EP0827935B1 - Verfahren zum Steuern des Betriebs einer Lastkompensationsvorrichtung und Lastkompensationsvorrichtung zur Durchführung dieses Verfahrens - Google Patents

Verfahren zum Steuern des Betriebs einer Lastkompensationsvorrichtung und Lastkompensationsvorrichtung zur Durchführung dieses Verfahrens Download PDF

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Publication number
EP0827935B1
EP0827935B1 EP97420140A EP97420140A EP0827935B1 EP 0827935 B1 EP0827935 B1 EP 0827935B1 EP 97420140 A EP97420140 A EP 97420140A EP 97420140 A EP97420140 A EP 97420140A EP 0827935 B1 EP0827935 B1 EP 0827935B1
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EP
European Patent Office
Prior art keywords
bell housing
overload
underload
pressure
cylinders
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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EP97420140A
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English (en)
French (fr)
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EP0827935A1 (de
Inventor
Jean Leveugle
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Reel SAS
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Reel SAS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/54—Safety gear
    • B66D1/58—Safety gear responsive to excess of load

Definitions

  • the invention relates generally to hoists and more particularly to the use of such lifting devices in sensitive environments, such as nuclear power plant reactors. More specifically, the invention relates to a method of regulating the operation of a load compensating device of such a handling, as well as the load compensator implementing this process.
  • the reactor core of a nuclear power plant is made up, so known, from a number of nuclear fuel assemblies put in place at the level of a box spring or heart plate at the bottom of the tank of the reactor.
  • the handling of these assemblies is carried out by means of a machine handling, also called loading machine, capable of to move in a horizontal plane above the pool covering the reactor core, said machine being provided with a control carriage, also likely to move in another horizontal direction at within the machine.
  • a machine handling also called loading machine
  • said machine being provided with a control carriage, also likely to move in another horizontal direction at within the machine.
  • the trolley actually includes a lifting device, most often made up a vertical telescopic mast, capable of unfolding, at the end of which is located a grapple capable of engaging with the upper end nuclear fuel assemblies.
  • the telescopic mast is capable of being moved in a vertical direction by a lifting means most often constituted by a motorized winch, on whose drum comes wind a cable or chain or any equivalent member, and comprising of one or more idler pulleys.
  • nuclear fuel assemblies are made of pencils with fried fuel pellets proper, assembled together by means of spreader grids depending on the height of the assembly.
  • the different nuclear fuel assemblies are positioned juxtaposed within the heart plate, and come in contact with each other, in particular at the level of the spacer grids, we were able to observe collisions of the assemblies on the level of said grids, in particular during lifting or positioning operations of assemblies compared to neighboring assemblies.
  • this attachment results in a overload on the hoist, and in particular on the cable, which must be detected immediately to ensure that the winch engine stops loading machine.
  • the end of the cable or chain of the hoist is fixed directly or indirectly to the outer bell.
  • an electro-pneumatic modulated supply circuit for cylinders are provided and act according to variations in the load.
  • load variations are detected by means of a load cell which, in function of thresholds previously determined and set, induces the setting pressure of said cylinders, respectively underload and / or overload, according to discrete values.
  • fuel assemblies coexisting within the same heart can be of type and brand that, in particular, the level of positioning of the spacer grids at the level of each of the assemblies is different and therefore, can induce reverse and uncontrolled snaps, taking into account the absolute movement of the fuel assembly handled in the direction reverse of the initial movement.
  • the object of the invention is therefore to propose a method for regulating the operation of such a load compensating device, susceptible avoid this absolute reverse movement of the load after being put in artwork.
  • It consists in controlling the pressure within said cylinders so continuous, so as to modify the position setpoint of the external bell corresponding to the state of equilibrium as a function of the measured pressure variations on the cylinders to eliminate any overload or underload effect on the load, and to bring the compensator back to its equilibrium state corresponding to normal operation of the lifting device, i.e. in the absence of any overload or underload, after elimination of the cause having caused such a state of overload or underload.
  • the invention consists in piloting so pressure inside the cylinder chambers pneumatic, to result in very small variations in pressure within said chambers in order to tend towards a constant pressure, in order to maintain the initial position of the compensating device, and therefore limit efforts in the event of overload or underload, and in particular in the event of of fuel assemblies, but also to avoid any phenomenon of "backtracking" of the load, after operation of the compensating device.
  • the control being carried out so permanent, the lifting function stops on incident (grid hooking) is triggered by the detection of the change of position of the compensator, and more precisely of the external bell. It is also possible to deduct from this change of position, the speed of movement of the external bell, by simple derivation from time of this change of position, said speed being compared to a determined threshold representative of a characteristic of an overload, underload, and more specific of a hanging. In fact, through this it becomes possible to detect such a situation before the detection of the threshold admitted for the charge, by traditional dynamometric means.
  • an overload, underload, and detection signal more particularly of attachment by detection of the value of the threshold of overload or underload delivered by a traditional weighing system, and notably dynamometric, also comes to close on the stop of the movement having brought about this situation, giving the system a redundancy, optimizing the operating conditions of such a device load compensator.
  • the invention also relates to the load compensating device implementing this process.
  • Figure 1 is a schematic view showing a machine for load fitted with load compensating device in accordance with the invention.
  • Figures 2 to 4 show different operating phases of the load compensating device according to the invention, respectively equilibrium, in a state of overload, and in a state of underload.
  • FIG. 1 shows the carriage (1) of a machine for loading of nuclear fuel assemblies from a nuclear reactor nuclear plant.
  • This carriage moves on a raceway (2) at roller means (3), and to which a lifting device, consisting of a motorized winch (4) (5) on which a cable (6) is wound.
  • the other end of the cable (6) is fixed to a load compensating device (7), also integral with the carriage (1).
  • the cable (6) surrounds a pulley mounted madly in rotation (8) on a bracket (9) integral with the carriage (1) and, it cooperates with a load cell (10) of the type dynamometer with strain gauge (such as for example marketed by TELEMECANIQUE) and connected to a weight indicator, the weight information being transmitted to the programmable controller (not shown) managing the loading machine.
  • a load cell (10) of the type dynamometer with strain gauge such as for example marketed by TELEMECANIQUE
  • the load (11) is attached to the hook (12a) of a movable block (12), whose pulley (12b) is surrounded by the cable (6) before it goes surround yourself with the winch drum (4).
  • the invention is more particularly described in liaison with the electro-nuclear industry.
  • the charge (11) in question is here constituted by an assembly of nuclear fuels, which one wishes to handle within the core of a reactor, this handling may be constituted by the establishment of said assembly within the heart plate, but also by its replacement or its repositioning.
  • the load compensator (7) will now be described in more detail, without being too weightless, since this one is everything particularly described in the document EP-B-0 292 413 already mentioned.
  • This load compensator firstly has an internal bell fixed, integral with the carriage (1), and composed of at least two columns (13), each of the two columns having two sections (13b) and (13c) of different diameters, the variation of these sections generating a shoulder (13a).
  • the free ends of the two portions (13c) are joined by a crosspiece (14) also forming a stop.
  • An upper piston (15) is capable of translating between the stops (13a) and (14) and, a lower piston (16), is also capable of move between the piston (15) and substantially the lower end or bottom of the internal bell.
  • Each piston receives a flexible pneumatic cylinder, respectively overload cylinder (17) and underload cylinder (18), supplied separately by a flexible line from a source of compressed air (not shown).
  • connection with the load to be balanced shown in Figures 2 to 4 by the arrow, and representing in fact, the departure of the cable (6), is produced by via a movable external bell (19), therefore in translation vertical, and likely to be supported at the base of the lower piston (16) using a ball joint (20).
  • the load to be balanced is linked to a counterweight (21), capable of sliding freely on vertical columns (22) extending from the upper end of the external bell (19), and therefore integral with it. It should be noted that the displacement of the counterweight (21) within the columns (22) is limited in the upper zone by stops (23).
  • the external bell is located at a height h relative to the base of the internal bell, as shown in FIG. 2.
  • the load compensator known in the art previous operated from overload detection thresholds or underload, these detection thresholds being detected by the load cell (10).
  • each of the chambers of the jacks tires is fitted with a pressure sensor capable of permanently indicating the prevailing pressure inside these chambers, and whose data as well measurements are transferred to the aforementioned programmable controller, acting at the level of a set of solenoid valves ensuring the admission or exhaust of a compressed air source.
  • This overpressure is immediately evacuated at one or more of the two chambers simultaneously, until returning to equilibrium pressure, ie in order to keep the same pressure as that of the state of balance, while observing the rise of the external bell of the height h at height h1.
  • the internal pressure sensor associated with its PLC of operation will simply reduce the inherent excess pressure at the overload at the original pressure, when the compensator was in equilibrium position.
  • this pressure regulation which in addition can be modulated simultaneously at the level of one or both chambers, will generate at the cable variation of effort reduced to a minimum and in addition, maintaining physical contact between the elements concerned, especially fuel assemblies.
  • the installation is equipped with sensors for detecting the position of the load compensator, and more precisely of the position of the external bell (19).
  • position sensors are sensors per se known, in particular from optical or differential transformer technologies, which range ensure the measurement for the position control of the external bell.
  • the corresponding signals are further processed, in order to determine, by deriving with respect to time the distance of the displacement of the bell thus measured, the speed of this movement.
  • This speed is characteristic of a situation of overload, underload, and more specifically hooking, and its determination allows the winch (4) to be stopped very quickly, to say the stop of the movement having caused this situation.
  • a signal overload, underload, and more particularly snag detection by detection of the value of the overload or underload threshold delivered by the load cell (10), also comes to buckle on the programmable automaton or on the hoist management unit, giving the system a redundancy, optimizing the operating conditions of such a device load compensator.

Claims (6)

  1. Verfahren zum Regulieren des Betriebs einer Lastkompensationsvorrichtung einer Manipulatorvorrichtung, welches umfaßt:
    eine feste, innere Glocke (13), welche fest an dem Element befestigt ist, auf welchem die Manipulatorvorrichtung ruht, und in der ein oberer Kolben (15) und ein unterer Kolben (16) zwischen innerhalb der genannten Glocke angeordneten Anschlägen (13a, 14) bzw. zwischen dem oberen Kolben (15) und dem Boden der Glocke hin- und herbeweglich sind;
    eine mobile, äußere Glocke (19), die mit dem unteren Kolben (16) zusammenwirken kann, und an welcher das eine Ende des Manipulations-organs (6) befestigt ist, insbesondere ein Seil oder eine Kette, an dessen anderem Ende die Last (11) angehängt ist;
    einen pneumatischen Überlastzylinder (17), der sich zwischen dem oberen Kolben (15) und dem Anschlag (14) der festen, inneren Glocke (13) erstreckt, und einen pneumatischen Unterlastzylinder (18), der sich zwischen dem oberen Kolben (15) und dem unteren Kolben (16) erstreckt, wobei die Zylinder über eine elektrische Steuerorgan- bzw. Mehrwegeventilanordnung mit einer Druckluftquelle verbunden sind oder entleert werden, dadurch gekennzeichnet, daß es darin besteht, den Druck innerhalb der Zylinder (17, 18) kontinuierlich derart zu steuern, um den dem Gleichgewichtszustand entsprechenden Sollwert der Position der äußeren Glocke (19) in Abhängigkeit von den gemessenen Druckänderungen auf den Zylinder zu verändern, um jede Wirkung der Lastspitze oder des Lastabfalls auf die Last (11) zunichte zu machen, und um den Kompensator nach Unterdrückung der Ursache, die zu einem solchen Zustand der Lastspitze oder des Lastabfalls geführt hat, in seinen Gleichgewichtszustand zurückzuführen, der einer normalen Arbeitsweise der Manipulatorvorrichtung entspricht, d. h. der Abwesenheit jeder Lastspitze oder jeden Lastabfalls.
  2. Verfahren zum Regulieren des Betriebs einer Lastkompensationsvorrichtung einer Manipulatorvorrichtung gemäß Anspruch 1, dadurch gekennzeichnet, daß die Regulierung des Betriebsdrucks der Zylinder durch eine Erfassung der Druckänderung in den Zylindern durchgeführt wird.
  3. Verfahren zum Regulieren des Betriebs einer Lastkompensationsvorrichtung einer Manipulatorvorrichtung gemäß Anspruch 2, dadurch gekennzeichnet, daß die die Verschiebung der äußeren Glocke (19) betreffenden Signale derart bearbeitet werden, daß die Geschwindigkeit der Verschiebung der äußeren Glocke durch einfache Herleitung aus der Zeit dieser Positionsänderung gefolgert werden kann, wobei die Geschwindigkeit mit einem repräsentativen, festgesetzten Schwellenwert verglichen wird, welcher für ein Charakteristikum einer Situation der Lastspitze, des Lastabfalls repräsentativ ist, und um in Abhängigkeit von diesem Vergleich das Anhalten der Hebebewegung auszulösen.
  4. Verfahren zum Regulieren des Betriebs einer Lastkompensationsvorrichtung einer Manipulatorvorrichtung gemäß einem der Ansprüche 1 bis 3, dadurch charakterisiert, daß ein Signal der Erfassung der Lastspitze oder des Lastabfalls durch Erkennen des Grenzwertes der Lastspitze oder des Lastabfalls, welches durch ein herkömmliches und insbesondere dynamometrisches, am Seil (6) angebrachtes Wiegesystem geliefert wird, ebenfalls durch den programmierbaren Automaten oder der Steuerungseinheit der Manipulatorvorrichtung rückgestellt wird, um dem System eine Redundanz zu verleihen, um zu einer Beendigung der Bewegung zu führen, die zu dieser Situation der Lastspitze oder des Lastabfalls geführt hat.
  5. Lastkompensationsvorrichtung einer Manipulatiormaschine, welche aufweist:
    eine feste, innere Glocke (13), welche fest an dem Element befestigt werden kann, auf welchem die Manipulatorvorrichtung ruht, und in der ein oberer Kolben (15) und ein unterer Kolben (16) zwischen innerhalb der besagten Glocke installierten Anschlägen (13a, 14) bzw. zwischen dem oberen Kolben (15) und dem Boden der besagten Glocke hin- und herbeweglich sind;
    eine mobile, äußere Glocke (19), die mit dem unteren Kolben (16) zusammenwirken kann, und an welcher das eine Ende des Transportorgans befestigt werden kann, insbesondere das Kabel oder die Kette, an dessen anderen Ende die Last angehängt ist;
    einen pneumatischen Überlastzylinder (17), der sich zwischen dem oberen Kolben (15) und dem Anschlag (14) der festen, inneren Glocke (13) erstreckt, und einen pneumatischen Unterlastzylinder (18), der sich zwischen dem oberen Kolben (15) und dem unteren Kolben (16) erstreckt, wobei die Zylinder mit einer Druckquelle und einem Drucksumpf verbunden sind;
    einen programmierbaren Automaten oder eine Steuerungseinheit,
    dadurch gekennzeichnet, daß
       jeder der Zylinder (17, 18) einen integrierten Druckmeßwertgeber aufweist, dessen Signale an den programmierbaren Automaten oder die Steuerungseinheit übermittelt werden, um eine Regulierung des Drucks innerhalb der Zylinder zu veranlassen, um den Druck in den Zylindern bei einer Lastspitze oder bei einem Lastabfall konstant zu halten.
  6. Lastkompensationsvorrichtung einer Manipulatorvorrichtung gemäß Anspruch 5, dadurch gekennzeichnet, daß sie mit Positionswertgebem versehen ist, welche die Verschiebung der äußeren Glocke (19) erfassen können, wobei die von diesen Meßwertgebern übertragenen Signale im weiteren in Verbindung mit einer Uhr bearbeitet werden, um die Geschwindigkeit der Verschiebung der äußeren Glocke zu bestimmen.
EP97420140A 1996-09-10 1997-07-31 Verfahren zum Steuern des Betriebs einer Lastkompensationsvorrichtung und Lastkompensationsvorrichtung zur Durchführung dieses Verfahrens Expired - Lifetime EP0827935B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9611236 1996-09-10
FR9611236A FR2753188B1 (fr) 1996-09-10 1996-09-10 Procede pour reguler le fonctionnement d'un dispositif compensateur de charge et compensateur de charge mettant en oeuvre ce procede

Publications (2)

Publication Number Publication Date
EP0827935A1 EP0827935A1 (de) 1998-03-11
EP0827935B1 true EP0827935B1 (de) 2002-03-06

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EP97420140A Expired - Lifetime EP0827935B1 (de) 1996-09-10 1997-07-31 Verfahren zum Steuern des Betriebs einer Lastkompensationsvorrichtung und Lastkompensationsvorrichtung zur Durchführung dieses Verfahrens

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US (1) US6068240A (de)
EP (1) EP0827935B1 (de)
JP (1) JPH1090478A (de)
DE (1) DE69710827T2 (de)
ES (1) ES2170355T3 (de)
FR (1) FR2753188B1 (de)
ZA (1) ZA977438B (de)

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US6691801B2 (en) * 1999-03-05 2004-02-17 Varco I/P, Inc. Load compensator for a pipe running tool
US6464208B1 (en) * 2001-02-02 2002-10-15 Donald E. Smith I-beam walk assist device
CA2335897C (fr) * 2001-02-13 2006-01-24 Delaney Machinerie Inc. Systeme pour soulever et deplacer une charge
GB0406336D0 (en) * 2004-03-19 2004-04-21 Subsea 7 Uk Apparatus and method
FR2878760B1 (fr) * 2004-12-06 2007-08-17 Cecile Jeanne Guigny Dispositif permettant la transformation d'agres et de machineries, sportives, spectaculaires, ou industrielles en instrument destine a la creation interactive et multimedia
FR2900142B1 (fr) 2006-04-25 2008-05-23 Reel Soc Par Actions Simplifie Dispositif compensateur de charge, notamment pour engin de levage
US20080277364A1 (en) * 2006-06-30 2008-11-13 Mcguffin Martin H Multi-reeve handling and hoisting system
US8276884B2 (en) * 2008-10-07 2012-10-02 Bernard Rusiniak Recovery bumper with a multiple-pulley, multi-directional winch-system and stabilizing support legs
IT1403638B1 (it) * 2011-01-20 2013-10-31 Ansaldo Nucleare Spa Dispositivo di compensazione del carico per una macchina di movimentazione di elementi di combustibile nucleare
DE102011106635A1 (de) * 2011-07-04 2013-01-10 Tractel Greifzug Gmbh Seildurchlaufwinde
CN106395663B (zh) * 2016-09-21 2018-11-16 大连爱渥特机器人科技有限公司 一种安全制动机构
US11608251B1 (en) 2021-01-20 2023-03-21 United States Of America As Represented By The Administrator Of Nasa Pneumatically adjustable lifting apparatus
CN113744905A (zh) * 2021-05-18 2021-12-03 中国核电工程有限公司 一种三代核电机组中燃料组件受力实时保护装置及方法

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NL162609C (nl) * 1976-05-05 1980-06-16 Ihc Holland Nv Deinings-compensatie-inrichting voor een hijskraan.
SE406904B (sv) * 1977-11-25 1979-03-05 Atlas Copco Ab Anordning for forhindrande av overskridande av tillaten linkraft vid tryckluftdrivna lasthanteringsdon
DE2930439A1 (de) * 1979-07-26 1981-02-05 Isetron Ind Sicherheits Elektr Ueberlastsicherung fuer ein hebezeug
US4487741A (en) * 1981-11-30 1984-12-11 Westinghouse Electric Corp. Transfer of fuel assemblies
US4759256A (en) * 1984-04-16 1988-07-26 Nl Industries, Inc. Tensioner recoil control apparatus
DE3546277A1 (de) * 1985-12-28 1987-07-02 Bomag Menck Gmbh Kompensatorvorrichtung
FR2615500B1 (fr) * 1987-05-20 1989-07-28 Reel Sa Dispositif compensateur de charge pour un engin de manutention et procede pour la mise en oeuvre d'une telle compensation
JPH01226697A (ja) * 1988-03-03 1989-09-11 Kobe Steel Ltd 建設機械における操作レバーの操作反力制御装置
DE68912508T2 (de) * 1988-10-26 1994-05-19 Kobe Steel Ltd Steuervorrichtung für die auf einen Steuerhebel auszuübende Kraft.

Also Published As

Publication number Publication date
US6068240A (en) 2000-05-30
ZA977438B (en) 1998-03-02
DE69710827T2 (de) 2002-06-27
FR2753188A1 (fr) 1998-03-13
ES2170355T3 (es) 2002-08-01
JPH1090478A (ja) 1998-04-10
DE69710827D1 (de) 2002-04-11
EP0827935A1 (de) 1998-03-11
FR2753188B1 (fr) 1998-12-11

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