CN212315323U

CN212315323U - Gravity gripping apparatus

Info

Publication number: CN212315323U
Application number: CN202020747087.XU
Authority: CN
Inventors: 赵全起; 张�杰; 李欢; 李洪
Original assignee: Chengdu Western Taili Intelligent Equipment Co ltd
Current assignee: Chengdu Western Taili Intelligent Equipment Co ltd
Priority date: 2020-05-08
Filing date: 2020-05-08
Publication date: 2021-01-08
Anticipated expiration: 2030-05-08

Abstract

The utility model discloses a gravity gripping apparatus, a serial communication port, including hump overcoat (8), set up inside hump overcoat (8) and can follow hump overcoat (8) hump endotheca (11) that remove, set up toper cover (16) at hump endotheca (11) lower extreme, run through toper cover (16) and hump endotheca (11) and the clamping jaw mechanism that can reciprocate, set up and be used for driving the rotatory actuating mechanism of hump endotheca (11) on hump overcoat (8) and hump endotheca (11), and set up the stop gear on hump endotheca (11) and clamping jaw mechanism. The utility model discloses a going upward of control gripping apparatus can promptly and loosen fuel assembly down, and its simple operation need not the manual control clamping jaw and opens and be closed. Additionally, the utility model discloses be provided with weighing machine and construct, indicate the clamping jaw through weighing machine and contacted fuel assembly to the removal of more accurate control gripping apparatus prevents that the gripping apparatus from damaging fuel assembly.

Description

Gravity gripping apparatus

Technical Field

The utility model relates to a gripping apparatus field specifically provides a gravity gripping apparatus.

Background

In the process of reactor refueling, a plurality of operation processes for new and spent fuel assemblies exist, most of operation environments have strong radioactivity, the spent fuel is still operated under water when entering and being stored in a storage water pool, and people cannot access the operation processes, so that a special gripping apparatus for gripping a single fuel assembly is required. The traditional gripper is provided with a power input mechanical transmission type gripper and an electromagnetic type gripper, the power input mechanical transmission type gripper is transmitted to the claw through a middle transmission mechanism by a motor or manpower, and the transmission mechanism can reach the claw through long-distance transmission due to the fact that personnel cannot approach the gripper, so that the complexity of the gripper is increased; the electromagnetic gripper is operated by driving a claw under the action of electromagnetic force generated when an electromagnet is electrified, similarly, because an operator cannot approach the gripper for operation, the gripper needs to drag a longer cable, the dragged cable is obvious burden when the gripper moves up and down or transfers, and meanwhile, for underwater operation, the cable is bound to enter underwater with radioactivity, so that an unsafe factor is formed; the operation of grabbing and releasing of the above two traditional grippers needs manual control under many conditions, is not convenient enough, increases misoperation performance, and often brings serious consequences to the grabbing and releasing operation of the fuel assembly.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome above-mentioned defect, provide a gravity gripping apparatus of swift, safe and reliable's operation.

The purpose of the utility model is realized through the following technical scheme: a gravity gripping apparatus comprises a hump outer sleeve, a hump inner sleeve which is arranged in the hump outer sleeve and can move along the hump outer sleeve, a conical sleeve which is arranged at the lower end of the hump inner sleeve, a clamping jaw mechanism which penetrates through the conical sleeve and the hump inner sleeve and can move up and down, a driving mechanism which is arranged on the hump outer sleeve and the hump inner sleeve and is used for driving the hump inner sleeve to rotate, and a limiting mechanism which is arranged on the hump inner sleeve and the clamping jaw mechanism.

Furthermore, the driving mechanism comprises a plurality of hump bulges which are uniformly arranged on the outer side wall of the hump inner sleeve in the circumferential direction, hump lower inclined teeth which are circumferentially arranged on the outer side wall of the hump inner sleeve and are positioned below the hump bulges, and sliding pins arranged on the hump outer sleeve; a gap is formed between every two adjacent hump bulges, and the upper ends of the two adjacent hump bulges are connected through a blocking rib; the lower end of the hump bulge is provided with hump upper inclined teeth, and the hump upper inclined teeth and the hump lower inclined teeth are arranged in a staggered manner; when the inner hump sleeve moves along the outer hump sleeve, the sliding pin can be respectively clamped into the lower oblique teeth, the upper oblique teeth and the gaps of the hump.

The clamping jaw mechanism comprises a clamping jaw mandrel penetrating through the conical sleeve and the hump inner sleeve, and a clamping jaw is arranged at the lower end of the clamping jaw mandrel through a clamping jaw mounting sleeve; the clamping jaw mandrel can move up and down, and when the clamping jaw mandrel moves up, the clamping jaw mandrel can push the conical sleeve and the hump inner sleeve to move up.

The limiting mechanism comprises a plurality of hanging pieces arranged on the clamping jaw mandrel, and a blocking piece which is arranged on the inner side wall of the hump inner sleeve and matched with the hanging pieces.

A positioning sleeve and two sliding bearings are arranged in the hump inner sleeve, and the two sliding bearings are respectively positioned at two ends of the positioning sleeve; the clamping jaw mandrel penetrates through the sliding bearing and the positioning sleeve, and the blocking piece is arranged on the inner side wall of the positioning sleeve.

And the upper end of the hump inner sleeve is provided with a limiting sleeve.

The gravity gripping apparatus further comprises a weighing mechanism; the weighing mechanism comprises a gravity sensor, a connecting sleeve connected to the hump jacket, and a connecting rod with one end connected to the gravity sensor and the other end connected to the connecting sleeve; the upper end of the clamping jaw mandrel extends into the connecting sleeve.

The weighing mechanism further comprises a gravity sensor mounting sleeve, and the gravity sensor is mounted in the gravity sensor mounting sleeve.

And a limiting block is arranged at the upper end of the clamping jaw mandrel.

Compared with the prior art, the utility model, have following advantage and beneficial effect: the utility model discloses a going upward of control gripping apparatus can promptly and loosen fuel assembly down, and its simple operation need not the manual control clamping jaw and opens and be closed. Additionally, the utility model discloses be provided with weighing machine and construct, indicate the clamping jaw through weighing machine and contacted fuel assembly to the removal of more accurate control gripping apparatus prevents that the gripping apparatus from damaging fuel assembly.

Drawings

Fig. 1 is a sectional view of the present invention.

Fig. 2 is an installation schematic diagram of the hump outer sleeve, the hump inner sleeve and the clamping jaw mechanism of the present invention.

Fig. 3 is a top view of the jaw mandrel of the present invention.

Fig. 4 is a top view of the hump inner case of the present invention.

Fig. 5 is a schematic diagram of the present invention when it is clamped and released.

The reference numbers in the drawings are:

2-gravity sensor, 3-gravity sensor installation sleeve, 4-connecting rod, 5-connecting sleeve, 6-limiting block, 7-clamping jaw mandrel, 8-hump outer sleeve, 9-limiting sleeve, 10-sliding pin, 11-hump inner sleeve, 12-positioning sleeve, 13-sliding bearing, 14-hump bulge, 15-hump lower inclined tooth, 16-conical sleeve, 17-clamping jaw, 18-clamping jaw installation sleeve, 19-hump upper inclined tooth, 20-fuel assembly, 21-blocking rib, 22-hanging piece, 23-blocking piece and 24-gap.

Detailed Description

The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.

Examples

As shown in fig. 1 and 2, the gravity gripper of the present invention includes a hump outer sleeve 8, a hump inner sleeve 11, a taper sleeve 16, a clamping jaw mechanism, a driving mechanism and a limiting mechanism. Specifically, the inner hump case 11 is attached to the inside of the outer hump case 8, and the inner hump case 11 is vertically movable along the outer hump case 8 and the inner hump case 11 is rotatable within the outer hump case 8. The conical sleeve 16 is arranged at the lower end of the hump inner sleeve 11 and is integrated with the hump inner sleeve 11, and the conical sleeve 16 is in an inverted cone shape. The conical sleeve 16 and the hump inner sleeve 11 are both hollow structures, the clamping jaw mechanism penetrates through the conical sleeve 16 and the hump inner sleeve 11, and the clamping jaw mechanism can move up and down along the conical sleeve 16 and the hump inner sleeve 11. The driving mechanism is arranged on the outer hump sleeve 8 and the inner hump sleeve 11 and can drive the inner hump sleeve 11 to rotate when the inner hump sleeve 11 moves up and down. The limiting mechanism is arranged on the hump inner sleeve 11 and the clamping jaw mechanism and can limit the downward moving distance of the clamping jaw mechanism. The upper end of the hump inner sleeve 11 is provided with a limit sleeve 9, and the limit sleeve 9 is used for preventing the hump inner sleeve 11 from separating from the hump outer sleeve 8.

As shown in fig. 2, the drive mechanism includes several hump protrusions 14, hump lower angled teeth 15, and a slide pin 10. The hump protrusions 14 are uniformly arranged along the circumferential direction of the outer side wall of the hump inner sleeve 11, in the embodiment, the number of the hump protrusions 14 is 4, the hump protrusions and the hump inner sleeve 11 are integrally formed, a gap 24 is formed between every two adjacent hump protrusions 14, and the upper ends of every two adjacent hump protrusions 14 are connected through the blocking rib 21, so that the 4 hump protrusions 14 are connected into a whole. The lower ends of all hump bulges 14 are provided with hump upper inclined teeth 19.

Besides, the hump lower inclined teeth 15 are circumferentially arranged on the outer side wall of the hump inner sleeve 11, and the hump lower inclined teeth 15 are positioned below the hump bulge 14. The hump upper inclined teeth 19 and the hump lower inclined teeth 15 are arranged in a staggered mode.

The sliding pin 10 is fixed on the outer hump jacket 8, one end of the sliding pin 10 is close to the inner hump jacket 11, and when the inner hump jacket 11 moves up and down along the outer hump jacket 8, one end of the sliding pin 10 close to the inner hump jacket 11 can be respectively clamped into the lower hump skewed teeth 15, the upper hump skewed teeth 19 and the gaps 24, and because the sliding pin 10 is fixed on the outer hump jacket 8, when the sliding pin 10 is respectively clamped into the lower hump skewed teeth 15, the upper hump skewed teeth 19 and the gaps 24, the sliding pin can press the inner hump jacket 11, so that the inner hump jacket 11 rotates in the outer hump jacket 8.

As shown in fig. 2, the clamping jaw mechanism comprises a clamping jaw mandrel 7 penetrating through a conical sleeve 16 and a hump inner sleeve 11, and clamping jaws 17 mounted at the lower end of the clamping jaw mandrel 7 through a clamping jaw mounting sleeve 18. Specifically, the clamping jaw 17 is fixed on the mounting sleeve 18 through a bracket, and the clamping jaw 17 can swing by taking the bracket as a fulcrum, so that the clamping and the loosening of the fuel assembly are realized. The clamping jaw is the prior mature technology, and the structure and the installation mode thereof are clear, so that redundant description is not repeated.

This clamping jaw dabber 7 can reciprocate, and when clamping jaw dabber 7 upwards moved, it can drive clamping jaw 17 and upwards move, and conical sleeve 16 struts the upper end of clamping jaw 17 when clamping jaw 17 upwards moves, and the lower extreme of clamping jaw 17 then contracts to clamping assembly. When the jaw mandrel 7 continues to move upwards, the jaw mounting sleeve 18 butts against the lower end of the tapered sleeve 16 and pushes the tapered sleeve 16 and the hump inner sleeve 11 upwards.

As shown in fig. 3 and 4, the limiting mechanism includes a plurality of hanging pieces 22 arranged on the jaw mandrel 7, and a blocking piece 23 arranged on the inner side wall of the hump inner sleeve 11. The hanging piece 22 and the clamping jaw mandrel 7 are integrally formed, and the blocking piece 23 and the hump inner sleeve 11 are also integrally formed.

In the initial state, the hanging piece 22 and the blocking piece 23 are staggered with each other, so that the clamping jaw mandrel 7 can move up and down in the hump inner sleeve 11, and after the hump inner sleeve 11 is driven by the driving mechanism to rotate for a certain angle, the hanging piece 22 and the blocking piece 23 are abutted against each other, so that the clamping jaw mandrel 7 cannot move downwards continuously.

As another scheme, on the basis of the above structure, as shown in fig. 1, a positioning sleeve 12 and two sliding bearings 13 are installed inside the hump inner sleeve 11, and the two sliding bearings 13 are respectively located at two ends of the positioning sleeve 12; the jaw mandrel 7 extends through the sliding bearing 13 and the positioning sleeve 12, in which case the blocking piece 23 is arranged on the inner side wall of the positioning sleeve 12. The up-and-down movement of the clamping jaw mandrel 7 can be smoother through the sliding bearing 13.

In addition, the upper end of the clamping jaw mandrel 7 is provided with a limiting block 6, and the limiting block can prevent the clamping jaw mandrel 7 from being separated from the hump inner sleeve. In addition, can set up the spout on the 8 inner walls of hump overcoat, in the spout was stretched into at the both ends of stopper 6, make clamping jaw dabber 7 unable rotatory can, ensure that during operation lacing film 22 and separation blade 23 can support to lean on each other.

As shown in figure 5, in operation, the travelling crane is connected with the hump jacket 8 through an external connecting piece, and the movement of the whole gripping apparatus is controlled through the travelling crane. When a fuel assembly needs to be grabbed, the travelling crane descends to drive the grabbing tool to move downwards; when the upper end of the fuel assembly 20 abuts against the lower end of the clamping jaw mandrel 7, because the hanging piece 22 and the blocking piece 23 are in a mutually staggered state at the moment, the fuel assembly 20 pushes the clamping jaw mandrel 7 to move upwards, the conical sleeve 16 expands the upper end of the clamping jaw 7, the lower end of the clamping jaw 17 is tightened, the fuel assembly 20 is clamped, and the sliding pin 10 is at the position of phi at the moment. After the clamping jaw 17 clamps the fuel assembly 20, the travelling crane continues to drive the gripping apparatus to move downwards, the clamping jaw mandrel 7 continues to move upwards, when the lower end of the conical sleeve 16 abuts against the clamping jaw mounting sleeve 18, the conical sleeve 16 and the hump inner sleeve 11 are pushed upwards, the sliding pin 10 moves from the position (i) to the position (ii), and in the process, as the sliding pin 10 is fixed, the sliding pin 10 is extruded to the tooth wall of the hump lower inclined tooth 15, and the hump inner sleeve 11 rotates for an angle.

When the fuel assembly is moved, the crane lifts the gripping apparatus, due to the self gravity action of the hump inner sleeve 11 and the conical sleeve 16, the hump inner sleeve 11 and the conical sleeve 16 move downwards, at the moment, the sliding pin 10 moves from the position II to the position III, in the process, the sliding pin 10 is extruded to the tooth wall of the inclined tooth 19 on the hump, the hump inner sleeve 11 rotates for an angle again, and the hanging piece 22 and the blocking piece 23 are overlapped in the vertical direction; meanwhile, due to the gravity action of the clamping jaw mechanism and the fuel assembly, the hanging piece 22 and the blocking piece 23 are abutted against each other after the clamping jaw mandrel 7 moves downwards for a certain distance, the clamping jaw mandrel 7 cannot move downwards continuously, the conical sleeve 16 cannot be separated from the clamping jaw 17, the clamping jaw 17 continues to clamp the fuel assembly 20, and the travelling crane control gripper moves to a position where the fuel assembly needs to be placed.

When the fuel assembly 20 needs to be loosened, the travelling crane descends to place the fuel assembly, after the fuel assembly is placed down, the travelling crane continues to descend, the fuel assembly props against the lower end of the clamping jaw mandrel 7 again, the clamping jaw mandrel 7 moves upwards again, the conical sleeve 16 and the hump inner sleeve 11 are pushed to move upwards, the sliding pin 10 moves from the position from the third position to the position from the fourth position, in the process, the sliding pin 10 extrudes the tooth wall of the hump lower inclined tooth 15, and the hump inner sleeve 11 rotates for an angle again. The travelling crane lifts the gripping apparatus, because of the self gravity of the conical sleeve 16 and the hump inner sleeve 11, the conical sleeve 16 and the hump inner sleeve 11 move downwards, the sliding pin 10 moves from the position of four to the position of five, in the process, the sliding pin 10 extrudes the tooth wall of the oblique tooth 19 on the hump, the hump inner sleeve 11 rotates an angle again, at the moment, the hanging piece 22 and the blocking piece 23 are staggered with each other in the vertical direction, because of the self gravity of the clamping jaw mechanism, the clamping jaw mandrel 7 can move downwards until the conical sleeve 16 is separated from the clamping jaw 17, and the clamping jaw 17 releases the fuel assembly 20.

Example 2

The present embodiment is further provided with a weighing mechanism on the basis of embodiment 1. Specifically, as shown in fig. 1, the weighing mechanism includes a gravity sensor mounting sleeve 3, a gravity sensor 2 mounted in the gravity sensor mounting sleeve 3, a connecting sleeve 5 connected to a hump jacket 8, and a connecting rod 4 having one end connected to the gravity sensor 2 and the other end connected to the connecting sleeve 5; the gravity sensor 2 is connected to an external control center. The upper end of the clamping jaw mandrel 7 extends into the connecting sleeve 5. Through gravity sensor 2's effect, when the lower extreme of clamping jaw dabber and fuel assembly's upper end contact, the weight of gripping apparatus changes, and weighing sensor detects weight and gives the signal to control center after changing, and the suggestion gripping apparatus has contacted with fuel assembly for the removal of control gripping apparatus that operating personnel can be better prevents that the gripping apparatus from damaging fuel assembly.

As described above, the present invention can be implemented well.

Claims

1. The gravity gripping apparatus is characterized by comprising a hump outer sleeve (8), a hump inner sleeve (11) which is arranged in the hump outer sleeve (8) and can move along the hump outer sleeve (8), a conical sleeve (16) which is arranged at the lower end of the hump inner sleeve (11), a clamping jaw mechanism which penetrates through the conical sleeve (16) and the hump inner sleeve (11) and can move up and down, a driving mechanism which is arranged on the hump outer sleeve (8) and the hump inner sleeve (11) and is used for driving the hump inner sleeve (11) to rotate, and a limiting mechanism which is arranged on the hump inner sleeve (11) and the clamping jaw mechanism.

2. The gravity gripper as claimed in claim 1, wherein the driving mechanism comprises a plurality of hump protrusions (14) which are uniformly arranged on the outer side wall of the hump inner sleeve (11) in the circumferential direction, hump lower oblique teeth (15) which are arranged on the outer side wall of the hump inner sleeve (11) in the circumferential direction and are positioned below the hump protrusions (14), and sliding pins (10) which are arranged on the hump outer sleeve (8); a gap (24) is formed between every two adjacent hump bulges (14), and the upper ends of the two adjacent hump bulges (14) are connected through a stop rib (21); the lower end of the hump bulge (14) is provided with hump upper inclined teeth (19), and the hump upper inclined teeth (19) and the hump lower inclined teeth (15) are arranged in a staggered manner; when the inner hump sleeve (11) moves along the outer hump sleeve (8), the sliding pin (10) can be respectively clamped into the lower hump oblique teeth (15), the upper hump oblique teeth (19) and the gap (24).

3. A gravity gripper according to claim 2, wherein the gripper mechanism comprises a gripper mandrel (7) extending through the cone sleeve (16) and the hump inner sleeve (11), a gripper (17) mounted at the lower end of the gripper mandrel (7) by means of a gripper mounting sleeve (18); the clamping jaw mandrel (7) can move up and down, and when moving upwards, the clamping jaw mandrel can push the conical sleeve (16) and the hump inner sleeve (11) to move upwards.

4. The gravity gripper according to claim 3, wherein the limiting mechanism comprises a plurality of hanging pieces (22) arranged on the clamping jaw mandrel (7), and a blocking piece (23) arranged on the inner side wall of the hump inner sleeve (11) and matched with the hanging pieces (22).

5. A gravity gripper according to claim 4, characterized in that the hump inner sleeve (11) is internally provided with a positioning sleeve (12) and two sliding bearings (13), the two sliding bearings (13) are respectively positioned at two ends of the positioning sleeve (12); the clamping jaw core shaft (7) penetrates through the sliding bearing (13) and the positioning sleeve (12), and the blocking piece (23) is arranged on the inner side wall of the positioning sleeve (12).

6. A gravity gripper according to any one of claims 1 to 5, wherein the upper end of the inner hump sleeve (11) is provided with a stop collar (9).

7. A gravity gripper according to any one of claims 3 to 5 further comprising a weighing mechanism; the weighing mechanism comprises a gravity sensor (2), a connecting sleeve (5) connected to the hump jacket (8), and a connecting rod (4) with one end connected to the gravity sensor (2) and the other end connected to the connecting sleeve (5); the upper end of the clamping jaw mandrel (7) extends into the connecting sleeve (5).

8. A gravity gripper according to claim 7, wherein the weighing mechanism further comprises a gravity sensor mounting sleeve (3), the gravity sensor (2) being mounted within the gravity sensor mounting sleeve (3).

9. A gravity gripper according to claim 8, characterized in that the upper end of the jaw mandrel (7) is provided with a stop block (6).