CN113118669B - Rod bundle carrying clamp for picking up integrated end plate - Google Patents

Rod bundle carrying clamp for picking up integrated end plate Download PDF

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Publication number
CN113118669B
CN113118669B CN201911394289.9A CN201911394289A CN113118669B CN 113118669 B CN113118669 B CN 113118669B CN 201911394289 A CN201911394289 A CN 201911394289A CN 113118669 B CN113118669 B CN 113118669B
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CN
China
Prior art keywords
end plate
clamping jaw
connecting plate
clamping
bundle
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Application number
CN201911394289.9A
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Chinese (zh)
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CN113118669A (en
Inventor
习建勋
吕会
邓重威
王文革
李扬
范文林
赵彦超
李爽
李旭
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China North Nuclear Fuel Co Ltd
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China North Nuclear Fuel Co Ltd
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Priority to CN201911394289.9A priority Critical patent/CN113118669B/en
Publication of CN113118669A publication Critical patent/CN113118669A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • 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
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • 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
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • 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
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • De-Stacking Of Articles (AREA)

Abstract

The utility model provides a stick bundle transport anchor clamps that integrated end plate picked up, includes end plate pickup mechanism and stick bundle fixture, and wherein stick bundle fixture includes 2 stick bundle clamping jaws, middle level assembly and lower floor assembly; the end plate picking mechanism and the rod bundle clamping mechanism are respectively used for clamping the end plate and the rod bundle; the end plate pickup mechanism comprises a pickup mechanism connecting plate, a guide plate, a position sensor, a central limiting rod and 3 end plate adsorption heads; the guide plate is arranged on the connecting plate, the position sensor is arranged on the connecting plate, and the end plate adsorption head and the central limiting rod penetrate through the connecting plate and the guide plate; the 3 end plate adsorption heads are connected with the vacuum gas circuit; the bar bundle clamping jaw comprises a clamping jaw connecting plate and 2 clamping jaws; the clamping jaw comprises a clamping jaw shell and a clamping jaw lining, wherein the clamping jaw shell and the clamping jaw lining are connected through screws, and the clamping jaw shell is connected with a clamping jaw connecting plate.

Description

Rod bundle carrying clamp for picking up integrated end plate
Technical Field
The invention relates to nuclear fuel element manufacturing, in particular to a rod bundle handling clamp for integrated end plate pickup.
Background
The nuclear fuel element limited company in the middle and north builds a CANDU-6 type nuclear fuel element production line only in China, wherein equipment used in the end plate welding procedure is 2 semi-automatic end plate welding machines. Semi-automatic welding machine bar bundle carrying is carried out by manually pushing bar bundles and tools thereof to move on a linear guide rail; and the blanking of the bar bundles is to hook an end plate at one end of the bar bundles by using 6 grapples in a hoist, and the bar bundles are pulled out of the tool and placed on a blanking trolley. For end plate installation, semi-automatic welders use manual placement of the end plates into end plate holders and manual attachment to the rod cluster tool. In order to reduce personnel and increase efficiency and improve the welding quality and the technical level of the finished product bar end plate, the company develops a full-automatic end plate welding machine through self-standing scientific research. In order to realize automatic robot handling of the bundles and automatic installation of the end plates, a set of bundle handling clamps which are integrated with end plate pickup are required to be designed in a nonstandard mode, so that successful development of a full-automatic end plate welding machine is ensured.
Disclosure of Invention
The invention aims at: the end plate can be automatically arranged for two end plate welding stations in the welding process of the full-automatic end plate of the Candu-6 nuclear fuel rod bundle by the design of the rod bundle carrying clamp and the installation of the rod bundle carrying clamp to the tail end of the robot, the rod bundle with one welded end is pulled out of the tool, the rod bundle is turned over by 180 degrees and is installed in a clamp holder of a welding station at the second end, and finally the rod bundle is automatically discharged. The clamp can maintain the retractability of 37 fuel elements at the non-welded end after the rod bundle is extracted from the tool. In the processes of carrying the bar bundles and installing the end plates, products cannot be dropped under any condition (power failure, gas failure and the like), and the bar bundles are protected from force overload during installation.
The technical scheme of the invention is as follows: the utility model provides a stick bundle transport anchor clamps that integrated end plate picked up, includes end plate pickup mechanism and stick bundle fixture, and wherein stick bundle fixture includes 2 stick bundle clamping jaws, middle level assembly and lower floor assembly; the end plate picking mechanism and the rod bundle clamping mechanism are respectively used for clamping the end plate and the rod bundle;
the end plate pickup mechanism comprises a pickup mechanism connecting plate, a guide plate, a position sensor, a central limiting rod and 3 end plate adsorption heads; the guide plate is arranged on the connecting plate, the position sensor is arranged on the connecting plate, and the end plate adsorption head and the central limiting rod penetrate through the connecting plate and the guide plate; the 3 end plate adsorption heads are connected with the vacuum gas circuit;
the bar bundle clamping jaw comprises a clamping jaw connecting plate and 2 clamping jaws; the clamping jaw comprises a clamping jaw shell and a clamping jaw lining, the clamping jaw shell is connected with the clamping jaw lining through a screw, and the clamping jaw shell is connected with a clamping jaw connecting plate;
the middle layer assembly comprises 2 sets of clamping cylinders, 2 sets of linear guide rails A, a middle connecting plate and a self-locking buckle; the clamping cylinder is connected with the clamping jaw connecting plate, and the sliding blocks of the 2 sets of linear guide rails A are connected with the clamping jaw connecting plate;
the lower layer assembly comprises a bottom connecting plate, a force transducer and a linear guide rail B; the sliding block of the linear guide rail B is connected with the middle connecting plate through a screw, and the force transducer is connected with the bottom connecting plate through a screw.
The guide plate is arranged on the connecting plate through screws.
The position sensor is arranged on the connecting plate through a bracket.
Each adsorption head is provided with a spring.
The clamping jaw shell and the clamping jaw lining are connected through screws.
The clamping jaw lining is provided with a corrugated semicircular arc groove matched with the shape of the bar bundle in the circumferential direction.
The clamping jaw lining is provided with a U-shaped circular groove in the axial direction.
Wherein the clamping cylinder is connected with the clamping jaw connecting plate through a screw.
The sliding blocks of the 2 sets of linear guide rails A are connected with the clamping jaw connecting plates through screws.
The self-locking buckle comprises 1 air cylinder and 2 buckles
The invention has the remarkable effects that: the rod bundle carrying clamp can achieve the functions of picking up and installing end plates through vacuum adsorption, 2 sets of rod bundle clamping jaws can draw out rod bundles from the tool, carry the rod bundles, discharge and the like, and the design meets the functional requirements.
The clamp is designed with a self-locking function, so that the situation that the bundles fall down due to power failure and gas failure in the bundle carrying process can be prevented.
When the clamp is used for drawing the bar bundles and installing the bar bundles, the axial external force of the bar bundles can be detected in real time, and damage to products or equipment caused by overload is prevented.
Drawings
FIG. 1 is a schematic illustration of a rod bundle handling fixture for integrated end plate pickup;
FIG. 2 is a schematic diagram of an end plate picking mechanism of the rod bundle handling clamp for integrated end plate picking;
FIG. 3 is a schematic view of a bundle clamping jaw of a bundle handling fixture for integrated end plate pick-up;
FIG. 4 is a schematic view of a cluster tool intermediate connection plate for integrated end plate picking;
FIG. 5 is a schematic view of a bundle handling clamp clamping cylinder with integrated end plate pickup;
FIG. 6 is a schematic view of the lower assembly of the rod cluster tool with integrated end plate pickup;
in the figure: 01 end plate pickup mechanism, 02 end plate, 03 bar bundle clamping jaw, 04 bar bundle, 05 middle layer assembly, 06 lower layer assembly,
A pickup mechanism connecting plate 101, a guide plate 102, a position sensor 103, a plate adsorption head 104, and a center stopper 105;
jaw connection plate 301, jaw liner 302, jaw housing 303
Tight cylinder 501, linear guide A502, middle connecting plate 503 and self-locking buckle 504
Bottom connecting plate 601, load cell 602 and linear guide B603
Detailed Description
Rod bundle carrying clamp for picking up integrated end plate
The device comprises an end plate pickup mechanism 01 and a bar bundle clamping mechanism, wherein the bar bundle clamping mechanism comprises 2 bar bundle clamping jaws 03, a middle layer assembly 05 and a lower layer assembly 06; end plate pickup mechanism 01 and bundle clamping mechanism are used for respectively picking up clamping of end plate 02 and bundle 04
The end plate pickup mechanism 01 includes a pickup mechanism connecting plate 101, a guide plate 102, a position sensor 103, a center stopper 105, and 3 end plate suction heads 104. The guide plate 102 is arranged on the connecting plate 101 through bolts, the position sensor 103 is arranged on the connecting plate 101 through a bracket, and the end plate adsorption head 104 and the center limiting rod 105 penetrate through the connecting plate 101 and the guide plate 102; the 3 end plate adsorption heads 104 are connected with a vacuum gas circuit to pick up and mount the end plates, and in addition, each adsorption head 104 is provided with a spring for playing a buffering role when adsorbing the end plates 02. When the middle limiting rod 105 can detect that the mechanism picks up the end plate, the adsorption head 104 presses down the operation displacement amount, and when the displacement amount is out of tolerance, the middle limiting rod 405 can be made to move, so that the position sensor 103 is triggered. The mechanism is characterized in that a vacuum adsorption pickup end plate is adopted, and limit protection measures are designed.
The bundle jaw 03 comprises a jaw connecting plate 301 and 2 jaws. The clamping jaw comprises a clamping jaw outer shell 303 and a clamping jaw inner liner 302, and can be directly replaced by the inner liner after being worn in use. Jaw housing 303 and jaw liner 302 are connected by screws, and jaw housing 303 is connected to jaw web 301 by screws. The gripping jaw liner 302 is circumferentially configured with a corrugated semicircular groove that matches the profile of the bundle to prevent rotation of the bundle in the circumferential direction during bundle handling. The clamping jaw lining 302 is provided with a U-shaped circular groove in the axial direction, and can clamp a supporting pad of the rod bundle, so that the rod bundle can be pulled out of the tool and axially positioned during carrying.
The middle layer assembly 05 comprises 2 sets of clamping cylinders 501, 2 sets of linear guide rails A502, a middle connecting plate 503 and a self-locking buckle 504. Wherein 2 sets of clamping cylinders 501 are connected with the clamping jaw connecting plates 301 through screws, so that clamping and loosening of the bar bundles can be realized. The sliding blocks of the 2 sets of linear guide rails A502 are connected with the clamping jaw connecting plates 301 through screws, so that guidance during clamping and loosening of the bar bundles can be realized. The self-locking buckle 504 comprises 1 cylinder and 2 buckle parts, and when the stick bundle is tight, the self-locking buckle 504 can be spacing with clamping cylinder 501 extension end by two buckles of cylinder drive, prevents to loosen the clamping jaw under the condition such as outage, drops the stick bundle.
The lower assembly 06 includes a bottom web 601, a load cell 602, and a pair of linear guides B603. The slider of the linear guide B603 is connected to the intermediate connection plate 503 by a screw, and can move in the axial direction according to the direction of force when the bundle is clamped. The pair of load cells 602 are connected to the bottom connection plate 601 by screws, and can detect the axial load force when clamping the bundle. The bottom connection plate 601 may be connected according to a robot or other mechanism.

Claims (10)

1. The utility model provides a stick bundle transport anchor clamps that integrated end plate picked up which characterized in that: the device comprises an end plate pick-up mechanism (01) and a bar bundle clamping mechanism, wherein the bar bundle clamping mechanism comprises 2 bar bundle clamping jaws (03), a middle layer assembly (05) and a lower layer assembly (06); the end plate picking mechanism (1) and the rod bundle clamping mechanism are respectively used for clamping the end plate (02) and the rod bundle (04);
the end plate pickup mechanism (01) comprises a pickup mechanism connecting plate (101), a guide plate (102), a position sensor (103), a center limiting rod (105) and 3 end plate adsorption heads (104); the guide plate (102) is arranged on the connecting plate (101), the position sensor (103) is arranged on the connecting plate (101), and the end plate adsorption head (104) and the center limiting rod (105) penetrate through the connecting plate (101) and the guide plate (102); the 3 end plate adsorption heads (104) are connected with a vacuum gas circuit;
the bar bundle clamping jaw (03) comprises a clamping jaw connecting plate (301) and 2 clamping jaws; the clamping jaw comprises a clamping jaw shell (303) and a clamping jaw lining (302), wherein the clamping jaw shell (303) and the clamping jaw lining (302) are connected through screws, and the clamping jaw shell (303) is connected with a clamping jaw connecting plate (301);
the middle layer assembly (05) comprises 2 sets of clamping cylinders (501), 2 sets of linear guide rails A (502), a middle connecting plate (503) and a self-locking buckle (504); wherein the clamping cylinder (501) is connected with the clamping jaw connecting plate (301), and the sliding blocks of the 2 sets of linear guide rails A (502) are connected with the clamping jaw connecting plate (301);
the lower layer assembly (06) comprises a bottom connecting plate (601), a force transducer (602) and a linear guide rail B (603); the sliding block of the linear guide rail B (603) is connected with the middle connecting plate (503) through a screw, and the force transducer (602) is connected with the bottom connecting plate (601) through a screw;
the bundle handling jig is mounted to the robot tip.
2. An integrated end plate picked-up rod bundle handling clamp according to claim 1, characterized in that: the guide plate (102) is mounted on the connecting plate (101) by screws.
3. An integrated end plate picked-up rod bundle handling clamp according to claim 1, characterized in that: the position sensor (103) is mounted on the connecting plate (101) through a bracket.
4. An integrated end plate picked-up rod bundle handling clamp according to claim 1, characterized in that: each suction head (104) is provided with a spring.
5. An integrated end plate picked-up rod bundle handling clamp according to claim 1, characterized in that: the jaw housing (303) and the jaw liner (302) are connected by screws.
6. An integrated end plate picked-up rod bundle handling clamp according to claim 1, characterized in that: the clamping jaw lining (302) is provided with a corrugated semicircular arc groove matched with the shape of the bar bundle in the circumferential direction.
7. An integrated end plate picked-up rod bundle handling clamp according to claim 1, characterized in that: the clamping jaw lining (302) is provided with a U-shaped circular groove in the axial direction.
8. An integrated end plate picked-up rod bundle handling clamp according to claim 1, characterized in that: wherein the clamping cylinder (501) is connected with the clamping jaw connecting plate (301) through a screw.
9. An integrated end plate picked-up rod bundle handling clamp according to claim 1, characterized in that: the sliding blocks of the 2 sets of linear guide rails A (502) are connected with the clamping jaw connecting plates (301) through screws.
10. An integrated end plate picked-up rod bundle handling clamp according to claim 1, characterized in that: the self-locking buckle (504) comprises 1 cylinder and 2 buckles.
CN201911394289.9A 2019-12-30 2019-12-30 Rod bundle carrying clamp for picking up integrated end plate Active CN113118669B (en)

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Application Number Priority Date Filing Date Title
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CN113118669B true CN113118669B (en) 2023-05-12

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