CN109949954B - Irradiation supervisory tube remote gripping apparatus - Google Patents
Irradiation supervisory tube remote gripping apparatus Download PDFInfo
- Publication number
- CN109949954B CN109949954B CN201910294043.8A CN201910294043A CN109949954B CN 109949954 B CN109949954 B CN 109949954B CN 201910294043 A CN201910294043 A CN 201910294043A CN 109949954 B CN109949954 B CN 109949954B
- Authority
- CN
- China
- Prior art keywords
- grabbing
- push rod
- gripping
- reel
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Monitoring And Testing Of Nuclear Reactors (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a remote gripping apparatus for an irradiation monitoring pipe, which comprises a gripping assembly and a hoisting assembly for lifting the gripping assembly to move; the grabbing component comprises a grabbing tool head and a clamping jaw, the clamping jaw is movably connected with the grabbing tool head, and a push rod mechanism for driving the clamping jaw to contract and expand is arranged on the grabbing tool head; the hoisting assembly comprises a reel, a lifting appliance for lifting and grabbing the movement of the assembly and a control rope for driving the push rod mechanism to move are arranged on the reel, and the control rope drives the push rod mechanism to drive the driving clamping jaws to contract and expand. The gripping assembly of the gripping apparatus is provided with a gripping head and a clamping jaw, and the gripping head drives the clamping jaw to contract and expand through a push rod mechanism to release and grip the irradiation monitoring tube. The hoisting component hoists the grabbing component and the irradiation monitoring pipe through the hanging strip. The gripping apparatus is easy to operate, light and convenient to use, is convenient to transport and store, is not limited by the depth of a reactor pool, and is suitable for underwater gripping operation of irradiation monitoring pipes of various reactor type nuclear power stations.
Description
Technical Field
The invention relates to the technical field of nuclear power station reactor pressure vessel inspection, in particular to a remote gripping apparatus for an irradiation monitoring pipe.
Background
In order to monitor the influence of neutron irradiation on the material performance of a reactor pressure vessel of a nuclear power station, an irradiation monitoring pipe is arranged in the reactor pressure vessel. The irradiation monitoring tube is internally provided with a mechanical property sample, a temperature detector, a dose detector and the like. In practice, the irradiation monitoring tube is regularly drawn out from the reactor pressure vessel according to a plan, and is subjected to inspection and test to determine the performance change of related materials, so that important parameters are provided for safety evaluation of the reactor pressure vessel.
The inspection and test of the irradiation monitoring pipe need to be carried out in a hot chamber, the irradiation monitoring pipe needs to be loaded into a transport container in a reactor water pool in the process of transferring from a reactor pressure container to the hot chamber, the process relates to the grabbing and releasing operation of the irradiation monitoring pipe, and a special grabbing tool for the irradiation monitoring pipe is needed. Since the irradiation monitoring tube has strong radioactivity, it is required to operate in a reactor tank several meters deep in order to achieve a sufficient radiation shielding effect.
At present, all the grippers are rod-shaped long-handle grippers, and professional operators need to hold the grippers for operation. Since the long-handled grab is often more than 6 meters in length, it takes up a large space, is inconvenient to transport and store, and is cumbersome and inconvenient to operate. On the other hand, for nuclear power stations with different depths of the reactor pool, the long-handle gripping apparatus has no universality, and the long-handle gripping apparatus is customized according to the depths of the reactor pool, so that the inspection and test cost of the reactor pressure vessel of the nuclear power station is increased.
Disclosure of Invention
The invention aims to solve the technical problems that in the prior art, the gripping apparatus is a rod-shaped long-handle gripping apparatus, needs to be manually operated by a professional operator, occupies a large space, is inconvenient to transport and store, is heavy and is inconvenient to operate, and aims to provide a remote gripping apparatus for an irradiation monitoring tube.
The invention is realized by the following technical scheme:
a remote gripping apparatus for an irradiation monitoring pipe comprises a gripping assembly and a hoisting assembly for lifting the gripping assembly to move;
the grabbing component comprises a grabbing tool head and a clamping jaw, the clamping jaw is movably connected with the grabbing tool head, and a push rod mechanism for driving the clamping jaw to contract and/or expand is arranged on the grabbing tool head;
the hoisting assembly comprises a reel, a lifting appliance for lifting the grabbing assembly to move and a control rope for driving the push rod mechanism to move are arranged on the reel, and the control rope drives the push rod mechanism to drive the driving jaws to contract and/or expand.
Preferably, the clamping jaws are located below the gripper head, a circular truncated cone which is rotatably connected with the clamping jaws is arranged at the bottom of the gripper head, two symmetrically-arranged grooves are formed in the side face of the circular truncated cone, the two clamping jaws are respectively rotatably connected with the circular truncated cone through rotating pins in the grooves, and the two clamping jaws respectively perform relative contraction and/or expansion motion in the grooves of the circular truncated cone by taking the rotating pins as axes.
Preferably, the grabbing component further comprises a transition section, the transition section is located at the top of the grabbing head, the transition section is fixedly connected with the grabbing head through a first screw, a first through hole is formed between the transition section and the grabbing head along the axial direction of the grabbing head, the push rod mechanism comprises a grabbing push rod, the grabbing push rod is sleeved in the first through hole in a penetrating mode, and a first conical end head for driving the clamping jaws to move in a contracting and/or expanding mode is arranged at the bottom of the grabbing push rod.
According to the preferable scheme, a clamping plate mounting groove is formed in the combining surface of the transition section and the gripper head, a clamping plate and a clamping plate reset spring are arranged in the clamping plate mounting groove, the clamping plate reset spring elastically supports the clamping plate to reciprocate in the clamping plate mounting groove, a second conical end matched with the clamping plate is arranged on the gripping push rod and is located above the first conical end, an annular clamping groove connected with a clamping plate buckle is formed in the outer wall of the second conical end, and the clamping plate is connected with the annular clamping groove buckle of the second conical end to position the gripping push rod.
According to the preferable scheme, a second through hole is formed between the transition section and the gripper head along the axial direction of the gripper head, the second through hole is parallel to the first through hole and is arranged at intervals, the push rod mechanism further comprises a release push rod, the release push rod is sleeved in the second through hole in a penetrating mode, a third conical end for driving the clamping plate to be separated from the second conical end is arranged at the bottom of the release push rod, and the side wall of the third conical end is abutted to one end, far away from the clamping plate reset spring, of the clamping plate.
According to the preferable scheme, a gland is arranged at the top of the transition section, the transition section is fixedly connected with the gland through a second screw, through holes for grabbing the push rod and releasing the push rod to extend out of the top of the gland are formed in the gland respectively, a first return spring for driving the grabbing push rod to move downwards is arranged in the first through hole, and a second return spring for driving the releasing push rod to move downwards is arranged in the second through hole.
Preferably, the winch assembly further comprises a grabbing reel and a releasing reel which are sleeved on the reel, the grabbing reel and the releasing reel are arranged on the reel in parallel at intervals, the lifting appliance is wound on the reel between the grabbing reel and the releasing reel, the control rope comprises a grabbing control rope and a releasing control rope, the grabbing control rope is wound on the grabbing reel, the releasing control rope is wound on the releasing reel, and the grabbing control rope and the releasing control rope are respectively connected with the push rod mechanism.
Preferably, the hoist assembly still includes the base, spool and base pivot connection are equipped with the actuating mechanism who drives spool rotary motion in the one end of spool, actuating mechanism includes the worm wheel with the one end fixed connection of spool, and the pivot connection has the worm of being connected with the worm wheel meshing on the base, the one end of worm is equipped with drive worm pivoted hand wheel, is equipped with drive hand wheel pivoted handle on the hand wheel.
Preferably, the middle part of spool is equipped with the shaft shoulder, the both sides of shaft shoulder are equipped with respectively and snatch the pin hole that the winding wheel is connected with the release winding wheel, install the pin respectively in the pin hole, snatch the winding wheel and release and offer respectively on the winding wheel with pin complex arc wall, the pin corresponds respectively and wears the cover in the arc wall, is equipped with the pin spring respectively in the arc wall, the pin spring elastic support respectively snatchs the winding wheel and releases the winding wheel and resets, the excircle of snatching the winding wheel and releasing the winding wheel is equipped with the operation hand wheel of fretwork respectively.
Preferably, the lifting appliance is a lifting belt, and the outer walls of the lifting belt and the control rope are provided with hydrophobic coatings.
Compared with the prior art, the invention has the following advantages and beneficial effects: the remote gripping apparatus for the irradiation monitoring pipe provided by the invention adopts the cooperative work of the gripping assembly and the hoisting assembly for lifting the gripping assembly to lift and take the irradiation monitoring pipe in the reactor pressure vessel of the nuclear power station.
1) The gripping assembly of the gripping apparatus is provided with a gripping head and a clamping jaw, the gripping head drives the clamping jaw to contract and expand through a push rod mechanism to release and clamp the irradiation monitoring pipe, after the gripping assembly clamps the irradiation monitoring pipe, the hoisting assembly hoists and lifts the gripping assembly and the irradiation monitoring pipe through a hanging belt, and the irradiation monitoring pipe is loaded into a transport container from a reactor pressure container. The gripping apparatus overcomes the defects of large volume, inconvenient use and the like of a long-handle gripping apparatus, is easy to operate, light to use, convenient to transport and store, free from the limitation of the depth of a reactor pool, and applicable to underwater gripping operation of irradiation monitoring pipes of various reactor type nuclear power stations.
2) The grabbing component of the grabbing tool comprises a grabbing tool head, a clamping jaw, a push rod mechanism and the like, wherein the clamping jaw is arranged at the bottom of the grabbing tool head, and can contract and stretch under the action of the push rod mechanism. When the clamping jaws shrink, the gripping head can extend into the inner cavity of the end head of the irradiation monitoring pipe, and the clamping jaws are controlled to be opened through the push rod mechanism, so that the gripping head can be matched with the inner cavity of the end head of the irradiation monitoring pipe to lift and lift the irradiation monitoring pipe. After the irradiation monitoring pipe is lifted and loaded into the transport container, the push rod mechanism can be operated to release the limit of the clamping jaws, the clamping jaws can automatically retract, and at the moment, the gripper head can be separated from the end head of the irradiation monitoring pipe. The grabbing assembly is simple and convenient to operate and flexible to use, and grabbing efficiency of the irradiation monitoring pipe is improved.
3) The winding assembly of the gripping apparatus comprises a winding shaft, a winding wheel, a hanging strip, a control rope and the like, wherein the winding wheel and the hanging strip are arranged on the winding shaft, the control rope is wound on the winding wheel, the winding shaft winds the hanging strip and the control rope through rotary motion, and the lifting, grabbing and releasing operations of the irradiation monitoring pipe are realized. Wherein two reels form three hoist position on the spool, and middle hoist position is used for the hoist suspender, realizes bearing and promotes the function of snatching subassembly and irradiation supervisory tube. The both ends hoist position that acts as by two reels is used for hoist and lifting control rope, installs the pin between the connection terminal surface of reel and spool, and the reel terminal surface is provided with an arc wall, and the pin can insert in this arc wall, and the cooperation of pin and arc wall makes the spool can drive the reel rotation, and the reel can be at the reel small-angle independent rotation. The control rope can be lifted when the rolling wheel independently rotates, and the control rope is connected with the push rod mechanism to control the jaw to contract and expand. This hoist subassembly is not through can carrying out the hoist promotion to snatching subassembly and irradiation supervisory tube, can control the shrink and the opening motion of jack catch through the control rope simultaneously, realizes promoting fast, snatching and releasing operation to irradiation supervisory tube.
4) The winch assembly of the gripping apparatus is also provided with a driving mechanism for driving the scroll to rotate, one end of the scroll of the driving mechanism is fixedly connected with a worm wheel, the base is pivotally connected with a worm which is meshed with the worm wheel, one end of the worm is provided with a hand wheel for driving the worm to rotate, and the hand wheel is provided with a handle for driving the hand wheel to rotate. The driving mechanism adopts worm and gear transmission, not only can realize larger reduction ratio, saves labor in operation, but also can realize the functions of one-way transmission and reverse self-locking, can only control the lifting and the descending of the grabbing component and the irradiation monitoring pipe through the rotation of the hand wheel in use, and can not cause the falling of the grabbing component and the irradiation monitoring pipe in the operation process due to dead weight or other external forces.
5) The outer walls of the sling and the control rope of the gripping apparatus are provided with the hydrophobic coatings, the hydrophobic coatings can prevent the sling and the control rope from being stained with water when the gripping apparatus is lifted, prevent the water in the reactor pressure container from polluting, oxidizing and corroding the sling and the control rope, and prolong the service life of the gripping apparatus.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a right side view of the structure of the present invention;
FIG. 3 is a cross-sectional view taken along A-A of FIG. 2;
FIG. 4 is a cross-sectional view taken along line B-B of FIG. 3;
FIG. 5 is a schematic view of the hoist assembly of the present invention;
FIG. 6 is a cross-sectional view taken along the line C-C of FIG. 2;
FIG. 7 is a cross-sectional view taken along line D-D of FIG. 6;
FIG. 8 is a schematic view of the grasping element of the present invention in a grasping state;
fig. 9 is a schematic structural view of the grasping element in a released state according to the present invention.
Reference numbers and corresponding part names in the drawings:
1-gripper assembly, 1.1-gripper head, 1.2-transition, 1.3-gland, 1.4-jaw, 1.5-rotation pin, 1.6-second conical end, 1.7-third conical end, 1.8-catch plate, 1.9-catch plate return spring, 1.10-first return spring, 1.11-second return spring, 1.12-first screw, 1.13-second screw, 1.14-gripper push rod, 1.15-release push rod, 1.16-first conical end, 2-winch assembly, 2.1-reel, 2.2-gripper reel, 2.3-release reel, 2.4-pin, 2.5-worm wheel, 2.6-worm, 2.7-base, 2.8-strap, 2.9-gripper control rope, 2.10-release pin rope, 2.11-pin spring, 2.12-hand wheel, and 3, irradiation monitoring tube.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Examples
As shown in fig. 1 to 7, the remote gripping apparatus for irradiation monitoring pipe of the present invention comprises a gripping assembly 1 and a hoisting assembly 2 for lifting the gripping assembly 1.
The gripping assembly 1 comprises a gripper head 1.1 and a jaw 1.4, wherein the jaw 1.4 is located below the gripper head 1.1. The bottom of the gripper head 1.1 is provided with a circular truncated cone which is rotatably connected with the clamping jaw 1.4 and is of a cone structure with a large upper part and a small lower part. The side surface of the circular truncated cone is provided with two symmetrically-arranged grooves, the two clamping jaws 1.4 are arranged, the two clamping jaws 1.4 are respectively rotatably connected with the circular truncated cone through rotating pins 1.5 in the grooves, one ends of the two clamping jaws 1.4 respectively use the rotating pins 1.5 as axes to do relative contraction and expansion movement in the grooves of the circular truncated cone, and the other ends of the two clamping jaws 1.4 are in a suspended state. The gripping head 1.1 is provided with a push rod mechanism for driving the two clamping jaws 1.4 to contract and expand, the push rod mechanism simultaneously drives the two clamping jaws 1.4 to rotate in directions of approaching to and departing from each other by taking the rotating pin 1.5 as an axis, and the releasing and clamping operation of the irradiation monitoring tube 3 by driving the two clamping jaws 1.4 to contract and expand is realized.
The hoisting component 2 comprises a reel 2.1, a lifting appliance for lifting the grabbing component 1 to move and a control rope for driving the push rod mechanism to move are arranged on the reel 2.1, and the control rope drives the push rod mechanism to drive the driving claws 1.4 to contract and expand.
In particular, the gripper assembly 1 further comprises a transition section 1.2, the transition section 1.2 is located at the top of the gripper head 1.1, and the transition section 1.2 and the gripper head 1.1 are fixedly connected through a first screw 1.12. A first through hole is formed between the transition section 1.2 and the gripper head 1.1 along the axial direction of the gripper head 1.1; a second through hole is further formed between the transition section 1.2 and the gripper head 1.1 along the axial direction 1.1 of the gripper head, and the second through hole is parallel to the first through hole and is arranged at intervals.
The joint surface of the transition section 1.2 and the gripper head 1.1 is provided with a clamping plate mounting groove, a clamping plate 1.8 and a clamping plate reset spring 1.9 are arranged in the clamping plate mounting groove, and the clamping plate reset spring 1.9 elastically supports the clamping plate 1.8 to reciprocate in the clamping plate mounting groove. The push rod mechanism comprises a grabbing push rod 1.14 and a releasing push rod 1.15, the grabbing push rod 1.14 is sleeved in the first through hole in a penetrating mode, and a first conical end head 1.16 for driving the two clamping jaws 1.4 to contract and expand is arranged at the bottom of the grabbing push rod 1.14.
A first return spring 1.10 for driving the grabbing push rod 1.14 to move downwards is arranged in the first through hole, the first return spring 1.10 is preferably a spiral compression spring, the grabbing push rod 1.14 is sleeved with the first return spring 1.10, and the grabbing push rod 1.14 is elastically supported by the first return spring 1.10 to move downwards. A second conical end 1.6 matched with the clamping plate 1.8 is also arranged on the grabbing push rod 1.14, and the second conical end 1.6 is positioned above the first conical end 1.16. An annular clamping groove connected with the clamping plate 1.8 in a buckled mode is formed in the outer wall of the second conical end 1.6, and the clamping plate 1.8 is connected with the annular clamping groove of the second conical end 1.6 in a buckled mode to position the grabbing push rod 1.14.
The release push rod 1.15 is sleeved in the second through hole in a penetrating mode, a third conical end 1.7 for driving the clamping plate 1.8 to be separated from the second conical end 1.6 is arranged at the bottom of the release push rod 1.15, and the side wall of the third conical end 1.7 is abutted to one end, far away from the clamping plate reset spring 1.9, of the clamping plate 1.8. A second return spring 1.11 for driving the release push rod 1.15 to move downwards is arranged in the second through hole, the second return spring 1.11 is sleeved on the release push rod 1.15, and the second return spring 1.11 elastically supports the release push rod 1.15 to move downwards.
When the clamping jaws 1.4 need to clamp the irradiation monitoring tube 3, the grabbing push rod 1.14 drives the first conical end 1.16 to move upwards, and the first conical end 1.16 drives the two clamping jaws 1.4 to be in an open state. Meanwhile, the first return spring 1.10 is in a compressed state, the annular clamping groove of the second conical end 1.6 on the grabbing push rod 1.14 and the clamping plate 1.8 are in a clamping state, the grabbing push rod 1.14 is positioned by the clamping plate 1.8, the two clamping jaws 1.4 are kept in an open state to clamp the irradiation monitoring tube 3, and the clamping operation on the irradiation monitoring tube 3 is completed.
When the clamping jaws 1.4 need to release the irradiation monitoring tube 3, the release push rods 1.15 drive the third conical end 1.7 to move upwards, and in the process that the third conical end 1.7 moves upwards, the side walls of the third conical end 1.7 push the clamping plates 1.8 to move towards the direction that the clamping plates compress the return springs 1.9. After the clamping plate 1.8 moves to the set position, the clamping plate 1.8 is separated from the annular clamping groove of the second conical end 1.6. At the moment, the first compression spring 1.10 releases elastic potential energy to drive the grabbing push rod 1.14 to move downwards, the grabbing push rod 1.14 drives the first conical end 1.16 to drive the two clamping jaws 1.4 to be in a contraction state, the two clamping jaws 1.4 release the irradiation monitoring pipe 3, the irradiation monitoring pipe 3 and the clamping jaws 1.4 are in a separation state, and the releasing operation of the irradiation monitoring pipe 3 is completed.
This top of the changeover portion 1.2 of snatching subassembly 1 is equipped with gland 1.3, through second screw 1.13 fixed connection between changeover portion 1.2 and the gland 1.3, has seted up respectively on gland 1.3 and has snatched push rod 1.14 and release push rod 1.15 to the through-hole that gland 1.3 top stretches out. In actual installation, the installation positions of the first screw 1.12 and the second screw 1.13 are staggered to avoid interference.
This hoist subassembly 2 still including the cover establish on spool 2.1 snatch winding wheel 2.2 and release winding wheel 2.3, snatch winding wheel 2.2 and release winding wheel 2.3 and parallel and interval setting on spool 2.1. The sling is preferably, but not limited to, a sling 2.8, one end of the sling 2.5 is wound on a reel 2.1 between the grabbing reel 2.2 and the releasing reel 2.3, and the other end of the sling 2.8 is connected with the top of a gland 1.3 of the grabbing assembly 1 to bear the weight of the grabbing assembly 1 and the irradiation monitoring tube 3. The control rope comprises a grabbing control rope 2.9 and a releasing control rope 2.10, the grabbing control rope 2.9 is wound on the grabbing winding wheel 2.2, and the releasing control rope 2.10 is wound on the releasing winding wheel 2.3. The grabbing control rope 2.9 is connected with the top of the grabbing push rod 1.14 of the push rod mechanism, and the releasing control rope 2.10 is connected with the top of the releasing push rod 1.15 of the push rod mechanism. The outer walls of the hanging strip 2.8, the grabbing control rope 2.9 and the releasing control rope 2.10 are provided with hydrophobic coatings, the hydrophobic coatings can prevent the surfaces of the hanging strip 2.8, the grabbing control rope 2.9 and the releasing control rope 2.10 from being stained with water when the grab is lifted, and prevent the pollution, oxidation and corrosion of the water in the reactor pressure container to the hanging strip 2.8, the grabbing control rope 2.9 and the releasing control rope 2.10.
The middle part of the scroll 2.1 is provided with a shaft shoulder, two sides of the shaft shoulder are respectively provided with a pin hole connected with the grabbing winding wheel 2.2 and the releasing winding wheel 2.3, and pins 2.4 are respectively arranged in the pin holes. Arc-shaped grooves matched with the pins 2.4 are respectively formed in the grabbing reel 2.2 and the releasing reel 2.3, and the pins 2.4 are correspondingly sleeved in the arc-shaped grooves of the grabbing reel 2.2 and the releasing reel 2.3 respectively. The pin springs 2.11 are respectively arranged in the arc-shaped grooves, and the pin springs 2.11 respectively elastically support the grabbing reel 2.2 and the releasing reel 2.3 to reset. The outer circles of the grabbing winding wheel 2.2 and the releasing winding wheel 2.3 are respectively provided with a hollow-out operation hand wheel, and the operation hand wheels are used for controlling the grabbing control rope 2.9 and the releasing control rope 2.10 to be respectively connected with the grabbing push rod 1.14 and the releasing push rod 1.15 to control the opening and the contraction of the clamping jaws 1.4.
The winding assembly 2 further comprises a base 2.7, the winding shaft 2.1 is in pivot connection with the base 2.7, the winding shaft 2.1 freely rotates on the base 2.7, and one end of the winding shaft 2.1 is provided with a driving mechanism for driving the winding shaft 2.1 to rotate. The driving mechanism comprises a worm wheel 2.5 fixedly connected with one end of a scroll 2.1, a worm 2.6 in meshed connection with the worm wheel 2.5 is connected to a base 2.7 in a pivot mode, a hand wheel 2.12 for driving the worm 2.6 to rotate is arranged at one end of the worm 2.6, and a handle for driving the hand wheel 2.12 to rotate is arranged on the hand wheel 2.12. The lifting sling 2.8, the grabbing control rope 2.9 and the releasing control rope 2.10 are respectively wound by driving the reel 2.1, the grabbing reel 2.2 and the releasing reel 2.3 through a manual hand handle. Of course, the driving mechanism of the hoisting assembly 2 can be operated by a person skilled in the art by using an electric driving mechanism, for example, a motor driving the worm wheel 2.5 and the worm 2.6.
Principle of operation
As shown in fig. 7 to 9, the remote gripping apparatus for irradiation monitoring pipe of the present invention uses the gripping assembly 1 and the hoisting assembly 2 for lifting the gripping assembly 1 to work cooperatively to lift and pick up the irradiation monitoring pipe 3 in the reactor pressure vessel of the nuclear power plant.
When in use: the release control rope 2.10 is pulled to lift the release push rod 1.15 by rotating the release reel 2.3 along the direction K, so that the grabbing push rod 1.14 is released to ensure that the claw 1.4 can be reset smoothly. At the moment, the hand wheel 2.12 is rotated anticlockwise, so that the grabbing component 1 falls down and is aligned with the end inner cavity of the irradiation monitoring tube 3. At the moment, the two claws 1.4 continuously fall down, and automatically contract under the action of the conical surface of the inner cavity at the end head of the irradiation monitoring tube 3. When the circular truncated cone of the gripper head 1.1 enters the inner cavity of the end of the irradiation monitoring tube 3, the gripping control rope 2.9 is pulled to lift the gripping push rod 1.14 by rotating the gripping reel 2.2 along the direction K, and the gripping push rod 1.14 is fixed at a set position by the clamping plate 1.8 being clamped in the annular clamping groove of the second conical end 1.6 of the gripping push rod 1.14 under the pushing action of the clamping plate spring 1.9. At the moment, the two claws 1.4 are opened under the pushing of the first conical end 1.15 of the grabbing push rod 1.14 and clamp the inner cavity of the end of the irradiation monitoring tube 3. At this time, the hand wheel 2.12 is rotated clockwise, and the irradiation monitoring pipe 3 can be grabbed and lifted by the grabbing component 1 and the hoisting component 2. After the irradiation monitoring pipe 3 is lifted and loaded into a transport container, the release control rope 2.10 is pulled to lift the release push rod 1.15 by rotating the release reel 2.3 along the direction K again, the third conical end 1.7 of the release push rod 1.15 pushes the clamping plate 1.8 open, at the moment, the grabbing push rod 1.14 moves downwards under the action of the first return spring 1.10, and the limit of the two clamping jaws 1.4 is released. At the moment, the hand wheel 2.12 is rotated clockwise to lift the grabbing component 1, the two clamping jaws 1.4 can automatically contract under the action of the inner cavity of the end head of the irradiation monitoring pipe 3, and the grabbing tool head 1.1 can be separated from the end head of the irradiation monitoring pipe 3.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. The remote gripping apparatus for the irradiation monitoring pipe is characterized by comprising a gripping assembly and a hoisting assembly for lifting the gripping assembly to move;
the grabbing component comprises a grabbing tool head and a clamping jaw, the clamping jaw is movably connected with the grabbing tool head, and a push rod mechanism for driving the clamping jaw to contract and/or expand is arranged on the grabbing tool head;
the hoisting assembly comprises a reel, a lifting appliance for lifting the grabbing assembly to move and a control rope for driving the push rod mechanism to move are arranged on the reel, and the control rope drives the push rod mechanism to drive the driving jaws to contract and/or expand;
the grabbing component further comprises a transition section, the transition section is located at the top of the grabbing head, the transition section is fixedly connected with the grabbing head through a first screw, a first through hole is formed between the transition section and the grabbing head along the axial direction of the grabbing head, the push rod mechanism comprises a grabbing push rod, the grabbing push rod is sleeved in the first through hole in a penetrating mode, and a first conical end head for driving the clamping jaw to contract and/or expand is arranged at the bottom of the grabbing push rod;
a clamping plate mounting groove is formed in the junction surface of the transition section and the gripper head, a clamping plate and a clamping plate reset spring are arranged in the clamping plate mounting groove, the clamping plate reset spring elastically supports the clamping plate to reciprocate in the clamping plate mounting groove, a second conical end matched with the clamping plate is arranged on the gripping push rod, the second conical end is positioned above the first conical end, an annular clamping groove connected with the clamping plate in a buckling mode is formed in the outer wall of the second conical end, and the clamping plate is connected with the annular clamping groove of the second conical end in a buckling mode to position the gripping push rod;
a second through hole is formed between the transition section and the gripper head along the axial direction of the gripper head, the second through hole is parallel to the first through hole and is arranged at intervals, the push rod mechanism further comprises a release push rod, the release push rod is sleeved in the second through hole in a penetrating manner, a third conical end for driving the clamping plate to be separated from the second conical end is arranged at the bottom of the release push rod, and the side wall of the third conical end abuts against one end, far away from the clamping plate reset spring, of the clamping plate;
the top of the transition section is provided with a gland, the transition section is fixedly connected with the gland through a second screw, through holes for grabbing the push rod and releasing the push rod to extend out of the top of the gland are respectively formed in the gland, a first return spring for driving the grabbing push rod to move downwards is arranged in the first through hole, and a second return spring for driving the releasing push rod to move downwards is arranged in the second through hole.
2. The remote gripper for the irradiation monitoring tube according to claim 1, wherein the two jaws are located below the gripper head, a circular truncated cone rotatably connected with the two jaws is disposed at the bottom of the gripper head, two symmetrically disposed grooves are disposed on the side surface of the circular truncated cone, the two jaws are rotatably connected with the circular truncated cone through rotating pins in the grooves, and the two jaws respectively perform relative contraction and/or expansion movements in the grooves of the circular truncated cone with the rotating pins as axes.
3. The remote gripping apparatus for irradiation monitoring tube as claimed in claim 1, wherein the winding assembly further comprises a grabbing reel and a releasing reel sleeved on the reel, the grabbing reel and the releasing reel are arranged on the reel in parallel and at intervals, the lifting tool is wound on the reel between the grabbing reel and the releasing reel, the control rope comprises a grabbing control rope and a releasing control rope, the grabbing control rope is wound on the grabbing reel, the releasing control rope is wound on the releasing reel, and the grabbing control rope and the releasing control rope are respectively connected with the pushing rod mechanism.
4. The remote gripping apparatus for irradiation monitoring pipe as claimed in claim 1, wherein the winding assembly further comprises a base, the winding shaft is pivotally connected to the base, a driving mechanism for driving the winding shaft to rotate is disposed at one end of the winding shaft, the driving mechanism comprises a worm wheel fixedly connected to one end of the winding shaft, a worm meshed with the worm wheel is pivotally connected to the base, a hand wheel for driving the worm to rotate is disposed at one end of the worm, and a handle for driving the hand wheel to rotate is disposed on the hand wheel.
5. The remote gripping apparatus for the irradiation monitoring tube according to claim 3, wherein a shoulder is disposed in the middle of the winding shaft, pin holes connected to the gripping winding wheel and the releasing winding wheel are disposed on two sides of the shoulder, pins are mounted in the pin holes, arc-shaped grooves matched with the pins are disposed on the gripping winding wheel and the releasing winding wheel, the pins are correspondingly sleeved in the arc-shaped grooves, pin springs are disposed in the arc-shaped grooves, the pin springs elastically support the gripping winding wheel and the releasing winding wheel to reset, and hollow-out operation handwheels are disposed on the outer circles of the gripping winding wheel and the releasing winding wheel.
6. The remote gripper of claim 1, wherein the lifting device is a sling, and the outer walls of the sling and the control rope are provided with hydrophobic coatings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910294043.8A CN109949954B (en) | 2019-04-12 | 2019-04-12 | Irradiation supervisory tube remote gripping apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910294043.8A CN109949954B (en) | 2019-04-12 | 2019-04-12 | Irradiation supervisory tube remote gripping apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109949954A CN109949954A (en) | 2019-06-28 |
| CN109949954B true CN109949954B (en) | 2022-03-25 |
Family
ID=67014978
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910294043.8A Active CN109949954B (en) | 2019-04-12 | 2019-04-12 | Irradiation supervisory tube remote gripping apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109949954B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113012840B (en) * | 2021-03-23 | 2024-05-14 | 中国原子能科学研究院 | Shielding device for radioactive article transportation |
| CN113724905B (en) * | 2021-08-24 | 2024-02-20 | 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 |
| 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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB990954A (en) * | 1963-02-12 | 1965-05-05 | Commissariat Energie Atomique | Remote handling device having a pair of jaws |
| GB1194937A (en) * | 1967-04-25 | 1970-06-17 | Commissariat Energie Atomique | Improvements in and relating to Handling Equipment for Fuel Elements in a Nuclear Reactor |
| CN101853709A (en) * | 2010-03-15 | 2010-10-06 | 中国原子能科学研究院 | Electromechanical integrated device for sodium-cooled fast reactor irradiation device operation |
| CN103474112A (en) * | 2012-06-08 | 2013-12-25 | 中国核动力研究设计院 | Reactor internal hoisting tool |
| CN107742540A (en) * | 2017-10-17 | 2018-02-27 | 中国核动力研究设计院 | A kind of gripping apparatus changed for detector assembly and grasping means |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201369178Y (en) * | 2009-01-22 | 2009-12-23 | 中广核工程有限公司 | Small hole grabbing tool for grabbing waste filter element |
-
2019
- 2019-04-12 CN CN201910294043.8A patent/CN109949954B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB990954A (en) * | 1963-02-12 | 1965-05-05 | Commissariat Energie Atomique | Remote handling device having a pair of jaws |
| GB1194937A (en) * | 1967-04-25 | 1970-06-17 | Commissariat Energie Atomique | Improvements in and relating to Handling Equipment for Fuel Elements in a Nuclear Reactor |
| CN101853709A (en) * | 2010-03-15 | 2010-10-06 | 中国原子能科学研究院 | Electromechanical integrated device for sodium-cooled fast reactor irradiation device operation |
| CN103474112A (en) * | 2012-06-08 | 2013-12-25 | 中国核动力研究设计院 | Reactor internal hoisting tool |
| CN107742540A (en) * | 2017-10-17 | 2018-02-27 | 中国核动力研究设计院 | A kind of gripping apparatus changed for detector assembly and grasping means |
Non-Patent Citations (4)
| Title |
|---|
| Analysis and Simulation of a Gripper for Fuel Handling on China Lead-Based Research Reactor;Meihua Zeng等;《Nuclear Technology》;20180619;第204卷(第2期);第238-247页 * |
| 二代加核电堆内构件实堆辐照监督结构研究;方才顺 等;《核动力工程》;20151231;第36卷(第S2期);第30-32页 * |
| 核电站辐照样品抓具抓头部件承载力研究;刘慧芳 等;《核动力工程》;20180630;第39卷(第3期);第147-150页 * |
| 高温高压辐照装置结构设计及分析;张帅 等;《机械工程师》;20181231(第9期);第140-143页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109949954A (en) | 2019-06-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109949954B (en) | Irradiation supervisory tube remote gripping apparatus | |
| CN110570963B (en) | Filter core snatchs transfer device | |
| CN113581995B (en) | Hoisting device for engineering equipment installation | |
| CN113998448A (en) | Feeding manipulator based on automatic production line | |
| CN209906233U (en) | Assembled building lifting device | |
| CN110077956A (en) | A kind of suspender for handling product container | |
| CN201348883Y (en) | Subassembly gripping apparatus of old control rod | |
| CN112299257A (en) | Electric power iron tower overhauls equipment hoist device | |
| CN219239026U (en) | Pipeline hoisting device for building construction | |
| CN206156655U (en) | Lever block | |
| CN110655003B (en) | Wear-resistant rope supporting device for power transmission major | |
| CN217578162U (en) | Liftable support for construction engineering construction | |
| CN114906780A (en) | Well lid migration device | |
| CN211946053U (en) | Foundation construction handling device | |
| CN214935474U (en) | Hoisting device for air conditioner production | |
| CN111217256A (en) | Novel building installation hoist and mount device | |
| CN215100715U (en) | Automatic stacking device for building bricks and stones | |
| CN111302253B (en) | Hoisting device for construction | |
| CN216235629U (en) | Self-clamping lifting appliance for crane | |
| CN111101498B (en) | Automatic hooking device, automatic hooking method of dynamic compactor and dynamic compactor | |
| CN220578725U (en) | Intelligent control rotary straight shank hook | |
| CN111960257B (en) | Quick hoisting device of hoisting equipment | |
| CN212736009U (en) | Metal stacking manipulator | |
| CN220297147U (en) | Mechanical gripper device for automatically holding ores | |
| CN213503104U (en) | Auxiliary binding device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |