| CN115741058A (en) * | 2022-10-28 | 2023-03-07 | 中国核动力研究设计院 | Underwater clamping tool for skirt nut |
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|---|---|
| CN109949954B (en) | 2022-03-25 |
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