CN111702797A - Tool and method for grabbing foreign matters on collecting pipe of steam generator for nuclear power station - Google Patents
Tool and method for grabbing foreign matters on collecting pipe of steam generator for nuclear power station Download PDFInfo
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- CN111702797A CN111702797A CN202010594584.5A CN202010594584A CN111702797A CN 111702797 A CN111702797 A CN 111702797A CN 202010594584 A CN202010594584 A CN 202010594584A CN 111702797 A CN111702797 A CN 111702797A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
Abstract
The invention belongs to the technical field of foreign matter grabbing of nuclear power stations, and particularly discloses a foreign matter taking-out tool and a foreign matter taking-out method for a collecting pipe of a horizontal steam generator of a nuclear power unit, wherein the foreign matter grabbing tool comprises two different tool heads of grabbing and sucking types; by changing the size of the tool head and combining a plurality of tool heads, the foreign matter gripping tool and the method can be suitable for taking out larger and heavier foreign matters; the operation is convenient, the use is convenient, and the personnel can use the medical nursing bed after simple training; the foreign bodies are stably and firmly grabbed, and the risk of secondary foreign bodies is avoided; the foreign matter grabbing requirements of different depth gradients can be met by disassembling and assembling the lengthened rod assembly.
Description
Technical Field
The invention belongs to the technical field of foreign matter grabbing of nuclear power stations, and particularly relates to a foreign matter taking-out tool and method for a collecting pipe of a horizontal steam generator of a nuclear power unit.
Background
The primary side collecting pipe of the horizontal steam generator is 4.97 meters in total depth, and a process blocking plate with a sealing effect is installed at the position 4.7 meters deep of the collecting pipe in order to prevent the liquid lifting level from influencing the vortex detection of a heat transfer pipe of the collecting pipe during overhaul. Because need carry out the vortex in the pressure manifold and examine, the labour is examined, work such as stifled pipe, consequently, inevitable have the foreign matter that is big or small and fall on the closure plate, if do not take out these foreign matters, when demolising the closure plate, will cause the risk that the foreign matter falls into a return circuit, if artifical entering pressure manifold takes out, will produce the radiation risk again.
Under the usual condition, when the foreign matter falls into on the interior closure plate of collector pipe, if the foreign matter is spring, gasket, absorbent paper etc. use stock instrument anterior segment sticky tape to put into the collector pipe usually, cover the foreign matter surface, make strength press down the stock instrument simultaneously, make the foreign matter glue on the sticky tape, then slowly extract the collector pipe with the foreign matter. If the foreign object is a large and heavy object such as a bolt, the above method is not applicable, and the foreign object is usually taken out by drilling into the collecting pipe.
However, because water is usually present in the collector tube, the air transportation component for sticking the foreign matters by using the adhesive tape is relatively large, the foreign matters are not easy to stick after being wetted, and the time and the labor are consumed for sticking the foreign matters; meanwhile, when the artificial drilling is carried out in the collecting pipe, although the artificial drilling is quicker, the environmental dosage rate in the collecting pipe is very high, and the dosage rate of personnel exceeds the standard.
In consideration of the above difficulties, it is determined that a foreign object catching tool which is adjustable in length, applicable to various materials and capable of firmly fixing a foreign object on the tool needs to be designed.
Disclosure of Invention
The invention aims to provide a grabbing tool and a grabbing method for foreign matters in a collecting pipe of a steam generator for a nuclear power station, which can solve the problems of high fishing dose rate and high difficulty of foreign matters in the collecting pipe of a horizontal steam generator and can quickly and effectively salvage or take out the foreign matters falling into the collecting pipe of the horizontal steam generator.
The technical scheme for realizing the purpose of the invention is as follows: the utility model provides a snatch type steam generator pressure manifold foreign matter gripping tool for nuclear power station, this foreign matter gripping tool includes upper portion handle subassembly, fixing device, lower part handle subassembly, the extension pole subassembly, drive disk assembly and snatch type manipulator subassembly, fixing device and lower part handle subassembly are passed through to upper portion handle subassembly bottom, lower part handle subassembly bottom is passed through the extension pole subassembly and is connected with snatch type manipulator subassembly, upper portion handle subassembly bottom still is connected with the drive disk assembly top, the drive disk assembly bottom is connected with snatch type manipulator subassembly top, and drive disk assembly upper portion is located the stock subassembly.
The upper handle component comprises an upper handle, a threaded rod vertically fixed in the middle of the upper handle and a steel wire rope connecting rod coaxially fixed with the threaded rod.
The fixing device comprises an upper baffle threaded pipe, a left crank and a right crank which are respectively fixed on two sides of the upper baffle threaded pipe, and baffle threaded pipes which are coaxially fixed on the lower parts of the two cranks with the upper baffle threaded pipe.
The lower handle assembly comprises a lower handle and a threaded pipe vertically fixed in the middle of the lower handle; the threaded rod of the upper handle component is connected with the upper baffle threaded pipe and the baffle threaded pipe of the fixing device, and the steel wire rope connecting rod of the upper handle component is positioned in the threaded pipe; the lower handle of the lower handle assembly is connected with the threaded pipe of the lower baffle plate of the fixing device.
The screwed pipe of the lower handle component is connected with the top end of the long rod component.
The grabbing type manipulator assembly comprises a manipulator joint, a communicating rod fixed below the manipulator joint, a left manipulator fixed below the right of the communicating rod, a right manipulator connected with the right manipulator through a manipulator shaft, a pulling plate fixed on the middle upper portion of the right manipulator and a spring.
The top of the transmission part is connected with a steel wire rope connecting rod of the upper handle assembly, and the bottom of the transmission part is connected with a manipulator joint of the grabbing manipulator assembly; the bottom of the extension bar component is connected with a manipulator joint of the grabbing manipulator component.
A foreign matter grabbing method for a collecting pipe of a steam generator for a grabbing type nuclear power station comprises the following steps:
step 1, determining the number of lengthened rod assemblies according to different position depths of foreign matters in a collecting pipe;
step 2, assembling an upper handle assembly, a fixing device, a lower handle assembly, a lengthened rod assembly, a transmission part and a grabbing manipulator assembly of the grabbing foreign matter grabbing tool; the step 2 is as follows:
step 2.1, assembling an upper handle assembly and a fixing device;
step 2.2, assembling the fixing device and the lower handle assembly;
step 2.3, assembling a lower handle component and an extension rod component;
step 2.4, assembling an upper handle assembly and a transmission part;
step 2.5, assembling the transmission part and the grabbing type manipulator assembly to complete the assembly of the foreign matter grabbing tool;
step 2.6, assembling the lengthened rod assembly and the grabbing type manipulator assembly to complete the assembly of the foreign matter grabbing tool;
step 3, rotating the upper handle assembly and the lower handle assembly to confirm that the manipulator assembly can be normally opened, closed and clamped;
step 5, rotating the upper handle assembly in the direction far away from the lower handle assembly to enable the manipulator assembly to clamp foreign matters;
step 6, rotating the fixing device to fix the positions of the upper handle assembly and the lower handle assembly and firmly clamp foreign matters on the grabbing manipulator assembly;
and 7, lifting the grabbing type foreign matter grabbing tool out of the steam generator collecting pipe to complete foreign matter grabbing.
The step 2.1 specifically comprises the following steps: and the threaded rod and the steel wire rope connecting rod of the upper handle component penetrate through the upper baffle threaded pipe and the lower baffle threaded pipe of the fixing device, and the threaded rod is connected with the lower baffle threaded pipe and the upper baffle threaded pipe.
The step 2.2 specifically comprises the following steps: inserting a lower baffle threaded pipe of the fixing device into a threaded through hole of a lower handle of the lower handle assembly, connecting the lower baffle threaded pipe with the lower handle, and inserting a steel wire rope connecting rod of the upper handle assembly into the threaded pipe.
The step 2.3 specifically comprises the following steps: connecting the determined long rod components end to end, inserting the screwed pipe of the lower handle component into the screwed hole at the top end of the extension rod component, and connecting the screwed pipe with the top end of the extension rod component.
The step 2.4 specifically comprises the following steps: and the top end of the transmission component penetrates through a threaded hole of the lengthened rod component, a threaded pipe of the lower handle component and a threaded through hole of the lower handle, and the top end of the transmission component is connected with a steel wire rope connecting rod of the upper handle component.
The step 2.5 specifically comprises the following steps: and the bottom of the transmission part penetrates through the interior of the lengthened rod component, and the bottom of the transmission part is connected with the top end of a manipulator joint of the grabbing manipulator component.
The step 2.6 specifically comprises the following steps: and inserting the bottom of the lengthened rod component and a manipulator joint of the grabbing manipulator component into a threaded hole of the lengthened rod component, and connecting the top end of the manipulator joint with the lengthened rod component to complete the assembly of the foreign matter grabbing tool.
The step 3 specifically comprises the following steps: the upper handle assembly and the lower handle assembly rotate up and down, the steel wire rope connecting rod is driven to move up and down by rotation between the upper handle assembly and the lower handle assembly, and the steel wire rope connecting rod drives the transmission part, the manipulator joint, the communication rod, the spring and the pull plate to move up and down, so that the right manipulator is driven to normally open and close relative to the left manipulator, and the right manipulator and the left manipulator are guaranteed to clamp foreign matters.
The step 4 specifically comprises the following steps: and placing the lengthened rod component, the transmission component, the manipulator joint of the grabbing manipulator component, the communication rod, the left manipulator, the manipulator shaft, the right manipulator, the pulling plate and the spring into a steam generator collecting pipe.
The step 5 specifically comprises the following steps: the upper handle assembly is rotated, and the rotation between the upper handle assembly and the lower handle assembly drives the steel wire rope connecting rod, the transmission part, the manipulator joint, the communication rod, the spring and the pulling plate to move upwards, so that the right manipulator is driven to be opened relative to the left manipulator, and the foreign bodies are clamped by the left manipulator and the right manipulator.
The step 6 specifically comprises the following steps: the left crank and the right crank of the rotary fixing device drive the fixing device to rotate, so that the upper handle assembly and the lower handle assembly are fixed, the mechanical arm joint, the communication rod, the spring and the pull plate are fixed by the steel wire rope connecting rod, and therefore foreign matters are firmly clamped between the left mechanical arm and the right mechanical arm.
The utility model provides a absorb type steam generator pressure manifold foreign matter gripping tool for nuclear power station, this instrument includes lower part handle subassembly, extension pole subassembly and absorption type manipulator subassembly, and lower part handle subassembly passes through extension pole subassembly and is connected with absorption type manipulator subassembly.
The lower handle component comprises a lower handle and a screwed pipe, the screwed pipe is fixed in the middle of the lower handle, and the bottom of the screwed pipe is fixed in the top of the extension rod component.
The suction type manipulator assembly comprises an extension bar and a suction head, wherein the extension bar is fixed in the middle of the suction head; the top of the extension bar is fixed in the bottom of the extension bar component.
A foreign matter grabbing method for a collecting pipe of a steam generator for a suction type nuclear power station comprises the following steps:
step 1, determining the number of lengthening rod assemblies according to different position depths of foreign matters in a collecting pipe;
step 2, assembling a lower handle assembly, a lengthened rod assembly and a suction type manipulator assembly of the suction type foreign matter gripping tool, wherein the step 2 is as follows:
step 2.1, assembling a lower handle component and an extension rod component;
step 2.2, assembling the lengthened rod assembly and the suction type manipulator assembly;
step 3, testing the magnet attraction force of the attraction type tool;
step 5, sucking foreign matters in a collecting pipe of the steam generator by using a suction type tool;
and 6, extracting the suction type tool from the collector pipe to complete foreign matter grabbing.
The step 2.1 specifically comprises the following steps: and connecting the determined plurality of extension bar components in sequence, inserting the threaded pipe of the lower handle component into the threaded hole at the top end of the extension bar component, and connecting the threaded pipe with the top end of the extension bar component.
And 2.2, inserting the top of the extension bar of the suction type manipulator assembly into a threaded hole at the bottom of the extension bar assembly.
And 4, putting the lengthened rod component and the suction manipulator component of the assembled suction type tool into a steam generator collecting pipe.
And 5, sucking the foreign matters by using a suction head of the suction type mechanical arm assembly.
The invention has the beneficial technical effects that: (1) the foreign matter gripping tool provided by the invention has two different gripping and sucking tool heads, and foreign matters of various sizes and materials can be gripped by adopting the foreign matter gripping tool and the foreign matter gripping method, so that the foreign matter taking efficiency is improved. (2) The foreign matter gripping tool and the method can be suitable for taking out larger and heavier foreign matters by changing the size of the tool head and combining a plurality of tool heads. (3) The foreign matter gripping tool is convenient to obtain materials, all the parts can be suitable for manufacturing and combining stainless steel pipes, and the requirements on raw materials are not high. (4) The foreign matter gripping tool and the foreign matter gripping method are convenient to operate and use, and can be used by people after simple training. (5) The foreign matter gripping tool can be folded, and the occupied area is small. (6) The foreign matter gripping tool and the foreign matter gripping method are stable and firm in foreign matter gripping, and do not cause the risk of secondary foreign matters. (7) The length of the foreign matter gripping tool can be adjusted, the simplest mode is a detachable extension bar, the depth of the collecting pipe is 4.97 meters, in order to meet the gripping requirements of foreign matters with different depth gradients, the depth of 4.97 meters is split into 5 extension bar assemblies with the depth of 1 meter, the extension bar assemblies with the depth of 5 meters are used for connection, and the gripping requirements of the foreign matters with different depth gradients can be met by detaching the extension bar assemblies. (8) The foreign matter gripping tool and the foreign matter gripping method are applicable to foreign matters made of various materials, wherein the foreign matters are mainly made of steel, iron, polytetrafluoroethylene, rubber and paper products; because of the characteristic that steel and iron can be adsorbed by magnets, foreign matters are divided into two categories, namely foreign matters capable of being adsorbed by magnets and foreign matters incapable of being adsorbed by magnets; the foreign matter that can be adsorbed by magnet is planned to use magnet to absorb it out, and to the foreign matter that can not be adsorbed by magnet, plan to use the instrument like the clip to press from both sides it out. (9) When the foreign matter gripping tool and the foreign matter gripping method are used for gripping the foreign matters, the foreign matters can be fixed: after the foreign matter of iron and steel material is adsorbed by magnet, generally can not drop easily, what need consider is that can not be by the adsorbed foreign matter of magnet, is got the back by the clamp, if the handle loosens, the foreign matter will drop once more, consequently, sets up fixing device, when the back is cliied to the foreign matter, through adjusting fixing device, can realize tightly fixing the foreign matter on the clip.
Drawings
Fig. 1 is a schematic structural diagram of a foreign matter gripping tool for a collecting pipe of a steam generator for a nuclear power station according to the present invention;
FIG. 2 is a front view of the upper handle assembly provided by the present invention;
FIG. 3 is a left side view of the upper handle assembly shown in FIG. 2;
FIG. 4 is a top view of the upper handle assembly shown in FIG. 2;
FIG. 5 is a front view of a fixture according to the present invention;
FIG. 6 is a left side view of the fixture shown in FIG. 5;
FIG. 7 is a top view of the fixture shown in FIG. 5;
FIG. 8 is a front view of a portion handle assembly provided by the present invention;
FIG. 9 is a left side view of the partial handle assembly shown in FIG. 8;
FIG. 10 is a top view of the partial handle assembly shown in FIG. 8;
FIG. 11 is a front view of an extension rod assembly provided by the present invention;
FIG. 12 is a left side elevational view of the extension rod assembly illustrated in FIG. 11;
figure 13 is an assembly view of a pick-type robot assembly provided by the present invention;
figure 14 is a front view of a suction robot assembly provided by the present invention;
figure 15 is a left side view of the suction type robot assembly shown in figure 14;
fig. 16 is a bottom view of the suction type robot assembly shown in fig. 15.
In the figure: 1. the manipulator comprises an upper handle assembly, 2 parts of a fixing device, 3 parts of a lower handle assembly, 4 parts of a lengthening rod assembly, 5 parts of a transmission part, 6 parts of a grabbing manipulator assembly and 7 parts of a sucking manipulator assembly;
101. an upper handle, 102, a threaded rod, 103, a steel wire rope connecting rod;
201. an upper baffle threaded pipe, 202, a left crank, 203, a right crank, 204, a lower baffle threaded pipe; 301. lower handle, 302, lower handle threaded tube;
601. a manipulator joint, 602, a communication rod, 603, a left manipulator, 604, a manipulator shaft, 605, a right manipulator, 606, a pulling plate, 607 and a spring;
701. extension bar, 702, suction head.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1, the invention provides a gripping type foreign matter gripping tool for a steam generator collecting pipe of a nuclear power station, which comprises an upper handle assembly 1, a fixing device 2, a lower handle assembly 3, an extension rod assembly 4, a transmission part 5 and a gripping type manipulator assembly 6. The upper handle assembly 1, the fixing device 2, the lower handle assembly 3, the extension bar assembly 4, the transmission part 5 and the grabbing type manipulator assembly 6 are all one; wherein, extension bar subassembly 4 each is 1 meter length, can install additional according to length needs.
As shown in fig. 1, threaded connection is passed through to upper portion handle subassembly 1 bottom and fixing device 2 top, threaded connection is passed through to fixing device 2 bottom and lower part handle subassembly 3 top, threaded connection is passed through to lower part handle subassembly 3 bottom and extension bar subassembly 4 top, threaded connection is passed through with 5 one end of drive disk assembly in upper portion handle subassembly 1 bottom, after 3 bottoms of lower part handle subassembly and extension bar subassembly 4 top are connected, pass extension bar subassembly 4 and snatch type manipulator subassembly 6 through welded connection with the top of drive disk assembly 5, extension bar subassembly 4 bottom and snatch type manipulator subassembly 6 pass through threaded connection.
As shown in fig. 2 to 4, the upper handle assembly 1 includes an upper handle 101, a threaded rod 102, and a wire rope connecting rod 103, the top of the threaded rod 102 being vertically welded in the middle of the upper handle 101; the wire rope connecting rod 103 is vertically welded in the middle of the bottom of the threaded rod 102 and is coaxial with the threaded rod.
As shown in fig. 5 to 7, the fixing device 2 includes an upper baffle threaded pipe 201, a left crank 202, a right crank 203, and a lower baffle threaded pipe 204, the left crank 202 and the right crank 203 are symmetrically welded at two sides of the middle of the upper baffle threaded pipe 201 and the lower baffle threaded pipe 204, and a cylindrical cavity coaxial with both the upper baffle threaded pipe 201 and the lower baffle threaded pipe 204 is formed between the left crank 202 and the right crank 203.
As shown in fig. 8 to 10, the lower handle assembly 3 includes a lower handle 301, a threaded pipe 302, the threaded pipe 302 is vertically welded at the middle of the bottom of the lower handle 301, and the center of the lower handle 301 is provided with a threaded through hole with the same inner diameter as the threaded pipe 302. The lower baffle threaded pipe 204 of the fixing device 2 is inserted into the threaded through hole of the lower handle 301, and the two are connected by threads. The threaded rod 102 and the steel wire rope connecting rod 103 of the upper handle assembly 1 penetrate through the upper baffle threaded pipe 201 and the lower baffle threaded pipe 204 of the fixing device 2 and the threaded through hole of the lower handle 301 of the lower handle assembly 3, the threaded rod 102 is in threaded connection with the upper baffle threaded pipe 201 and the lower baffle threaded pipe 204, and the steel wire rope connecting rod 103 is located in the threaded pipe 302.
As shown in fig. 11 to 12, the extension bar assembly 4 is a hollow bar having a screw thread at the top end. The threaded pipe 302 of the lower handle assembly 3 is inserted into the threaded hole at the top end of the extension rod assembly 4, and the two are connected through threads.
As shown in fig. 1, the transmission member 5 in this example is a wire rope. The top end of the transmission part 5 passes through the threaded hole of the extension bar assembly 4, the threaded pipe 302 of the lower handle assembly 3 and the threaded through hole of the lower handle 301, and the top end of the transmission part 5 is fixedly connected with the steel wire rope connecting rod 103 in the threaded pipe 302 through threads. The bottom end of the transmission part 5 is connected with the grabbing manipulator assembly 6 in a welding mode, and the bottom end of the extension rod assembly 4 is connected with the grabbing manipulator assembly 6 in a threaded mode.
As shown in fig. 13, the grabbing type robot assembly 6 includes a robot joint 601, a communication rod 602, a left robot 603, a robot shaft 604, a right robot 605, a pulling plate 606 and a spring 607, the communication rod 602 is vertically welded at the bottom end of the robot joint 601, the left robot 603 and the right robot 605 are connected through the robot shaft 604, the outer side of the left robot 603 is welded at a notch below the communication rod 602, the bottom end of the pulling plate 606 is welded at a middle upper position in the outer side of the right robot 605, the top end of the pulling plate 606 is connected with the communication rod 602 through the spring 607, one end of the spring 607 is welded on the middle outer wall of the communication rod 602, and the other end of the spring 607 is welded at the top end. The top end of the mechanical arm joint 601 is welded with the transmission part 5, the mechanical arm joint 601 is inserted into the threaded hole of the extension bar assembly 4, and the top end of the mechanical arm joint 601 is connected with the extension bar assembly 4 through threads.
As shown in fig. 1 to 13, the method for grabbing foreign matters by using the foreign matter grabbing tool for the steam generator collecting pipe of the grabbing type nuclear power station comprises the following steps:
step 1, determining the number of extension bar assemblies 4 of a grabbing foreign matter grabbing tool according to different position depths of foreign matters in a collector pipe;
for example, in the embodiment, when the foreign matter is in a position 2.5 meters deep in the collecting pipe, 3 extension bar assemblies 4 with the length of 1 meter are adopted to ensure that the foreign matter gripping tool can grip the foreign matter in the collecting pipe.
Step 2, assembling an upper handle assembly 1, a fixing device 2, a lower handle assembly 3, an extension bar assembly 4, a transmission part 5 and a grabbing type manipulator assembly 6 of the grabbing type foreign matter grabbing tool
Step 2.1, assembling the upper handle assembly 1 and the fixture 2
The bottom of the upper handle assembly 1 is connected with the top of the fixing device 2 through threads. The specific assembly steps are as follows: the steel wire rope connecting rod 103 of the upper handle assembly 1 penetrates through an upper baffle plate threaded pipe 201 and a lower baffle plate threaded pipe 204 of the fixing device 2, and the threaded rod 102 is in threaded connection with the upper baffle plate threaded pipe 201 and the lower baffle plate threaded pipe 204.
Step 2.2, assembling the fixture 2 and the lower handle assembly 3
The bottom of the fixing device 2 is connected with the top of the lower handle component 3 through screw threads. The specific assembly steps are as follows: inserting the lower baffle plate threaded pipe 204 of the fixing device 2 into the threaded through hole of the lower handle 301 of the lower handle assembly 3, and connecting the lower baffle plate threaded pipe 204 with the lower handle 301 through threads; and the wire rope connecting rod 103 of the upper handle assembly 1 is inserted into the threaded pipe 302.
Step 2.3, assembling the lower handle assembly 3 and the extension bar assembly 4
In this embodiment, the extension rod assembly 4 is 3 identical hollow long rods with a length of 1 meter.
The bottom of the lower handle component 3 is connected with the top of the lengthening rod component 4 through screw threads. The specific assembly steps are as follows: 3 long rod components 4 are connected end to end sequentially through thread fixing, then a threaded pipe 302 of a lower handle component 3 is inserted into a threaded hole at the top end of the extension rod component 4, and the threaded pipe 302 is connected with the top end of the extension rod component 4 through threads.
Step 2.4, assembling the upper handle assembly 1 and the transmission part 5
The upper handle assembly 1 is connected with one end of the transmission part 5 through screw threads. The specific assembly steps are as follows: the top end of the transmission part 5 passes through the threaded hole of the extension bar assembly 4, the threaded pipe 302 of the lower handle assembly 3 and the threaded through hole of the lower handle 301, and the top end of the transmission part 5 is fixedly connected with the steel wire rope connecting rod 103 of the upper handle assembly 1 through threads.
Step 2.5, assembling the transmission part 5 and the grabbing type manipulator assembly 6
The bottom of the transmission part 5 penetrates through the interior of the extension rod assembly 4 to be connected with the top of the grabbing type manipulator assembly 6 in a welding mode. The specific assembly steps are as follows: the bottom of the transmission part 5 penetrates through the extension bar assembly 4, and the bottom of the transmission part 5 is connected with the top end of the manipulator joint 601 of the grabbing manipulator assembly 6 in a welding mode.
Step 2.6, assembling the extension rod assembly 4 and the grabbing manipulator assembly 6 to complete the assembly of the foreign matter grabbing tool
The bottom of the extension bar component 4 and the mechanical arm joint 601 of the grabbing type mechanical arm component 6 are inserted into the threaded hole of the extension bar component 4, and the top end of the mechanical arm joint 601 is connected with the extension bar component 4 through threads to complete the assembly of the foreign matter grabbing tool.
Step 3, manually rotating the upper handle assembly 1 and the lower handle assembly 3 up and down to confirm that the manipulator assembly 6 can be normally opened, closed and clamped;
the upper handle assembly 1 and the lower handle assembly 3 are manually rotated up and down, the upper handle assembly 1 and the lower handle assembly 3 are driven to move up and down by rotating threads, the wire rope connecting rod 103 drives the transmission part 5 to move up and down, the transmission part 5 drives the manipulator joint 601 of the grabbing manipulator assembly 6, the communication rod 602 moves up and down, the communication rod 602 drives the spring 607 to move up and down, the spring 607 pulls the pull plate 606 to move up and down, so that the right manipulator 605 is driven to rotate around the manipulator shaft 604 in a reciprocating manner, the right manipulator 605 is normally opened and closed relative to the left manipulator 603, and the normal opening and closing can ensure that the right manipulator 605 and the left manipulator 603 clamp to take foreign matters.
the extension bar component 4, the transmission component 5 and the mechanical arm component 6 of the grabbing type foreign matter grabbing tool which is assembled and can be confirmed to be normally opened, closed and clamped to grab foreign matters are placed into a steam generator collecting pipe, namely, the mechanical arm joint 601, the communication rod 602, the left mechanical arm 603, the mechanical arm shaft 604, the right mechanical arm 605, the pull plate 606 and the spring 607 of the extension bar component 4, the transmission component 5 and the grabbing type mechanical arm component 6 are all placed into the steam generator collecting pipe.
Step 5, manually rotating the upper handle assembly 1 in a direction away from the lower handle assembly 3 to enable the manipulator assembly 6 to clamp foreign objects
The position of the foreign matter in the steam generator collecting pipe is located, the upper handle assembly 1 is rotated upwards manually, the upper handle assembly 1 and the lower handle assembly 3 are rotated by threads to drive the steel wire rope connecting rod 103 to move upwards, the steel wire rope connecting rod 103 drives the transmission part 5 to move upwards, the transmission part 5 drives the manipulator joint 601 of the grabbing type manipulator assembly 6, the communication rod 602 moves upwards, the communication rod 602 drives the spring 607 to move upwards, the spring 607 pulls the pull plate 606 to move upwards, the right manipulator 605 is driven to rotate around the manipulator shaft 604, the right manipulator 605 is opened relative to the left manipulator 603, and the left manipulator 603 and the right manipulator 605 clamp the foreign matter.
Step 6, manually rotating the fixing device 2, fixing the positions of the upper handle assembly 1 and the lower handle assembly 3, and firmly clamping foreign matters on the grabbing manipulator assembly 6
The left crank 202 and the right crank 203 of the fixing device 2 are rotated manually to drive the fixing device 2 to rotate, so that the upper handle assembly 1 and the lower handle assembly 3 are fixed, the mechanical arm joint 601 and the communication rod 602 of the grabbing mechanical arm assembly 6 are fixed by the steel wire rope connecting rod 103 of the upper handle assembly 1, the communication rod 602 tensions the spring 607 and the pull plate 606, and therefore foreign matters are firmly clamped between the left mechanical arm 603 and the right mechanical arm 605 of the grabbing mechanical arm assembly 6.
And 7, lifting the grabbing type foreign matter grabbing tool out of the steam generator collecting pipe to complete foreign matter grabbing.
The extension bar component 4, the transmission component 5 and the grabbing manipulator component 6 for clamping the foreign matters of the grabbing foreign matter grabbing tool are lifted out of the steam generator collecting pipe, so that the foreign matter grabbing is completed.
Example 2
As shown in fig. 1, the tool for gripping foreign matters in a steam generator collecting pipe for a suction type nuclear power station according to the present invention includes a lower handle assembly 3, an extension bar assembly 4, and a suction type manipulator assembly 7. The bottom of the lower handle component 3 is inserted into the threaded hole at the top of the extension bar component 4 and is fixedly connected with the threaded hole, and the top of the suction type manipulator component 7 is inserted into the threaded hole at the bottom of the extension bar component 4 and is fixedly connected with the threaded hole. The lower handle component 3, the extension bar component 4 and the suction type manipulator component 7 are all one; wherein, extension bar subassembly 4 each is 1 meter length, can install additional according to length needs.
As shown in fig. 14 to 16, the suction type robot assembly 7 includes an extension bar 701 and a suction head 702. The extension bar 701 is vertically welded in the middle of the suction head 702, the suction head 702 is disc-shaped, four cylindrical through holes are uniformly arranged on the suction head 702 at intervals, and the cylindrical through holes are used for reducing weight. The top of extension bar 701 is inserted into a threaded hole at the bottom of extension bar component 4, and the two are fixedly connected through threads.
As shown in fig. 8 to 10, the lower handle assembly 3 includes a lower handle 301, a threaded pipe 302, the threaded pipe 302 is vertically welded at the middle of the bottom of the lower handle 301, and the center of the lower handle 301 is provided with a threaded through hole with the same inner diameter as the threaded pipe 302. The bottom of the threaded pipe 302 is inserted into a threaded hole at the top of the extension bar assembly 4, and the two are fixedly connected through threads.
As shown in fig. 1 to 12 and 14 to 16, a method for capturing foreign objects by using the foreign object capturing tool for the steam generator collecting pipe of the suction type nuclear power plant includes the following steps:
step 1, determining the number of extension bar assemblies 4 according to different position depths of foreign matters in a collecting pipe
For example, in the embodiment, when the foreign matter is in a position 4 meters deep in the collecting pipe, 5 long rod assemblies 4 with the length of 1 meter are adopted to ensure that the foreign matter gripping tool can grip the foreign matter in the collecting pipe.
Step 2, assembling a lower handle component 3, an extension bar component 4 and a suction type manipulator component 7 of the suction type foreign matter gripping tool
Step 2.1, assembling the lower handle assembly 3 and the extension bar assembly 4
In this embodiment, the extension rod assembly 4 is 5 identical hollow long rods with the length of 1 meter.
The bottom of the lower handle component 3 is connected with the top of the lengthening rod component 4 through screw threads. The specific assembly steps are as follows: 5 extension bar components 4 are connected end to end sequentially through thread fixing, then the screwed pipe 302 of the lower handle component 3 is inserted into the screwed hole at the top end of the extension bar component 4, and the screwed pipe 302 is connected with the top end of the extension bar component 4 through threads.
Step 2.2, assembling the extension bar assembly 4 and the suction type manipulator assembly 7
The bottom of the extension rod assembly 4 is connected with the top of the suction type manipulator assembly 7 through threads. The specific assembly steps are as follows: the top of the extension bar 701 of the suction type manipulator assembly 7 is inserted into the threaded hole at the bottom of the extension bar assembly 4, and the two are fixedly connected through threads.
Step 3, manually testing the magnet attraction of the suction type tool to ensure that the attraction is strong
The magnetic attraction of the suction head 702 of the suction type manipulator assembly 7 of the manual test suction type tool ensures strong attraction.
And placing the extension bar assembly 4 and the suction type manipulator assembly 7 of the assembled suction type tool into a steam generator collecting pipe.
Step 5, positioning the foreign body position, and sucking the foreign body in the collecting pipe of the steam generator by using a suction type tool
The position of the foreign matter in the steam generator header is located, and the foreign matter is sucked by using the suction head 702 of the suction type robot assembly 7.
And 6, extracting the suction type tool from the collector pipe to complete foreign matter grabbing.
The extension bar component 4 of the grabbing type foreign matter grabbing tool and the suction type manipulator component 7 for sucking the foreign matters are lifted out of the steam generator collecting pipe, so that the foreign matter grabbing is completed.
When foreign matter grabbing is carried out on site, before the foreign matter grabbing tool provided by the invention is used, the size, the material and the surface state of the foreign matter falling into the collecting pipe are judged, and then different types of tool heads are selected:
a) if the foreign body is large, the tool is suitable for a plurality of tool heads to be used simultaneously, and the foreign body is taken out;
b) if the foreign body is small, the foreign body can be taken out by a single tool head;
c) if the foreign matter material is iron, the suction type tool head is suitable to be selected to take out the foreign matter;
d) if the foreign matter material is non-iron, only the grabbing type tool head can be selected to take out the foreign matter;
e) in other cases, the combination and selection can be carried out according to the foreign matter condition.
For example, a steel valve is dropped into the collecting pipe, the valve is large in volume, and two half pipes which are not completely removed are arranged on two sides of the valve. The valve is made of iron, so that the suction type tool head is suitable to be selected. Because the valve is bulky, and general valve shape is irregular simultaneously, consequently judge and only rely on the type instrument head of absorption to be difficult to with its fixed, consider to adopt the type instrument head of absorption and snatch the scheme that the type instrument head worked simultaneously. Because two pipelines extending out of the two ends of the valve are arranged, the grabbing type tool head is suitable to be selected and used, and the grabbing type tool heads with large size, medium size and small size are selected according to the diameter of the visual inspection pipeline. In summary, it is conceivable to use a larger suction tool head to suck the valve body, and two gripping tool heads to simultaneously grip the two pipes on both sides of the valve, and simultaneously slowly lift the valve out of the collecting main.
The present invention has been described in detail with reference to the drawings and examples, but the present invention is not limited to the examples, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention. The prior art can be adopted in the content which is not described in detail in the invention.
Claims (26)
1. The utility model provides a snatch type steam generator pressure manifold foreign matter gripping tool for nuclear power station which characterized in that: this foreign matter gripping tool includes upper portion handle subassembly (1), fixing device (2), lower part handle subassembly (3), extension pole subassembly (4), drive disk assembly (5) and snatch type manipulator subassembly (6), fixing device (2) are passed through to upper portion handle subassembly (1) bottom and are connected with lower part handle subassembly (3), lower part handle subassembly (3) bottom is connected with snatching type manipulator subassembly (6) through extension pole subassembly (4), upper portion handle subassembly (1) bottom still is connected with drive disk assembly (5) top, drive disk assembly (5) bottom and snatch type manipulator subassembly (6) top are connected, and drive disk assembly (5) upper portion is located stock subassembly (4).
2. The grabbing tool for foreign matters in a steam generator collecting pipe for a nuclear power station as claimed in claim 1, wherein the grabbing tool comprises: the upper handle assembly (1) comprises an upper handle (101), a threaded rod (102) vertically fixed in the middle of the upper handle (101), and a steel wire rope connecting rod (103) coaxially fixed with the threaded rod (102).
3. The grabbing tool for foreign matters in a steam generator collecting pipe for a nuclear power station as claimed in claim 2, wherein the grabbing tool comprises: the fixing device (2) comprises an upper baffle threaded pipe (201), a left crank (202) and a right crank (203) which are respectively fixed on two sides of the upper baffle threaded pipe (201), and baffle threaded pipes (204) which are coaxially fixed on the lower parts of the two cranks with the upper baffle threaded pipe (201).
4. The grabbing tool for foreign matters in a steam generator collecting pipe for a nuclear power station as claimed in claim 3, wherein the grabbing tool comprises: the lower handle assembly (3) comprises a lower handle (301) and a threaded pipe (302) vertically fixed in the middle of the lower handle (301); a threaded rod (102) of the upper handle component (1) is connected with an upper baffle threaded pipe (201) and a baffle threaded pipe (204) of the fixing device (2), and a steel wire rope connecting rod (103) of the upper handle component (1) is positioned in a threaded pipe (302); the lower handle (301) of the lower handle assembly (3) is connected with the lower baffle threaded pipe (204) of the fixing device (2).
5. The grabbing tool for foreign matters in a steam generator collecting pipe for a nuclear power station as claimed in claim 4, wherein the grabbing tool comprises: the threaded pipe (302) of the lower handle component (3) is connected with the top end of the long rod component (4).
6. The grabbing tool for foreign matters in a steam generator collecting pipe for a nuclear power station as claimed in claim 5, wherein the grabbing tool comprises: the grabbing type mechanical arm assembly (6) comprises a mechanical arm joint (601), a communication rod (602) fixed below the mechanical arm joint (601), a left mechanical arm (603) fixed on the right lower side of the communication rod (602), a right mechanical arm (605) connected through a mechanical arm shaft (604), a pulling plate (606) fixed on the middle upper portion of the right mechanical arm (605), and a spring (607).
7. The grabbing tool for foreign matters in a steam generator collecting pipe for a nuclear power station as claimed in claim 6, wherein the grabbing tool comprises: the top of the transmission part (5) is connected with a steel wire rope connecting rod (103) of the upper handle assembly (1), and the bottom of the transmission part (5) is connected with a manipulator joint (601) of the grabbing manipulator assembly (6); the bottom of the lengthening rod component (4) is connected with a manipulator joint (601) of the grabbing manipulator component (6).
8. A method for grabbing foreign matters by using the foreign matter grabbing tool for the steam generator collecting pipe of the grabbing type nuclear power station as claimed in claim 7, wherein the method comprises the following steps:
step 1, determining the number of lengthening rod assemblies (4) according to different position depths of foreign matters in a collecting pipe;
step 2, assembling an upper handle assembly (1), a fixing device (2), a lower handle assembly (3), a lengthening rod assembly (4), a transmission part (5) and a grabbing manipulator assembly (6) of the grabbing foreign body grabbing tool; the step 2 is as follows:
step 2.1, assembling an upper handle assembly (1) and a fixing device (2);
step 2.2, assembling the fixing device (2) and the lower handle assembly (3);
step 2.3, assembling a lower handle assembly (3) and a lengthening rod assembly (4);
step 2.4, assembling the upper handle assembly (1) and the transmission part (5);
step 2.5, assembling the transmission part (5) and the grabbing manipulator assembly (6) to complete the assembly of the foreign matter grabbing tool;
step 2.6, assembling the lengthened rod assembly (4) and the grabbing manipulator assembly (6) to complete the assembly of the foreign matter grabbing tool;
step 3, rotating the upper handle assembly (1) and the lower handle assembly (3) to confirm that the manipulator assembly (6) can be normally opened, closed and clamped;
step 4, placing the grabbing foreign matter grabbing tool which is assembled and can be normally clamped into a steam generator collecting pipe;
step 5, rotating the upper handle assembly (1) in the direction far away from the lower handle assembly (3) to enable the manipulator assembly (6) to clamp foreign matters;
step 6, rotating the fixing device (2), fixing the positions of the upper handle assembly (1) and the lower handle assembly (3), and firmly clamping foreign matters on the grabbing manipulator assembly (6);
and 7, lifting the grabbing type foreign matter grabbing tool out of the steam generator collecting pipe to complete foreign matter grabbing.
9. The method for grabbing the foreign matter in the steam generator collecting pipe for the nuclear power plant as recited in claim 8, wherein the step 2.1 specifically comprises the following steps: a threaded rod (102) and a steel wire rope connecting rod (103) of an upper handle assembly (1) penetrate through an upper baffle plate threaded pipe (201) and a lower baffle plate threaded pipe (204) of a fixing device (2), and the threaded rod (102) is connected with the upper baffle plate threaded pipe (201) and the baffle plate threaded pipe (204).
10. The method for grabbing the foreign matter in the steam generator collecting pipe for the nuclear power plant according to claim 9, wherein the step 2.2 specifically comprises the following steps: inserting a lower baffle plate threaded pipe (204) of the fixing device (2) into a threaded through hole of a lower handle (301) of the lower handle assembly (3), connecting the lower baffle plate threaded pipe (204) with the lower handle (301), and inserting a steel wire rope connecting rod (103) of the upper handle assembly (1) into a threaded pipe (302).
11. The method for grabbing the foreign matter in the steam generator collecting pipe for the nuclear power plant as recited in claim 10, wherein the step 2.3 specifically comprises the following steps: connecting a plurality of determined long rod components (4) end to end, then inserting a threaded pipe (302) of a lower handle component (3) into a threaded hole at the top end of each long rod component (4), and connecting the threaded pipe (302) with the top end of each long rod component (4).
12. The method for grabbing the foreign matter in the steam generator collecting pipe for the nuclear power plant as recited in claim 11, wherein the step 2.4 specifically comprises the following steps: the top end of the transmission component (5) penetrates through a threaded hole of the lengthened rod component (4), a threaded pipe (302) of the lower handle component (3) and a threaded through hole of the lower handle (301), and the top end of the transmission component (5) is connected with a steel wire rope connecting rod (103) of the upper handle component (1).
13. The method for grabbing the foreign matter on the steam generator collecting pipe for the nuclear power plant as recited in claim 12, wherein the step 2.5 specifically comprises the following steps: and (3) penetrating the bottom of the transmission part (5) into the lengthened rod assembly (4), and connecting the bottom of the transmission part (5) with the top end of a manipulator joint (601) of the grabbing manipulator assembly (6).
14. The method for grabbing the foreign matter in the steam generator collecting pipe for the nuclear power plant as recited in claim 13, wherein the step 2.6 specifically comprises the following steps: and inserting the bottom of the lengthened rod component (4) and a manipulator joint (601) of the grabbing type manipulator component (6) into a threaded hole of the lengthened rod component (4), and connecting the top end of the manipulator joint (601) with the lengthened rod component (4) to finish the assembly of the foreign matter grabbing tool.
15. The method for grabbing the foreign matter on the steam generator collecting pipe for the nuclear power plant as recited in claim 14, wherein the step 3 specifically comprises the following steps: rotatory upper portion handle subassembly (1) and lower part handle subassembly (3) from top to bottom, rotation drive wire rope connecting rod (103) up-and-down motion between upper portion handle subassembly (1) and lower part handle subassembly (3), wire rope connecting rod (103) drive transmission part (5), manipulator joint (601), UNICOM pole (602), spring (607), arm-tie (606) up-and-down motion to drive right manipulator (605) and normally open and shut for left manipulator (603), guarantee that right manipulator (605) and left manipulator (603) are pressed from both sides and are got the foreign matter.
16. The method for grabbing the foreign matter on the steam generator collecting pipe for the nuclear power plant as recited in claim 15, wherein the step 4 specifically comprises the following steps: and placing the lengthened rod assembly (4), the transmission part (5) and a manipulator joint (601), a communicating rod (602), a left manipulator (603), a manipulator shaft (604), a right manipulator (605), a pulling plate (606) and a spring (607) of the grabbing manipulator assembly (6) into a steam generator collecting pipe.
17. The method for grabbing the foreign matter on the steam generator collecting pipe for the nuclear power plant as recited in claim 16, wherein the step 5 specifically comprises the following steps: go up rotatory upper portion handle subassembly (1), rotation between upper portion handle subassembly (1) and lower part handle subassembly (3) drives wire rope connecting rod (103), transmission part (5), manipulator joint (601), UNICOM pole (602), spring (607), arm-tie (606) upward movement to drive right manipulator (605) and open for left manipulator (603), make left manipulator (603) and right manipulator (605) clip the foreign matter.
18. The method for grabbing the foreign matter in the steam generator header pipe for the nuclear power plant according to claim 17, wherein the step 6 specifically comprises the following steps: the left crank (202) and the right crank (203) of the rotary fixing device (2) drive the fixing device (2) to rotate, so that the upper handle assembly (1) and the lower handle assembly (3) are fixed, the steel wire rope connecting rod (103) fixes the mechanical arm joint (601), the communication rod (602), the spring (607) and the pulling plate (606), and therefore foreign matters are firmly clamped between the left mechanical arm (603) and the right mechanical arm (605).
19. The utility model provides a absorb type steam generator pressure manifold foreign matter gripping means for nuclear power station which characterized in that: the tool comprises a lower handle assembly (3), a lengthened rod assembly (4) and a suction type manipulator assembly (7), wherein the lower handle assembly (3) is connected with the suction type manipulator assembly (7) through the lengthened rod assembly (4).
20. The grabbing tool for foreign matters in a steam generator collecting pipe for a nuclear power station as claimed in claim 19, wherein: the lower handle assembly (3) comprises a lower handle (301) and a threaded pipe (302), the threaded pipe (302) is fixed in the middle of the lower handle (301), and the bottom of the threaded pipe (302) is fixed in the top of the lengthening rod assembly (4).
21. The foreign matter gripping tool for a collecting pipe of a steam generator used in a suction type nuclear power station as claimed in claim 20, wherein: the suction type manipulator assembly (7) comprises an extension bar (701) and a suction head (702), wherein the extension bar (701) is fixed in the middle of the suction head (702); the top of the extension bar (701) is fixed in the bottom of the extension bar component (4).
22. A method for grabbing foreign matters by using the foreign matter grabbing tool for the steam generator collecting pipe of the suction type nuclear power station as claimed in claim 21, wherein the method comprises the following steps:
step 1, determining the number of lengthening rod assemblies (4) according to different position depths of foreign matters in a collecting pipe;
step 2, lower part handle subassembly (3), extension pole subassembly (4) and the type manipulator subassembly (7) of absorption type foreign matter snatching tool are assembled, and step 2 specifically as follows:
step 2.1, assembling a lower handle assembly (3) and a lengthening rod assembly (4);
step 2.2, assembling the lengthened rod assembly (4) and the suction type manipulator assembly (7);
step 3, testing the magnet attraction force of the attraction type tool;
step 4, putting the assembled suction type tool into a steam generator collector pipe;
step 5, sucking foreign matters in a collecting pipe of the steam generator by using a suction type tool;
and 6, extracting the suction type tool from the collector pipe to complete foreign matter grabbing.
23. The method for grabbing foreign matters on a collecting pipe of a steam generator for a suction type nuclear power station as claimed in claim 22, wherein the step 2.1 specifically comprises the following steps: and (3) connecting a plurality of determined lengthening rod assemblies (4) in sequence, then inserting a threaded pipe (302) of the lower handle assembly (3) into a threaded hole at the top end of each lengthening rod assembly (4), and connecting the threaded pipe (302) with the top ends of the lengthening rod assemblies (4).
24. The method for grabbing the foreign matters on the collecting pipe of the steam generator used in the suction type nuclear power station as claimed in claim 23, wherein the method comprises the following steps: and 2.24, inserting the top of the extension bar (701) of the suction type manipulator assembly (7) into a threaded hole at the bottom of the extension bar assembly (4).
25. The method for grabbing foreign matters on the collecting pipe of the steam generator used in the suction type nuclear power station as claimed in claim 24, wherein the method comprises the following steps: and 4, putting the lengthened rod assembly (4) and the suction manipulator assembly (7) of the assembled suction type tool into a steam generator collecting pipe.
26. The method for grabbing foreign matters on the collecting pipe of the steam generator used in the suction type nuclear power station as claimed in claim 25, wherein the method comprises the following steps: in the step 5, the foreign matter is sucked by using a suction head (702) of the suction type mechanical arm assembly (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010594584.5A CN111702797A (en) | 2020-06-28 | 2020-06-28 | Tool and method for grabbing foreign matters on collecting pipe of steam generator for nuclear power station |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010594584.5A CN111702797A (en) | 2020-06-28 | 2020-06-28 | Tool and method for grabbing foreign matters on collecting pipe of steam generator for nuclear power station |
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| CN111702797A true CN111702797A (en) | 2020-09-25 |
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| AU2003266534A1 (en) * | 2003-09-18 | 2005-04-11 | Nec Machinery Corporation | Collet, die bonder, and chip pick-up method |
| CN2744474Y (en) * | 2004-09-29 | 2005-12-07 | 王传祯 | Long-pole clamp |
| CN204214672U (en) * | 2014-11-20 | 2015-03-18 | 温州科技职业学院 | Portablely release earth boring auger |
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