CN110682283A - Rotatable emergency gripping device for cobalt isotope production element - Google Patents
Rotatable emergency gripping device for cobalt isotope production element Download PDFInfo
- Publication number
- CN110682283A CN110682283A CN201911060183.5A CN201911060183A CN110682283A CN 110682283 A CN110682283 A CN 110682283A CN 201911060183 A CN201911060183 A CN 201911060183A CN 110682283 A CN110682283 A CN 110682283A
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- China
- Prior art keywords
- gripper
- cylinder
- piston
- isotope production
- cobalt isotope
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- 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.)
- Pending
Links
- 229910017052 cobalt Inorganic materials 0.000 title claims abstract description 43
- 239000010941 cobalt Substances 0.000 title claims abstract description 43
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 title claims abstract description 43
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 36
- 239000000463 material Substances 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 230000001154 acute effect Effects 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 2
- XLYOFNOQVPJJNP-ZSJDYOACSA-N Heavy water Chemical compound [2H]O[2H] XLYOFNOQVPJJNP-ZSJDYOACSA-N 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- GUTLYIVDDKVIGB-OUBTZVSYSA-N Cobalt-60 Chemical compound [60Co] GUTLYIVDDKVIGB-OUBTZVSYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- GUTLYIVDDKVIGB-IGMARMGPSA-N cobalt-59 atom Chemical compound [59Co] GUTLYIVDDKVIGB-IGMARMGPSA-N 0.000 description 1
- 239000002915 spent fuel radioactive waste Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of nuclear power maintenance, and particularly relates to a rotatable emergency grabbing device for a cobalt isotope production element. Rotatable emergency gripping tool of cobalt isotope production element includes: the device comprises a first cylinder, a second cylinder, a first connecting frame, a gripper and a connecting rod; a first piston of the first air cylinder is connected with the gripper through a bearing structure, and the first air cylinder can control the gripper to move back and forth along the movement direction of the first piston by driving the first piston to move; the second piston of the second cylinder is movably connected with one end of the connecting rod, an included angle is formed between the second piston and the connecting rod, the other end of the connecting rod is connected with the bearing structure, and the second cylinder drives the second piston to move so as to push the rotating shaft to rotate to different angles and drive the gripper to rotate to different positions around the rotating shaft. The embodiment of the disclosure can be more flexibly adapted to the grabbing work of the cobalt isotope production elements at different positions and angles, so that the grabbing efficiency of operators is improved, and the safety risk of the operators is reduced.
Description
Technical Field
The invention belongs to the technical field of nuclear power maintenance, and particularly relates to a rotatable emergency grabbing device for a cobalt isotope production element.
Background
In the related technology, a heavy water reactor resource is used for producing a cobalt isotope, after irradiation of a reactor for one period, cobalt 59 is changed into cobalt 60, the cobalt isotope rod bundle belongs to a high-radiation element, a series of processing operations are required to be carried out on the cobalt isotope rod bundle in a spent fuel water pool, the processed cobalt isotope rod bundle is loaded into a hanging basket through a special tool, so that the hanging basket is conveniently loaded into a shielding transport container, but in the underwater production process, the situations that a cobalt isotope production element is loosened and falls off and the like can occur, a common grabbing tool cannot grab the disassembled cobalt isotope production element, and the safety risk of operators is increased. Therefore, how to effectively capture the disassembled cobalt isotope production element becomes a problem to be solved urgently.
Disclosure of Invention
In order to overcome the problems in the related art, a rotatable emergency gripping device for a cobalt isotope production element is provided.
According to an aspect of an embodiment of the present disclosure, there is provided a rotatable emergency gripping device for a cobalt isotope production element, the rotatable emergency gripping device comprising: the device comprises a first cylinder, a second cylinder, a first connecting frame, a gripper and a connecting rod;
a first piston of the first air cylinder is connected with the gripper through a bearing structure, and the first air cylinder can control the gripper to move back and forth along the movement direction of the first piston by driving the first piston to move;
the second piston of the second cylinder is movably connected with one end of the connecting rod, an included angle is formed between the second piston and the connecting rod, the other end of the connecting rod is connected with the bearing structure, the second cylinder drives the second piston to move so as to push the rotating shaft to rotate to different angles, and therefore the gripper is driven to rotate to different positions around the rotating shaft.
In a possible implementation manner, the first cylinder is connected with the second cylinder through a connecting frame body.
In one possible implementation, the connecting rod is L-shaped
In one possible implementation, the first cylinder can also drive the gripper to open or close.
In one possible implementation, the gripper comprises a first gripper head and a second gripper head.
In a possible implementation manner, when the first gripping head and the second gripping head are closed, the contour of a space enclosed between the first gripping head and the second gripping head is matched with the contour of the cross section of the cobalt isotope rod.
In one possible implementation, when the first gripping head and the second gripping head are closed, the contour of the space enclosed between the first gripping head and the second gripping head is matched with the contour of the collar of the cobalt isotope production element.
In one possible implementation, the material of the gripper is stainless steel.
The invention has the beneficial effects that: the rotatable emergent grabbing device of cobalt isotope production component of this disclosed embodiment can reciprocate through first cylinder control gripper to can rotate through second cylinder control gripper, can control the gesture that the gripper formed multiple angle from this, with the work of grabbing of the cobalt isotope production component of more nimble adaptation different positions and angle, promote operating personnel's the efficiency of snatching from this, reduce operating personnel's safety risk.
Drawings
Fig. 1 is a front view of a rotatable emergency gripping apparatus for a cobalt isotope production element, shown in accordance with an exemplary embodiment.
Fig. 2 is a side view of a rotatable emergency gripping apparatus for a cobalt isotope production element, shown in accordance with an exemplary embodiment.
Fig. 3 is a partial schematic view of a gripper of a rotatable emergency gripping apparatus for a cobalt isotope production element shown in accordance with an exemplary embodiment.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
Fig. 1 is a front view of a rotatable emergency gripping apparatus for a cobalt isotope production element, shown in accordance with an exemplary embodiment. Fig. 2 is a side view of a rotatable emergency gripping apparatus for a cobalt isotope production element, shown in accordance with an exemplary embodiment. As shown in fig. 1 and 2, the rotatable emergency gripping tool for a cobalt isotope production element may include: the device comprises a first cylinder 1, a second cylinder 2, a connecting frame 3, a gripper 4 and a connecting rod 5.
In the embodiment of the present disclosure, the types of the first cylinder and the second cylinder may be the same or different, and the embodiment of the present disclosure does not limit this.
As an example of this embodiment, the first piston 11 of the first cylinder 1 may be connected to the gripper 4 through a bearing structure 6, for example, the bearing structure 6 may be a bearing, the end of the first piston 11 may be connected to the gripper 4 through a bearing, and rotating the rotation shaft of the bearing to different angles may enable the gripper 4 to rotate to different positions around the end of the first piston 11. Furthermore, the gripper 4 can be controlled to move back and forth along the movement direction of the first piston 11 by driving the first piston 11 to move;
the first cylinder 1 and the second cylinder 2 may be connected to each other through the connecting frame 3, where the connecting frame may be, for example, a frame structure formed by welding bar steel, the specific form of the connecting frame is not limited in the embodiment of the present disclosure, the second cylinder 2 may be connected to the middle of the first cylinder 1 through the connecting frame 3, and the second cylinder 2 may be connected to the first cylinder 1 in an inclined manner, so that an included angle is formed between a movement track of the first piston 11 of the first cylinder 1 and a movement track of the second piston 21 of the second cylinder 2.
The tip of the second piston 21 of the second cylinder 2 can be movably connected with one end of the connecting rod 55, for example, the tip of the second piston 21 can be connected with one end of the connecting rod 55 through a movable bearing, an included angle can be formed between the second piston 21 and the connecting rod 55, the other end of the connecting rod 55 is connected with the bearing structure 6, when the second piston 21 is driven by the second cylinder 2 to move, the connecting rod 55 can drive the bearing structure 6 to rotate to different angles, so that the gripper 4 is driven to rotate to different positions around the rotating shaft. In one possible implementation, the connecting rod 55 may be L-shaped, for example.
The rotatable emergent grabbing device of cobalt isotope production component of this disclosed embodiment can reciprocate through 1 control grabhook 4 of first cylinder to can rotate through 2 control grabhooks of second cylinder, can control grabhook 4 and form the gesture of grabbing of multiple angle from this, with the work of grabbing of the cobalt isotope production component of more nimble adaptation different positions, promote operating personnel's the efficiency of grabbing from this, reduce operating personnel's safety risk.
In a possible implementation, the first cylinder 1 can also drive the gripper 4 to open or close. For example, an air pump connected to the first cylinder 1 may be controlled to inflate the first cylinder 1 to open the gripper 4, and the air pump may be controlled to draw air from the first cylinder 1 to close the gripper 4.
In one possible implementation, as shown in fig. 2, the gripper may comprise a first gripper head 41 and a second gripper head 42. The first gripper head 41 and the second gripper head 42 can be opened and closed relatively to grip an object.
For example, in the case that the first gripping head 41 and the second gripping head 42 are closed, the contour of the space enclosed between the first gripping head 41 and the second gripping head 42 may be adapted to the contour of the cross section of the cobalt isotope rod. Therefore, operators can grab the scattered cobalt isotope rods easily. Further mention is made of the efficiency of grasping cobalt isotope production elements.
Fig. 3 is a partial schematic view of a gripper of a rotatable emergency gripping apparatus for a cobalt isotope production element shown in accordance with an exemplary embodiment. As shown in fig. 3, when the first and second gripping heads 41 and 42 are closed, the contour of the space enclosed between the first and second gripping heads 41 and 42 may be matched with the contour of the collar of the cobalt isotope production element, wherein the contour of the space enclosed between the first and second gripping heads may be rectangular. Therefore, the operator can easily grab the scattered clamping ring retainer ring of the cobalt isotope production element. Further mention is made of the efficiency of grasping cobalt isotope production elements.
It should be noted that the gripper 4 may also include a plurality of grippers, and the shape of the gripper 4 is not limited in the embodiment of the present disclosure.
In one possible implementation, the material of the gripper may be stainless steel.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. It is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
Claims (8)
1. A rotatable emergency gripping device for a cobalt isotope production element, the rotatable emergency gripping device comprising: the device comprises a first cylinder, a second cylinder, a connecting frame, a gripper and a connecting rod;
a first piston of the first air cylinder is connected with the gripper through a bearing structure, and the first air cylinder can control the gripper to move back and forth along the movement direction of the first piston by driving the first piston to move;
the second piston of the second cylinder is movably connected with one end of the connecting rod, an included angle is formed between the second piston and the connecting rod, the other end of the connecting rod is connected with the bearing structure, and the second cylinder drives the second piston to move to push the rotating shaft to rotate so as to drive the gripper to rotate around the rotating shaft.
2. The rotatable emergency gripping device of a cobalt isotope production element of claim 1, wherein the first cylinder is connected to the second cylinder by a connection frame.
3. The rotatable emergency gripping device of a cobalt isotope production element of claim 1, wherein an angle between a direction of movement of the first piston and a direction of movement of the second piston is an acute angle.
4. The rotatable emergency gripping device of a cobalt isotope production element of claim 1, wherein the first cylinder is further capable of actuating the gripper to open or close.
5. The rotatable emergency gripping device of a cobalt isotope production element of claim 1, wherein the gripper comprises a first gripper head and a second gripper head.
6. The rotatable emergency gripping device of a cobalt isotope production element of claim 5, wherein the first gripping head and the second gripping head, when brought together, enclose a space profile between the first gripping head and the second gripping head that is adapted to the profile of the cross section of the cobalt isotope rod.
7. The rotatable emergency gripping device of claim 5, wherein the first gripping head and the second gripping head, when closed, have a contour of a space enclosed therebetween that is adapted to a contour of a collar of a cobalt isotope production element.
8. The rotatable emergency gripping device of a cobalt isotope production element of claim 1, wherein the material of the gripper is stainless steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911060183.5A CN110682283A (en) | 2019-11-01 | 2019-11-01 | Rotatable emergency gripping device for cobalt isotope production element |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911060183.5A CN110682283A (en) | 2019-11-01 | 2019-11-01 | Rotatable emergency gripping device for cobalt isotope production element |
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| Publication Number | Publication Date |
|---|---|
| CN110682283A true CN110682283A (en) | 2020-01-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911060183.5A Pending CN110682283A (en) | 2019-11-01 | 2019-11-01 | Rotatable emergency gripping device for cobalt isotope production element |
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| CN (1) | CN110682283A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101734550A (en) * | 2008-11-20 | 2010-06-16 | 中国核电工程有限公司 | Novel fuel assembly gripping apparatus |
| DE102013112312B3 (en) * | 2013-11-08 | 2015-01-08 | Askion Gmbh | Gripping device for gripping and depositing objects along at least one movement axis |
| CN106513914A (en) * | 2017-01-05 | 2017-03-22 | 深圳市同达康电子设备有限公司 | Cantilever welding module |
| CN207736279U (en) * | 2017-07-12 | 2018-08-17 | 鲁叶飞 | A kind of cylindrical workpiece fixture |
| CN209125854U (en) * | 2018-10-18 | 2019-07-19 | 中山绿威科技有限公司 | A kind of robot gripper |
| CN209401321U (en) * | 2018-12-21 | 2019-09-17 | 核动力运行研究所 | A kind of device for realizing the unlock of control rod drive rod |
| CN211729168U (en) * | 2019-11-01 | 2020-10-23 | 中核核电运行管理有限公司 | Rotatable emergency gripping device for cobalt isotope production element |
-
2019
- 2019-11-01 CN CN201911060183.5A patent/CN110682283A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101734550A (en) * | 2008-11-20 | 2010-06-16 | 中国核电工程有限公司 | Novel fuel assembly gripping apparatus |
| DE102013112312B3 (en) * | 2013-11-08 | 2015-01-08 | Askion Gmbh | Gripping device for gripping and depositing objects along at least one movement axis |
| CN106513914A (en) * | 2017-01-05 | 2017-03-22 | 深圳市同达康电子设备有限公司 | Cantilever welding module |
| CN207736279U (en) * | 2017-07-12 | 2018-08-17 | 鲁叶飞 | A kind of cylindrical workpiece fixture |
| CN209125854U (en) * | 2018-10-18 | 2019-07-19 | 中山绿威科技有限公司 | A kind of robot gripper |
| CN209401321U (en) * | 2018-12-21 | 2019-09-17 | 核动力运行研究所 | A kind of device for realizing the unlock of control rod drive rod |
| CN211729168U (en) * | 2019-11-01 | 2020-10-23 | 中核核电运行管理有限公司 | Rotatable emergency gripping device for cobalt isotope production element |
Non-Patent Citations (1)
| Title |
|---|
| 贾保军;刘永骏;张远;周礼;李会义;刘红雨;邹鹏;: "核电厂新型抓取工具的设计与应用", 机械研究与应用, no. 05, 29 October 2018 (2018-10-29) * |
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