CN1958246A - Gravity type automatic gripping apparatus - Google Patents
Gravity type automatic gripping apparatus Download PDFInfo
- Publication number
- CN1958246A CN1958246A CN 200610144995 CN200610144995A CN1958246A CN 1958246 A CN1958246 A CN 1958246A CN 200610144995 CN200610144995 CN 200610144995 CN 200610144995 A CN200610144995 A CN 200610144995A CN 1958246 A CN1958246 A CN 1958246A
- Authority
- CN
- China
- Prior art keywords
- gripping apparatus
- barrel body
- push rod
- type automatic
- gravity type
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005484 gravity Effects 0.000 title claims abstract description 12
- 210000000078 claw Anatomy 0.000 claims abstract description 24
- 239000000446 fuel Substances 0.000 description 28
- 238000010586 diagram Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 210000002683 foot Anatomy 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000002915 spent fuel radioactive waste Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a gravity type automatic gripping apparatus, which provides a full-automatic gripping apparatus driven by gravity, which has simple structure, small volume, light weight, quick operation, safety and reliability, and the apparatus mainly comprises an upper barrel body and a lower barrel body which are movably connected; a safety shifting rod which moves up and down is embedded in the upper barrel body; the lower barrel body is composed of a grab body, a cylinder, a grab body, claws, a push rod and a slide block, the grab body is movably connected with the cylinder to form a frame, the grab body is provided with a through groove and a semi-through groove in the axial direction in the mutually perpendicular direction, the head of the cylinder is provided with a lower force limiter, the claws are connected with the grab body, the slide block is connected with the push rod in a pin connection mode, the end part of the push rod is provided with a cam, the upper part of the push rod is provided with two rows of annular grooves, and the end part of the lower barrel body is provided with an; the clamping force of the upper force limiter is greater than the clamping force of the lower force limiter. The invention is applicable to the field needing the gripping apparatus.
Description
Technical field
The present invention relates to is a kind of fuel assembly automatic grasper field, particularly a kind of sliding jaw device that uses cam.
Background technology
In the reactor refuling process, have many to operating process new, irradiated fuel assembly, the majority operation environment has hot, spentnuclear fuel enters when preserving the pond access and also will operate under water, personnel can not be approaching in these operating process, must adopt the special-purpose gripping apparatus that grasps single fuel assembly.And the mechanical transmission-type gripping apparatus of traditional dynamic input of gripping apparatus and electromagnetic type gripping apparatus, the mechanical transmission-type gripping apparatus of power input will lean on motor or manpower to pass to claw by the transmission mechanism of centre, because personnel can not be close, transmission mechanism will could arrive claw by the transmission of long distance, has increased the complexity of gripping apparatus; The electromagnetic type gripping apparatus is to drive claw under the effect of generation electromagnetic force to operate when electromagnet is switched on, equally, because operating personnel can not be near operation, gripping apparatus is wanted the long cable of traction, and the cable of traction is a conspicuous burden when gripping apparatus moves up and down or shift, simultaneously for underwater operation, cable certainly will will enter and have under water radioactively, constitutes a kind of unsafe factor; More than two kinds of traditional gripping apparatus need manual control under many circumstances in the operation of grasping and discharge, convenient inadequately, increased maloperation, extracting and the releasing operation for fuel assembly tends to bring serious consequence like this.
Summary of the invention
The present invention has overcome deficiency of the prior art, provide a kind of simple in structure, volume is little, in light weight, swift to operate, safe and reliable by the full-automatic gripping apparatus of weight-driven.
In order to solve the problems of the technologies described above, the present invention is achieved by the following technical solutions:
This device mainly is movably connected to form by upper barrel body and lower barrel body; The embedded safe shift rod that moves up and down of upper barrel body; Lower barrel body is interior by the gripping apparatus body, cylinder, claw, push rod, slide block is formed, the gripping apparatus body is a cylinder on the whole, its top is taper, external cylindrical surface is provided with counterbore, gripping apparatus body and the cylinder frame that constitutes by an active connection, the gripping apparatus body is opened groove and half groove vertically on orthogonal direction, the head of cylinder is provided with the bottom force-limiting device, claw is connected on the gripping apparatus body, and two claws at grade, and slide block is connected with push rod with the pin ways of connecting, slide block can be done 360 ° of rotations around pin, the end of push rod is provided with cam, and top has two row's annular grooves, and following entire body end is provided with the top force-limiting device; The clamping force of top force-limiting device is greater than the clamping force of bottom force-limiting device.
Described gripping apparatus body is provided with two safety poles at grade.The plane at described safety pole place becomes 90 ° with the plane at claw place.The end of described safety pole is equipped with roller.Described top force-limiting device is made up of spring and ball.Described bottom force-limiting device is made up of spring and ball.Described upper barrel body end is connected with lifting bolt.Described flexible connection is that screw thread or bolt connect.
Compared with prior art, the invention has the beneficial effects as follows: when this device grasps fuel assembly, put down again the pull-up gripping apparatus and just can pick up fuel assembly, when discharging fuel assembly, put down pull-up gripping apparatus more equally, just can be put into the position to fuel assembly, and this moment a pull-up gripping apparatus itself, make it to be in again and treat seized condition.This apparatus structure is simple, volume is little, in light weight, simple operation also can be pinned and automatic unlocking automatically, when being discharged into assembly downwards to the position of regulation, do not open claw, after discharging a segment distance downwards again, open claw again, guarantee the security reliability of operation, improved operating efficiency greatly.
Description of drawings
The structural representation of Fig. 1 (a) and (b) gripping apparatus
Fig. 2 puts down the state diagram that unloaded gripping apparatus removes to grasp fuel assembly
Fig. 3 push rod grasps the state diagram of fuel assembly to the foot desire
Fig. 4 push rod is caught the state diagram of fuel assembly to topmost
Fig. 5 push rod discharges fuel assembly the state diagram that puts in place to foot
Fig. 6 discharges the state diagram behind the fuel assembly
Fig. 7 picks up the state diagram behind the fuel assembly
The specific embodiment
Below in conjunction with the accompanying drawing and the specific embodiment the present invention is described in further detail:
Mainly be movably connected to form as this device of Fig. 1 (a) and (b) by upper barrel body 2 and lower barrel body 4; The upper barrel body 2 embedded safe shift rods 3 that move up and down; Lower barrel body 4 is interior by gripping apparatus body 6, cylinder 5, claw 11, push rod 9, slide block 10 is formed, gripping apparatus body 6 is a cylinder on the whole, its top is taper, external cylindrical surface is provided with counterbore, gripping apparatus body 6 and cylinder 5 frame that constitutes by an active connection, gripping apparatus body 6 is opened groove and half groove vertically on orthogonal direction, the head of cylinder 5 is provided with bottom force-limiting device 12, claw 11 is connected on the gripping apparatus body 6, and two claws 11 at grade, and slide block 10 is connected with push rod 9 with the pin ways of connecting, slide block 10 can be done 360 ° of rotations around pin, the end of push rod 9 is provided with cam, and top has two row's annular grooves, and lower barrel body 4 ends are provided with top force-limiting device 13; The clamping force of top force-limiting device 13 is greater than the clamping force of bottom force-limiting device 12.
Gripping apparatus body 6 is provided with two safety poles 3 at grade, and this plane becomes 90 ° with the plane at claw place.The end of described safety pole 3 is equipped with roller 14.Top force-limiting device 13 is made up of spring and ball, and bottom force-limiting device 12 is made up of spring and ball.Described upper barrel body 2 ends are connected with lifting bolt 1.Described flexible connection is that screw thread or bolt connect.
This device course of work mainly comprises four main processes and a process of having assisted the safeguard protection effect:
Be illustrated in figure 2 as and put down the state diagram that unloaded gripping apparatus removes to grasp fuel assembly, when putting down unloaded gripping apparatus under the effect of gripping apparatus at hoist cable and go to grasp fuel assembly, claw is in the state of opening under push rod 9 action of cam, in the ball embedded groove of the force-limiting device 13 on top and the limiter 12 of bottom, when the restraint of the force-limiting device 13 on top is 9kgf (90N), the restraint of the force-limiting device 12 of bottom is 5kgf (50N).This be consider safe shift rod 3, push rod 9, slide block 10 and fixedly the gross mass of the assembly that pin constituted of slide block be 4kg; Except that the assembly of upper barrel body 2 and lower barrel body 4, the gross mass of gripping apparatus is 13.4kg.In this state, safety pole 8 is oppressed by lower barrel body 4, and its head no longer compresses the cam path of push rod 9 ends, and promptly push rod 9 in the vertical directions are no longer blocked by safety pole 8, can move down.The head of fuel assembly has entered gripping apparatus body 6 and has supported whole gripping apparatus.
Figure 3 shows that the state diagram of push rod 9 to foot desire extracting fuel assembly, when continuing to transfer hoist cable, push rod 9 and safe shift rod 3 move downward, until being blocked by gripping apparatus body 6.In this process, when slide block 10 moves down with push rod 9 and the touching of the pyramidal projections in the gripping apparatus body 6, so slide block 10 can change an angle along the center of bearing pin.Because the restraint position 90N of top force-limiting device 13, the restraint position 50N of bottom force-limiting device 12, in the process that push rod 9 and safe shift rod 3 move down, the ball of bottom force-limiting device 12 is extruded.
Figure 4 shows that push rod 9 catches the state diagram of fuel assembly to topmost, when the pull-up hoist cable push rod 9 with on move, the cam of push rod 9 ends tightens up claw.This moment, slide block 10 was owing to turned over an angle, move past in the journey and the interior rib touching of the shoulder hole of cylinder 5 inside last, become vertical state so continue gyration until length direction, slide block 10 no longer is stuck on the inwall of cylinder 5 shoulder holes, and push rod 9 has more leeway to move upward.When push rod 9 moved to the extreme position on top, the cam of its end was locked claw, and the ball of bottom force-limiting device 12 embeds in the bottom annular groove of push rod 9 under the effect of spring simultaneously.
Figure 5 shows that push rod 9 discharges the state diagram put in place to foot with fuel assembly, hoist cable is transferred to certain altitude after, fuel assembly arrives assigned address and puts well, gripping apparatus body 6 is pressed on the fuel assembly.This moment, push rod 9 arrived the extreme position of foots, and the angle of slide block 10 and the inner conical surface touching of gripping apparatus body 6 can turn over an angle, during the pull-up hoist cable, moved the inwall touching of slide block 10 and cylinder 5 shoulder holes on the push rod 9 again.The recovering state of gripping apparatus is to situation shown in Figure 1.
Fig. 6 represents to discharge the state behind the fuel assembly, and Fig. 7 represents to pick up the state behind the fuel assembly.
Fuel assembly is discharged the state put in place see shown in Figure 5ly, this moment, push rod 9 was blocked by bottom force-limiting device 12, and clamping force is 50N; Upper barrel body 2 and lower barrel body 4 block safe shift rod under 13 effects of top force-limiting device, clamping force is 90N, upper barrel body 2 and lower barrel body 4 comparatively safe shift rods 3 have a section to move on the direction that makes progress, draw hoist cable on continuing this moment, the weight of wanting pull-up is 134N, and clamping force only is 90N, so the ball of top force-limiting device 13 can be extruded the groove of safe shift rod 3, upper barrel body 2 and lower barrel body 4 comparatively safe shift rods 3 will move up, and fit until the upper surface of lower barrel body 4 and the lower surface of safe shift rod 3 steps.At this moment, safety pole 8 is pressed to centerline direction under the effect of spring, and retaining can not move downward push rod 9 in the end of push rod 9 just when being blocked by pin, thereby guarantees that claw 11 is in promptly state.At this moment, long distance is arranged between the roller 14 of lower barrel body 4 and safety pole 8 ends, and upper barrel body 2 and lower barrel body 4 will move a long segment distance along safe shift rod 3 just can make claw 11 unclamp, if meet other objects, " buffering " effect of this segment distance is arranged, can avoid assembly to come off.Simultaneously when discharging fuel assembly, if find that by observing the position is not right, because this section safe distance long enough, but the pull-up hoist cable discharges fuel assembly again to correct position, so just can prevent effectively that fuel assembly from misplacing the position and damage or cause the accident.
Claims (8)
1. gravity type automatic grasper, it mainly is movably connected to form by upper barrel body (2) and lower barrel body (4); The embedded safe shift rod (3) that moves up and down of upper barrel body (2); Lower barrel body (4) is interior by gripping apparatus body (6), cylinder (5), claw (11), push rod (9), slide block (10) is formed, gripping apparatus body (6) is a cylinder on the whole, its top is taper, external cylindrical surface is provided with counterbore, gripping apparatus body (6) and cylinder (5) frame that constitutes by an active connection, gripping apparatus body (6) is opened groove and half groove vertically on orthogonal direction, the head of cylinder (5) is provided with bottom force-limiting device (12), claw (11) is connected on the gripping apparatus body (6), and two claws at grade, slide block (10) is connected with push rod (9) with the pin ways of connecting, slide block (10) can be done 360 ° of rotations around pin, the end of push rod (9) is provided with cam, and top has two row's annular grooves, and lower barrel body (4) end is provided with top force-limiting device (13); The clamping force of top force-limiting device (13) is greater than the clamping force of bottom force-limiting device (12).
2. gravity type automatic grasper according to claim 1 is characterized in that, described gripping apparatus body (6) is provided with two safety poles (8) at grade.
3. gravity type automatic grasper according to claim 2 is characterized in that, the plane at described safety pole (8) place becomes 90 ° with the plane at claw (11) place.
4. gravity type automatic grasper according to claim 2 is characterized in that, the end of described safety pole (8) is equipped with roller (14).
5. gravity type automatic grasper according to claim 1 is characterized in that, described top force-limiting device (13) is made up of spring and ball.
6. gravity type automatic grasper according to claim 1 is characterized in that, described bottom force-limiting device (12) is made up of spring and ball.
7. gravity type automatic grasper according to claim 1 is characterized in that, described upper barrel body (2) end is connected with lifting bolt (1).
8. gravity type automatic grasper according to claim 1 is characterized in that, described flexible connection is that screw thread or bolt connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101449954A CN100430189C (en) | 2006-11-29 | 2006-11-29 | Gravity type automatic gripping apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101449954A CN100430189C (en) | 2006-11-29 | 2006-11-29 | Gravity type automatic gripping apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1958246A true CN1958246A (en) | 2007-05-09 |
| CN100430189C CN100430189C (en) | 2008-11-05 |
Family
ID=38070174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101449954A Active CN100430189C (en) | 2006-11-29 | 2006-11-29 | Gravity type automatic gripping apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100430189C (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101853709A (en) * | 2010-03-15 | 2010-10-06 | 中国原子能科学研究院 | Electromechanical integrated device for sodium-cooled fast reactor irradiation device operation |
| CN101850545A (en) * | 2010-03-15 | 2010-10-06 | 中国原子能科学研究院 | Manipulator for disassembling and assembling lifting bucket of fast reactor loading and unloading material hoister |
| CN101540213B (en) * | 2009-04-21 | 2012-02-15 | 中国原子能科学研究院 | Fuel assembly transfer machine |
| CN101546613B (en) * | 2009-04-21 | 2012-05-02 | 中国原子能科学研究院 | Grab for storage barrel |
| CN101740145B (en) * | 2008-11-20 | 2012-08-08 | 中国核电工程有限公司 | New control rod assembly gripping apparatus |
| CN111660260A (en) * | 2020-05-25 | 2020-09-15 | 中核核电运行管理有限公司 | Heavy water reactor spent fuel dry-type storage underwater manual emergency fuel basket operation tool |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2165500A1 (en) * | 1971-12-30 | 1973-07-05 | Kernforschung Gmbh Ges Fuer | Nuclear reactor core tensioning system - using gravity and sliding wedge operated jaws |
| IT1188326B (en) * | 1986-01-28 | 1988-01-07 | Marzoli & C Spa | TUBE GRIPPING OR SIMILAR DEVICE FOR EQUIPMENT FOR THE AUTOMATIC CHANGE OF SHEETS IN TEXTILE MACHINES |
| CN2594235Y (en) * | 2002-05-11 | 2003-12-24 | 李君鹏 | Automatic gravitational hoist of rotary permanent magnetic crane |
| CN1182542C (en) * | 2003-01-10 | 2004-12-29 | 清华大学 | Automatic distant gravitational escapement |
| CN2756605Y (en) * | 2004-12-07 | 2006-02-08 | 陈西安 | Hoisting slings special for nuclear waste bucket |
-
2006
- 2006-11-29 CN CNB2006101449954A patent/CN100430189C/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101740145B (en) * | 2008-11-20 | 2012-08-08 | 中国核电工程有限公司 | New control rod assembly gripping apparatus |
| CN101540213B (en) * | 2009-04-21 | 2012-02-15 | 中国原子能科学研究院 | Fuel assembly transfer machine |
| CN101546613B (en) * | 2009-04-21 | 2012-05-02 | 中国原子能科学研究院 | Grab for storage barrel |
| CN101853709A (en) * | 2010-03-15 | 2010-10-06 | 中国原子能科学研究院 | Electromechanical integrated device for sodium-cooled fast reactor irradiation device operation |
| CN101850545A (en) * | 2010-03-15 | 2010-10-06 | 中国原子能科学研究院 | Manipulator for disassembling and assembling lifting bucket of fast reactor loading and unloading material hoister |
| CN101850545B (en) * | 2010-03-15 | 2012-05-23 | 中国原子能科学研究院 | Manipulator for disassembling and assembling lifting bucket of fast reactor loading and unloading material hoister |
| CN101853709B (en) * | 2010-03-15 | 2012-09-12 | 中国原子能科学研究院 | Electromechanical integrated device for sodium-cooled fast reactor irradiation device operation |
| CN111660260A (en) * | 2020-05-25 | 2020-09-15 | 中核核电运行管理有限公司 | Heavy water reactor spent fuel dry-type storage underwater manual emergency fuel basket operation tool |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100430189C (en) | 2008-11-05 |
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| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
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