CN209625810U - A driving mechanism for a safety rod - Google Patents

Abstract

The utility model discloses a kind of safe rod drive mechanisms, including spindle drive chain, the spindle drive chain includes the second driving part, transmission shaft and main shaft, it is additionally provided with multiple rack gears on the main shaft, further includes being rotated with rack tooth meshed gears, second driving part by transmission shaft sliding tooth wheel, the lower end of the main shaft is further fixed on handle component, the main shaft is hollow shaft, and the handle component includes at least two claws, and each claw passes through articulated shaft and is articulated on main shaft；It further include handgrip transmission chain, the handgrip transmission chain includes central axis, the first driving part, and first driving part is used to that central axis to be driven to rotate around the axis of central axis；The central axis is threaded through in main shaft；The bottom of the central axis is further fixed on cam, and when cam is with central axis rotation, cam changes the size in the clamping gap by applying pressure to the inside of claw.It is convenient that safety rod drive mechanism has the characteristics that realization is reloaded.

Description

A driving mechanism for a safety rod

technical field

The utility model relates to the technical field of nuclear power, in particular to a driving mechanism for a safety bar.

Background technique

The safety rod driving mechanism (control rod driving mechanism) is an important part or equipment in the reactor, and its lower end is connected to the safety rod (control rod), such as for releasing the safety rod to realize the emergency shutdown of the reactor under emergency conditions. During the normal operation of the reactor, the safety rod is kept at the highest position for a long time. Once an accident occurs, the restriction of the driving mechanism of the safety rod changes, and the safety rod is quickly inserted into the core, so that the reactor can be shut down in an emergency, thereby ensuring the safety of the reactor.

Designing a reliable and easy-to-use safety rod driving mechanism is an important direction for those skilled in the art to develop a safety rod driving mechanism.

Utility model content

Aiming at the above-mentioned design of a reliable and easy-to-use safety rod driving mechanism, it is an important direction for those skilled in the art to develop a safety rod driving mechanism. The utility model provides a safety rod driving mechanism. The safety rod The driving mechanism has the characteristics of realizing convenient refueling.

A safety rod driving mechanism provided by the utility model solves the problem through the following technical points: a safety rod driving mechanism includes a main shaft transmission chain, and the main shaft transmission chain includes a second driving part, a transmission shaft and a main shaft, and the main shaft A plurality of racks are also arranged on the top, and the plurality of racks are arranged along the axial direction of the main shaft, and a gear meshing with the rack teeth is also included. The second drive part drives the gear to rotate through the transmission shaft, and the lower end of the main shaft is also A gripper part for clamping a safety rod is fixed, the main shaft is a hollow shaft, and the gripper part includes at least two claws, each claw is hinged on the main shaft through a hinge shaft, and the lower ends of the claws are surrounded by into a clamping gap for clamping the safety bar;

It also includes a grip transmission chain, the grip transmission chain includes a central shaft and a first driving component, and the first driving component is used to drive the central shaft to rotate around the axis of the central shaft;

The central axis is installed in the main shaft;

The bottom of the central shaft is also fixed with a cam, and when the cam rotates with the central shaft, the cam changes the size of the clamping gap by applying pressure to the inside of the claw.

In this solution, the second driving component is used to drive the transmission shaft to rotate: the gear rotates under the action of the transmission shaft. Since the main shaft is also provided with a plurality of racks, during the rotation of the gear, the gear rotates along the axis of the main shaft. The meshing position changes, that is, when the position of the gear is fixed in space, according to the forward and reverse rotation of the gear, the main shaft can be driven to complete the upward and downward insertion actions, so as to achieve the purpose of changing the position of the safety rod at the lower end of the main shaft in the reactor.

In the prior art, for refueling the safety rod, it is generally as follows: After the main shaft and the safety rod are lowered to the bottom, the connection between the main shaft and the safety rod must be removed. However, in the existing form of cooperation between the main shaft and the safety rod, it is generally done manually. Apply a thrust or pull force along the vertical direction to the main shaft to complete the separation or connection of the main shaft and the safety bar. For example, for the sealed environment of the sodium-cooled fast neutron reactor, in order to obtain a closed environment or facilitate the operation safety, it is not suitable to complete the connection of the main shaft and the safety rod through the above-mentioned push or pull form. In this solution, the first driving part is used to drive the central shaft to rotate. During the rotation of the central shaft, the cam applies pressure to the inner side of the claw to change the size of the clamping gap to realize refueling. The gripper part releases the safety bar and grabs the safety bar during the process. If there is only one cam, the edge of the cam acts on at least one claw to restrict the opening angle of the gap between the claws. If the elastic member is arranged between the claws and the main shaft, the rotation of the cam can be achieved. The gap first becomes larger and then smaller, and by changing the size of the gap, the clamping state of the gripper part to the safety bar is changed, and the purpose of refueling is achieved. Compared with the existing method of pushing and pulling the main shaft, since the main shaft only moves in a straight line in the vertical direction and does not rotate during use, and the position of the jaws in the height direction will change, it is adopted In this scheme, in the specific application, a stroke tube can be set on the upper end of the central shaft. The length of the above stroke tube is used to adapt to the displacement of the central shaft in the vertical direction with the main shaft, and the stroke tube is connected with the central shaft by a key, that is, when the main shaft moves The upper end of the central shaft always maintains a key connection relationship with the stroke tube that can transmit torque. When the cam needs to rotate, it is sufficient to drive the stroke tube to rotate so that the cam follows. The axial position can be set to be fixed, and like this, the stroke tube and the corresponding drive mechanism for driving the stroke tube to rotate during normal operation of the safety rod drive mechanism will not have any influence on the lifting and lower insertion of the safety rod. Compared with the existing implementation method of pushing and pulling the main shaft, to realize the above action, it only needs to apply torque to the central shaft through the first driving part, such as using a servo motor to drive. This solution can avoid the traditional artificial Operating the main shaft to realize the release and capture of the safety rod is not suitable for the problem of confined space. At the same time, the rotation of the central shaft increases the difficulty of sealing. Simple, especially suitable for applications such as sodium-cooled fast neutron reactors.

In this solution, it is set that the main shaft is a hollow shaft, and the central shaft passes through the main shaft, so that the entire driving mechanism can be compact in structure and require less space. In specific use, it is preferable to set the main shaft and the gripper part to be the same as the main shaft and the same down, such as the lowest position that the central shaft can fall relative to the main shaft through the grip part, and the first drive part and the second drive part are only It only needs to output torque, and both of them can use servo motors. Considering the working environment of the first drive part and the second drive part, it is preferable to set the first drive part and the second drive part to be located at the casing of the drive mechanism. outside. In this way, since the main shaft needs to move in the vertical direction when it is working, the connection form between the first driving part and the central shaft can be connected by a flexible shaft or a stroke tube. Does not affect the normal operation of the main shaft transmission chain: when the main shaft is raised and lowered, when the position of the first driving part relative to the cam changes, the first driving part and the central shaft have a reliable connection relationship.

A further technical solution is:

The gripper transmission chain also includes a travel tube, the axis of the central shaft is parallel to the axis of the travel tube, the upper end of the central shaft is located in the travel tube, and the lower end of the central shaft is located at the lower side of the travel tube;

There is also a key between the central shaft and the stroke tube. When the stroke tube rotates, the key drives the central shaft to rotate with the stroke tube by being sheared, and the central shaft can reciprocate on the axis of the stroke tube relative to the stroke tube. sports;

The main shaft and the travel tube can rotate relatively, and the main shaft can reciprocate on the axis of the travel tube relative to the travel tube. In this solution, it is set to include the above stroke tube, that is, through the stroke tube, the connection between the first drive part and the central shaft is indirectly realized: the movement of the main shaft itself during normal operation does not affect the function of the gripper transmission chain or the gripper transmission. The chain does not affect the normal action of the main shaft. The length of the stroke tube makes it possible to transmit torque between the stroke tube and the central shaft when the main shaft moves up and down. In this way, when the stroke tube rotates under the action of the first driving part, the stroke The rotation of the tube can realize the grabbing and releasing of the safety rod. In the above solution, the main shaft and the stroke tube can rotate relatively and the main shaft can reciprocate on the axis of the stroke tube relative to the stroke tube, which can be realized in the following way: the main shaft is located on the lower side of the stroke tube or the upper end of the main shaft is in contact with the stroke tube. The lower end of the tube has a nesting relationship, and the above nesting relationship can be either one of the two is located in the cylindrical space of the other, but no torque can be transmitted between the two: the rotation of the stroke tube does not affect the rotation of the main shaft or The main shaft does not affect the rotation of the stroke tube, and the stroke tube does not affect the lifting movement of the main shaft. Realize that the respective actions of the main shaft transmission chain and the gripper transmission chain can not affect each other. With this solution, when the installation position of the first driving part is fixed, the transmission chain of the gripper can have a normal transmission relationship under different states of the main shaft transmission chain. The first driving part is installed on the outside of the casing of the driving mechanism to improve the working environment of the first driving part. In specific application, it is preferred to set the trip tube, the main shaft and the central shaft to be coaxial.

In order to make the drive chain of the gripper self-lock after the stroke tube rotates at a specific angle, so that the cam exerts constraints on the claws to maintain a specific state of the claws, it is set that: the first drive part is connected to the stroke tube through a drive shaft A first worm gear mechanism with self-locking performance is also connected in series on the drive shaft. In the first worm gear mechanism, the worm wheel is connected to the stroke pipe through the drive shaft, and the worm is connected to the first drive part through the drive shaft. That is, the drive shaft is a multi-section combined structure, some sections are used for the connection between the worm and the first driving component, and some sections are used for the connection between the worm wheel and the stroke tube.

The main shaft transmission chain also includes an electromagnetic clutch. The electromagnetic clutch includes an electromagnetic coil, an outer cylinder and an inner cylinder. There is a gap between each point of the inner wall;

The electromagnetic coil is located on the outside of the outer cylinder or on the inside of the inner cylinder;

The electromagnetic clutch is connected in series on the transmission shaft: one of the outer cylinder and the inner cylinder is connected with the second driving part through the transmission shaft, and the other is connected with the gear through the transmission shaft. In this solution, the electromagnetic clutch includes the inner cylinder, the outer cylinder and the electromagnetic coil, and at the same time, there is a gap between each point on the outer wall of the inner cylinder and each point on the inner wall of the outer cylinder, that is, the inner cylinder and the outer cylinder The cylinders are arranged at intervals, the inner cylinder and the outer cylinder have no direct contact, the combined state of the electromagnetic clutch is: the electromagnetic coil is energized, and the magnetic force between the inner cylinder and the outer cylinder makes the second drive part drive the inner cylinder and the outer cylinder. One of the two cylinders that is directly connected to the second drive part rotates, while the other rotates with the magnetic force of the two. In this state, the second drive part can drive the gear to rotate to change the main axis in the reactor. position on the axis. When the electromagnetic coil is de-energized in an accident state, the magnetic force between the inner cylinder and the outer cylinder disappears. In this state, the main shaft transmission chain loses the restraint on the main shaft falling, and falls under the action of the main shaft’s gravity. When the main shaft and the gear are matched, as well as the connection between the gear and one of the two, the main shaft can only drive the one directly connected to the gear through the transmission shaft to rotate when it falls. In this case, it can make The main shaft has smaller falling resistance, which is beneficial to reduce the time required for the safety bar to fall, making the performance of the main shaft transmission chain more reliable. At the same time, in this solution, there is no direct connection between the two, so compared with the existing electromagnetic clutch, because the electromagnetic clutch relies on magnetic force to transmit torque when the electromagnetic clutch works, so the two are connected when the main shaft drive chain is working normally. It is frictionless, so in this scheme, because the electromagnetic clutch does not have wear and tear when working, so this main shaft transmission chain also has better performance reliability.

Specifically, in the electromagnetic clutch, it is set as follows: the electromagnetic coil includes a coil body, the coil body includes a coil bobbin and a coil winding, the coil bobbin includes a cylindrical inner skeleton and an outer skeleton, and also includes an end plate, the The inner skeleton, the outer skeleton and the end plate form an annular space, the coil winding is installed in the annular space, the material of the outer skeleton and the end plate are all magnetic materials, and the overall material of the inner skeleton is non-magnetic The material or part of the material is a non-magnetic material; when the partial material of the inner frame is a non-magnetic material, the part of the non-magnetic material is a tube section, and the tube section is connected in series between the two ends of the inner frame; at the same time, The specific scheme of the outer cylinder and the inner cylinder electromagnetic coil included in the electromagnetic clutch is: the outer cylinder is installed on the inner side of the inner frame, and there is a gap between the outer cylinder and the inner frame; the inner cylinder is installed on the outer cylinder The inner side of the inner cylinder is also provided with a plurality of second axial ribs on the outer side of the inner cylinder, and the second axial ribs are evenly distributed on the inner cylinder in a ring, and a plurality of second axial ribs are arranged on the outer side of the outer cylinder. An axial rib, the first axial rib is evenly distributed on the outer cylinder in a ring, the extension direction of the first axial rib is along the axial direction of the outer cylinder, and the extension of the second axial rib is The direction is along the axial direction of the inner cylinder, and there is a gap between the second axial rib and the first axial rib, and the above gap is used to avoid contact between the inner cylinder and the outer cylinder during relative rotation. touch; the materials of the inner cylinder and the second axial rib are all magnetically conductive materials; the outer cylinder is composed of three sections in series, and the cylinder sections that form the outer cylinder include end cylinders at both ends segment and the middle tube section in the middle, the material of the end tube section is a magnetically permeable material, and the material of the middle tube section is a non-magnetic material; when the entire inner skeleton is made of a non-magnetic material, The projection of the end plate towards the outer cylinder falls on the end cylinder section, and the end plate corresponds to the outer cylinder section one by one; The projections of other barrel sections on both sides of the barrel section toward the outer barrel fall on the end barrel section, and the other barrel sections correspond to the outer barrel section one by one.

Specifically, if the drive device is connected to the outer cylinder, the outer cylinder and the inner cylinder are both active cylinders: when the coil winding is energized, the electrification is the excitation current. At this time, the coil winding generates The magnetic field is set so that the materials of the above-mentioned outer frame and end plate are all magnetically conductive materials, and the overall material of the inner frame is a non-magnetic material or a partial material is a non-magnetic material; when the partial material of the inner frame is a non-magnetic material In this case, the part that is a non-magnetic material is the cylinder section, and the cylinder section is connected in series between the two ends of the inner frame, by selecting all or part of the materials for the outer cylinder and the inner cylinder, it can be guaranteed that the above electromagnetic When the clutch is energized, the above magnetically permeable material is used as a medium for magnetic field transmission to guide the magnetic circuit of the magnetic flux. At the same time, the above non-magnetically permeable material can be limited to the corresponding magnetic circuit or magnetic force line in a ring shape: the main magnetic circuit or magnetic force line is in a ring shape, And the path covers the outer skeleton and the end plates on both sides, and passes through the outer cylinder and the inner cylinder at the same time. In this way, due to the inclusion of the axial ribs, when the outer cylinder is rotated by the torque applied by the driving device, the outer cylinder and the inner cylinder The magnetic force lines between the respective axial ribs of the inner cylinder are twisted, and the magnetic force lines always try to shrink, so that the magnetic resistance on the path passing by it is the smallest, so that the outer cylinder as the active rotor and the inner cylinder as the driven rotor At this time, a tangential component force can be obtained to act on the driven rotor, that is, the driven rotor generates torque, so that the driven rotor rotates with the driving rotor. In this case, the electromagnetic clutch is in the position of transmitting torque. Connection Status. When the coil winding is de-energized, the above magnetic lines of force disappear or the magnetic flux becomes smaller. In this case, the electromagnetic clutch becomes disconnected or gradually returns to the disconnected state.

Preferably, it is set that the magnetically conductive parts of the above inner cylinder and the outer cylinder, that is, the magnetically permeable material parts are all made of soft magnets, that is, the materials are all soft magnetic materials, so that they can be magnetized easily and easily under the action of electromagnetic coils. Degaussing; at the same time, since the main shaft drive chain needs to be installed in a cylindrical sleeve, in order to optimize the force of the sleeve, it is preferably set as follows: the second drive part is a drive motor whose axis is coaxial with the main shaft, and the transmission shaft is composed of multiple sections , the electromagnetic clutch is used as a connection between the two sections that make up the transmission shaft; the axis of the transmission shaft is parallel to the axis of the main shaft, the outer cylinder is installed in the sleeve through the bearing, and the inner cylinder is installed in the outer cylinder through the bearing. The axes of the cylinder body, the outer cylinder body and the electromagnetic coil are all in line with the main shaft of the main shaft. At the same time, the tooth discs are installed on the inner cylinder body and the outer cylinder body through the connecting key, and the transmission shaft is also set on the corresponding inner cylinder body, The teeth of the toothed discs on the outer cylinder are meshed, that is, the transmission of force between the inner cylinder, the outer cylinder and the corresponding transmission shaft is also transmitted through the meshing of the teeth.

In order to enable the main shaft to stay at a specific height stably when the second driving part stops inputting torque to the transmission shaft, it is arranged to: further include a second worm gear mechanism with self-locking performance connected in series on the transmission shaft, the first The second worm gear mechanism is located between the electromagnetic clutch and the second driving component;

In the second worm gear mechanism, the worm wheel is connected with the electromagnetic clutch through the transmission shaft, and the worm is connected with the second driving part through the transmission shaft. The solution provides a technical solution with a simple structure, and the torque can be increased through reduction transmission.

In order to avoid the rebound of the safety rod when the main shaft falls and interacts with the moving catheter, it is set as follows: an overrunning clutch with a one-way backstop function arranged between the inner cylinder and the outer cylinder, the overrunning clutch makes the outer cylinder Of both the body and the inner cylinder, the one connected to the gear can rotate independently of the other. With this solution, when the electromagnetic clutch is engaged, since the inner cylinder and the outer cylinder rotate synchronously, the upper part of the overrunning clutch does not have relative motion at this time, and when the electromagnetic clutch is disengaged, the overrunning clutch allows the one connected to the gear It can rotate relative to the other, and at this time, the main shaft falls; when the main shaft falls to its place and rebounds due to collision, the overrunning clutch prevents the one connected to the gear from reversing, so the purpose of preventing the main shaft from rebounding can be achieved.

As a specific implementation of the electromagnetic clutch, it is set as follows: the electromagnetic coil, the outer cylinder, the inner cylinder, and the main shaft are coaxial, the inner cylinder is sleeved on the outside of the main shaft, the electromagnetic coil is cylindrical, and the electromagnetic wire The snare is arranged on the outside of the outer cylinder;

The electromagnetic coil and the outer cylinder are independent of each other. In this solution, there is no direct contact between the electromagnetic coil and the outer cylinder, and between the outer cylinder and the inner cylinder. In this way, the electromagnetic coil will not rotate with the outer cylinder. Therefore, in specific use, the electromagnetic coil is fixedly installed on the In this way, not only is it convenient to simplify the wiring structure of the electromagnetic coil, but also because the power receiving part of the electromagnetic clutch is fixed relative to the bushing, it is beneficial to the reliability of the performance of the electromagnetic clutch. By adopting this solution, the above-mentioned form that the outer cylinder body is connected to the bushing through the bearing, and the inner cylinder body is connected to the outer cylinder body through the bearing can be adopted. Preferably, for the convenience of setting the transmission shaft, it is set as follows: the transmission shaft between the electromagnetic clutch and the driving component meshes with the teeth of the outer cylinder, and the transmission shaft between the electromagnetic clutch and the gear meshes with the teeth of the inner cylinder.

In order to speed up the falling speed of the main shaft in an accident state and reduce the force on the main shaft when it falls to the bottom, it is set as follows: an acceleration device for speeding up the falling speed of the main shaft; The acceleration device is a compression spring or disc spring installed between the main shaft and the barrel, when the main shaft is lifted up by the second driving part, the compression spring or disc spring is elastically compressed as the acceleration device; It includes a buffer device for reducing the impact force on the moving catheter when the main shaft falls; the buffer device is a compression spring or a disk spring installed between the main shaft and the cylinder, and when the main shaft falls, it acts as a buffer device. Elastic compression of a compression spring or disc spring. In this solution, the cylinder body is the above-mentioned casing. In the specific implementation of the acceleration device and buffer device above, if a flange-shaped boss is set on the main shaft, the above boss protrudes outward relative to the outside of the main shaft, and two ring-shaped The above convex ring protrudes relative to the wall surface of the tunnel, and one of the convex rings is located on the upper side of the boss, and the other is located on the lower side of the boss, and the upper surface of the boss supports the Spring, the spring that acts as a buffer is set between the lower convex ring and the boss: by setting the specific positions of the upper convex ring, the boss, and the lower convex ring on the cylinder and the main shaft, on the main shaft When lifting, the convex ring moves towards the upper boss, and after the main shaft is lifted to a position, the spring between the two is compressed; before the main shaft falls to the bottom, the spring on the lower side of the boss acts as the lower convex ring and the boss. The support member between provides an upward force to the boss through elastic deformation to play a buffering role.

As a specific implementation of the cam, there are two cams, both of which are elliptical cams, the two cams are installed at different positions on the axis of the central shaft, the two cams are coaxial with the central shaft, and the respective cams of the two cams are The included angle between the major axes is 90°. The hinge shaft on the jaws used to realize the articulation of the jaws and the main shaft is located between the two ends of the jaws. The two jaws are axisymmetric with respect to the axis of the main shaft, and one of the cams The upper side of the hinge shaft is used to interact with the claw part on the upper side of the hinge shaft, and the other cam is positioned on the lower side of the hinge shaft to interact with the claw part on the lower side of the hinge shaft. As a person skilled in the art, the above elliptical cam is the elliptical edge of the top view of the cam installed on the safety bar drive mechanism. The above two cams can be of the same size or of different sizes. This scheme is used in specific applications. , for the claws, if there are two claws, the edges of the two cams impose constraints on them respectively, and the hinge axis is the rotation center of the claws. When the central axis rotates, the clamping gap between the two claws completes the opening, Combined action: when the cam rotates with the central axis, for each claw, for example, when the long axis edge of the cam on the upper side of the hinge shaft is pressed on the claw, the short axis edge of the cam on the lower side of the hinge shaft interacts with the claws , at this time, there is a minimum gap between the lower ends of the claws for clamping the safety bar; when the short-axis edge of the cam on the upper side of the hinge shaft is pressed on the claw, the long-axis edge of the cam on the lower side of the hinge shaft and the card The jaws act in such a way that the lower ends of the jaws have a maximum clearance for releasing the safety rod or the upper end of the safety rod is embedded between the jaws in preparation for gripping the safety rod. With this scheme, the above two cams constrain the two jaws at the same time, so that the jaws have a specific relative motion state, and the above relative motion is periodic relative motion. With this scheme, each jaw and the main shaft pass through the hinge shaft Hinging is all that is needed, and there is no need for the scheme including elastic parts as described above; at the same time, with this scheme, since the cam is a rigid body compared with the elastic body, the change of the clamping gap between the jaws only depends on the rotation of the cam, so Adopting this scheme can also make the gripper transmission chain more reliable in performance, and the corresponding safety rod driving mechanism has the characteristics of simpler structure.

In order to enable the gripper part to constrain the position of the central axis relative to the main shaft on the main shaft axis, and for the technical solution with two cams, it is set as follows: there are two claws, and both claws are provided with constraining The lower end of the central shaft is relative to the step of the position of the main shaft on the main shaft axis, and the two steps are in a positive relationship with the axis of the main shaft, and the steps are used to provide support for the lower end of the central shaft;

Straight sections are arranged inside the two claws, and the straight sections are used to realize: when the clamping gap on the claws is in the state of clamping the safety rod, the side of the cam cooperates with the straight section , and the cam can slide along the straight section in the axial direction of the main shaft. With this solution, when refueling, the upper end of the safety rod contacts the lower end of the central shaft before the main shaft drops to the lowest position, so that after the upper end of the safety rod is inserted into the clamping jaws to hold the gap in place, the safety rod will produce a force on the central shaft. Jacking function, in this way, through the detection device to detect the position of the central axis relative to the main shaft on the main shaft axis, it is judged whether the above-mentioned jacking has occurred, and the purpose of judging whether there is a false clamping of the safety rod is achieved: when the safety rod is clamped, The central shaft is lifted, and when the safety bar is not clamped, the central shaft falls to the bottom and is supported by steps, and the above height difference is realized through the straight section.

Further, as a redundant design that can drive the cam to rotate, so as to realize the release of the main shaft to the safety rod in the case of power failure, it is set as follows: it also includes a manual drive device connected to the stroke tube, and the manual drive device is used for The torque is manually applied to drive the stroke tube to rotate. As a person skilled in the art, since the stroke tube needs to be installed in a fixed position when in use, the corresponding manual drive device can be a turning handle connected to the stroke tube through a gear, etc. The above turning handle can be a rod-shaped structure with an inflection point on it. The operator can directly apply torque or be provided with a bayonet, a bayonet, etc., and the above bayonet and bayonet are used to connect other tools to apply torque more conveniently. For the solution provided with the first worm gear mechanism and the drive shaft, it must be set that the manual drive device is connected to the worm. Similarly, a manual driving device can also be provided on the main shaft drive chain, and for the solution provided with the second worm gear mechanism, it is also necessary to connect the manual driving device to the worm.

In order to obtain the position of the main shaft conveniently, it is set as follows: a position detecting device for detecting the position of the main shaft is also included. As a person skilled in the art, the detection device may use a position sensor.

In order to intuitively reflect the working state of the gripper transmission chain, it also includes a position detection device for detecting the rotation state of the stroke tube or the central shaft.

As a specific form of the central shaft and the stroke tube, it is set that: the upper end of the central shaft is in the shape of a spline shaft, and the stroke tube is a sleeve with a keyway on the tube hole.

The utility model has the following beneficial effects:

In this solution, the first driving part is used to drive the central shaft to rotate. During the rotation of the central shaft, the cam applies pressure to the inner side of the claw to change the size of the clamping gap to realize refueling. The gripper part releases the safety bar and grabs the safety bar during the process. If there is only one cam, the edge of the cam acts on at least one claw to restrict the opening angle of the gap between the claws. If the elastic member is arranged between the claws and the main shaft, the rotation of the cam can be achieved. The gap first becomes larger and then smaller, and by changing the size of the gap, the clamping state of the gripper part to the safety bar is changed, and the purpose of refueling is achieved. Compared with the existing implementation method of pushing and pulling the main shaft, to realize the above action, it only needs to apply torque to the central shaft through the first driving part, such as using a servo motor to drive. This solution can avoid the traditional artificial Operating the main shaft to realize the release and capture of the safety rod is not suitable for the problem of confined space. At the same time, the rotation of the central shaft increases the difficulty of sealing. Simple, especially suitable for applications such as sodium-cooled fast neutron reactors.

In this solution, it is set that the main shaft is a hollow shaft, and the central shaft passes through the main shaft, so that the entire driving mechanism can be compact in structure and require less space. In specific use, it is preferable to set the main shaft and the gripper part to be the same as the main shaft and the same down, such as the lowest position that the central shaft can fall relative to the main shaft through the grip part, and the first drive part and the second drive part are only It only needs to output torque, and both of them can use servo motors. Considering the working environment of the first drive part and the second drive part, it is preferable to set the first drive part and the second drive part to be located at the casing of the drive mechanism. outside. In this way, since the main shaft needs to move in the vertical direction when it is working, the connection form between the first driving part and the central shaft can be connected by a flexible shaft or a stroke tube. Does not affect the normal operation of the main shaft transmission chain: when the main shaft is raised and lowered, when the position of the first driving part relative to the cam changes, the first driving part and the central shaft have a reliable connection relationship.

Description of drawings

Fig. 1 is a transmission schematic diagram of a specific embodiment of a safety rod drive mechanism described in the present invention;

Fig. 2 is a partial schematic diagram of a specific embodiment of a safety rod driving mechanism described in the present invention, which is a cross-sectional view, reflecting the specific structure of the electromagnetic clutch and its connection relationship with the drive shaft;

Fig. 3 is a partial schematic diagram of a specific embodiment of a safety rod driving mechanism described in the present invention, which is a cross-sectional view, reflecting the structure of the bottom of the driving mechanism and its connection with the safety rod.

The reference signs in the figure are: 1. Claw, 2. Central shaft, 3. Main shaft, 4. Cam, 5. Travel tube, 6. First driving part, 7. Manual driving device, 8. Position detection device , 9, the first worm gear mechanism, 10, hinge shaft, 11, safety rod, 12, the second worm gear mechanism, 13, overrunning clutch, 14, acceleration device, 15, buffer device, 16, gripper parts, 17, Electromagnetic coil, 18, outer cylinder, 19, connection key, 20, transmission shaft, 21, inner cylinder, 22, bearing, 23, gear, 24, rack, 25, second driving part, 26, electromagnetic clutch, 27, steps, 28, straight section.

Detailed ways

The utility model will be further described in detail below in conjunction with the examples, but the structure of the utility model is not limited to the following examples.

Example 1:

As shown in Figures 1 to 3, a safety bar drive mechanism includes a main shaft 3 transmission chain, and the main shaft 3 transmission chain includes 25 second drive parts, a transmission shaft 20 and a main shaft 3, and the main shaft 3 is also provided with A plurality of racks 24 are arranged along the axial direction of the main shaft 3, and a gear 23 meshing with the racks 24 is also included. The second driving part 25 drives the gear 23 to rotate through the transmission shaft 20, The lower end of the main shaft 3 is also fixed with a gripper part 16 for clamping the safety rod 11. The main shaft 3 is a hollow shaft, and the gripper part 16 includes at least two claws 1, each of which is hinged. The shaft 10 is hinged on the main shaft 3, and the clamping gap for clamping the safety rod 11 is enclosed between the lower ends of the jaws 1;

It also includes a hand drive chain, which includes a central shaft 2 and a first drive part 6, and the first drive part 6 is used to drive the central shaft 2 to rotate around the axis of the central shaft 2;

The central shaft 2 is passed through the main shaft 3;

The bottom of the central shaft 2 is also fixed with a cam 4, and when the cam 4 rotates with the central shaft 2, the cam 4 changes the size of the clamping gap by applying pressure to the inside of the claw 1.

In this solution, the second driving part 25 is used to drive the transmission shaft 20 to rotate: the gear 23 rotates under the action of the transmission shaft 20. Since the main shaft 3 is also provided with a plurality of racks 24, the process of the rotation of the gear 23 Among them, the meshing position of the gear 23 on the axis of the main shaft 3 changes, that is, when the position of the gear 23 is fixed in space, according to the forward and reverse rotation of the gear 23, the main shaft 3 can be driven to complete the action of pulling up and down, so that The purpose of changing the position of the safety rod 11 at the lower end of the main shaft 3 in the reactor is achieved.

In the prior art, the refueling of the safety rod 11 is generally as follows: After the main shaft 3 and the safety rod 11 are lowered to the bottom, the connection between the main shaft 3 and the safety rod 11 must be removed, while the existing cooperation between the main shaft 3 and the safety rod 11 In the form, the separation or connection of the main shaft 3 and the safety bar 11 is generally accomplished by manually applying a pushing or pulling force along the vertical direction to the main shaft 3 . For example, for the sealed environment of the sodium-cooled fast neutron reactor, in order to obtain a closed environment or facilitate the operation safety, it is not suitable to complete the connection between the main shaft 3 and the safety rod 11 through the above-mentioned push or pull form. In this solution, the first driving part 6 is used to drive the central shaft 2 to rotate, and during the rotation of the central shaft 2, the cam 4 changes the size of the clamping gap by applying pressure to the inside of the claw 1 , so as to realize that the gripper part 16 releases the safety rod 11 and grabs the safety rod 11 during the refueling process. When there is one cam 4, the opening angle of the gap between the jaws 1 is constrained by the edge of the cam 4 acting on at least one jaw 1, such as cooperating with the elastic member arranged between the jaws 1 and the main shaft 3, then Through the rotation of the cam 4, the gap first becomes larger and then smaller, and by changing the size of the gap, the clamping state of the gripper part 16 to the safety rod 11 is changed to achieve the purpose of refueling. Compared with the existing implementation method of pushing and pulling the main shaft 3, to realize the above action, it only needs to apply torque to the central shaft 2 through the first driving part 6, such as using a servo motor to drive, and this solution can avoid Faced with the problem that the traditional manual operation of the main shaft 3 to realize the release and capture of the safety rod 11 is not suitable for the confined space, and the rotation of the central shaft is less difficult to achieve sealing, so this driving mechanism not only realizes the grasping and grasping of the safety rod 11 The release is easy to realize, and at the same time, the structure is simple, and it is especially suitable for applications such as sodium-cooled fast neutron reactors.

In this solution, it is set that the main shaft 3 is a hollow shaft, and the central shaft 2 is penetrated inside the main shaft 3, so that the entire driving mechanism can be compact in structure and require less space. In specific use, it is preferable to set the main shaft 3 and the gripper part 16 to be the same as the main shaft 3 and down, such as the lowest position that the central shaft 2 can fall relative to the main shaft 3 by the gripper part 16, and the first drive part 6. The 25 second driving parts only need to output torque, and both of them can use servo motors. Considering the working environment of the first driving part 6 and the 25 second driving parts, it is preferable to set it as the first driving part 6 , 25 pieces of the second driving part are all located on the outside of the sleeve pipe of the driving mechanism. In this way, since the main shaft 3 needs to move in the vertical direction during work, the connection form between the first driving part 6 and the central shaft 2 can be connected by a flexible shaft, a stroke tube 5, etc. The transmission chain of the gripper does not affect the normal operation of the transmission chain of the main shaft 3: when the main shaft 3 is raised and lowered, when the position of the first driving part 6 relative to the cam 4 changes, the first driving part 6 and the central shaft 2 have a reliable connection relationship .

Example 2:

As shown in Figures 1 to 3, this embodiment is further limited on the basis of Embodiment 1: the handle transmission chain also includes a stroke tube 5, the axis of the central shaft 2 is parallel to the axis of the stroke tube 5, The upper end of the central axis 2 is located in the stroke tube 5, and the lower end of the central axis 2 is located at the lower side of the stroke tube 5;

A key is also provided between the central shaft 2 and the stroke tube 5, and the key drives the central shaft 2 to rotate with the stroke tube 5 by being sheared when the stroke tube 5 rotates, and the central shaft 2 can be rotated relative to the stroke tube 5. Reciprocate on the axis of the stroke tube 5;

The main shaft 3 and the travel tube 5 can rotate relative to each other, and the main shaft 3 can reciprocate relative to the travel tube 5 on the axis of the travel tube 5 . In this solution, it is set to include the above stroke tube 5, that is, the connection between the first driving part 6 and the central shaft 2 is indirectly realized through the stroke tube 5: the movement of the main shaft 3 itself during normal operation does not affect the function of the gripper transmission chain Or this grip transmission chain does not affect the normal action of the main shaft 3. The length of the stroke tube 5 makes the main shaft 3 move up and down, and the torque can always be transmitted between the stroke tube 5 and the central shaft 2. In this way, the first driving part When the stroke tube 5 rotates under the action of 6, the grabbing and releasing of the safety rod 11 can be realized by the rotation of the stroke tube 5. In the above solution, the main shaft 3 and the travel tube 5 can rotate relatively and the main shaft 3 can reciprocate on the axis of the travel tube 5 relative to the travel tube 5, which can be realized in the following way: the main shaft 3 is located under the travel tube 5 The upper end of the side or main shaft 3 has a nested relationship with the lower end of the stroke tube 5, and the above nested relationship can be that either one of the two is located in the cylindrical space of the other, but no torque can be transmitted between the two: the stroke The rotation of the tube 5 does not affect the rotation of the main shaft 3 or the main shaft 3 does not affect the rotation of the travel tube 5, and the travel tube 5 does not affect the lifting movement of the main shaft 3. Realize that the respective actions of the main shaft 3 transmission chain and the gripper transmission chain can not affect each other. By adopting this scheme, under the condition that the installation position of the first drive part 6 is fixed, the transmission chain of the gripper can have a normal transmission relationship under different states of the transmission chain of the main shaft 3, so that not only the performance of the driving mechanism can be made reliable, but also It is convenient to install the first driving part 6 on the outside of the casing of the driving mechanism to improve the working environment of the first driving part 6 . In specific application, it is preferable to set the stroke tube 5, the main shaft 3 and the central shaft 2 to be coaxial.

In order to make the stroke tube 5 rotate at a specific angle, the hand transmission chain can be self-locked, so that the cam 4 exerts constraints on the claw 1 to maintain a specific state of the claw 1. It is set as follows: the first driving part 6 and the stroke The pipe 5 is connected through the drive shaft, and the first worm gear mechanism 9 with self-locking performance is connected in series on the drive shaft. In the first worm gear mechanism 9, the worm wheel is connected with the stroke pipe 5 through the drive shaft, and the worm is driven The shaft is connected to the first drive part 6 . That is to say, the drive shaft is a multi-section combined structure, some sections are used for the connection between the worm screw and the first driving component 6 , and some sections are used for the connection between the worm wheel and the stroke tube 5 .

The transmission chain of the main shaft 3 also includes an electromagnetic clutch 26. The electromagnetic clutch 26 includes an electromagnetic coil 17, an outer cylinder 18 and an inner cylinder 21. The outer cylinder 18 is sleeved on the outside of the inner cylinder 21, and the inner cylinder 21 There is a gap between each point on the outer wall of the cylinder 21 and each point on the inner wall of the outer cylinder 18;

The electromagnetic coil 17 is located outside the outer cylinder 18 or inside the inner cylinder 21;

The electromagnetic clutch 26 is connected in series on the transmission shaft 20: in both the outer cylinder 18 and the inner cylinder 21, one of them is connected with the second driving part 25 through the transmission shaft 20, and the other is connected with the gear 23 through the transmission shaft 20 . In this solution, the electromagnetic clutch 26 includes the inner cylinder 21, the outer cylinder 18 and the electromagnetic coil 17, and at the same time, there is a gap between each point on the outer wall of the inner cylinder 21 and each point on the inner wall of the outer cylinder 18, namely The inner cylinder 21 and the outer cylinder 18 are arranged at intervals, and there is no direct contact between the inner cylinder 21 and the outer cylinder 18. The combined state of the electromagnetic clutch 26 is: the electromagnetic coil 17 is energized, and the inner cylinder 21 and the outer cylinder 18 are in contact with each other. The magnetic force makes the second driving part 25 drive the inner cylinder 21 and the outer cylinder 18 to rotate, and the one directly connected to the second driving part 25 rotates, while the other rotates with the magnetic force of the two. , in this state, the position of the main shaft 3 on the axis of the reactor can be changed by the rotation of the second drive part 25 and the drive gear 23 . When the electromagnetic coil 17 is de-energized in an accident state, the magnetic force between the inner cylinder 21 and the outer cylinder 18 disappears. In this state, the transmission chain of the main shaft 3 loses the restriction on the falling of the main shaft 3. When falling, the matching relationship between the main shaft 3 and the gear 23 and the connection relationship between the gear 23 and one of the two, so that the main shaft 3 can only be directly connected to the gear 23 through the drive shaft 20 when falling. One of them rotates. In this case, the main shaft 3 has less resistance to falling, which helps reduce the time required for the safety bar 11 to fall, and makes the performance of the main shaft 3 transmission chain more reliable. Simultaneously in this scheme, there is no direct connection between the two, so compared to the existing electromagnetic clutch 26, because the electromagnetic clutch 26 works by relying on magnetic force to transmit torque, so the two work normally in the main shaft 3 transmission chain When the two are frictionless, so in this scheme, because the electromagnetic clutch 26 does not have wear and tear when working, so this main shaft 3 transmission chains also have better performance reliability.

Preferably, it is set that the magnetically conductive parts of the inner cylinder 21 and the outer cylinder 18 above all adopt soft magnets, that is, the materials are all soft magnetic materials, so that they can be easily magnetized and easily demagnetized under the action of the electromagnetic coil 17; at the same time , since the transmission chain of the main shaft 3 needs to be installed in a cylindrical casing for use, in order to optimize the stress on the casing, it is preferably set as follows: the second driving part 25 is a driving motor whose axis is coaxial with the main shaft 3, and the transmission shaft 20 is composed of Composed of multiple sections, the electromagnetic clutch 26 is used as a connecting piece between the two sections that make up the transmission shaft 20; the axis of the transmission shaft 20 is parallel to the axis of the main shaft 3, the outer cylinder 18 is installed in the casing through the bearing 22, and the inner cylinder 21 Installed in the outer cylinder 18 through the bearing 22, the axes of the inner cylinder 21, the outer cylinder 18, and the electromagnetic coil 17 are all in line with the main shaft 3 of the main shaft 3, and at the same time, the inner cylinder 21 and the A toothed disc is installed on the outer cylinder 18, and a toothed disc that meshes with the teeth of the corresponding inner cylinder 21 and the outer cylinder 18 is also arranged on the transmission shaft 20, that is, the inner cylinder 21, the outer cylinder 18 and the corresponding transmission shaft 20 The transmission of force between them is also transmitted through tooth meshing.

In order to make the main shaft 3 stay at a specific height stably when the second driving part 25 stops inputting torque to the transmission shaft 20, it is arranged to: also include a second worm gear with self-locking performance connected in series on the transmission shaft 20 Mechanism 12, the second worm gear mechanism 12 is located between the electromagnetic clutch 26 and the second drive part 25;

In the second worm gear mechanism 12 , the worm wheel is connected with the electromagnetic clutch 26 through the transmission shaft 20 , and the worm is connected with the second driving part 25 through the transmission shaft 20 . The solution provides a technical solution with a simple structure, and the torque can be increased through reduction transmission.

In order to prevent the safety bar 11 from bouncing back when the main shaft 3 falls and interacts with the moving catheter, it is set as follows: it also includes an overrunning clutch 13 with a one-way backstop function arranged between the inner cylinder 21 and the outer cylinder 18. The overrunning clutch 13 allows the one connected to the gear 23 to rotate independently of the other of the outer cylinder 18 and the inner cylinder 21 . With this solution, when the electromagnetic clutch 26 is combined, because the inner cylinder 21 and the outer cylinder 18 rotate synchronously, the upper parts of the overrunning clutch 13 do not have relative motion at this time, and when the electromagnetic clutch 26 is disengaged, the overrunning clutch 13 allows The one connected with the gear 23 can rotate relative to the other, and at this moment, the main shaft 3 falls; The purpose of avoiding the rebound of spindle 3.

As a specific implementation of the electromagnetic clutch 26, it is set as follows: the electromagnetic coil 17, the outer cylinder 18, the inner cylinder 21, and the main shaft 3 are coaxial, the inner cylinder 21 is sleeved on the outside of the main shaft 3, and the electromagnetic The coil 17 is cylindrical, and the electromagnetic coil 17 is sleeved on the outside of the outer cylinder 18;

The electromagnetic coil 17 and the outer cylinder 18 are independent of each other. In this scheme, the electromagnetic coil 17 is not in direct contact with the outer cylinder 18, and the outer cylinder 18 and the inner cylinder 21, so that the electromagnetic coil 17 will not rotate with the outer cylinder 18, so in specific use, the electromagnetic coil 17 will not rotate with the outer cylinder 18. The coil 17 can be fixedly installed in the tube of the bushing, which not only facilitates the wiring structure of the electromagnetic coil 17, but also facilitates the reliability of the performance of the electromagnetic clutch 26 because the receiving part of the electromagnetic clutch 26 is fixed relative to the bushing. By adopting this solution, the above-mentioned form that the outer cylinder 18 is connected to the bushing through the bearing 22 and the inner cylinder 21 is connected to the outer cylinder 18 through the bearing 22 can be adopted. Preferably, for the convenience of arranging the transmission shaft 20, it is set as follows: the transmission shaft 20 between the electromagnetic clutch 26 and the driving component meshes with the teeth of the outer cylinder 18, the transmission shaft 20 between the electromagnetic clutch 26 and the gear 23 and the inner cylinder 21 tooth meshing.

In order to speed up the falling speed of the main shaft 3 in an accident state and reduce the force received when the main shaft 3 falls to the bottom, it is set as follows: an acceleration device 14 for accelerating the falling speed of the main shaft 3 is also included; body, the acceleration device 14 is a compression spring or disc spring installed between the main shaft 3 and the cylinder, when the main shaft 3 is lifted under the action of the second driving part 25, it acts as the acceleration device 14 The compression spring or disc spring is elastically compressed; it also includes a buffer device 15 for reducing the impact force on the moving conduit when the main shaft 3 falls; the buffer device 15 is a compression spring or a compression spring installed between the main shaft 3 and the cylinder. Disc spring, when the main shaft 3 falls, the compression spring or disc spring as the buffer device 15 is elastically compressed. In this solution, the cylinder body is the above-mentioned casing. In the above specific implementation of the acceleration device 14 and the buffer device 15, if a flange-shaped boss is set on the main shaft 3, the above boss protrudes outward relative to the outer side of the main shaft 3, and two Two ring-shaped protruding rings, the above protruding rings protrude relative to the wall surface of the channel, and one of the protruding rings is located on the upper side of the protruding platform, the other protruding ring is located on the lower side of the protruding platform, and the upper surface of the protruding platform supports The spring for acceleration and the spring for buffering are arranged between the lower convex ring and the boss: by setting the specific upper convex ring, boss, and lower convex ring respectively on the cylinder body and the main shaft 3 position, when the main shaft 3 is lifted up, the convex ring moves towards the upper boss, and after the main shaft 3 is lifted to the position, the spring between the two is compressed; before the main shaft 3 falls to the bottom, the spring on the lower side of the boss As a supporting member between the lower convex ring and the boss, it provides an upward force to the boss through elastic deformation to play a buffering role.

As a specific implementation of the cam 4, the cam 4 is two, and the two cams 4 are elliptical cams 4, and the two cams 4 are installed at different positions on the axis of the central shaft 2, and the two cams 4 are all connected to the central shaft 2. coaxial, and the angle between the respective major axes of the two cams 4 is 90°, the hinge shaft 10 on the claw 1 for realizing the articulation of the claw 1 and the main shaft 3 is located between the two ends of the claw 1, and the two claws The claw 1 is axisymmetric with respect to the axis of the main shaft 3, and one of the cams 4 is located on the upper side of the hinge shaft 10 for interacting with the claw part on the upper side of the hinge shaft 10, and the other cam 4 is located on the lower side of the hinge shaft 10 For interacting with the claw portion on the underside of the hinge shaft 10 . As those skilled in the art, the above elliptical cam 4 is that the edge of the top view of the cam 4 installed on the safety rod 11 drive mechanism is oval, and the above two cams 4 can be of the same size or different sizes. In the specific application of the scheme, for the claw 1, if there are two claws 1, the edges of the two cams 4 respectively impose constraints on them, and the hinge shaft 10 is the rotation center of the claw 1. When the central shaft 2 rotates, the two The opening and closing action is completed by clamping the gap between the claws 1: when the cam 4 rotates with the central shaft 2, for each claw 1, such as the long axis edge of the cam 4 on the upper side of the hinge shaft 10 is pressed on the claw 1 , the short axis edge of the cam 4 on the lower side of the hinge shaft 10 interacts with the claw 1. At this time, there is a minimum gap between the lower ends of the claw 1 for clamping the safety rod 11; the cam 4 on the upper side of the hinge shaft 10 When the edge of the short axis of the pin is pressed against the claw 1, the edge of the long axis of the cam 4 on the lower side of the hinge shaft 10 interacts with the claw 1. At this time, there is a maximum gap between the lower ends of the claw 1 for releasing the safety rod. 11 or the upper end of the safety bar 11 is embedded between the claws 1 to prepare for clamping the safety bar 11 . With this scheme, the above two cams 4 constrain the two jaws 1 at the same time, so that there is a specific relative motion state between the jaws 1, and the above relative motion is periodic relative motion. With this scheme, each jaw 1 and The main shaft 3 can be articulated by the hinge shaft 10, and the above-mentioned scheme including the elastic member is not required; at the same time, by adopting this scheme, since the cam 4 is a rigid body compared with the elastic body, the clamping gap between the claws 1 can be changed Only rely on the rotation of the cam 4, so adopting this scheme can also make the gripper transmission chain have more reliable performance, and the corresponding safety bar 11 drive mechanism has the characteristics of simpler structure.

In order to enable the gripper part 16 to constrain the position of the central shaft 2 relative to the main shaft 3 on the axis of the main shaft 3, and for the technical solution with two cams 4, it is set as follows: there are two jaws 1, and the two jaws 1 is provided with a step 27 for restricting the position of the lower end of the central shaft 2 relative to the main shaft 3 on the axis of the main shaft 3. The two steps 27 are in a positive relationship with the axis of the main shaft 3. The lower end provides support;

Straight sections 28 are arranged on the inner sides of the two jaws 1, and the straight sections 28 are used to realize: when the clamping gap on the jaws 1 is in the state of clamping the safety rod 11, the movement of the cam 4 The side faces cooperate with the straight section 28 , and the cam 4 can slide along the straight section 28 in the axial direction of the main shaft 3 . With this scheme, when refueling, the upper end of the safety bar 11 contacts the lower end of the central shaft 2 before the main shaft 3 drops to the lowest position. The rod 11 has a jacking effect on the central shaft 2. In this way, the detection device detects the position of the central shaft 2 relative to the main shaft 3 on the main shaft 3 axis, and judges whether the above-mentioned jacking occurs, so as to determine whether there is a false clamping safety rod. The purpose of 11: when the safety rod 11 is clamped, the central shaft 2 is lifted; when the safety rod 11 is not clamped, the central shaft 2 falls to the bottom and is supported by the step 27, and the above height difference is realized by the straight section 28.

Further, as a redundant design that can drive the rotation of the cam 4 to realize the release of the main shaft 3 to the safety rod 11 in the case of power failure, it is set to: also include a manual drive device 7 connected to the stroke tube 5, so that The manual driving device 7 is used to manually apply torque to drive the stroke tube 5 to rotate. As those skilled in the art, since the travel tube 5 needs to be installed in a fixed position when in use, the corresponding manual drive device 7 can be a rotating handle connected with the travel tube 5 through a gear 23, and the above rotating handle can be a rod-shaped structure. It has an inflection point so that the operator can directly apply torque or is provided with bayonets, slots, etc. The above bayonets and slots are used to connect other tools to apply torque more conveniently. For the scheme provided with the first worm gear mechanism 9 and the drive shaft, it must be set that the manual drive device 7 is connected to the worm. Similarly, a manual drive device 7 can also be provided on the transmission chain of the main shaft 3 , and for the solution provided with the second worm gear mechanism 12 , it is also necessary to connect the manual drive device 7 to the worm.

In order to obtain the position of the main shaft 3 conveniently, it is configured to further include a position detection device 8 for detecting the position of the main shaft 3 . As a person skilled in the art, the detection device may use a position sensor.

In order to intuitively reflect the working state of the gripper transmission chain, it also includes a position detection device 8 for detecting the rotation state of the travel tube 5 or the central shaft 2 .

As a specific form of the central shaft 2 and the stroke tube 5, it is set that: the upper end of the central shaft 2 is in the shape of a spline shaft, and the stroke tube 5 is a sleeve with a keyway on the tube hole.

The above content is a further detailed description of the utility model in combination with specific preferred embodiments, and it cannot be determined that the specific embodiments of the utility model are only limited to these descriptions. For those of ordinary skill in the technical field to which the utility model belongs, other implementation modes obtained without departing from the technical solution of the utility model shall be included in the protection scope of the utility model.

Claims (10)

1. A safety rod drive mechanism, comprising a main shaft transmission chain, the main shaft transmission chain includes a second drive part (25), a transmission shaft (20) and a main shaft (3), and multiple shafts are also arranged on the main shaft (3). A rack (24), a plurality of racks (24) are arranged along the axial direction of the main shaft (3), and also include a gear (23) meshed with the teeth of the rack (24), the second driving part (25) Drive the gear (23) to rotate through the transmission shaft (20), and the lower end of the main shaft (3) is also fixed with a gripper part (16) for clamping the safety rod (11), characterized in that the main shaft (3) It is a hollow shaft, and the gripper part (16) includes at least two claws (1), each claw (1) is hinged on the main shaft (3) through a hinge shaft (10), and the lower end of the claw (1) Surround the clamping gap for clamping the safety bar (11) between; It also includes a hand drive chain, the hand drive chain includes a central shaft (2), a first drive part (6), and the first drive part (6) is used to drive the central shaft (2) around the central shaft (2) ) axis rotation; The central axis (2) is installed in the main shaft (3); The bottom of the central shaft (2) is also fixed with a cam (4), and when the cam (4) rotates with the central shaft (2), the cam (4) changes the The size of the clamping gap. 2. A safety rod driving mechanism according to claim 1, characterized in that, the gripper transmission chain also includes a travel tube (5), and the axis of the central shaft (2) is aligned with the travel tube (5) The axes are parallel, the upper end of the central axis (2) is located in the stroke tube (5), and the lower end of the central axis (2) is located at the lower side of the stroke tube (5); A key is also provided between the central shaft (2) and the stroke tube (5), and when the stroke tube (5) rotates, the key drives the central shaft (2) to rotate with the stroke tube (5) by being sheared. And the central shaft (2) can reciprocate on the axis of the stroke tube (5) relative to the stroke tube (5); The main shaft (3) and the travel tube (5) can rotate relatively, and the main shaft (3) can reciprocate on the axis of the travel tube (5) relative to the travel tube (5). 3. A safety rod driving mechanism according to claim 2, characterized in that, the first driving part (6) is connected to the stroke pipe (5) through a driving shaft, and a self-driving shaft is connected in series on the driving shaft. A first worm gear and worm mechanism (9) with locking performance, in the first worm gear and worm mechanism (9), the worm wheel is connected to the stroke pipe (5) through the drive shaft, and the worm is connected to the first drive part (6) through the drive shaft. 4. A safety rod driving mechanism according to claim 1, characterized in that, the main shaft transmission chain also includes an electromagnetic clutch (26), and the electromagnetic clutch (26) includes an electromagnetic coil (17), an outer cylinder (18) and the inner cylinder (21), the outer cylinder (18) is sleeved on the outside of the inner cylinder (21), and each point of the outer wall of the inner cylinder (21) is connected with each point of the inner wall of the outer cylinder (18). There is a gap between the points; The electromagnetic coil (17) is located outside the outer cylinder (18) or inside the inner cylinder (21); The electromagnetic clutch (26) is connected in series on the transmission shaft (20): in both the outer cylinder body (18) and the inner cylinder body (21), one of them is connected to the second driving part (25) through the transmission shaft (20), The other is connected with gear (23) by transmission shaft (20). 5. A safety rod driving mechanism according to claim 4, further comprising a second worm gear and worm mechanism (12) with self-locking performance connected in series on the drive shaft (20), the second worm gear The worm mechanism (12) is located between the electromagnetic clutch (26) and the second drive component (25); In the second worm gear mechanism (12), the worm wheel is connected with the electromagnetic clutch (26) through the transmission shaft (20), and the worm is connected with the second driving part (25) through the transmission shaft (20). 6. A safety rod driving mechanism according to claim 4, characterized in that, it also comprises an overrunning clutch ( 13), the overrunning clutch (13) enables the one connected to the gear (23) to rotate independently of the other of the outer cylinder (18) and the inner cylinder (21). 7. A safety rod driving mechanism according to claim 4, characterized in that the electromagnetic coil (17), the outer cylinder (18), the inner cylinder (21), and the main shaft (3) are coaxial , the inner cylinder (21) is sleeved on the outside of the main shaft (3), the electromagnetic coil (17) is cylindrical, and the electromagnetic coil (17) is sleeved on the outside of the outer cylinder (18); The electromagnetic coil (17) and the outer cylinder (18) are independent of each other. 8. A kind of safety bar drive mechanism according to claim 1, is characterized in that, also comprises the acceleration device (14) that is used to accelerate main shaft (3) falling speed; Also comprises the cylindrical body as main shaft transmission chain housing, The acceleration device (14) is a compression spring or disc spring installed between the main shaft (3) and the barrel, and acts as an acceleration device when the main shaft (3) is lifted up under the action of the second driving part (25). The device (14) compresses the spring or disc spring to elastically compress; it also includes a buffer device (15) for reducing the impact force on the moving catheter when the main shaft (3) falls; the buffer device (15) is installed on the main shaft (3) A compression spring or disc spring between the barrel and the cylinder. When the main shaft (3) falls, the compression spring or disc spring as a buffer device (15) is elastically compressed. 9. A safety rod driving mechanism according to any one of claims 1 to 8, characterized in that there are two cams (4), and both cams (4) are elliptical cams, and the two cams (4) are oval cams. The cams (4) are installed at different positions on the axis of the central shaft (2), the two cams (4) are coaxial with the central shaft (2), and the angle between the respective major axes of the two cams (4) is 90° ; The hinge shaft (10) on the claw (1) used to realize the hinge of the claw (1) and the main shaft (3) is located between the two ends of the claw (1), and one of the cams (4) is located on the hinge shaft (10 ) is used to interact with the claw part on the upper side of the hinge shaft (10), and the other cam (4) is located on the lower side of the hinge shaft (10) for interacting with the claw part on the lower side of the hinge shaft (10) interaction. 10. A safety rod driving mechanism according to claim 9, characterized in that, there are two claws (1), and both claws (1) are provided with the lower end for constraining the central shaft (2). With respect to the step (27) of the position of the main shaft (3) on the axis of the main shaft (3), the two steps (27) are in a positive relationship with respect to the axis of the main shaft (3), and the steps (27) are used for the center shaft ( 2) The lower end provides support; Straight section (28) is all set on the inner side of two claws (1), and described straight section (28) is used for realizing: When the clamping gap on the claw is in the state of clamping the safety bar (11), the side of the cam (4) cooperates with the straight section (28), and the cam (4) can be moved along the straight section (28) slide in the axial direction of the main shaft (3).