CN215101508U

CN215101508U - Irradiation device taking and placing tool based on gravity type automatic gripping apparatus

Info

Publication number: CN215101508U
Application number: CN202023106663.1U
Authority: CN
Inventors: 宋函默
Original assignee: Shanghai Guohe Design Co ltd
Current assignee: Shanghai Guohe Design Co ltd
Priority date: 2020-12-21
Filing date: 2020-12-21
Publication date: 2021-12-10
Anticipated expiration: 2030-12-21

Abstract

A kind of taking and putting tool of irradiation device based on gravity type automatic gripping apparatus, involve the irradiation device and take and put the technical field, the taking and putting tool includes the silo section, gate valve supporting section, the silo section includes the upper box body assembly, lower box body assembly, silo pipe, wire rope, guide tube, first guide wheel, second guide wheel, automatic gripping apparatus, lifting motor, reel and lower flange, the upper box body assembly is communicated with silo pipe and set up, and there are first guide wheels in the upper box body, both ends of the guide tube are communicated with upper box body assembly, lower box body assembly separately and set up, there are reels and second guide wheels in the lower box body assembly, there are lifting motors on the outer wall of the lower box body assembly, the lifting motor is linked with reel and set up, the gate valve supporting section includes the adapting flange assembly, bearing seat, guide cylinder and gate valve, in the utility model, based on gravity type automatic gripping apparatus, automatically grasp and release the hoisted object after falling in place, full mechanical automation operation, safety and reliability, and reduced operation difficulty.

Description

Irradiation device taking and placing tool based on gravity type automatic gripping apparatus

Technical Field

The utility model relates to an irradiation device gets puts technical field, concretely relates to irradiation device gets and puts instrument based on automatic gripping apparatus of gravity type.

Background

The nuclear power plant operation tool is used for completing operations such as grabbing and releasing of specific operation objects, placing the irradiation device on the experiment hall taking and placing platform into the experiment assembly in the conversion barrel before the irradiation experiment, taking the irradiation device out of the experiment assembly in the conversion barrel after the irradiation experiment is finished, and transferring the irradiation device to the taking and placing platform. Because irradiation arrangement has certain radioactivity, operating personnel should not be close to, otherwise probably causes the incident, and irradiation arrangement in the silo snatchs and removes and need utilize switch board remote control, and irradiation arrangement carries out the displacement under the direction of height and just has certain degree of difficulty, consequently, has to treat and improve the part, the utility model provides an irradiation arrangement gets and puts instrument based on automatic gripping apparatus of gravity type.

SUMMERY OF THE UTILITY MODEL

To prior art not enough, the utility model aims to provide an irradiation device based on gravity type automatic gripping apparatus gets and puts instrument, based on gravity type automatic gripping apparatus, descend to target in place the back and snatch automatically and the release is hung the thing, full mechanical automation mechanized operation improves maneuverability by a wide margin, and safe and reliable reduces the operation degree of difficulty, and concrete scheme is as follows:

a kind of irradiation device based on gravity type automatic gripping apparatus gets and puts the tool, the said irradiation device takes the form of slender rod-like structure, put in changing the barrel, the said getting and putting tool includes the silo section, gate valve supporting section, the said silo section is used for grasping and releasing and holding the irradiation device, the said gate valve supporting section is used for communicating or isolating the said silo section and changing the barrel;

the interior of the silo section is kept in a positive pressure state of 0.005Mpa and comprises an upper box body assembly, a lower box body assembly, a silo pipe, a steel wire rope, a guide pipe, a first guide wheel, a second guide wheel, an automatic gripping device, a lifting motor, a winding drum and a lower flange, wherein the automatic gripping device is arranged in the silo pipe, the upper box body assembly and the lower flange are respectively arranged at the upper end and the lower end of the silo pipe, the lower box body assembly is embedded on the outer wall, close to the lower flange, of the silo pipe, the upper box body assembly is communicated with the silo pipe, the first guide wheel is arranged in the upper box body assembly, two ends of the guide pipe are respectively communicated with the upper box body assembly and the lower box body assembly, the winding drum and the second guide wheel are arranged in the lower box body assembly, the lifting motor is arranged on the outer wall of the lower box body assembly, and the lifting motor is linked with the winding drum, one end of the steel wire rope is in transmission connection with the winding drum, and the other end of the steel wire rope is in transmission connection with the automatic gripping apparatus after sequentially passing through the second guide wheel, the guide pipe and the first guide wheel;

the gate valve supporting section comprises an adapter flange assembly, a supporting seat, a guide cylinder and a gate valve, the adapter flange assembly is arranged at one end of the supporting seat, the adapter flange assembly is connected with the lower flange and communicated with the silo pipe, the gate valve is arranged on the adapter flange assembly, and the guide cylinder is communicated with the silo pipe after penetrating through the supporting seat and the adapter flange assembly.

Furthermore, a weighing sensor and a trigger travel switch are arranged in the upper box body assembly, the weighing sensor is used for measuring the force of the steel wire rope, and the trigger travel switch is aligned with the automatic gripping apparatus.

Furthermore, the outside of box is equipped with hand wheel and loses electric brake down, the hand wheel with the reel is coaxial to be rotated and is connected, it installs to lose electric brake coaxial between hand wheel, reel.

Furthermore, an absolute value encoder is arranged on the lifting motor.

Further, an air inlet, an air outlet, a valve and a pressure gauge are arranged on the upper box body assembly and the lower box body assembly.

Furthermore, the lifting distance of the automatic gripping apparatus is 8500mm, the lifting speed is 20mm/s, and the lifting capacity is 50 kg.

Compared with the prior art, the beneficial effects of the utility model are as follows:

(1) when the irradiation device is required to be transferred into the conversion barrel, the silo section is installed on the taking and placing platform through a special tool, the irradiation device is vertically hung on a movable storage rack below the taking and placing platform, an automatic gripping device in the silo section is operated to lift the irradiation device to the top of the silo section, the gate valve supporting section is installed on a channel of the conversion barrel, the gate valve is closed at the moment, a guide cylinder at the lower part of the gate valve supporting section is aligned with an experimental component in the conversion barrel, the connection between the silo section and the taking and placing platform is released, the silo section which is gripped with the irradiation device is hung above the gate valve supporting section by a crane and is connected and sealed with the gate valve supporting section, the air in the replacement silo section is argon and reaches the required purity and pressure (0.005Mpa), the gate valve is opened, the irradiation device is lowered into the experimental component in the conversion barrel by operating the automatic gripping device in the silo section, and the empty automatic gripping device returns to the top of the silo section, the whole process of moving the automatic gripping apparatus up and down is carried out in the silo section, the gate valve supporting section and the guide cylinder, the gate valve is closed, argon is replaced by air, the silo section and the gate valve supporting section are loosened, and the whole irradiation device is transferred. Similarly, when the irradiation device needs to be taken out of the conversion barrel, the silo section is hoisted to the gate valve supporting section through a special tool, the air in the silo section is replaced by argon, the required purity and pressure are achieved, the gate valve is opened, the automatic grabbing head in the silo section is operated to descend into an experimental component in the conversion barrel, the irradiation device is grabbed and then lifted to the top of the silo section, the gate valve is closed, the argon is replaced by air, the connection between the silo section and the gate valve supporting section is released, the silo section grabbed with the irradiation device is hoisted to the taking and placing platform and connected through a crane, the distance needs to be kept because the irradiation device has radioactive dose, the automatic grabbing tool is operated to descend the irradiation device to the movable storage rack below the taking and placing platform, the empty automatic grabbing tool returns to the top of the silo section, and the operation of the transfer irradiation device is finished.

In conclusion, the grabbing and releasing operations of the sequentially exhausted component transportation barrel are completed, the utility model discloses based on gravity type automatic gripping apparatus, automatic grabbing and releasing of hoisted object after descending in place, full mechanical automation operation, no power (such as pneumatic, electric, hydraulic, etc.) or manual operation are needed, operability is improved greatly, safety and reliability are realized, and operation difficulty is reduced;

(2) by arranging the weighing sensor and the trigger travel switch, the weighing sensor can measure the force on the steel wire rope, and when the automatic gripping apparatus is lifted to the top end, the travel switch is triggered, so that the sensitivity of movement can be improved by triggering the travel switch;

(3) the lifting motor is manually standby when the lifting motor fails by arranging the hand wheel and the power-off brake, the hand wheel can be manually operated to operate when the lifting motor fails, and the absolute value encoder is arranged on the lifting motor and used for measuring and calculating the stroke position of the automatic gripping apparatus and improving the movement accuracy.

Drawings

Fig. 1 is an overall schematic view of an embodiment of the present invention;

FIG. 2 is a schematic sectional view showing the internal structure of the silo section of the present invention;

fig. 3 is a top view of the present invention.

Reference numerals: 1. a silo section; 2. a gate valve support section; 3. an upper case assembly; 4. a lower case assembly; 5. a silo pipe; 6. a wire rope; 7. a guide tube; 8. a first guide wheel; 9. a second guide wheel; 10. an automatic gripper; 11. a hoisting motor; 12. a reel; 13. a lower flange; 14. a hand wheel; 15. a transfer flange assembly; 16. a supporting seat; 17. a guide cylinder; 18. and (4) a gate valve.

Detailed Description

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

With reference to fig. 1 to 3, a tool for taking and placing an irradiation device based on a gravity type automatic gripper is used for taking and placing the irradiation device for measurement by an activation method in an experiment, the transfer operation of the irradiation device is completed between a taking and placing platform and a conversion barrel, specifically, the irradiation device on the taking and placing platform of an experiment hall is placed into an experiment assembly in the conversion barrel before an irradiation experiment, and the irradiation device is taken out from the experiment assembly in the conversion barrel after the irradiation experiment is finished and is transferred to the taking and placing platform. The irradiation device is in a slender rod-shaped structure and is used for being placed in the conversion barrel.

The picking and placing tool comprises a silo section 1 and a gate valve supporting section 2 in the height direction, the silo section 1 is used for grabbing, releasing and containing an irradiation device, and the gate valve supporting section 2 is used for communicating or isolating the silo section 1 and a conversion barrel.

In detail, the silo section 1 is kept in a positive pressure state of 0.005Mpa, and comprises an upper box body component 3, a lower box body component 4, a silo pipe 5, a steel wire rope 6, a guide pipe 7, a first guide wheel 8, a second guide wheel 9, an automatic gripping apparatus 10, a lifting motor 11, a winding drum 12 and a lower flange 13, wherein the automatic gripping apparatus 10 is arranged in the silo pipe 5, the upper box body component 3 and the lower flange 13 are respectively arranged at the upper end and the lower end of the silo pipe 5, and the lower flange 13 is used for connecting the silo section 1 with a gate valve supporting section 2 or a taking and placing platform. The lower box body assembly 4 is embedded on the outer wall of the silo pipe 5 close to the lower flange 13, the upper box body assembly 3 is communicated with the silo pipe 5, and two first guide wheels 8 for guiding are rotatably mounted in the upper box body assembly 3. The stand pipe 7 is parallel to the silo section 1 and is arranged at an interval, two ends of the stand pipe 7 are respectively communicated with the upper box body assembly 3, the lower box body assembly 4 is communicated and arranged, a winding drum 12 and a second guide wheel 9 are arranged in the lower box body assembly 4, a lifting motor 11 is installed on the outer wall of the lower box body assembly 4, an output shaft of the lifting motor 11 is in linkage with the winding drum 12, one end of a steel wire rope 6 is in transmission connection with the winding drum 12, the other end of the steel wire rope 6 sequentially passes through the second guide wheel 9, the stand pipe 7, the first guide wheel 8 is in transmission connection with the automatic gripping apparatus 10, and when the lifting motor 11 works, the automatic gripping apparatus 10 is driven by the rotary motion of the winding drum 12 through the steel wire rope 6 to integrally lift and convey in the vertical direction.

In order to ensure the positive pressure state in the silo section 1, an air inlet, an air outlet, a valve and a pressure gauge are arranged on the upper box component 3 and the lower box component 4, the air inlet and the air outlet are used for charging and discharging air, the valve is used for controlling the charging and discharging air to be opened and closed, and the pressure gauge is used for monitoring the internal pressure.

Preferably, a weighing sensor and a trigger travel switch are arranged in the upper box body assembly 3, the trigger travel switch is aligned with the automatic gripping apparatus 10, the weighing sensor can measure the force on the steel wire rope 6, and when the automatic gripping apparatus 10 is lifted to the top end, the travel switch is triggered, so that the sensitivity of movement can be improved.

The outer part of the lower box body is provided with a hand wheel 14 and a power-off brake, the hand wheel 14 is coaxially and rotatably connected with the winding drum 12, and the power-off brake is coaxially arranged between the hand wheel 14 and the winding drum 12. As a manual standby mode when the lifting motor 11 is in fault, the hand wheel 14 can be operated manually, and the absolute value encoder is arranged on the lifting motor 11 and used for measuring and calculating the stroke position of the automatic gripping apparatus 10, so that the movement accuracy is improved.

In this embodiment, the automatic gripper 10 is manufactured by using the chinese utility model patent with the application number CN201420112503.3, entitled "a control rod gripping mechanism for nuclear power station". The automatic gripper 10 is based on a star wheel mechanism, and is organically combined by the whole gripper and other structures of all parts, and the gripping is changed by switching the inner gripper and the outer gripper, specifically, the shape of the gripper head is changed, and the opening and closing actions are reversed, so that the gripper is changed to be gripping when being closed. Through the improvement of star wheel device, push rod, grabbing head length and position to satisfy different and snatch the stroke requirement. The tool does not need power (such as pneumatic, electric and hydraulic) or manual driving to act, and after the tool descends to the right position, the grabbing and releasing of the operation object are automatically completed only by the self gravity of the tool. In addition, the lifting distance of the automatic gripper 10 is 8500mm, the lifting speed is 20mm/s, and the lifting capacity is 50 kg.

The gate valve supporting section 2 comprises an adapter flange assembly 15, a supporting seat 16, a guide cylinder 17 and a gate valve 18, wherein the adapter flange assembly 15 is arranged at one end of the supporting seat 16, the adapter flange assembly 15 is connected with a lower flange 13 and communicated with the silo pipe 5, the assembly of the silo section 1 and the gate valve supporting section 2 is realized, the gate valve 18 is arranged on the adapter flange assembly 15, the gate valve 18 is an electric knife-type gate valve 18 made of stainless steel, and a motor of the gate valve 18 and a lifting motor 11 are not used at the same time. The guide cylinder 17 is arranged after penetrating the supporting seat 16 and the adapter flange assembly 15 and communicated with the silo pipe 5, and the guide pipe 7 extends into the conversion barrel and is used for guiding the automatic gripping apparatus 10.

When the irradiation device is required to be transferred into the conversion barrel, the silo section 1 is installed on the pick-and-place platform through a special tool (a factory crane), the irradiation device is vertically hung on a movable storage rack below the pick-and-place platform, the automatic gripping device 10 in the silo section 1 is operated to lift the irradiation device to the top of the silo section 1, the gate valve supporting section 2 is installed on a channel of the conversion barrel, at the moment, the gate valve 18 is closed, the guide cylinder 17 at the lower part of the gate valve supporting section 2 is aligned with an experimental component in the conversion barrel, the connection between the silo section 1 and the pick-and-place platform is released, the silo section 1 gripping the irradiation device is lifted to the upper part of the gate valve supporting section 2 by using a crane and is connected and sealed with the gate valve supporting section 2, the air in the silo section 1 is argon gas and reaches the required purity and pressure (0.005Mpa), the gate valve 18 is opened, the automatic gripping device 10 in the silo section 1 is operated to lower the irradiation device into the experimental component in the conversion barrel, the empty automatic gripper 10 returns to the top of the silo section 1, the whole process of moving the automatic gripper 10 up and down is carried out in the silo section 1, the gate valve supporting section 2 and the guide cylinder 17, the gate valve 18 is closed, argon is replaced by air, the silo section 1 and the gate valve supporting section 2 are loosened, and the whole irradiation device transfer operation is finished. Similarly, when the irradiation device needs to be taken out of the conversion barrel, the silo section 1 is hoisted to the gate valve supporting section 2 by a special tool, the air in the silo section 1 is replaced by argon, and the required purity and pressure are achieved, the gate valve 18 is opened, the automatic grabbing head in the silo section 1 is operated to descend into the experiment assembly in the conversion barrel, grabbing the irradiation device, lifting to the top of the silo section 1, closing the gate valve 18, replacing argon gas with air, loosening the connection between the silo section 1 and the gate valve supporting section 2, hoisting the silo section 1 grabbed with the irradiation device to a pick-and-place platform by a crane and connecting, since the irradiation device has radioactive dose at this time, the operator needs to keep the distance, the automatic gripper 10 is operated to lower the irradiation device onto the movable storage rack below the pick-and-place platform, the empty automatic gripper 10 returns to the top of the silo section 1, and the operation of transferring the irradiation device is finished.

It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. An irradiation device taking and placing tool based on a gravity type automatic gripper is of an elongated rod-shaped structure and is placed in a conversion barrel, and the irradiation device taking and placing tool is characterized by comprising a silo section (1) and a gate valve supporting section (2), wherein the silo section (1) is used for gripping, releasing and containing an irradiation device, and the gate valve supporting section (2) is used for communicating or isolating the silo section (1) and the conversion barrel;

the barrel bin section (1) is internally kept in a positive pressure state of 0.005Mpa and comprises an upper box body assembly (3), a lower box body assembly (4), a barrel bin pipe (5), a steel wire rope (6), a guide pipe (7), a first guide wheel (8), a second guide wheel (9), an automatic gripping tool (10), a lifting motor (11), a winding drum (12) and a lower flange (13), wherein the automatic gripping tool (10) is arranged in the barrel bin pipe (5), the upper box body assembly (3) and the lower flange (13) are respectively arranged at the upper end and the lower end of the barrel bin pipe (5), the lower box body assembly (4) is embedded in the barrel bin pipe (5) close to the outer wall of the lower flange (13), the upper box body assembly (3) is communicated with the barrel bin pipe (5), the first guide wheel (8) is arranged in the upper box body assembly (3), and two ends of the guide pipe (7) are respectively communicated with the upper box body assembly (3), The lower box body assembly (4) is communicated, the winding drum (12) and the second guide wheel (9) are arranged in the lower box body assembly (4), the lifting motor (11) is arranged on the outer wall of the lower box body assembly (4), the lifting motor (11) is in linkage with the winding drum (12), one end of the steel wire rope (6) is in transmission connection with the winding drum (12), and the other end of the steel wire rope (6) is in transmission connection with the automatic gripping apparatus (10) after sequentially passing through the second guide wheel (9), the guide pipe (7) and the first guide wheel (8);

the gate valve supporting section (2) comprises a transfer flange assembly (15), a supporting seat (16), a guide cylinder (17) and a gate valve (18), wherein the transfer flange assembly (15) is arranged at one end of the supporting seat (16), the transfer flange assembly (15) is connected with the lower flange (13) and communicated with the silo pipe (5), the gate valve (18) is arranged on the transfer flange assembly (15), and the guide cylinder (17) penetrates through the supporting seat (16) and the transfer flange assembly (15) and then is communicated with the silo pipe (5).

2. The gravity type automatic gripper-based irradiation device pick-and-place tool according to claim 1, wherein a load cell for measuring the force of the steel wire rope (6) and a trigger travel switch are arranged in the upper box assembly (3) and aligned with the automatic gripper (10).

3. The irradiation device taking and placing tool based on the gravity type automatic gripper is characterized in that a hand wheel (14) and a power-off brake are arranged on the outer portion of the lower box body, the hand wheel (14) is coaxially and rotatably connected with the winding drum (12), and the power-off brake is coaxially installed between the hand wheel (14) and the winding drum (12).

4. The tool for taking and placing the irradiation device based on the gravity type automatic gripper is characterized in that an absolute value encoder is arranged on the lifting motor (11).

5. The tool for taking and placing the irradiation device based on the gravity type automatic gripper is characterized in that an air inlet, an air outlet, a valve and a pressure gauge are mounted on the upper box body assembly (3) and the lower box body assembly (4).

6. The tool for picking and placing an irradiation device based on a gravity type automatic gripper according to claim 1, wherein the lifting distance of the automatic gripper (10) is 8500mm, the lifting speed is 20mm/s, and the lifting capacity is 50 kg.